p2.js
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No tutorial for beginners
The only tutorial for beginners is the wiki, which doesn't cover showing the objects on the screen. I would write more but i have to go.
p2.js is a physics engine. It is not meant to show objects on the screen.
The simpliest way I can think of is just to draw dots or circles on a html canvas, where each dot represents your object and is drawn in coordinates supplied by p2 engine. This is not that hard actually.