Basics

This tutorial focuses on the basic usage of SAPIEN Python APIs.

• Installation
  • Pip(PyPI) or Conda
  • Build from source
    • Clone SAPIEN
    • Build in Docker
  • Verify Installation
    • Server (no display)
    • Desktop (with display)
• Hello World
  • Simulation engine and scene
  • Add rigid bodies
  • Viewer
  • Simulation loop
  • Full script
• Create Actors
  • Create an actor by a single primitive
  • Create an actor by multiple primitives
  • Create an actor by a mesh file
  • Remove an actor
• Physics
  • Set default physical properties
  • Set physical materials
  • Create a kinematic actor
  • Set damping for the actor
  • Get kinematic quantities (pose, velocity) of an actor
• Create Articulations
  • Create a root link
  • Create a child link connected by a revolute joint
  • Control an articulation with builtin drives
  • Get kinematic quantities of the articulation
  • Remove an articulation
• Viewer
  • Free Camera Control
  • Actor Selection
  • Focused Camera Control
  • Control Window
  • Scene Hierarchy Window
  • Actor Window
  • Articulation Window
  • Move Objects
• Contact