SAPIEN

SAPIEN is a realistic and physics-rich simulation platform for robotics and embodied AI.

Core features:

• Physical simulation on CPU and GPU, reaching 100,000+ FPS for simple robotics tasks.

• Highly efficient visual rendering, allowing for generating 10,000+ images every second.

• Cross-platform photo-realistic ray-traced rendering.

• Large-scale articulated object dataset.

• Realistic depth-sensor simulation.

• Control and motion planning libraries.

User Guide

• User Guide
  • Installation
  • Hello World
  • Create Actors
  • Physics
  • Create Articulations
  • Viewer
  • Contact
  • Camera
  • Ray Tracing Renderer
  • Customizing Shaders
  • Realistic Depth
  • VR (Virtual Reality)
  • Getting Started with Robot
  • Drive Robot with PID Controller
  • Motion Planning
  • Build Gym-style Interface
  • Basic Manipulation
  • Concepts
  • Common Components

API Documentation

• API Documentation
  • sapien