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406662d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 | # Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Launch Isaac Sim Simulator first."""
from isaaclab.app import AppLauncher
# launch omniverse app
simulation_app = AppLauncher(headless=True, enable_cameras=True).app
"""Rest everything follows."""
import os
import flatdict
import pytest
import toml
import carb
from isaaclab.sim.simulation_cfg import RenderCfg, SimulationCfg
from isaaclab.sim.simulation_context import SimulationContext
from isaaclab.utils.version import get_isaac_sim_version
@pytest.mark.skip(reason="Timeline not stopped")
@pytest.mark.isaacsim_ci
def test_render_cfg():
"""Test that the simulation context is created with the correct render cfg."""
enable_translucency = True
enable_reflections = True
enable_global_illumination = True
antialiasing_mode = "DLAA"
enable_dlssg = True
enable_dl_denoiser = True
dlss_mode = 0
enable_direct_lighting = True
samples_per_pixel = 4
enable_shadows = True
enable_ambient_occlusion = True
render_cfg = RenderCfg(
enable_translucency=enable_translucency,
enable_reflections=enable_reflections,
enable_global_illumination=enable_global_illumination,
antialiasing_mode=antialiasing_mode,
enable_dlssg=enable_dlssg,
dlss_mode=dlss_mode,
enable_dl_denoiser=enable_dl_denoiser,
enable_direct_lighting=enable_direct_lighting,
samples_per_pixel=samples_per_pixel,
enable_shadows=enable_shadows,
enable_ambient_occlusion=enable_ambient_occlusion,
)
cfg = SimulationCfg(render=render_cfg)
# FIXME: when running all tests, the timeline is not stopped, force stop it here but also that does not the timeline
# omni.timeline.get_timeline_interface().stop()
sim = SimulationContext(cfg)
assert sim.cfg.render.enable_translucency == enable_translucency
assert sim.cfg.render.enable_reflections == enable_reflections
assert sim.cfg.render.enable_global_illumination == enable_global_illumination
assert sim.cfg.render.antialiasing_mode == antialiasing_mode
assert sim.cfg.render.enable_dlssg == enable_dlssg
assert sim.cfg.render.dlss_mode == dlss_mode
assert sim.cfg.render.enable_dl_denoiser == enable_dl_denoiser
assert sim.cfg.render.enable_direct_lighting == enable_direct_lighting
assert sim.cfg.render.samples_per_pixel == samples_per_pixel
assert sim.cfg.render.enable_shadows == enable_shadows
assert sim.cfg.render.enable_ambient_occlusion == enable_ambient_occlusion
carb_settings_iface = carb.settings.get_settings()
assert carb_settings_iface.get("/rtx/translucency/enabled") == sim.cfg.render.enable_translucency
assert carb_settings_iface.get("/rtx/reflections/enabled") == sim.cfg.render.enable_reflections
assert carb_settings_iface.get("/rtx/indirectDiffuse/enabled") == sim.cfg.render.enable_global_illumination
assert carb_settings_iface.get("/rtx-transient/dlssg/enabled") == sim.cfg.render.enable_dlssg
assert carb_settings_iface.get("/rtx-transient/dldenoiser/enabled") == sim.cfg.render.enable_dl_denoiser
assert carb_settings_iface.get("/rtx/post/dlss/execMode") == sim.cfg.render.dlss_mode
assert carb_settings_iface.get("/rtx/directLighting/enabled") == sim.cfg.render.enable_direct_lighting
assert (
carb_settings_iface.get("/rtx/directLighting/sampledLighting/samplesPerPixel")
== sim.cfg.render.samples_per_pixel
)
assert carb_settings_iface.get("/rtx/shadows/enabled") == sim.cfg.render.enable_shadows
assert carb_settings_iface.get("/rtx/ambientOcclusion/enabled") == sim.cfg.render.enable_ambient_occlusion
assert carb_settings_iface.get("/rtx/post/aa/op") == 4 # dlss = 3, dlaa=4
@pytest.mark.isaacsim_ci
def test_render_cfg_presets():
"""Test that the simulation context is created with the correct render cfg preset with overrides."""
# carb setting dictionary overrides
carb_settings = {"/rtx/raytracing/subpixel/mode": 3, "/rtx/pathtracing/maxSamplesPerLaunch": 999999}
# user-friendly setting overrides
dlss_mode = ("/rtx/post/dlss/execMode", 5)
rendering_modes = ["performance", "balanced", "quality"]
for rendering_mode in rendering_modes:
# grab isaac lab apps path
isaaclab_app_exp_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), *[".."] * 4, "apps")
# for Isaac Sim 4.5 compatibility, we use the 4.5 rendering mode app files in a different folder
if get_isaac_sim_version().major < 5:
isaaclab_app_exp_path = os.path.join(isaaclab_app_exp_path, "isaacsim_4_5")
# grab preset settings
preset_filename = os.path.join(isaaclab_app_exp_path, f"rendering_modes/{rendering_mode}.kit")
with open(preset_filename) as file:
preset_dict = toml.load(file)
preset_dict = dict(flatdict.FlatDict(preset_dict, delimiter="."))
render_cfg = RenderCfg(
rendering_mode=rendering_mode,
dlss_mode=dlss_mode[1],
carb_settings=carb_settings,
)
cfg = SimulationCfg(render=render_cfg)
SimulationContext(cfg)
carb_settings_iface = carb.settings.get_settings()
for key, val in preset_dict.items():
setting_name = "/" + key.replace(".", "/") # convert to carb setting format
if setting_name in carb_settings:
# grab groundtruth from carb setting dictionary overrides
setting_gt = carb_settings[setting_name]
elif setting_name == dlss_mode[0]:
# grab groundtruth from user-friendly setting overrides
setting_gt = dlss_mode[1]
else:
# grab groundtruth from preset
setting_gt = val
setting_val = carb_settings_iface.get(setting_name)
assert setting_gt == setting_val
@pytest.mark.skip(reason="Timeline not stopped")
@pytest.mark.isaacsim_ci
def test_render_cfg_defaults():
"""Test that the simulation context is created with the correct render cfg."""
enable_translucency = False
enable_reflections = False
enable_global_illumination = False
antialiasing_mode = "DLSS"
enable_dlssg = False
enable_dl_denoiser = False
dlss_mode = 2
enable_direct_lighting = False
samples_per_pixel = 1
enable_shadows = False
enable_ambient_occlusion = False
render_cfg = RenderCfg(
enable_translucency=enable_translucency,
enable_reflections=enable_reflections,
enable_global_illumination=enable_global_illumination,
antialiasing_mode=antialiasing_mode,
enable_dlssg=enable_dlssg,
enable_dl_denoiser=enable_dl_denoiser,
dlss_mode=dlss_mode,
enable_direct_lighting=enable_direct_lighting,
samples_per_pixel=samples_per_pixel,
enable_shadows=enable_shadows,
enable_ambient_occlusion=enable_ambient_occlusion,
)
cfg = SimulationCfg(render=render_cfg)
sim = SimulationContext(cfg)
assert sim.cfg.render.enable_translucency == enable_translucency
assert sim.cfg.render.enable_reflections == enable_reflections
assert sim.cfg.render.enable_global_illumination == enable_global_illumination
assert sim.cfg.render.antialiasing_mode == antialiasing_mode
assert sim.cfg.render.enable_dlssg == enable_dlssg
assert sim.cfg.render.enable_dl_denoiser == enable_dl_denoiser
assert sim.cfg.render.dlss_mode == dlss_mode
assert sim.cfg.render.enable_direct_lighting == enable_direct_lighting
assert sim.cfg.render.samples_per_pixel == samples_per_pixel
assert sim.cfg.render.enable_shadows == enable_shadows
assert sim.cfg.render.enable_ambient_occlusion == enable_ambient_occlusion
carb_settings_iface = carb.settings.get_settings()
assert carb_settings_iface.get("/rtx/translucency/enabled") == sim.cfg.render.enable_translucency
assert carb_settings_iface.get("/rtx/reflections/enabled") == sim.cfg.render.enable_reflections
assert carb_settings_iface.get("/rtx/indirectDiffuse/enabled") == sim.cfg.render.enable_global_illumination
assert carb_settings_iface.get("/rtx-transient/dlssg/enabled") == sim.cfg.render.enable_dlssg
assert carb_settings_iface.get("/rtx-transient/dldenoiser/enabled") == sim.cfg.render.enable_dl_denoiser
assert carb_settings_iface.get("/rtx/post/dlss/execMode") == sim.cfg.render.dlss_mode
assert carb_settings_iface.get("/rtx/directLighting/enabled") == sim.cfg.render.enable_direct_lighting
assert (
carb_settings_iface.get("/rtx/directLighting/sampledLighting/samplesPerPixel")
== sim.cfg.render.samples_per_pixel
)
assert carb_settings_iface.get("/rtx/shadows/enabled") == sim.cfg.render.enable_shadows
assert carb_settings_iface.get("/rtx/ambientOcclusion/enabled") == sim.cfg.render.enable_ambient_occlusion
assert carb_settings_iface.get("/rtx/post/aa/op") == 3 # dlss = 3, dlaa=4
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