Removes xr rendering mode (#388)

Remove xr rendering mode since balanced and quality work well for xr
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apps/rendering_modes/xr.kit

-rtx.translucency.enabled = true
-
-rtx.reflections.enabled = true
-rtx.reflections.denoiser.enabled = true
-
-rtx.directLighting.sampledLighting.denoisingTechnique = 5
-rtx.directLighting.sampledLighting.enabled = true
-
-rtx.sceneDb.ambientLightIntensity = 1.0
-
-rtx.shadows.enabled = true
-
-rtx.indirectDiffuse.enabled = true
-rtx.indirectDiffuse.denoiser.enabled = true
-
-rtx.domeLight.upperLowerStrategy = 4
-
-rtx.ambientOcclusion.enabled = true
-rtx.ambientOcclusion.denoiserMode = 0
-
-rtx.raytracing.subpixel.mode = 1
-rtx.raytracing.cached.enabled = true
-
-# DLSS frame gen does not yet support tiled camera well
-rtx-transient.dlssg.enabled = false
-rtx-transient.dldenoiser.enabled = true
-
-# 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
-
-# Avoids silent trimming of tiles
-rtx.viewTile.limit = 1000000

source/isaaclab/docs/CHANGELOG.rst

@@ -391,6 +391,15 @@ Added
 * Added :meth:`~isaaclab.envs.mdp.observations.body_projected_gravity_b`
 
 
+0.37.1 (2025-05-05)
+~~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Removed xr rendering mode.
+
+
 0.37.0 (2025-04-24)
 ~~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/app/app_launcher.py

@@ -321,10 +321,10 @@ class AppLauncher:
             "--rendering_mode",
             type=str,
             action=ExplicitAction,
-            choices={"performance", "balanced", "quality", "xr"},
+            choices={"performance", "balanced", "quality"},
             help=(
                 "Sets the rendering mode. Preset settings files can be found in apps/rendering_modes."
-                ' Can be "performance", "balanced", "quality", or "xr".'
+                ' Can be "performance", "balanced", or "quality".'
                 " Individual settings can be overwritten by using the RenderCfg class."
             ),
         )
@@ -860,14 +860,6 @@ class AppLauncher:
         if rendering_mode is None:
             rendering_mode = "balanced"
 
-        rendering_mode_explicitly_passed = launcher_args.pop("rendering_mode_explicit", False)
-        if self._xr and not rendering_mode_explicitly_passed:
-            # If no rendering mode is specified, default to the xr mode if we are running in XR
-            rendering_mode = "xr"
-
-            # Overwrite for downstream consumers
-            launcher_args["rendering_mode"] = "xr"
-
         # parse preset file
         repo_path = os.path.join(carb.tokens.get_tokens_interface().resolve("${app}"), "..")
         preset_filename = os.path.join(repo_path, f"apps/rendering_modes/{rendering_mode}.kit")

source/isaaclab/isaaclab/sim/simulation_cfg.py

@@ -257,7 +257,7 @@ class RenderCfg:
              rtx.translucency.enabled: False # .kit
              rtx_translucency_enabled: False # python"""
 
-    rendering_mode: Literal["performance", "balanced", "quality", "xr"] | None = None
+    rendering_mode: Literal["performance", "balanced", "quality"] | None = None
     """Sets the rendering mode. Behaves the same as the CLI arg '--rendering_mode'"""
 
 

source/isaaclab/isaaclab/sim/simulation_context.py

@@ -303,7 +303,7 @@ class SimulationContext(_SimulationContext):
         rendering_mode = self.cfg.render.rendering_mode
         if rendering_mode is not None:
             # check if preset is supported
-            supported_rendering_modes = ["performance", "balanced", "quality", "xr"]
+            supported_rendering_modes = ["performance", "balanced", "quality"]
             if rendering_mode not in supported_rendering_modes:
                 raise ValueError(
                     f"RenderCfg rendering mode '{rendering_mode}' not in supported modes {supported_rendering_modes}."