sapien

Tutorial

  • Basics
    • Installation
    • Hello World
    • Create Actors
    • Physics
    • Create Articulations
    • Viewer
    • Contact
  • Rendering
  • Robotics
  • Reinforcement Learning
  • Motion Planning
  • Migration from sapien 1.x.x to 2.x.x

API Doc

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sapien
  • Basics
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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
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