sapien

Tutorial

  • Basics
  • Rendering
  • Robotics
    • Getting Started with Robot
    • Drive Robot with PID Controller
  • Reinforcement Learning
  • Motion Planning
  • Migration from sapien 1.x.x to 2.x.x

API Doc

  • sapien
sapien
  • Robotics
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Robotics

This tutorial focuses on how to use SAPIEN Python APIs to work with robots and tackle basic robotics tasks.

  • 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
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