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update docs
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‎docs/source/how-to/configure_rendering.rst‎

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@@ -14,51 +14,48 @@ Isaac Lab's RTX renderer offers 3 preset rendering modes: performance, balanced,
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You can select a mode via a command line argument or from within a script, and customize settings as needed.
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Adjust and fine-tune rendering to achieve the ideal balance for your workflow.
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Selecting a Rendering Quality Profile
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-------------------------------------
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Selecting a Rendering Mode Profile
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----------------------------------
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Rendering quality can be selected in 2 ways.
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Rendering mode can be selected in two ways:
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1. setting ``rendering_quality`` in a visualizer config, which selects an entry from
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:attr:`~sim.SimulationCfg.rendering_quality_cfgs`
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1. Set ``rendering_quality`` in a visualizer config, which selects an entry from
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:attr:`~sim.SimulationCfg.rendering_quality_cfgs`.
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.. code-block:: python
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import isaaclab.sim as sim_utils
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from isaaclab.visualizers import KitVisualizerCfg
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import isaaclab.sim as sim_utils
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from isaaclab_physx.visualizers import KitVisualizerCfg
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sim_cfg = sim_utils.SimulationCfg(
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visualizer_cfgs=[
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KitVisualizerCfg(
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rendering_quality="performance",
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),
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],
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)
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sim_cfg = sim_utils.SimulationCfg(
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visualizer_cfgs=[
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KitVisualizerCfg(
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rendering_quality="performance",
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),
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],
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)
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2. using the ``--rendering_quality`` CLI argument, which takes precedence over
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``visualizer_cfg.rendering_quality``
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2. Use the ``--rendering_mode`` CLI argument, which takes precedence over
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``visualizer_cfg.rendering_quality``.
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.. code-block:: bash
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./isaaclab.sh -p scripts/tutorials/00_sim/set_rendering_mode.py --rendering_quality {performance/balanced/high}
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./isaaclab.sh -p scripts/tutorials/00_sim/set_rendering_mode.py --rendering_mode {performance/balanced/quality}
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Notes:
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* If ``rendering_quality=None`` for a visualizer, Isaac Lab does not apply rendering overrides
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for that visualizer, and backend/native defaults (for Kit, USD-authored settings) are used.
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* ``--rendering_mode`` is deprecated. If used, it maps to ``--rendering_quality``
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(legacy ``quality`` maps to ``high``).
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* ``--rendering_mode`` is the supported CLI entry point.
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Example renders from the ``set_rendering_mode.py`` script.
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To help assess rendering, the example scene includes some reflections, translucency, direct and ambient lighting, and several material types.
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To help assess rendering, the example scene includes reflections, translucency, direct and ambient lighting, and several material types.
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- High Mode
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- Quality Mode
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.. image:: ../_static/how-to/howto_rendering_example_quality.jpg
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:width: 100%
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:alt: High Rendering Mode Example
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:alt: Quality Rendering Mode Example
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- Balanced Mode
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:width: 100%
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:alt: Performance Rendering Mode Example
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Overwriting Specific Rendering Quality Settings
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-----------------------------------------------
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Overwriting Specific Rendering Settings
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---------------------------------------
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Preset rendering settings can be overwritten via :class:`~sim.RenderingQualityCfg`.
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Preset rendering settings can be overwritten via :class:`~sim.RenderingModeCfg`.
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There are 2 ways to provide settings that overwrite presets.
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There are two ways to provide settings that overwrite presets:
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1. :class:`~sim.RenderingQualityCfg` supports overwriting specific settings via explicit
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1. :class:`~sim.RenderingModeCfg` supports overwriting specific settings via explicit
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``kit_*`` fields that map to underlying RTX settings.
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For example:
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.. code-block:: python
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quality_cfg = sim_utils.RenderingQualityCfg(
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rendering_mode_preset="performance",
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# explicit field overrides
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kit_enable_translucency=True, # defaults to False in performance mode
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kit_enable_reflections=True, # defaults to False in performance mode
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kit_dlss_mode=3, # defaults to 0 in performance mode
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import isaaclab.sim as sim_utils
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mode_cfg = sim_utils.RenderingModeCfg(
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rendering_mode_preset="performance",
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# explicit field overrides
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kit_enable_translucency=True, # defaults to False in performance mode
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kit_enable_reflections=True, # defaults to False in performance mode
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kit_dlss_mode=3, # defaults to 0 in performance mode
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)
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List of Kit settings.
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+------------------------------------+-------------------------------------------------------------------------+
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| kit_enable_reflections | Bool. Enables reflections at the cost of some performance. |
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+------------------------------------+-------------------------------------------------------------------------+
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| kit_enable_global_illumination | Bool. Enables Diffused Global Illumination at the cost of some |
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| kit_enable_global_illumination | Bool. Enables Diffuse Global Illumination at the cost of some |
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| | performance. |
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+------------------------------------+-------------------------------------------------------------------------+
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| kit_antialiasing_mode | Literal["Off", "FXAA", "DLSS", "TAA", "DLAA"]. |
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| | |
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| | DLSS: Boosts performance by using AI to output higher resolution frames |
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| | from a lower resolution input. DLSS samples multiple lower resolution |
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| | images and uses motion data and feedback from prior frames to reconstruct|
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| | native quality images. |
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| | DLAA: Provides higher image quality with an AI-based anti-aliasing |
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| | technique. DLAA uses the same Super Resolution technology developed for |
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| | DLSS, reconstructing a native resolution image to maximize image quality.|
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| | DLSS boosts performance by reconstructing higher-resolution frames. |
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| | DLAA prioritizes image quality using the same SR technology as DLSS. |
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+------------------------------------+-------------------------------------------------------------------------+
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| kit_enable_dlssg | Bool. Enables the use of DLSS-G. DLSS Frame Generation boosts |
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| | performance by using AI to generate more frames. This feature |
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| | requires an Ada Lovelace architecture GPU and can hurt performance |
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| | due to additional thread-related activities. |
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| kit_enable_dlssg | Bool. Enables DLSS-G frame generation (Ada Lovelace GPU required). |
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+------------------------------------+-------------------------------------------------------------------------+
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| kit_enable_dl_denoiser | Bool. Enables the use of a DL denoiser, which improves render quality |
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| | at the cost of performance. |
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| kit_enable_dl_denoiser | Bool. Enables DL denoiser (quality up, performance down). |
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+------------------------------------+-------------------------------------------------------------------------+
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| kit_dlss_mode | Literal[0, 1, 2, 3]. For DLSS anti-aliasing, selects the |
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| | performance/quality tradeoff mode: 0 (Performance), 1 (Balanced), |
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| | 2 (Quality), 3 (Auto). |
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| kit_dlss_mode | Literal[0, 1, 2, 3] = Performance, Balanced, Quality, Auto. |
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+------------------------------------+-------------------------------------------------------------------------+
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| kit_enable_direct_lighting | Bool. Enable direct light contributions from lights. |
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| kit_enable_direct_lighting | Bool. Enables direct light contributions from lights. |
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+------------------------------------+-------------------------------------------------------------------------+
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| kit_samples_per_pixel | Int. Defines direct lighting samples per pixel. Higher values increase |
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| | quality at the cost of performance. |
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| kit_samples_per_pixel | Int. Direct lighting samples-per-pixel (higher = better, slower). |
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+------------------------------------+-------------------------------------------------------------------------+
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| kit_enable_shadows | Bool. Enables shadows at the cost of performance. When disabled, lights |
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| | will not cast shadows. |
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| kit_enable_shadows | Bool. Enables shadows at performance cost. |
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+------------------------------------+-------------------------------------------------------------------------+
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| kit_enable_ambient_occlusion | Bool. Enables ambient occlusion at the cost of some performance. |
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| kit_enable_ambient_occlusion | Bool. Enables ambient occlusion at performance cost. |
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+------------------------------------+-------------------------------------------------------------------------+
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}
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)
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Current Limitations
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-------------------
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‎source/isaaclab/isaaclab/sim/simulation_cfg.py‎

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from isaaclab.physics import PhysicsCfg
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from isaaclab.renderers import RendererCfg
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from isaaclab.rendering_mode.rendering_mode_cfg import RenderingModeCfg
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from isaaclab.visualizers import VisualizerCfg
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from isaaclab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialCfg
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from isaaclab.utils import configclass
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from isaaclab.visualizers import VisualizerCfg
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@configclass

‎source/isaaclab/test/envs/test_env_rendering_logic.py‎

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ManagerBasedRLEnv,
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ManagerBasedRLEnvCfg,
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)
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from isaaclab_physx.visualizers.kit_visualizer import KitVisualizer
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from isaaclab_physx.visualizers.kit_visualizer_cfg import KitVisualizerCfg
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from isaaclab.scene import InteractiveSceneCfg
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from isaaclab.sim import SimulationCfg, SimulationContext
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from isaaclab.utils import configclass

‎source/isaaclab/test/sim/test_simulation_render_config.py‎

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"""Rest everything follows."""
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import pytest
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from isaaclab_physx.visualizers import KitVisualizerCfg
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from isaaclab.app.settings_manager import get_settings_manager
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from isaaclab.sim.simulation_cfg import RenderCfg, SimulationCfg

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