SAPIEN

haosulab

A physics and rendering platform for articulated-object interaction and robotic manipulation.

What you can explore

Explore object articulation, scene construction and the simulation foundation used by ManiSkill and related projects.

Before you use it

This is general simulation infrastructure. Hand models, actuation and contacts require explicit configuration; PartNet-Mobility access and asset terms are separate.

Original contributors

SAPIEN authors and contributors

License / access: Code: Apache 2.0 · check external data, models and hardware terms separately

Original code & documentation

Editorial reference · checked 2026-09-22