Updates render setting defaults for better quality (#183)

# Description

This change updates the default render settings for better quality at
slightly lower performance.
It is recommended to use per-camera resolution of at least 100x100, this
change also updates the current Cartpole
camera environments to use 100x100 resolution.

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)
- This change requires a documentation update


## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

<!--
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putting an x character in it

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- [x] I have done this task
- [ ] I have not done this task
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docs/source/overview/sensors/camera.rst

@@ -161,7 +161,9 @@ The info ``idToLabels`` dictionary will be the mapping from color to USD prim pa
 Current Limitations
 -------------------
 
-For performance reasons, we default to using the "performance" DLSS mode for anti-aliasing.
+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.
-For higher quality rendering at a cost of performance, we recommend switching to the DLAA mode for anti-aliasing.
-Anti-aliasing modes and other rendering parameters can be specified in :class:`~sim.RenderCfg`.
+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`.

source/apps/isaaclab.python.headless.rendering.kit

@@ -42,12 +42,11 @@ app.enableStdoutOutput = false
 isaac.startup.ros_bridge_extension = ""
 
 # Flags for better rendering performance
+# Disabling these settings reduces renderer VRAM usage and improves rendering performance, but at some quality cost
 rtx.translucency.enabled = false
 rtx.reflections.enabled = false
 rtx.indirectDiffuse.enabled = false
-rtx.transient.dlssg.enabled = false
-rtx.directLighting.sampledLighting.enabled = true
-rtx.directLighting.sampledLighting.samplesPerPixel = 1
+rtx-transient.dlssg.enabled = false
 rtx.sceneDb.ambientLightIntensity = 1.0
 # rtx.shadows.enabled = false
 
@@ -56,7 +55,17 @@ rtx-transient.dldenoiser.enabled = false
 rtx.indirectDiffuse.denoiser.enabled = false
 rtx.directLighting.sampledLighting.denoisingTechnique = 0
 rtx.reflections.denoiser.enabled = false
+
+# this approximate dome lighting, almost like an ambient light
+# for better lighting, enable ambient occlusion at a small cost
+rtx.domeLight.upperLowerStrategy=4
+rtx.directLighting.sampledLighting.enabled = false
+rtx.ambientOcclusion.enabled = false
 rtx.ambientOcclusion.denoiserMode = 0
+rtx.raytracing.subpixel.mode=1
+rtx.raytracing.cached.enabled = false
+# Set the DLSS model
+rtx.post.dlss.execMode = 2 # can be 0 (Performance), 1 (Balanced), 2 (Quality), or 3 (Auto)
 
 # Avoids replicator warning
 rtx.pathtracing.maxSamplesPerLaunch = 1000000
@@ -64,13 +73,6 @@ rtx.pathtracing.maxSamplesPerLaunch = 1000000
 # Disable present thread to improve performance
 exts."omni.renderer.core".present.enabled=false
 
-# Disabling these settings reduces renderer VRAM usage and improves rendering performance, but at some quality cost
-rtx.raytracing.cached.enabled = false
-rtx.ambientOcclusion.enabled = false
-
-# Set the DLSS model
-rtx.post.dlss.execMode = 0 # can be 0 (Performance), 1 (Balanced), 2 (Quality), or 3 (Auto)
-
 # Avoids unnecessary GPU context initialization
 renderer.multiGpu.maxGpuCount=1
 

source/apps/isaaclab.python.rendering.kit

@@ -43,12 +43,11 @@ app.enableStdoutOutput = false
 isaac.startup.ros_bridge_extension = ""
 
 # Flags for better rendering performance
+# Disabling these settings reduces renderer VRAM usage and improves rendering performance, but at some quality cost
 rtx.translucency.enabled = false
 rtx.reflections.enabled = false
 rtx.indirectDiffuse.enabled = false
-rtx.transient.dlssg.enabled = false
-rtx.directLighting.sampledLighting.enabled = true
-rtx.directLighting.sampledLighting.samplesPerPixel = 1
+rtx-transient.dlssg.enabled = false
 rtx.sceneDb.ambientLightIntensity = 1.0
 # rtx.shadows.enabled = false
 
@@ -57,7 +56,17 @@ rtx-transient.dldenoiser.enabled = false
 rtx.indirectDiffuse.denoiser.enabled = false
 rtx.directLighting.sampledLighting.denoisingTechnique = 0
 rtx.reflections.denoiser.enabled = false
+
+# this approximate dome lighting, almost like an ambient light
+# for better lighting, enable ambient occlusion at a small cost
+rtx.domeLight.upperLowerStrategy=4
+rtx.directLighting.sampledLighting.enabled = false
+rtx.ambientOcclusion.enabled = false
 rtx.ambientOcclusion.denoiserMode = 0
+rtx.raytracing.subpixel.mode=1
+rtx.raytracing.cached.enabled = false
+# Set the DLSS model
+rtx.post.dlss.execMode = 2 # can be 0 (Performance), 1 (Balanced), 2 (Quality), or 3 (Auto)
 
 # Avoids replicator warning
 rtx.pathtracing.maxSamplesPerLaunch = 1000000
@@ -65,13 +74,6 @@ rtx.pathtracing.maxSamplesPerLaunch = 1000000
 # Disable present thread to improve performance
 exts."omni.renderer.core".present.enabled=false
 
-# Disabling these settings reduces renderer VRAM usage and improves rendering performance, but at some quality cost
-rtx.raytracing.cached.enabled = false
-rtx.ambientOcclusion.enabled = false
-
-# Set the DLSS model
-rtx.post.dlss.execMode = 0 # can be 0 (Performance), 1 (Balanced), 2 (Quality), or 3 (Auto)
-
 # Avoids unnecessary GPU context initialization
 renderer.multiGpu.maxGpuCount=1
 

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py

@@ -172,7 +172,11 @@ class RenderCfg:
     """Enables Diffused Global Illumination at the cost of some performance. Default is False."""
 
     antialiasing_mode: Literal["Off", "FXAA", "DLSS", "TAA", "DLAA"] = "DLSS"
-    """Selects the anti-aliasing mode to use. Defaults to DLSS."""
+    """Selects the anti-aliasing mode to use. Defaults to DLSS.
+       - 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 = False
     """"Enables the use of DLSS-G.
@@ -182,6 +186,11 @@ class RenderCfg:
         Enabling this feature also enables additional thread-related activities, which can hurt performance.
         Default is False."""
 
+    enable_dl_denoiser: bool = False
+    """Enables the use of a DL denoiser.
+       The DL denoiser can help improve the quality of renders, but comes at a cost of performance.
+    """
+
     dlss_mode: Literal[0, 1, 2, 3] = 0
     """For DLSS anti-aliasing, selects the performance/quality tradeoff mode.
        Valid values are 0 (Performance), 1 (Balanced), 2 (Quality), or 3 (Auto). Default is 0."""

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py

@@ -158,7 +158,8 @@ class SimulationContext(_SimulationContext):
         carb_settings_iface.set_bool("/rtx/translucency/enabled", self.cfg.render.enable_translucency)
         carb_settings_iface.set_bool("/rtx/reflections/enabled", self.cfg.render.enable_reflections)
         carb_settings_iface.set_bool("/rtx/indirectDiffuse/enabled", self.cfg.render.enable_global_illumination)
-        carb_settings_iface.set_bool("/rtx/transient/dlssg/enabled", self.cfg.render.enable_dlssg)
+        carb_settings_iface.set_bool("/rtx-transient/dlssg/enabled", self.cfg.render.enable_dlssg)
+        carb_settings_iface.set_bool("/rtx-transient/dldenoiser/enabled", self.cfg.render.enable_dl_denoiser)
         carb_settings_iface.set_int("/rtx/post/dlss/execMode", self.cfg.render.dlss_mode)
         carb_settings_iface.set_bool("/rtx/directLighting/enabled", self.cfg.render.enable_direct_lighting)
         carb_settings_iface.set_int(

source/extensions/omni.isaac.lab/test/sim/test_simulation_render_config.py

@@ -36,7 +36,8 @@ class TestSimulationRenderConfig(unittest.TestCase):
         enable_global_illumination = True
         antialiasing_mode = "DLAA"
         enable_dlssg = True
-        dlss_mode = 3
+        enable_dl_denoiser = True
+        dlss_mode = 0
         enable_direct_lighting = True
         samples_per_pixel = 4
         enable_shadows = True
@@ -49,6 +50,7 @@ class TestSimulationRenderConfig(unittest.TestCase):
             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,
@@ -65,6 +67,7 @@ class TestSimulationRenderConfig(unittest.TestCase):
         self.assertEqual(sim.cfg.render.antialiasing_mode, antialiasing_mode)
         self.assertEqual(sim.cfg.render.enable_dlssg, enable_dlssg)
         self.assertEqual(sim.cfg.render.dlss_mode, dlss_mode)
+        self.assertEqual(sim.cfg.render.enable_dl_denoiser, enable_dl_denoiser)
         self.assertEqual(sim.cfg.render.enable_direct_lighting, enable_direct_lighting)
         self.assertEqual(sim.cfg.render.samples_per_pixel, samples_per_pixel)
         self.assertEqual(sim.cfg.render.enable_shadows, enable_shadows)
@@ -76,7 +79,10 @@ class TestSimulationRenderConfig(unittest.TestCase):
         self.assertEqual(
             carb_settings_iface.get("/rtx/indirectDiffuse/enabled"), sim.cfg.render.enable_global_illumination
         )
-        self.assertEqual(carb_settings_iface.get("/rtx/transient/dlssg/enabled"), sim.cfg.render.enable_dlssg)
+        self.assertEqual(carb_settings_iface.get("/rtx-transient/dlssg/enabled"), sim.cfg.render.enable_dlssg)
+        self.assertEqual(
+            carb_settings_iface.get("/rtx-transient/dldenoiser/enabled"), sim.cfg.render.enable_dl_denoiser
+        )
         self.assertEqual(carb_settings_iface.get("/rtx/post/dlss/execMode"), sim.cfg.render.dlss_mode)
         self.assertEqual(carb_settings_iface.get("/rtx/directLighting/enabled"), sim.cfg.render.enable_direct_lighting)
         self.assertEqual(
@@ -96,7 +102,8 @@ class TestSimulationRenderConfig(unittest.TestCase):
         enable_global_illumination = False
         antialiasing_mode = "DLSS"
         enable_dlssg = False
-        dlss_mode = 0
+        enable_dl_denoiser = False
+        dlss_mode = 2
         enable_direct_lighting = False
         samples_per_pixel = 1
         enable_shadows = False
@@ -108,6 +115,7 @@ class TestSimulationRenderConfig(unittest.TestCase):
             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,
@@ -124,6 +132,7 @@ class TestSimulationRenderConfig(unittest.TestCase):
         self.assertEqual(sim.cfg.render.enable_global_illumination, enable_global_illumination)
         self.assertEqual(sim.cfg.render.antialiasing_mode, antialiasing_mode)
         self.assertEqual(sim.cfg.render.enable_dlssg, enable_dlssg)
+        self.assertEqual(sim.cfg.render.enable_dl_denoiser, enable_dl_denoiser)
         self.assertEqual(sim.cfg.render.dlss_mode, dlss_mode)
         self.assertEqual(sim.cfg.render.enable_direct_lighting, enable_direct_lighting)
         self.assertEqual(sim.cfg.render.samples_per_pixel, samples_per_pixel)
@@ -136,7 +145,10 @@ class TestSimulationRenderConfig(unittest.TestCase):
         self.assertEqual(
             carb_settings_iface.get("/rtx/indirectDiffuse/enabled"), sim.cfg.render.enable_global_illumination
         )
-        self.assertEqual(carb_settings_iface.get("/rtx/transient/dlssg/enabled"), sim.cfg.render.enable_dlssg)
+        self.assertEqual(carb_settings_iface.get("/rtx-transient/dlssg/enabled"), sim.cfg.render.enable_dlssg)
+        self.assertEqual(
+            carb_settings_iface.get("/rtx-transient/dldenoiser/enabled"), sim.cfg.render.enable_dl_denoiser
+        )
         self.assertEqual(carb_settings_iface.get("/rtx/post/dlss/execMode"), sim.cfg.render.dlss_mode)
         self.assertEqual(carb_settings_iface.get("/rtx/directLighting/enabled"), sim.cfg.render.enable_direct_lighting)
         self.assertEqual(

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_camera_env.py

@@ -44,8 +44,8 @@ class CartpoleRGBCameraEnvCfg(DirectRLEnvCfg):
         spawn=sim_utils.PinholeCameraCfg(
             focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 20.0)
         ),
-        width=80,
-        height=80,
+        width=100,
+        height=100,
     )
     write_image_to_file = False
 
@@ -82,8 +82,8 @@ class CartpoleDepthCameraEnvCfg(CartpoleRGBCameraEnvCfg):
         spawn=sim_utils.PinholeCameraCfg(
             focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 20.0)
         ),
-        width=80,
-        height=80,
+        width=100,
+        height=100,
     )
 
     # spaces

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py

@@ -30,8 +30,8 @@ class CartpoleRGBCameraSceneCfg(CartpoleSceneCfg):
         spawn=sim_utils.PinholeCameraCfg(
             focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 20.0)
         ),
-        width=80,
-        height=80,
+        width=100,
+        height=100,
     )
 
 
@@ -46,8 +46,8 @@ class CartpoleDepthCameraSceneCfg(CartpoleSceneCfg):
         spawn=sim_utils.PinholeCameraCfg(
             focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 20.0)
         ),
-        width=80,
-        height=80,
+        width=100,
+        height=100,
     )