Installation

SAPIEN is distributed via PyPI.

Currently supported Python versions:

Supported operating systems:

System requirements:

Software requirements:

Ray tracing: NVIDIA Driver >= 470
Denoising: NVIDIA Driver >= 522 (earlier version may work but is not officially supported)

Pip(PyPI) or Conda

pip install sapien

Note

pip >= 19.3 is required for installation. Upgrade pip with

pip install -U pip

You may build SAPIEN from source to access latest features under development in the dev branch, and/or contribute to the project.

git clone --recursive https://github.com/haosulab/SAPIEN.git

While it is possible to build SAPIEN natively on Linux. We strongly recommend building using Docker.

cd SAPIEN
./docker_build_wheels.sh

Note

docker_build_wheels.sh builds for all Python versions by default. To build for specific versions, modify the last few lines of build_all.sh.

Note

Building may fail if you have previously built SAPIEN with Docker due to an update to the Docker image. Pull the latest Docker image with

docker pull fxiangucsd/sapien-build-env

Warning

This script will generate output.png at the current working directory.

You may test the offscreen rendering of SAPIEN with the following command

python -m sapien.example.offscreen

On a server without display. It may generate errors about the display. You can ignore these warnings.

If SAPIEN is installed properly. The following image will be generated at the current working directory, named output.png.

You may test the onscreen rendering of SAPIEN with the following command

python -m sapien.example.hello_world

This command should open a viewer window showing a red cube on the ground. You can learn more about this scene in Hello World.