Restore RT2 RenderCfg fields removed in PhysicsManager refactor

source/isaaclab/isaaclab/sim/simulation_cfg.py

@@ -151,6 +151,88 @@ class RenderCfg:
     This is set by the variable: ``/rtx/domeLight/upperLowerStrategy``.
     """
 
+    max_bounces: int | None = None
+    """Maximum number of ray bounces for path tracing (RT2). Default is 2.
+
+    For global illumination (indirect diffuse), this should be at least 3.
+
+    This is set by the variable: ``/rtx/rtpt/maxBounces``.
+    """
+
+    split_glass: bool | None = None
+    """Enables separate glass ray splitting for improved glass rendering (RT2). Default is False.
+
+    Enabling this can reduce noise on glass materials at the cost of performance.
+
+    This is set by the variable: ``/rtx/rtpt/splitGlass``.
+    """
+
+    split_clearcoat: bool | None = None
+    """Enables separate clearcoat ray splitting (RT2). Default is False.
+
+    Enabling this can reduce noise on clearcoat materials at the cost of performance.
+
+    This is set by the variable: ``/rtx/rtpt/splitClearcoat``.
+    """
+
+    split_rough_reflection: bool | None = None
+    """Enables separate rough reflection ray splitting (RT2). Default is True.
+
+    Enabling this can reduce noise on rough reflective materials at the cost of performance.
+
+    This is set by the variable: ``/rtx/rtpt/splitRoughReflection``.
+    """
+
+    ambient_light_intensity: float | None = None
+    """Scene ambient light intensity. Default is 1.0.
+
+    This is set by the variable: ``/rtx/sceneDb/ambientLightIntensity``.
+    """
+
+    ambient_occlusion_denoiser_mode: Literal[0, 1] | None = None
+    """Ambient occlusion denoiser mode. Default is 1.
+
+    Valid values are:
+
+    * 0: Higher quality denoising
+    * 1: Performance-oriented denoising
+
+    This is set by the variable: ``/rtx/ambientOcclusion/denoiserMode``.
+    """
+
+    subpixel_mode: Literal[0, 1] | None = None
+    """Raytracing subpixel mode. Default is 0.
+
+    Valid values are:
+
+    * 0: Performance mode
+    * 1: Quality mode (better anti-aliasing)
+
+    This is set by the variable: ``/rtx/raytracing/subpixel/mode``.
+    """
+
+    enable_cached_raytracing: bool | None = None
+    """Enables cached raytracing for improved performance. Default is True.
+
+    This is set by the variable: ``/rtx/raytracing/cached/enabled``.
+    """
+
+    max_samples_per_launch: int | None = None
+    """Maximum samples per launch for path tracing. Default is 1000000.
+
+    This setting helps avoid replicator warnings when using large tile counts.
+
+    This is set by the variable: ``/rtx/pathtracing/maxSamplesPerLaunch``.
+    """
+
+    view_tile_limit: int | None = None
+    """Maximum number of view tiles. Default is 1000000.
+
+    This setting helps avoid silent trimming of tiles.
+
+    This is set by the variable: ``/rtx/viewTile/limit``.
+    """
+
     carb_settings: dict[str, Any] | None = None
     """A general dictionary for users to supply all carb rendering settings with native names.
 

source/isaaclab/isaaclab/sim/simulation_context.py

@@ -249,6 +249,17 @@ def _apply_nested(data: dict[str, Any], path: str = "") -> None:
             "enable_shadows": "/rtx/shadows/enabled",
             "enable_ambient_occlusion": "/rtx/ambientOcclusion/enabled",
             "dome_light_upper_lower_strategy": "/rtx/domeLight/upperLowerStrategy",
+            "ambient_light_intensity": "/rtx/sceneDb/ambientLightIntensity",
+            "ambient_occlusion_denoiser_mode": "/rtx/ambientOcclusion/denoiserMode",
+            "subpixel_mode": "/rtx/raytracing/subpixel/mode",
+            "enable_cached_raytracing": "/rtx/raytracing/cached/enabled",
+            "max_samples_per_launch": "/rtx/pathtracing/maxSamplesPerLaunch",
+            "view_tile_limit": "/rtx/viewTile/limit",
+            # RT2 path tracing settings
+            "max_bounces": "/rtx/rtpt/maxBounces",
+            "split_glass": "/rtx/rtpt/splitGlass",
+            "split_clearcoat": "/rtx/rtpt/splitClearcoat",
+            "split_rough_reflection": "/rtx/rtpt/splitRoughReflection",
         }
 
         for key, value in vars(render_cfg).items():

source/isaaclab/test/sim/test_simulation_render_config.py

@@ -41,6 +41,17 @@ def test_render_cfg():
     samples_per_pixel = 4
     enable_shadows = True
     enable_ambient_occlusion = True
+    # RT2 settings
+    max_bounces = 4
+    split_glass = True
+    split_clearcoat = True
+    split_rough_reflection = True
+    ambient_light_intensity = 0.5
+    ambient_occlusion_denoiser_mode = 0
+    subpixel_mode = 1
+    enable_cached_raytracing = True
+    max_samples_per_launch = 500000
+    view_tile_limit = 500000
 
     render_cfg = RenderCfg(
         enable_translucency=enable_translucency,
@@ -54,6 +65,17 @@ def test_render_cfg():
         samples_per_pixel=samples_per_pixel,
         enable_shadows=enable_shadows,
         enable_ambient_occlusion=enable_ambient_occlusion,
+        # RT2 settings
+        max_bounces=max_bounces,
+        split_glass=split_glass,
+        split_clearcoat=split_clearcoat,
+        split_rough_reflection=split_rough_reflection,
+        ambient_light_intensity=ambient_light_intensity,
+        ambient_occlusion_denoiser_mode=ambient_occlusion_denoiser_mode,
+        subpixel_mode=subpixel_mode,
+        enable_cached_raytracing=enable_cached_raytracing,
+        max_samples_per_launch=max_samples_per_launch,
+        view_tile_limit=view_tile_limit,
     )
 
     cfg = SimulationCfg(render=render_cfg)
@@ -74,6 +96,16 @@ def test_render_cfg():
     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
+    assert sim.cfg.render.max_bounces == max_bounces
+    assert sim.cfg.render.split_glass == split_glass
+    assert sim.cfg.render.split_clearcoat == split_clearcoat
+    assert sim.cfg.render.split_rough_reflection == split_rough_reflection
+    assert sim.cfg.render.ambient_light_intensity == ambient_light_intensity
+    assert sim.cfg.render.ambient_occlusion_denoiser_mode == ambient_occlusion_denoiser_mode
+    assert sim.cfg.render.subpixel_mode == subpixel_mode
+    assert sim.cfg.render.enable_cached_raytracing == enable_cached_raytracing
+    assert sim.cfg.render.max_samples_per_launch == max_samples_per_launch
+    assert sim.cfg.render.view_tile_limit == view_tile_limit
 
     assert sim.get_setting("/rtx/translucency/enabled") == sim.cfg.render.enable_translucency
     assert sim.get_setting("/rtx/reflections/enabled") == sim.cfg.render.enable_reflections
@@ -85,6 +117,16 @@ def test_render_cfg():
     assert sim.get_setting("/rtx/directLighting/sampledLighting/samplesPerPixel") == sim.cfg.render.samples_per_pixel
     assert sim.get_setting("/rtx/shadows/enabled") == sim.cfg.render.enable_shadows
     assert sim.get_setting("/rtx/ambientOcclusion/enabled") == sim.cfg.render.enable_ambient_occlusion
+    assert sim.get_setting("/rtx/rtpt/maxBounces") == sim.cfg.render.max_bounces
+    assert sim.get_setting("/rtx/rtpt/splitGlass") == sim.cfg.render.split_glass
+    assert sim.get_setting("/rtx/rtpt/splitClearcoat") == sim.cfg.render.split_clearcoat
+    assert sim.get_setting("/rtx/rtpt/splitRoughReflection") == sim.cfg.render.split_rough_reflection
+    assert sim.get_setting("/rtx/sceneDb/ambientLightIntensity") == sim.cfg.render.ambient_light_intensity
+    assert sim.get_setting("/rtx/ambientOcclusion/denoiserMode") == sim.cfg.render.ambient_occlusion_denoiser_mode
+    assert sim.get_setting("/rtx/raytracing/subpixel/mode") == sim.cfg.render.subpixel_mode
+    assert sim.get_setting("/rtx/raytracing/cached/enabled") == sim.cfg.render.enable_cached_raytracing
+    assert sim.get_setting("/rtx/pathtracing/maxSamplesPerLaunch") == sim.cfg.render.max_samples_per_launch
+    assert sim.get_setting("/rtx/viewTile/limit") == sim.cfg.render.view_tile_limit
     assert sim.get_setting("/rtx/post/aa/op") == 4  # dlss = 3, dlaa=4
 
 
@@ -162,6 +204,17 @@ def test_render_cfg_defaults():
     samples_per_pixel = 1
     enable_shadows = False
     enable_ambient_occlusion = False
+    # RT2 defaults
+    max_bounces = 2
+    split_glass = False
+    split_clearcoat = False
+    split_rough_reflection = False
+    ambient_light_intensity = 1.0
+    ambient_occlusion_denoiser_mode = 1
+    subpixel_mode = 0
+    enable_cached_raytracing = False
+    max_samples_per_launch = 1000000
+    view_tile_limit = 1000000
 
     render_cfg = RenderCfg(
         enable_translucency=enable_translucency,
@@ -175,6 +228,17 @@ def test_render_cfg_defaults():
         samples_per_pixel=samples_per_pixel,
         enable_shadows=enable_shadows,
         enable_ambient_occlusion=enable_ambient_occlusion,
+        # RT2 settings
+        max_bounces=max_bounces,
+        split_glass=split_glass,
+        split_clearcoat=split_clearcoat,
+        split_rough_reflection=split_rough_reflection,
+        ambient_light_intensity=ambient_light_intensity,
+        ambient_occlusion_denoiser_mode=ambient_occlusion_denoiser_mode,
+        subpixel_mode=subpixel_mode,
+        enable_cached_raytracing=enable_cached_raytracing,
+        max_samples_per_launch=max_samples_per_launch,
+        view_tile_limit=view_tile_limit,
     )
 
     cfg = SimulationCfg(render=render_cfg)
@@ -192,6 +256,16 @@ def test_render_cfg_defaults():
     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
+    assert sim.cfg.render.max_bounces == max_bounces
+    assert sim.cfg.render.split_glass == split_glass
+    assert sim.cfg.render.split_clearcoat == split_clearcoat
+    assert sim.cfg.render.split_rough_reflection == split_rough_reflection
+    assert sim.cfg.render.ambient_light_intensity == ambient_light_intensity
+    assert sim.cfg.render.ambient_occlusion_denoiser_mode == ambient_occlusion_denoiser_mode
+    assert sim.cfg.render.subpixel_mode == subpixel_mode
+    assert sim.cfg.render.enable_cached_raytracing == enable_cached_raytracing
+    assert sim.cfg.render.max_samples_per_launch == max_samples_per_launch
+    assert sim.cfg.render.view_tile_limit == view_tile_limit
 
     assert sim.get_setting("/rtx/translucency/enabled") == sim.cfg.render.enable_translucency
     assert sim.get_setting("/rtx/reflections/enabled") == sim.cfg.render.enable_reflections
@@ -203,4 +277,14 @@ def test_render_cfg_defaults():
     assert sim.get_setting("/rtx/directLighting/sampledLighting/samplesPerPixel") == sim.cfg.render.samples_per_pixel
     assert sim.get_setting("/rtx/shadows/enabled") == sim.cfg.render.enable_shadows
     assert sim.get_setting("/rtx/ambientOcclusion/enabled") == sim.cfg.render.enable_ambient_occlusion
+    assert sim.get_setting("/rtx/rtpt/maxBounces") == sim.cfg.render.max_bounces
+    assert sim.get_setting("/rtx/rtpt/splitGlass") == sim.cfg.render.split_glass
+    assert sim.get_setting("/rtx/rtpt/splitClearcoat") == sim.cfg.render.split_clearcoat
+    assert sim.get_setting("/rtx/rtpt/splitRoughReflection") == sim.cfg.render.split_rough_reflection
+    assert sim.get_setting("/rtx/sceneDb/ambientLightIntensity") == sim.cfg.render.ambient_light_intensity
+    assert sim.get_setting("/rtx/ambientOcclusion/denoiserMode") == sim.cfg.render.ambient_occlusion_denoiser_mode
+    assert sim.get_setting("/rtx/raytracing/subpixel/mode") == sim.cfg.render.subpixel_mode
+    assert sim.get_setting("/rtx/raytracing/cached/enabled") == sim.cfg.render.enable_cached_raytracing
+    assert sim.get_setting("/rtx/pathtracing/maxSamplesPerLaunch") == sim.cfg.render.max_samples_per_launch
+    assert sim.get_setting("/rtx/viewTile/limit") == sim.cfg.render.view_tile_limit
     assert sim.get_setting("/rtx/post/aa/op") == 3  # dlss = 3, dlaa=4