| 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. | |
| Selecting a Rendering Mode | |
| -------------------------- | |
| Rendering modes can be selected in 2 ways. | |
| 1. using the ``rendering_mode`` input class argument in :class:`~sim.RenderCfg` | |
| .. code-block:: python | |
| # 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") | |
| 2. using the ``--rendering_mode`` CLI argument, which takes precedence over the ``rendering_mode`` argument in :class:`~sim.RenderCfg`. | |
| .. code-block:: bash | |
| ./isaaclab.sh -p scripts/tutorials/00_sim/set_rendering_mode.py --rendering_mode {performance/balanced/quality} | |
| 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. | |
| 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. | |
| - Quality Mode | |
| .. image:: ../_static/how-to/howto_rendering_example_quality.jpg | |
| :width: 100% | |
| :alt: Quality Rendering Mode Example | |
| - Balanced Mode | |
| .. image:: ../_static/how-to/howto_rendering_example_balanced.jpg | |
| :width: 100% | |
| :alt: Balanced Rendering Mode Example | |
| - Performance Mode | |
| .. image:: ../_static/how-to/howto_rendering_example_performance.jpg | |
| :width: 100% | |
| :alt: Performance Rendering Mode Example | |
| Overwriting Specific Rendering Settings | |
| --------------------------------------- | |
| Preset rendering settings can be overwritten via the :class:`~sim.RenderCfg` class. | |
| There are 2 ways to provide settings that overwrite presets. | |
| 1. :class:`~sim.RenderCfg` supports overwriting specific settings via user-friendly setting names that map to underlying RTX settings. | |
| For example: | |
| .. 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. | | |
| +----------------------------+--------------------------------------------------------------------------+ | |
| 2. For more control, :class:`~sim.RenderCfg` allows you to overwrite any RTX setting by using the ``carb_settings`` argument. | |
| Examples of RTX settings can be found from within the repo, in the render mode preset files located in ``apps/rendering_modes``. | |
| In addition, the RTX documentation can be found here - https://docs.omniverse.nvidia.com/materials-and-rendering/latest/rtx-renderer.html. | |
| An example usage of ``carb_settings``. | |
| .. code-block:: python | |
| 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, | |
| } | |
| ) | |
| 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`. | |