# 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