Implementation:Haosulab ManiSkill ShaderConfig

Knowledge Sources	Haosulab_ManiSkill
Domains	Robotics, Simulation, Rendering
Last Updated	2026-02-15 08:00 GMT

Overview

Concrete tool for defining shader pack configurations that control which textures and image modalities are rendered by cameras.

Description

The shaders.py module defines the ShaderConfig dataclass and a set of prebuilt shader configurations that determine how cameras in SAPIEN render their output textures. A shader config specifies the shader pack to use, which textures to render, and how to transform raw texture data into standard image modalities.

ShaderConfig dataclass:

shader_pack -- Name of the shader pack ("minimal", "default", "rt").
texture_names -- Maps shader texture names to image modality lists (e.g., "Color" -> ["rgb"]).
shader_pack_config -- Additional shader settings (e.g., ray tracing samples, path depth, denoiser).
texture_transforms -- Functions that convert raw texture data into standard formats (rgb, depth, position, segmentation, normal, albedo).

Prebuilt configurations (PREBUILT_SHADER_CONFIGS):

"minimal" -- Fast, minimal rendering with combined PositionSegmentation texture (uint16).
"default" -- Standard rendering with separate Color, Position, Segmentation, Normal, Albedo textures (float32).
"rt" -- High-quality ray tracing (32 samples/pixel, depth 16, OptiX denoiser).
"rt-med" -- Medium-quality ray tracing (4 samples/pixel, depth 3).
"rt-fast" -- Fast ray tracing (2 samples/pixel, depth 1).

set_shader_pack(): Applies a shader config globally for the SAPIEN 3.0 render system, configuring picture formats and ray tracing parameters.

Usage

Shader configs are selected via the environment's shader_dir parameter or camera configuration. The prebuilt configs cover the most common use cases.

Code Reference

Source Location

Repository: Haosulab_ManiSkill
File: mani_skill/render/shaders.py

Signature

@dataclass
class ShaderConfig:
    shader_pack: str
    texture_names: dict[str, list[str]] = field(default_factory=dict)
    shader_pack_config: dict[str, Any] = field(default_factory=dict)
    texture_transforms: dict[str, Callable[[torch.Tensor], dict[str, torch.Tensor]]] = field(default_factory=dict)

PREBUILT_SHADER_CONFIGS: dict[str, ShaderConfig]

def set_shader_pack(shader_config: ShaderConfig) -> None: ...

Import

from mani_skill.render.shaders import ShaderConfig, PREBUILT_SHADER_CONFIGS, set_shader_pack

I/O Contract

Inputs

Name	Type	Required	Description
shader_pack	str	Yes	Shader pack name ("minimal", "default", "rt")
texture_names	dict	No	Map of texture names to image modality lists
shader_pack_config	dict	No	Additional shader-specific settings
texture_transforms	dict	No	Functions to transform raw texture data

Outputs

Name	Type	Description
ShaderConfig	ShaderConfig	Configuration object for the shader pack
image modalities	dict[str, torch.Tensor]	Transformed image data (rgb, depth, position, etc.)

Usage Examples

Basic Usage

from mani_skill.render.shaders import PREBUILT_SHADER_CONFIGS, set_shader_pack

# Use the default shader
shader_config = PREBUILT_SHADER_CONFIGS["default"]
set_shader_pack(shader_config)

# Use ray tracing for high-quality rendering
rt_config = PREBUILT_SHADER_CONFIGS["rt"]
set_shader_pack(rt_config)

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