sapien

Tutorial

  • Basics
  • Rendering
    • Camera
    • Ray Tracing Renderer [New!]
    • Customize Shaders
    • SAPIEN Realistic Depth [New!]
  • Robotics
  • Reinforcement Learning
  • Motion Planning
  • Migration from sapien 1.x.x to 2.x.x

API Doc

  • sapien
sapien
  • Rendering
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Rendering

This tutorial focuses on basic and advanced rendering in SAPIEN.

  • Camera
    • Create and mount a camera
    • Render an RGB image
    • Generate point cloud
    • Visualize segmentation
    • Take a screenshot from the viewer
  • Ray Tracing Renderer [New!]
    • Ray tracing vs. rasterization
    • Ray tracing with SAPIEN
    • Reflection and refraction
  • Customize Shaders
    • Shader pack
    • Rasterization pipeline
      • Render passes
      • Geometry input
      • Uniform input
        • Camera set
        • Object set
        • Material set
        • Scene set
      • Render targets
        • Output
        • Input
    • Ray tracing pipeline
      • Uniform input
      • Ray generation
      • Ray miss
      • Ray hit
      • Denoising
      • Post processing
      • Parameters
    • Example: ray tracing variance
      • Create a new shader pack
      • Add a new output texture
      • Compute variance
  • SAPIEN Realistic Depth [New!]
    • Sim-to-real gap
    • Realistic depth sensor simulation
    • Boosting simulation speed
    • Seamless transfer to other GPU libraries
    • Reference
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