{"library":"sapien","title":"SAPIEN","description":"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.","language":"python","status":"active","last_verified":"Mon Apr 27","install":{"commands":["pip install sapien","pip install sapien>=3.0.0"],"cli":null},"imports":["import sapien","from sapien import Engine","from sapien import Scene"],"auth":{"required":false,"env_vars":[]},"quickstart":{"code":"import sapien\nengine = sapien.Engine()\nrenderer = sapien.VulkanRenderer()\nscene = engine.create_scene(renderer=renderer)\nscene.set_ambient_light([0.5, 0.5, 0.5])\nscene.add_ground(altitude=0)\n\n# Add a box\nbuilder = scene.create_actor_builder()\nbuilder.add_box_shape(half_size=[0.5, 0.5, 0.5])\nbuilder.add_visual_from_file('path/to/visual_mesh.obj')\nbox = builder.build(name='box')\n\n# Step simulation\nfor _ in range(100):\n    scene.step()\n    scene.update_render()\n    # Render is via viewer or offscreen; see docs","lang":"python","description":"Create a simple scene with a box and step the simulation.","tag":null,"tag_description":null,"last_tested":null,"results":[]},"compatibility":null}