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