:orphan: Configuring RTX Rendering Settings ==================================== .. note:: This guide covers the **RTX renderer** settings, which are used when running Isaac Lab with Isaac Sim. The RTX renderer is based on NVIDIA's Omniverse RTX rendering pipeline and is available for all camera sensors in the PhysX backend. For the **Newton renderer** (used with the Newton backend or in kit-less mode), see :ref:`overview_renderers` for the pluggable renderer architecture and available backends. Isaac Lab's RTX renderer applies high-fidelity camera rendering defaults automatically. Override individual settings to tune the renderer for your workflow, as described below. For camera-heavy workloads that need higher throughput, switch to the RTX Minimal renderer instead. Overriding Specific Rendering Settings -------------------------------------- RTX rendering settings can be overridden via :class:`~isaaclab_physx.renderers.IsaacRtxRendererGlobalSettingsCfg`. There are 2 ways to provide settings that override the defaults. 1. :class:`~isaaclab_physx.renderers.IsaacRtxRendererGlobalSettingsCfg` supports overriding specific settings via user-friendly setting names that map to underlying RTX settings. For example: .. code-block:: python global_settings = IsaacRtxRendererGlobalSettingsCfg( # user-friendly setting overrides enable_translucency=True, # render glass / transmissive surfaces enable_reflections=True, # render reflections dlss_mode=3, # 0 (Performance), 1 (Balanced), 2 (Quality, the default), 3 (Auto) ) 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:`~isaaclab_physx.renderers.IsaacRtxRendererGlobalSettingsCfg` allows you to override any RTX setting by using the ``carb_settings`` argument. The full NVIDIA RTX renderer documentation can be found at https://docs.omniverse.nvidia.com/materials-and-rendering/latest/rtx-renderer.html. An example usage of ``carb_settings``. .. code-block:: python global_settings = IsaacRtxRendererGlobalSettingsCfg( # raw carb setting overrides 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:`~isaaclab_physx.renderers.IsaacRtxRendererGlobalSettingsCfg` 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:`~isaaclab_physx.renderers.IsaacRtxRendererGlobalSettingsCfg`. If you observe visual artifacts such as ghosting or disocclusion issues when using tiled rendering, you can try adjusting the ``disocclusionScale`` parameter. This setting controls how aggressively the renderer handles areas that become newly visible between frames: .. code-block:: python global_settings = IsaacRtxRendererGlobalSettingsCfg( carb_settings={ "/rtx/aovConverter/disocclusionScale": 10000, } ) .. note:: This parameter is not commonly exposed as it may have side effects in certain scenarios. Only use it as a last resort if other quality settings do not resolve the visual artifacts. The value can be adjusted to a very high value to reduce disocclusion artifacts. Rendering UsdVol 3D Gaussian Scenes in Multiple Environments ------------------------------------------------------------ When using UsdVol volumes with 3D Gaussian particles (e.g. exported from `3DGRUT `_) in **multiple environments**, you must set the following so the renderer uses the correct compositing path: .. code-block:: python global_settings = IsaacRtxRendererGlobalSettingsCfg( carb_settings={ "omni.rtx.nre.compositing.rendererHints": 3, } ) .. warning:: With multiple environments, each environment holds its own copy of the scene, increasing device memory use, and environments are rendered one after another, which can substantially slow down rendering.