def setup_scene(self,**kwargs):
        '''
        Set the scene
            - Set up the basic scene: light source, viewer.
        '''
        self.engine = sapien.Engine()
        # declare sapien renderer
        from sapien.render import set_global_config
        set_global_config(max_num_materials = 50000, max_num_textures = 50000)
        self.renderer = sapien.SapienRenderer()
        # give renderer to sapien sim
        self.engine.set_renderer(self.renderer)
        
        sapien.render.set_camera_shader_dir("rt")
        sapien.render.set_ray_tracing_samples_per_pixel(32)
        sapien.render.set_ray_tracing_path_depth(8)
        sapien.render.set_ray_tracing_denoiser("oidn")

        # declare sapien scene
        scene_config = sapien.SceneConfig()
        self.scene = self.engine.create_scene(scene_config)

        Set the scene
            - Set up the basic scene: light source, viewer.
        
script/test_render.py