Adds parameter to specify number of rerenders after environment reset #3818
Conversation
peterd-NV
requested review from
Mayankm96,
jtigue-bdai,
kellyguo11 and
ooctipus
as code owners
peterd-NV
changed the title
peterd-NV
changed the title
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If the environment is parallel, then non-resetting environment will also gets re-rendered. If the goal is to remove artifacts or ghosting, this may work around it at the cost of dramatically increase per step cost in high number of environments. RL workflows may run over 10k envs, and you almost get reset every step,. For this reason I'd prefer this path not exist at all. Should we consult with rendering team before we workaround in this way? If the it is currently only required for mimic related take, why can't we provide it from mimic env? |
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| rerender_on_reset: bool = False | ||
| """Whether a render step is performed again after at least one environment has been reset. | ||
| """[DEPRECATED] Use num_rerenders_on_reset instead. |
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Please use the sphinx directive for this everywhere: https://www.sphinx-doc.org/en/master/usage/restructuredtext/directives.html#directive-deprecated
You can add the explanation and clear the remainig docstring so that it is cleaner for users and they all are pointed to the right attribute directly. Something like:
.. deprecated: v2.3.0
Please use :attr:`num_rerenders_on_reset`.
Setting this flag as True is the same as setting :attr:`num_rerenders_on_reset` to one.
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Update to use sphinx deprecation directive and following format of other existing deprecations in Isaac Lab.
| self.export_IO_descriptors() | ||
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| # show deprecation message for rerender_on_reset | ||
| if self.cfg.rerender_on_reset: |
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You can throw the warning and then internally set the variable num_rerenders_on_reset to 1. This then simplifies your check at other places. Also could you use deprecate warning from python instead of omni logger: https://docs.python.org/3/library/warnings.html
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Thanks for the recommendation. Setting the variable num_rerenders_on_reset internally and removed checks elsewhere in the code to simplify.
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Greptile Overview
Greptile Summary
This review covers only the changes made since the last review, not the entire PR. This change set modifies a single visuomotor environment configuration file to use the new rerendering parameter. The file now sets num_rerenders_on_reset = 1 and disables antialiasing mode (antialiasing_mode = "OFF"). However, this configuration contradicts the PR's stated objective of eliminating artifacts/ghosting in visuomotor environments by using DLAA with multiple rerenders. The PR description explicitly mentions "updates the existing visuomotor envs to use new rerendering API together with DLAA for high quality rendering," but this file does the opposite by setting antialiasing to OFF and using only 1 rerender.
Important Files Changed
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_visuomotor_cosmos_env_cfg.py | 2/5 | Sets num_rerenders_on_reset = 1 and disables antialiasing, contradicting PR's goal of using DLAA with multiple rerenders to eliminate artifacts |
Confidence score: 2/5
- This change appears to contradict the PR's stated objectives and may reintroduce the image quality issues the PR aims to solve
- Score reflects a direct conflict between the PR description (which claims to update visuomotor envs with DLAA and improved rerendering) and the actual implementation (which disables antialiasing and uses minimal rerendering)
- The stack_ik_rel_visuomotor_cosmos_env_cfg.py file requires immediate attention as it sets antialiasing to OFF instead of DLAA and uses only 1 rerender instead of multiple, directly opposing the PR's goals
1 file reviewed, no comments
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Greptile Overview
Greptile Summary
This review covers only the changes made since the last review, not the entire PR. The developer has successfully addressed the previous feedback by switching from omni.log.warn to Python's standard warnings.warn for deprecation warnings, and by updating the Sphinx deprecation directives in the docstrings. The implementation now follows Python best practices by using warnings.warn with DeprecationWarning category in the runtime code, while maintaining user-facing documentation with proper Sphinx .. deprecated:: directives that clearly guide users to migrate from the boolean rerender_on_reset to the integer num_rerenders_on_reset parameter. The core logic remains the same - backward compatibility is preserved by converting rerender_on_reset=True to num_rerenders_on_reset=1 during initialization, and the rerendering loops now consistently use the new parameter to control multiple render iterations after environment reset.
Important Files Changed
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/isaaclab/envs/direct_rl_env_cfg.py | 5/5 | Updated deprecation documentation to use Sphinx directive with clear migration guidance |
| source/isaaclab/isaaclab/envs/direct_rl_env.py | 5/5 | Replaced omni.log.warn with warnings.warn for deprecation warning |
| source/isaaclab/isaaclab/envs/manager_based_env.py | 5/5 | Replaced omni.log.warn with warnings.warn for deprecation warning |
| source/isaaclab/isaaclab/envs/manager_based_env_cfg.py | 5/5 | Updated deprecation documentation to use Sphinx directive with clear migration guidance |
| source/isaaclab/isaaclab/envs/manager_based_rl_env.py | 5/5 | No deprecation warning in this file, only uses new num_rerenders_on_reset parameter |
Confidence score: 5/5
- This PR is safe to merge with minimal risk
- Score reflects proper implementation of standard Python deprecation practices, correct use of Sphinx documentation directives, clean backward compatibility handling, and addressing all previous review feedback
- No files require special attention - all deprecation warnings now follow Python standards and documentation is clear and consistent
5 files reviewed, 1 comment
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Greptile Overview
Greptile Summary
This review covers only the changes made since the last review, not the entire PR. The latest changes implement the previously requested improvements to the deprecation handling. The developer has successfully migrated from omni.log.warn() to Python's standard warnings.warn() with FutureWarning categorization, which provides better integration with Python's warning system. The implementation now automatically converts the deprecated rerender_on_reset boolean parameter to the new num_rerenders_on_reset integer parameter (setting it to 1 when True), simplifying the logic at usage sites. The changes maintain full backward compatibility while encouraging users to migrate to the more flexible API that supports multiple render iterations after reset, addressing DLSS/DLAA ghosting artifacts in visuomotor environments.
Important Files Changed
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/isaaclab/envs/manager_based_env.py | 5/5 | Successfully migrated to Python warnings module with automatic parameter conversion from deprecated rerender_on_reset to new num_rerenders_on_reset |
| source/isaaclab/isaaclab/envs/direct_rl_env.py | 4/5 | Implements the same deprecation pattern but contains a copy-paste error in the warning message that incorrectly references ManagerBasedEnvCfg instead of DirectRLEnvCfg |
Confidence score: 4/5
- This PR is safe to merge with only a minor cosmetic issue that should be addressed
- Score lowered by one point due to the copy-paste error in the deprecation warning message in
direct_rl_env.py(lines 223-230) which incorrectly references "ManagerBasedEnvCfg" instead of "DirectRLEnvCfg" - while this doesn't affect functionality, it will confuse users of DirectRLEnv - The deprecation warning in
source/isaaclab/isaaclab/envs/direct_rl_env.pyshould be corrected to reference the correct class name before merging
2 files reviewed, 1 comment
| # show deprecation message for rerender_on_reset | ||
| if self.cfg.rerender_on_reset: | ||
| warnings.warn( | ||
| f"\033[93m\033[1m[DEPRECATION WARNING] ManagerBasedEnvCfg.rerender_on_reset is deprecated. Use ManagerBasedEnvCfg.num_rerenders_on_reset instead.\033[0m", |
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syntax: Warning message incorrectly references ManagerBasedEnvCfg instead of DirectRLEnvCfg
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Greptile Overview
Greptile Summary
This review covers only the changes made since the last review, not the entire PR. The developer has addressed previous review comments by: (1) removing the unused omni.log import from manager_based_rl_env.py, (2) reformatting deprecation warning messages to split long lines for better readability, and (3) fixing documentation formatting issues with deprecation directives. The core PR functionality remains unchanged - it introduces num_rerenders_on_reset as a more flexible integer parameter to replace the deprecated boolean rerender_on_reset, allowing multiple render iterations after environment resets to eliminate DLSS artifacts in visuomotor environments.
Important Files Changed
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/isaaclab/envs/manager_based_rl_env.py | 5/5 | Removed unused omni.log import as part of cleanup |
| source/isaaclab/isaaclab/envs/direct_rl_env_cfg.py | 4/5 | Added num_rerenders_on_reset parameter with deprecation notice; minor doc formatting issue with blank line before deprecation directive |
| source/isaaclab/isaaclab/envs/manager_based_env.py | 5/5 | Implemented deprecation handling with multi-line warning message formatting |
| source/isaaclab/isaaclab/envs/manager_based_env_cfg.py | 5/5 | Added num_rerenders_on_reset parameter with properly formatted deprecation notice |
| source/isaaclab/isaaclab/envs/direct_rl_env.py | 2/5 | Reformatted deprecation warning but incorrectly references ManagerBasedEnvCfg instead of DirectRLEnvCfg |
Confidence score: 3/5
- This PR introduces useful functionality but contains a critical error that will confuse users
- Score reduced due to incorrect class name in deprecation warning (
ManagerBasedEnvCfginstead ofDirectRLEnvCfgin direct_rl_env.py), and a minor documentation formatting issue (blank line before deprecation directive in direct_rl_env_cfg.py line 226) - Pay close attention to source/isaaclab/isaaclab/envs/direct_rl_env.py (lines 226-227) and source/isaaclab/isaaclab/envs/direct_rl_env_cfg.py (line226)
5 files reviewed, 2 comments
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Greptile Overview
Greptile Summary
This review covers only the changes made since the last review, not the entire PR. The developer has successfully addressed previous feedback by removing incorrect blank lines in deprecation directives and fixing incorrect class name references in warning messages. The changes focus on improving documentation formatting and ensuring deprecation warnings correctly reference DirectRLEnvCfg instead of ManagerBasedEnvCfg. These are minor but important fixes that ensure proper documentation rendering and accurate deprecation messages for users migrating from the old rerender_on_reset parameter to the new num_rerenders_on_reset parameter. The updates align with the broader PR goal of providing better control over DLSS rendering behavior in visuomotor environments by allowing multiple re-render iterations after environment resets.
Important Files Changed
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/isaaclab/envs/direct_rl_env_cfg.py | 5/5 | Fixed documentation formatting by removing blank lines after deprecation directives |
| source/isaaclab/isaaclab/envs/manager_based_env_cfg.py | 5/5 | Corrected trailing newline before deprecation directive for proper doc rendering |
| source/isaaclab/isaaclab/envs/direct_rl_env.py | 5/5 | Fixed deprecation warning message to correctly reference DirectRLEnvCfg instead of ManagerBasedEnvCfg |
Confidence score: 5/5
- This PR is safe to merge with minimal risk, addressing documentation and warning message correctness
- Score reflects that all previous feedback has been properly addressed with no new issues introduced - the changes are documentation-only improvements that fix formatting and messaging accuracy
- No files require special attention - all changes are straightforward corrections to deprecation messages and documentation formatting
14 files reviewed, 4 comments
| Changelog | ||
| --------- | ||
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| 0.11.2 (2025-10-23) |
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syntax: Date is in the future (2025-10-23) - should likely be 2024-10-23
source/isaaclab/docs/CHANGELOG.rst
Outdated
| Changelog | ||
| --------- | ||
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| 0.47.2 (2025-10-23) |
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syntax: date format is MM-DD instead of YYYY-MM-DD - should be 2025-01-23 not 2025-10-23 based on the pattern in the file (version 0.47.1 is dated 2025-10-17, and versions progress chronologically)
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Greptile Overview
Greptile Summary
This review covers only the changes made since the last review, not the entire PR. The most recent change is a correction to a deprecation warning message in direct_rl_env.py. Previously, the warning incorrectly referenced ManagerBasedEnvCfg when it should have referenced DirectRLEnvCfg, since the code is part of the DirectRLEnv class. This fix ensures users receive accurate information about which configuration parameter to update when migrating from the deprecated rerender_on_reset boolean to the new num_rerenders_on_reset integer parameter. The change is purely cosmetic to the warning text and does not affect functionality.
Important Files Changed
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/isaaclab/envs/direct_rl_env.py | 5/5 | Fixed deprecation warning to correctly reference DirectRLEnvCfg instead of ManagerBasedEnvCfg |
Confidence score: 5/5
- This change is safe to merge with minimal risk - it only corrects a string in a deprecation warning message
- Score reflects that this is a trivial text correction with no logic changes, addressing feedback from previous reviews
- No files require special attention - the change is self-contained and straightforward
3 files reviewed, no comments
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Thanks for the comments and suggestions @Mayankm96. I've updated the PR to use the proper deprecation directives and simplify the code by always setting the new parameter internally and using that throughout the code. I've also validated policy performance with the new rendering settings on both Franka/GR1 and can confirm that they are expected with the latest iteration of this PR. |
…nder_on_reset_iterations
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Greptile Overview
Greptile Summary
This PR adds a new num_rerenders_on_reset parameter to both ManagerBasedEnv and DirectRLEnv to provide fine-grained control over the number of render steps performed after environment reset. This addresses DLSS/DLAA ghosting artifacts that occur with a single render step.
Key Changes:
- Added
num_rerenders_on_resetparameter (defaults to 0) in both environment config classes - Deprecated
rerender_on_resetboolean parameter with migration warnings - Updated reset methods to loop
num_rerenders_on_resettimes instead of single conditional render - Migrated visuomotor environments to use new API with
num_rerenders_on_reset=3and DLAA antialiasing - Updated camera resolution from 84x84 to 200x200 in Franka visuomotor environments
- Added new BC-RNN training config for 200x200 images
Issues Found:
- Critical logic bug in deprecation handling: if users set both
rerender_on_reset=Trueandnum_rerenders_on_reset=3, the code unconditionally overwritesnum_rerenders_on_resetto 1, losing their configuration
Confidence Score: 3/5
- This PR has a logic bug in backward compatibility that could silently break user configurations
- The implementation is mostly sound with proper deprecation warnings and documentation, but the deprecation logic has a critical flaw where it unconditionally overwrites
num_rerenders_on_resetwhenrerender_on_reset=True, even if the user explicitly set a different value. This creates a backward compatibility issue that could cause subtle bugs during migration. - Pay close attention to
source/isaaclab/isaaclab/envs/manager_based_env.pyandsource/isaaclab/isaaclab/envs/direct_rl_env.py- both have the same deprecation logic bug
Important Files Changed
File Analysis
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/isaaclab/envs/manager_based_env.py | 3/5 | Added deprecation logic and updated reset methods to use num_rerenders_on_reset - has logic issue with backward compatibility |
| source/isaaclab/isaaclab/envs/direct_rl_env.py | 3/5 | Added deprecation logic and updated reset methods to use num_rerenders_on_reset - has logic issue with backward compatibility |
| source/isaaclab/isaaclab/envs/manager_based_env_cfg.py | 5/5 | Added new num_rerenders_on_reset parameter with clear documentation and deprecation notice |
| source/isaaclab/isaaclab/envs/direct_rl_env_cfg.py | 5/5 | Added new num_rerenders_on_reset parameter with clear documentation and deprecation notice |
Sequence Diagram
sequenceDiagram
participant User
participant EnvConfig
participant Environment
participant SimulationManager
User->>EnvConfig: Set num_rerenders_on_reset=3
User->>EnvConfig: (Optional) Set rerender_on_reset=True (deprecated)
User->>Environment: Initialize environment
alt rerender_on_reset is True
Environment->>Environment: Show deprecation warning
Environment->>EnvConfig: Set num_rerenders_on_reset=1 (overwrites!)
end
User->>Environment: Call reset()
Environment->>Environment: Perform reset logic
Environment->>SimulationManager: write_data_to_sim()
Environment->>SimulationManager: forward()
alt has_rtx_sensors() AND num_rerenders_on_reset > 0
loop num_rerenders_on_reset times
Environment->>SimulationManager: render()
Note over SimulationManager: Updates sensor data with DLSS/DLAA
end
end
Environment->>User: Return observations with updated sensor data
16 files reviewed, 2 comments
…nder_on_reset_iterations
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Greptile Overview
Greptile Summary
This PR introduces num_rerenders_on_reset to replace the boolean rerender_on_reset parameter, enabling fine-grained control over rendering after environment resets. This addresses DLSS ghosting/artifacts by allowing multiple render passes, which is critical for visuomotor learning environments.
Key Changes:
- Added
num_rerenders_on_resetparameter toManagerBasedEnvCfgandDirectRLEnvCfg(defaults to 0) - Deprecated
rerender_on_resetwith proper warnings in both environment classes - Updated all visuomotor environments to use
num_rerenders_on_reset=3with DLAA antialiasing - Increased camera resolution from 84x84 to 200x200 for Franka stack environment
- Added corresponding robomimic BC-RNN config for 200x200 images
Issues Found (from previous comments):
- CHANGELOG dates use year 2025 instead of 2024 in both
source/isaaclab/docs/CHANGELOG.rstandsource/isaaclab_tasks/docs/CHANGELOG.rst - Warning message in
direct_rl_env.py:224incorrectly referencesManagerBasedEnvCfginstead ofDirectRLEnvCfg - Deprecation logic will overwrite user's
num_rerenders_on_resetvalue if they set both old and new parameters
Confidence Score: 3/5
- This PR is mostly safe but has several issues that should be addressed before merge
- The implementation is sound and the feature is well-designed, but there are 4 issues flagged in previous comments: incorrect CHANGELOG dates (2025 vs 2024), incorrect class name in deprecation warning, and a logic bug where setting both deprecated and new parameters causes the new parameter to be overwritten. These are straightforward fixes but should be resolved to avoid confusion and unexpected behavior.
- Pay close attention to
source/isaaclab/isaaclab/envs/manager_based_env.py,source/isaaclab/isaaclab/envs/direct_rl_env.pyfor the deprecation logic bug, and both CHANGELOG files for date corrections
Important Files Changed
File Analysis
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/isaaclab/envs/manager_based_env_cfg.py | 5/5 | Added num_rerenders_on_reset parameter with proper deprecation notice for rerender_on_reset |
| source/isaaclab/isaaclab/envs/direct_rl_env_cfg.py | 5/5 | Added num_rerenders_on_reset parameter with proper deprecation notice for rerender_on_reset |
| source/isaaclab/isaaclab/envs/manager_based_env.py | 3/5 | Implemented deprecation warning and loop-based rerendering. Has previous comment about overwrite bug when both old and new params set |
| source/isaaclab/isaaclab/envs/direct_rl_env.py | 3/5 | Implemented deprecation warning and loop-based rerendering. Has previous comment about incorrect warning message and overwrite bug |
| source/isaaclab/docs/CHANGELOG.rst | 3/5 | Added version 0.47.5 changelog entry. Has previous comment about incorrect date (2025-10-31 should be 2024-10-31) |
| source/isaaclab_tasks/docs/CHANGELOG.rst | 3/5 | Added version 0.11.7 changelog entry. Has previous comment about incorrect date (2025-10-29 should be 2024-10-29) |
Sequence Diagram
sequenceDiagram
participant User
participant EnvConfig as ManagerBasedEnvCfg/DirectRLEnvCfg
participant Env as ManagerBasedEnv/DirectRLEnv
participant Sim as Simulation
Note over User,Sim: Environment Initialization
User->>EnvConfig: Set num_rerenders_on_reset=3
User->>EnvConfig: Set rerender_on_reset=True (deprecated)
EnvConfig->>Env: Initialize environment
alt If rerender_on_reset is True
Env->>Env: Show deprecation warning
Env->>EnvConfig: Set num_rerenders_on_reset=1
end
Note over User,Sim: Environment Reset Flow
User->>Env: reset()
Env->>Env: _reset_idx(env_ids)
Env->>Sim: write_data_to_sim()
Env->>Sim: forward()
alt If has_rtx_sensors() and num_rerenders_on_reset > 0
loop num_rerenders_on_reset times
Env->>Sim: render()
Note over Sim: Additional render step<br/>to eliminate DLSS artifacts
end
end
Env->>User: Return observations
Note over User,Sim: Step with Partial Reset
User->>Env: step(actions)
Env->>Env: Process actions
alt If some environments need reset
Env->>Env: _reset_idx(reset_env_ids)
alt If has_rtx_sensors() and num_rerenders_on_reset > 0
loop num_rerenders_on_reset times
Env->>Sim: render()
end
end
end
Env->>User: Return obs, rewards, dones, info
16 files reviewed, no comments
kellyguo11
changed the title
| # show deprecation message for rerender_on_reset | ||
| if self.cfg.rerender_on_reset: | ||
| warnings.warn( | ||
| "\033[93m\033[1m[DEPRECATION WARNING] DirectRLEnvCfg.rerender_on_reset is deprecated. Use" |
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what is the purpose of \033[93m\033[1m?
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This is to format the string to be bolded and yellow. Without it, I find the message is very easily lost in the Isaac Lab logs.
| warnings.warn( | ||
| "\033[93m\033[1m[DEPRECATION WARNING] DirectRLEnvCfg.rerender_on_reset is deprecated. Use" | ||
| " DirectRLEnvCfg.num_rerenders_on_reset instead.\033[0m", | ||
| FutureWarning, |
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is there a reason to use this instead of DeprecationWarning?
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By default in python warnings, DeprecationWarning is not shown to users running the code. Using FutureWarning ensures the warning is printed and shown in the logs.
| to reflect the latest states from the reset. This comes at a cost of performance as an additional render | ||
| step will be performed after each time an environment is reset. | ||
| .. deprecated:: 0.47.2 |
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maybe we can use 2.3.1 for the version instead. I'm not sure if 0.47.2 is as obvious to users
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Good call, that makes it easier to understand. I've updated to 2.3.1
I think I can see this being a valid option for RL environments as well. We should note for sure that it will come at a high performance cost, but if users really need the extra quality for renderer convergence, then the same path could still be applied. |
…sion for easier understanding
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Greptile Overview
Greptile Summary
Adds a new num_rerenders_on_reset parameter to ManagerBasedEnvCfg and DirectRLEnvCfg that replaces the boolean rerender_on_reset parameter. This allows users to specify the exact number of re-render steps after environment reset, enabling better control over DLSS/DLAA rendering to eliminate ghosting artifacts.
Key Changes:
- New
num_rerenders_on_reset: int = 0parameter in both config classes - Deprecated
rerender_on_reset: boolwith proper warning messages in implementation files - Backward compatibility:
rerender_on_reset=Trueis automatically converted tonum_rerenders_on_reset=1 - Updated render logic to loop
num_rerenders_on_resettimes instead of single conditional render - CHANGELOG updated for version 0.47.5
Issues Already Noted:
The previous review already identified syntax issues in other files (direct_rl_env.py, CHANGELOG.rst files). The config files themselves have no issues.
Confidence Score: 4/5
- This PR is safe to merge with minor issues already identified in previous comments
- The implementation is clean and well-documented with proper deprecation handling. The new parameter provides more flexibility while maintaining backward compatibility. Score is 4 instead of 5 due to syntax issues in other files (incorrect class name reference in warning message, and date formatting issues in CHANGELOG files) that were already identified in previous review comments.
- No files in this changeset require special attention - the config files are properly implemented. Issues exist in implementation files (direct_rl_env.py) and CHANGELOG files per previous comments.
Important Files Changed
File Analysis
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/isaaclab/envs/direct_rl_env_cfg.py | 5/5 | Adds num_rerenders_on_reset parameter and deprecates rerender_on_reset with proper documentation |
| source/isaaclab/isaaclab/envs/manager_based_env_cfg.py | 5/5 | Adds num_rerenders_on_reset parameter and deprecates rerender_on_reset with proper documentation |
Sequence Diagram
sequenceDiagram
participant User
participant Env as Environment (DirectRLEnv/ManagerBasedEnv)
participant Sim as Simulation
participant RTX as RTX Sensors
User->>Env: reset() or step()
Env->>Env: _reset_idx(env_ids)
Env->>Sim: write_data_to_sim()
Env->>Sim: forward()
alt num_rerenders_on_reset > 0 and has RTX sensors
Env->>Sim: Check has_rtx_sensors()
Sim-->>Env: True
loop num_rerenders_on_reset times
Env->>Sim: render()
Sim->>RTX: Update sensor data
RTX-->>Sim: Fresh data with DLSS/DLAA
end
end
Env-->>User: Return observations with updated sensor data
2 files reviewed, no comments
4 participants
Description
Adds a new parameter to ManagerBasedEnv and DirectRLEnv to give users better control over rerender on reset behaviour. The new parameter
num_rerenders_on_resetallows users to explicitly define the number of re-render steps after an env reset. When using DLSS, this allows for the elimination of artifacts/ghosting that are present after a single rendering step.Add a deprecation warning for the old parameter
rerender_on_reset. Functionality of old parameter is preserved.Updates the existing visuomotor envs to use new rerendering API together with DLAA for high quality rendering.
Fixes # (issue)
Non-DLSS denoising is not supported on aarch64. There are also future plans from the rendering team to disable use of non-DLSS antialiasing for all platforms in the future. This causes an issue for visuomotor envs which suffer from image ghosting/artifacts when using DLSS. The new rerendering API allows for users of visuomotor envs to enable DLSS/DLAA while preserving image integrity.
Type of change
Screenshots
Please attach before and after screenshots of the change if applicable.
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there