Rendering - quality differences in similar RL play envs

Omniverse Isaac Sim
1

Isaac Sim Version

[OK] 4.5.0

Operating System

[OK] Ubuntu 22.04

GPU Information

  • Model: RTX 4090
  • Driver Version: 545.29.06

Topic Description

Detailed Description

I’m encountering a vast difference in rendering quality when running rsl_rl/play.py for two very similar environments with trained policies (one with abs joint action space and one with cartesian rel action space).

I didn’t really check all the rendering parameters since there’s so many. I’m wondering if one of you fellas can give me a “zero-shot” recommendation since I’m guessing you might be familiar with rendering. However, I do believe the entire simulation is initialized based on the env.yaml (shown below for both cases), and they’re basically the same save for different action spaces.

The examples are basically modified Lift tasks

More specifically, the ik_rel_env and joint_pos_env

I’m baffled since the environments are basically the same. I do believe all information is stored in this env.yaml file, and checking the differences I don’t see anything peculiar.
I include the env.yaml file comparison below.

The docker compose commands I use to run the play experiments are:

command: "/IsaacLab/isaaclab.sh -p /digitop_sim/digitop_sim/IsaacLabExtensionTemplate/scripts/rsl_rl/play.py --task Digitop-Juggling-Franka-Cart-Rel-v0 --load_run 2025-02-26_10-13-42 --num_envs 1 --livestre>

#command: "/IsaacLab/isaaclab.sh -p /digitop_sim/digitop_sim/IsaacLabExtensionTemplate/scripts/rsl_rl/play.py --task Digitop-Juggling-Franka-v0 --load_run 2025-02-26_14-37-58 --num_envs 1 --livestream 1"

If I manually set RTX interactive ray tracing on the low-quality environment, it looks similar to the high-quality one, but the performance drops significantly.

I didn’t really check all the rendering parameters since there’s so many. I’m wondering if one of you fellas can give me a “zero-shot” recommendation since I’m guessing you might be familiar with rendering. However, I do believe the entire simulation is initialized based on the env.yaml, and they’re basically the same save for different action spaces.

Steps to Reproduce

Error Messages

Screenshots or Videos

Example image of playing with the ik_rel_env_cfg:

low_q
low_q1915×1060 148 KB

Example image of playing with the joint_pos_env_cfg:

high_q
high_q1920×1051 118 KB

Additional Information

What I’ve Tried

Related Issues

Additional Context

3

I encountered the same issue. It seems to be related to the AppLauncher.

4

Thank you for your interest in Isaac Lab. To ensure efficient support and collaboration, please submit your topic to its GitHub repo following the instructions provided on Isaac Lab’s Contributing Guidelines regarding discussions, submitting issues, feature requests, and contributing to the project.

We appreciate your understanding and look forward to assisting you.