SAPIEN

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library 3.0.3 ·python
verified Apr 27, 2026

SAPIEN is a SimulAted Parted-based Interactive ENvironment for physically realistic simulation of articulated rigid-body systems. It is designed for embodied AI and robotics research, providing high-fidelity rendering (including ray tracing) and efficient simulation. Current version is 3.0.3, with active development and monthly releases.

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