I just read this part:
The lighting model is the only part of Isaac Gym’s graphics system which is shared globally. Calling set_light_parameters affects the RGB images of all camera sensors in all environments and the viewer universally.
I think it means if you set it once it’s going to change the lighting parameters somewhere in a config file and keep it like that until you change it again.
I’m not feeling like turning on my other computer otherwise I would test it for you :))
It means probably this function wont change the default lighting parameters of the environment.
It’s very strange that you don’t have shadows in your environments, I have shadows in all the environments I have tested. It might be a bug!
The reason i think it’s the graphics card is that i have multiple systems available. On my laptop (quadro t500) isaac gym wont render any shadows. On workstations and server (RTX 3090 and a6000) there will be shadows. But interesting to know, that your 3070 also doesn’t render shadows. I actually would like to turn them off, i think they are detrimental to bridging the reality gap and force me to use depth information.
Currently i am doing vision-based grasping and for testing purposes saved some images during training (e.g. with opencv). Otherwise i don’t see the point in using the viewer during training as it just costs compute. I would recommend using tensorboard to verify and observe the training process.
Sorry, i didn’t really try to do stuff like that. But from the forum posts related to that, it looks like it isnt really possible. However, there was a framework based on isaac gym, with which you can access the viewer via websocket, so maybe that works: