ModuleNotFoundError: No module named 'sapien.physx'

[hhaofan]

Hi mplib developer,

when I try to run the demo.py in this tutorial page, it always shows error:
'ModuleNotFoundError: No module named 'sapien.physx'.
And when I dig deeper into the mplib, the error occurs at /home/host/miniconda3/envs/env_isaaclab/lib/python3.10/site-packages/mplib/sapien_utils/conversion.py:

from sapien.physx import (
    PhysxArticulation,
    PhysxArticulationLinkComponent,
    PhysxCollisionShapeBox,
    PhysxCollisionShapeCapsule,
    PhysxCollisionShapeConvexMesh,
    PhysxCollisionShapeCylinder,
    PhysxCollisionShapePlane,
    PhysxCollisionShapeSphere,
    PhysxCollisionShapeTriangleMesh,
    PhysxRigidBaseComponent,
)

I have tried to reinstall sapien version 2.2.0, 2.1.0, and lower, which are all useless. Also, I notice that both the mplib and sapien repo, as well as the related pip dependency have not mention the sapien version. Finally, I find a relavent guidance in another derivative repo, which says pip install sapien==3.0.0b1. Finally that line of code resolved the error.

Therefore, I suppose maybe you need to update the repo to add this sapien dependency to it. That would help more people who use this good repo.
Point me out if I am wrong, thanks!