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SAPIEN: A SimulAted Part-based Interactive ENvironment
 Project Page Paper arXiv Paper arXiv


SAPIEN simulator provides physical simulation for robots, rigidbody, and articulated objects. It powers reinforcement learning and robotics with its pure Python interface. It also provides multiple rendering modalities, including depth map, normal map, optical flow, active light, and ray tracing.

Official Materials


ManiSkill2 embraces a heterogeneous collection of out-of-the-box task families for 20 manipulation skills. Distinct types of manipulation tasks are covered: stationary/mobile-base, single/dual-arm, rigid/soft-body. ManiSkill