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Software

SAPIEN

By Hao Su's Lab, UCSD, from github.com/haosulab/SAPIEN (opens in a new tab)

  • Simulators
  • Simulator
  • Apache-2.0

SAPIEN is a physics-based simulation environment for robotic vision and interaction tasks, hosting a large set of articulated objects with part-level detail.

Open on GitHub (opens in a new tab)

Facts

GitHub stars
869read on 6 Nov 2026
Last update
8 Oct 2026Newest commit on master
Maintenance
Activea commit in the last 90 days
Difficulty
Advanced
Hardware it needs, as the project states it
Linux with an NVIDIA, AMD, or Intel GPU is required to run it.

Checked on GitHub on 6 Nov 2026.

Licenses

Code
Apache-2.0 (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) at commit 788fd0a (opens in a new tab), on 16 Oct 2026. A license text Robotheca's reader does not know: a person at Robotheca set it on 9 Nov 2026.

Commercial use
Yes

Overview

What it does: Robotheca's summary

  • Distributed on PyPI and installed with pip; provides a hello_world example to verify the installation.
  • Built on an entity-component system in version 3.0, with PhysX 5 GPU simulation support.
  • Supports ray tracing in its renderer and GPU-accelerated stereo depth sensor simulation.
  • Can render offscreen on GPU servers, or through a virtual desktop using a VNC server.
  • Continues the ShapeNet and PartNet datasets; PartNet-Mobility is primarily accessed via Hugging Face.
  • Can be built from source with Docker or without it, producing a Python wheel.

Written by Robotheca from the project's README (opens in a new tab) at commit 788fd0a, not by its creator.

The README

Read the README on GitHub (opens in a new tab)

Files and versions

Facts read at commit 788fd0a

Robotheca never hosts the code: each link goes to the creator's own page.

Works with

2 robots on Robotheca

The robots on Robotheca that use it or can run it, each with how the link was found.

Use it

How to install it, in the creator's words: The project's website (opens in a new tab)

Robotheca doesn't review code. Read it before running it.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.