Welcome to sapien’s documentation!

Tutorial

• Basics
  • Installation
    • Pip(PyPI) or Conda
    • Build from source
    • Verify Installation
  • 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
• Rendering
  • Camera
    • Create and mount a camera
    • Render an RGB image
    • Generate point cloud
    • Visualize segmentation
    • Take a screenshot from the viewer
  • Ray Tracing Renderer [New!]
    • Ray tracing vs. rasterization
    • Ray tracing with SAPIEN
    • Reflection and refraction
  • Customize Shaders
    • Shader pack
    • Rasterization pipeline
    • Ray tracing pipeline
    • Example: ray tracing variance
  • SAPIEN Realistic Depth [New!]
    • Sim-to-real gap
    • Realistic depth sensor simulation
    • Boosting simulation speed
    • Seamless transfer to other GPU libraries
    • Reference
• Robotics
  • Getting Started with Robot
    • Set up the engine, renderer and scene
    • Load a robot URDF
    • Set joint positions
    • Compensate passive forces (e.g. gravity)
  • Drive Robot with PID Controller
    • Setup
    • Drive the robot with the PhysX internal PD controller
    • Write your own PID controller
• Reinforcement Learning
  • Build Gym-style Interface
    • SapienEnv: base class
    • AntEnv: environment
    • Random Agent
  • Basic Manipulation
    • Setup
    • Task Definition
• Motion Planning
  • Getting Started
    • Installation
    • Planner Configuration
  • Plan a Path
    • Plan with sampling-based algorithms
    • Follow a path
    • Plan with screw motion
    • Move the boxes
  • Inverse Kinematics
  • Collision Avoidance
    • Add environment point clouds
    • Attach a box
• Migration from sapien 1.x.x to 2.x.x
  • Light
  • Camera

API Doc

• sapien
  • sapien package
    • Subpackages
      • sapien.asset package
        • Module contents
          • bake_envmap()
          • create_checkerboard()
          • create_dome_envmap()
          • download_partnet_mobility()
      • sapien.core package
        • Submodules
        • sapien.core.pysapien module
          • ActiveLightEntity
          • Actor
          • ActorBase
          • ActorBuilder
          • ActorDynamicBase
          • ActorStatic
          • Articulation
          • ArticulationBase
          • ArticulationBuilder
          • ArticulationDrivable
          • AwaitableDLList
          • AwaitableVoid
          • BoxGeometry
          • CameraEntity
          • CapsuleGeometry
          • CollisionGeometry
          • CollisionShape
          • Constraint
          • Contact
          • ContactPoint
          • ConvexMeshGeometry
          • DirectionalLightEntity
          • Drive
          • Engine
          • Entity
          • Gear
          • IPxrRenderer
          • Joint
          • JointBase
          • JointRecord
          • KinematicArticulation
          • KinematicJoint
          • KinematicJointFixed
          • KinematicJointPrismatic
          • KinematicJointRevolute
          • KinematicJointSingleDof
          • KinematicLink
          • KuafuConfig
          • KuafuRenderer
          • LightEntity
          • Link
          • LinkBase
          • LinkBuilder
          • NonconvexMeshGeometry
          • ParticleEntity
          • PhysicalMaterial
          • PinocchioModel
          • PlaneGeometry
          • PointLightEntity
          • Pose
          • ProfilerBlock
          • RenderBody
          • RenderClient
          • RenderConfig
          • RenderMaterial
          • RenderMesh
          • RenderParticleBody
          • RenderScene
          • RenderServer
          • RenderServerBuffer
          • RenderShape
          • RenderTexture
          • SapienRenderer
          • Scene
          • SceneConfig
          • SceneMultistepCallback
          • ShapeRecord
          • SphereGeometry
          • SpotLightEntity
          • Subscription
          • Trigger
          • URDFLoader
          • VisualRecord
          • VulkanParticleBody
          • VulkanRenderMesh
          • VulkanRigidbody
          • VulkanScene
          • VulkanWindow
          • add_profiler_event()
          • get_global_render_config()
        • Module contents
          • KuafuRenderer
          • VulkanRenderer
          • ensure_icd()
      • sapien.example package
        • Submodules
        • sapien.example.hello_world module
          • main()
        • sapien.example.load_urdf module
          • main()
        • sapien.example.offscreen module
          • main()
        • Module contents
      • sapien.sensor package
        • Submodules
        • sapien.sensor.activelight module
          • ActiveLightSensor
        • sapien.sensor.depth_processor module
          • calc_depth_and_pointcloud()
          • calc_disparity()
          • calc_main_depth_from_left_right_ir()
          • calc_rectified_stereo_pair()
          • depth_post_processing()
          • get_census()
          • init_rectify_stereo()
          • pad_lr()
          • sim_ir_noise()
          • unpad_lr()
        • sapien.sensor.sensor_base module
          • SensorEntity
        • Module contents
      • sapien.utils package
        • Submodules
        • sapien.utils.viewer module
          • ArcRotateCameraController
          • FPSCameraController
          • Viewer
        • Module contents
    • Submodules
    • sapien.version module
    • Module contents

Indices and tables

• Index

• Module Index

• Search Page