sapien 0.3.6.dev0

['SAPIEN: A SimulAted Parted based Interactive ENvironment']

# SAPIEN: A SimulAted Part-based Interactive ENvironment SAPIEN is a realistic and physics-rich simulated environment that hosts a large-scale set for articulated objects. It enables various robotic vision and interaction tasks that require detailed part-level understanding. SAPIEN is a collaborative effort between researchers at UCSD, Stanford and SFU. The dataset is a continuation of ShapNet and PartNet.

## SAPIEN Engine SAPIEN Engine provides physical simulation for articulated objects. It powers reinforcement learning and robotics with its pure Python interface.

## SAPIEN Renderer SAPIEN Renderer renders scenes with OpenGL rasterizer and optionally Nvidia OptiX ray-tracer. It provides visualization/realistic rendering for the SAPIEN environment. Currently, the ray-tracing support is only available via building from source.

## PartNet-Mobility SAPIEN releases PartNet-Mobility dataset, which is a collection of 2K articulated objects with motion annotations and rendernig material. The dataset powers research for generalizable computer vision and manipulation.

## Website and Documentation SAPIEN Website: [https://sapien.ucsd.edu/](https://sapien.ucsd.edu/). SAPIEN Documentation: [https://sapien.ucsd.edu/docs/index.html](https://sapien.ucsd.edu/docs/index.html).

## Before build git submodule update –init –recursive

## Build with Docker ./docker_build_wheels.sh

## CMake build `bash mkdir build cd build cmake -DCMake_BUILD_TYPE=Release .. make `