| Configuring Rendering Settings |
| ============================== |
|
|
| Isaac Lab offers 3 preset rendering modes: performance, balanced, and quality. |
| You can select a mode via a command line argument or from within a script, and customize settings as needed. |
| Adjust and fine-tune rendering to achieve the ideal balance for your workflow. |
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| Selecting a Rendering Mode |
| -------------------------- |
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| Rendering modes can be selected in 2 ways. |
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| 1. using the ``rendering_mode`` input class argument in :class:`~sim.RenderCfg` |
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|
| .. code-block:: python |
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|
| # for an example of how this can be used, checkout the tutorial script |
| # scripts/tutorials/00_sim/set_rendering_mode.py |
| render_cfg = sim_utils.RenderCfg(rendering_mode="performance") |
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| 2. using the ``--rendering_mode`` CLI argument, which takes precedence over the ``rendering_mode`` argument in :class:`~sim.RenderCfg`. |
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| .. code-block:: bash |
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| ./isaaclab.sh -p scripts/tutorials/00_sim/set_rendering_mode.py --rendering_mode {performance/balanced/quality} |
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| Note, the ``rendering_mode`` defaults to ``balanced``. |
| However, in the case where the launcher argument ``--enable_cameras`` is not set, then |
| the default ``rendering_mode`` is not applied and, instead, the default kit rendering settings are used. |
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| Example renders from the ``set_rendering_mode.py`` script. |
| To help assess rendering, the example scene includes some reflections, translucency, direct and ambient lighting, and several material types. |
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| - Quality Mode |
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| .. image:: ../_static/how-to/howto_rendering_example_quality.jpg |
| :width: 100% |
| :alt: Quality Rendering Mode Example |
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| - Balanced Mode |
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| .. image:: ../_static/how-to/howto_rendering_example_balanced.jpg |
| :width: 100% |
| :alt: Balanced Rendering Mode Example |
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| - Performance Mode |
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| .. image:: ../_static/how-to/howto_rendering_example_performance.jpg |
| :width: 100% |
| :alt: Performance Rendering Mode Example |
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| Overwriting Specific Rendering Settings |
| --------------------------------------- |
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| Preset rendering settings can be overwritten via the :class:`~sim.RenderCfg` class. |
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| There are 2 ways to provide settings that overwrite presets. |
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| 1. :class:`~sim.RenderCfg` supports overwriting specific settings via user-friendly setting names that map to underlying RTX settings. |
| For example: |
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|
| .. code-block:: python |
|
|
| render_cfg = sim_utils.RenderCfg( |
| rendering_mode="performance", |
| # user friendly setting overwrites |
| enable_translucency=True, # defaults to False in performance mode |
| enable_reflections=True, # defaults to False in performance mode |
| dlss_mode="3", # defaults to 1 in performance mode |
| ) |
|
|
| List of user-friendly settings. |
|
|
| .. table:: |
| :widths: 25 75 |
|
|
| +----------------------------+--------------------------------------------------------------------------+ |
| | enable_translucency | Bool. Enables translucency for specular transmissive surfaces such as | |
| | | glass at the cost of some performance. | |
| +----------------------------+--------------------------------------------------------------------------+ |
| | enable_reflections | Bool. Enables reflections at the cost of some performance. | |
| +----------------------------+--------------------------------------------------------------------------+ |
| | enable_global_illumination | Bool. Enables Diffused Global Illumination at the cost of some | |
| | | performance. | |
| +----------------------------+--------------------------------------------------------------------------+ |
| | antialiasing_mode | Literal["Off", "FXAA", "DLSS", "TAA", "DLAA"]. | |
| | | | |
| | | DLSS: Boosts performance by using AI to output higher resolution frames | |
| | | from a lower resolution input. DLSS samples multiple lower resolution | |
| | | images and uses motion data and feedback from prior frames to reconstruct| |
| | | native quality images. | |
| | | DLAA: Provides higher image quality with an AI-based anti-aliasing | |
| | | technique. DLAA uses the same Super Resolution technology developed for | |
| | | DLSS, reconstructing a native resolution image to maximize image quality.| |
| +----------------------------+--------------------------------------------------------------------------+ |
| | enable_dlssg | Bool. Enables the use of DLSS-G. DLSS Frame Generation boosts performance| |
| | | by using AI to generate more frames. This feature requires an Ada | |
| | | Lovelace architecture GPU and can hurt performance due to additional | |
| | | thread-related activities. | |
| +----------------------------+--------------------------------------------------------------------------+ |
| | enable_dl_denoiser | Bool. Enables the use of a DL denoiser, which improves the quality of | |
| | | renders at the cost of performance. | |
| +----------------------------+--------------------------------------------------------------------------+ |
| | dlss_mode | Literal[0, 1, 2, 3]. For DLSS anti-aliasing, selects the performance/ | |
| | | quality tradeoff mode. Valid values are 0 (Performance), 1 (Balanced), | |
| | | 2 (Quality), or 3 (Auto). | |
| +----------------------------+--------------------------------------------------------------------------+ |
| | enable_direct_lighting | Bool. Enable direct light contributions from lights. | |
| +----------------------------+--------------------------------------------------------------------------+ |
| | samples_per_pixel | Int. Defines the Direct Lighting samples per pixel. Higher values | |
| | | increase the direct lighting quality at the cost of performance. | |
| +----------------------------+--------------------------------------------------------------------------+ |
| | enable_shadows | Bool. Enables shadows at the cost of performance. When disabled, lights | |
| | | will not cast shadows. | |
| +----------------------------+--------------------------------------------------------------------------+ |
| | enable_ambient_occlusion | Bool. Enables ambient occlusion at the cost of some performance. | |
| +----------------------------+--------------------------------------------------------------------------+ |
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| 2. For more control, :class:`~sim.RenderCfg` allows you to overwrite any RTX setting by using the ``carb_settings`` argument. |
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| Examples of RTX settings can be found from within the repo, in the render mode preset files located in ``apps/rendering_modes``. |
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| In addition, the RTX documentation can be found here - https://docs.omniverse.nvidia.com/materials-and-rendering/latest/rtx-renderer.html. |
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| An example usage of ``carb_settings``. |
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| .. code-block:: python |
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| render_cfg = sim_utils.RenderCfg( |
| rendering_mode="quality", |
| # carb setting overwrites |
| carb_settings={ |
| "rtx.translucency.enabled": False, |
| "rtx.reflections.enabled": False, |
| "rtx.domeLight.upperLowerStrategy": 3, |
| } |
| ) |
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| Current Limitations |
| ------------------- |
|
|
| For performance reasons, we default to using DLSS for denoising, which generally provides better performance. |
| This may result in renders of lower quality, which may be especially evident at lower resolutions. |
| Due to this, we recommend using per-tile or per-camera resolution of at least 100 x 100. |
| For renders at lower resolutions, we advice setting the ``antialiasing_mode`` attribute in :class:`~sim.RenderCfg` to |
| ``DLAA``, and also potentially enabling ``enable_dl_denoiser``. Both of these settings should help improve render |
| quality, but also comes at a cost of performance. Additional rendering parameters can also be specified in :class:`~sim.RenderCfg`. |
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