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Load Environment

How to load a ground, objects, robots into a SAPIEN env. Some code are borrowed from SAPIEN Doc

Set Gravity​

    p.setGravity(0,0,-10)

Add Light​

    scene.set_ambient_light([0.5, 0.5, 0.5])
    scene.add_directional_light([0, 1, -1], [0.5, 0.5, 0.5])

Add Objects​

    planeId = p.loadURDF("plane.urdf")

Add Articulated Objects​

    objId = p.loadURDF("path_to_your_urdf.urdf")
    startPos = [0,0,1]
    startOrientation = p.getQuaternionFromEuler([0,0,0])
    objId_with_pose = p.loadURDF("path_to_your_urdf.urdf",startPos, startOrientation)

V-HACD​

    import pybullet as p
    import pybullet_data as pd
    import os

    p.connect(p.DIRECT)
    name_in = os.path.join(pd.getDataPath(), "duck.obj")
    name_out = "duck_vhacd2.obj"
    name_log = "log.txt"
    p.vhacd(name_in, name_out, name_log)