Function render_to_buffer 

pub fn render_to_buffer(
    object_dir: &Path,
    camera_transform: &Transform,
    object_rotation: &ObjectRotation,
    config: &RenderConfig,
) -> Result<RenderOutput, RenderError>

Render a YCB object to an in-memory buffer.

This is the primary API for headless rendering. It spawns a minimal Bevy app, renders a single frame, extracts the RGBA and depth data, and shuts down.

Arguments

• object_dir - Path to YCB object directory (e.g., “/tmp/ycb/003_cracker_box”)
• camera_transform - Camera position and orientation (use generate_viewpoints)
• object_rotation - Rotation to apply to the object
• config - Render configuration (resolution, depth range, etc.)

Example

use bevy_sensor::{render_to_buffer, RenderConfig, ViewpointConfig, ObjectRotation};
use std::path::Path;

let viewpoints = bevy_sensor::generate_viewpoints(&ViewpointConfig::default());
let output = render_to_buffer(
    Path::new("/tmp/ycb/003_cracker_box"),
    &viewpoints[0],
    &ObjectRotation::identity(),
    &RenderConfig::tbp_default(),
)?;