Fanbo Xiang

The default VulkanRenderer is based on rasterization, getting it to look nice is more like an art. Typically adding some lights and an environment map help it to look better...

Now sapien 2.2.0 is released and Kuafu is deprecated. The original VulkanRenderer is now renamed SapienRenderer and it supports all functionalities of Kuafu. SapienRenderer's ray tracing is very slightly faster...

Unfortunately, MacOS builds are very experimental, and it is great when it works, but it is very hard for us to find out what could go wrong. For example, the...

The key to the rendering includes the following modifications 1. Add environment map (https://github.com/haosulab/SAPIEN/blob/12a83f9fd83b81a6211d8b4b6146c80b74fea93f/python/pysapien_content.hpp#L857-L858) 2. Enable shadows and tune their parameters when adding lights (https://github.com/haosulab/SAPIEN/blob/12a83f9fd83b81a6211d8b4b6146c80b74fea93f/python/pysapien_content.hpp#L816-L829) 3. Fine tune the material...

The code for the point cloud initialization and Chamfer loss is not released in this repo, as this trick is not really crucial as shown in figure 3, and it...

Ah I think you are right. It probably is something I forgot to remove while removing the Chamfer loss.

Currently there is not a plan to support this as it requires a collision detection after setting poses. We will look into exposing this functionality with an API call in...

Do you mean you want to draw a line segment at the joints? Or do you want to color the links that are connected to an active joint? Here is...

It can be non-trivial to simulation all of PartNet-Mobility assets, since SAPIEN rigid body requires convex collision shapes. You may look into approximate convex decomposition such as https://github.com/SarahWeiii/CoACD https://github.com/kmammou/v-hacd However,...

I believe the issue is that set_qf with passive force needs to be called every step to compensate gravity. In SPAIEN 3 (currently dev releases), we provide a better way...