Add parameter to specify number of rerenders after environment reset

source/isaaclab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.47.1"
+version = "0.47.2"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

@@ -1,6 +1,21 @@
 Changelog
 ---------
 
+0.47.2 (2025-10-23)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added ``num_rerenders_on_reset`` parameter to ManagerBasedEnvCfg and DirectRLEnvCfg to configure the number
+  of render steps to perform after reset. This enables more control over DLSS rendering behavior after reset.
+
+Changed
+^^^^^^^
+
+* Added deprecation warning for ``rerender_on_reset`` parameter in ManagerBasedEnv and DirectRLEnv.
+
+
 0.47.1 (2025-10-17)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/envs/direct_rl_env.py

@@ -11,6 +11,7 @@
 import math
 import numpy as np
 import torch
+import warnings
 import weakref
 from abc import abstractmethod
 from collections.abc import Sequence
@@ -219,6 +220,16 @@ def __init__(self, cfg: DirectRLEnvCfg, render_mode: str | None = None, **kwargs
         # video matches the simulation
         self.metadata["render_fps"] = 1 / self.step_dt
 
+        # show deprecation message for rerender_on_reset
+        if self.cfg.rerender_on_reset:
+            warnings.warn(
+                "\033[93m\033[1m[DEPRECATION WARNING] ManagerBasedEnvCfg.rerender_on_reset is deprecated. Use"
+                " ManagerBasedEnvCfg.num_rerenders_on_reset instead.\033[0m",
+                FutureWarning,
+                stacklevel=2,
+            )
+            self.cfg.num_rerenders_on_reset = 1
+
         # print the environment information
         print("[INFO]: Completed setting up the environment...")
 
@@ -300,8 +311,9 @@ def reset(self, seed: int | None = None, options: dict[str, Any] | None = None)
         self.sim.forward()
 
         # if sensors are added to the scene, make sure we render to reflect changes in reset
-        if self.sim.has_rtx_sensors() and self.cfg.rerender_on_reset:
-            self.sim.render()
+        if self.sim.has_rtx_sensors() and self.cfg.num_rerenders_on_reset > 0:
+            for _ in range(self.cfg.num_rerenders_on_reset):
+                self.sim.render()
 
         if self.cfg.wait_for_textures and self.sim.has_rtx_sensors():
             while SimulationManager.assets_loading():
@@ -377,8 +389,9 @@ def step(self, action: torch.Tensor) -> VecEnvStepReturn:
         if len(reset_env_ids) > 0:
             self._reset_idx(reset_env_ids)
             # if sensors are added to the scene, make sure we render to reflect changes in reset
-            if self.sim.has_rtx_sensors() and self.cfg.rerender_on_reset:
-                self.sim.render()
+            if self.sim.has_rtx_sensors() and self.cfg.num_rerenders_on_reset > 0:
+                for _ in range(self.cfg.num_rerenders_on_reset):
+                    self.sim.render()
 
         # post-step: step interval event
         if self.cfg.events:

source/isaaclab/isaaclab/envs/direct_rl_env_cfg.py

@@ -222,6 +222,23 @@ class DirectRLEnvCfg:
       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
+
+        This attribute is deprecated and will be removed in the future. Please use
+        :attr:`num_rerenders_on_reset` instead.
+
+        To get the same behaviour as setting this parameter to ``True`` or ``False``, set
+        :attr:`num_rerenders_on_reset` to 1 or 0, respectively.
+    """
+
+    num_rerenders_on_reset: int = 0
+    """Number of render steps to perform after reset. Defaults to 0, which means no render step will be performed after reset.
+
+    * When this is 0, no render step will be performed after reset. Data collected from sensors after performing reset will be stale and will not reflect the
+      latest states in simulation caused by the reset.
+    * When this is greater than 0, the specified number of extra render steps will be performed to update the sensor data
+      to reflect the latest states from the reset. This comes at a cost of performance as additional render
+      steps will be performed after each time an environment is reset.
     """
 
     wait_for_textures: bool = True

source/isaaclab/isaaclab/envs/manager_based_env.py

@@ -5,6 +5,7 @@
 
 import builtins
 import torch
+import warnings
 from collections.abc import Sequence
 from typing import Any
 
@@ -190,6 +191,16 @@ def __init__(self, cfg: ManagerBasedEnvCfg):
         if self.cfg.export_io_descriptors:
             self.export_IO_descriptors()
 
+        # show deprecation message for rerender_on_reset
+        if self.cfg.rerender_on_reset:
+            warnings.warn(
+                "\033[93m\033[1m[DEPRECATION WARNING] ManagerBasedEnvCfg.rerender_on_reset is deprecated. Use"
+                " ManagerBasedEnvCfg.num_rerenders_on_reset instead.\033[0m",
+                FutureWarning,
+                stacklevel=2,
+            )
+            self.cfg.num_rerenders_on_reset = 1
+
     def __del__(self):
         """Cleanup for the environment."""
         self.close()
@@ -353,8 +364,9 @@ def reset(
         self.scene.write_data_to_sim()
         self.sim.forward()
         # if sensors are added to the scene, make sure we render to reflect changes in reset
-        if self.sim.has_rtx_sensors() and self.cfg.rerender_on_reset:
-            self.sim.render()
+        if self.sim.has_rtx_sensors() and self.cfg.num_rerenders_on_reset > 0:
+            for _ in range(self.cfg.num_rerenders_on_reset):
+                self.sim.render()
 
         # trigger recorder terms for post-reset calls
         self.recorder_manager.record_post_reset(env_ids)
@@ -413,8 +425,9 @@ def reset_to(
         self.sim.forward()
 
         # if sensors are added to the scene, make sure we render to reflect changes in reset
-        if self.sim.has_rtx_sensors() and self.cfg.rerender_on_reset:
-            self.sim.render()
+        if self.sim.has_rtx_sensors() and self.cfg.num_rerenders_on_reset > 0:
+            for _ in range(self.cfg.num_rerenders_on_reset):
+                self.sim.render()
 
         # trigger recorder terms for post-reset calls
         self.recorder_manager.record_post_reset(env_ids)

source/isaaclab/isaaclab/envs/manager_based_env_cfg.py

@@ -115,6 +115,23 @@ class ManagerBasedEnvCfg:
       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
+
+        This attribute is deprecated and will be removed in the future. Please use
+        :attr:`num_rerenders_on_reset` instead.
+
+        To get the same behaviour as setting this parameter to ``True`` or ``False``, set
+        :attr:`num_rerenders_on_reset` to 1 or 0, respectively.
+    """
+
+    num_rerenders_on_reset: int = 0
+    """Number of render steps to perform after reset. Defaults to 0, which means no render step will be performed after reset.
+
+    * When this is 0, no render step will be performed after reset. Data collected from sensors after performing reset will be stale and will not reflect the
+      latest states in simulation caused by the reset.
+    * When this is greater than 0, the specified number of extra render steps will be performed to update the sensor data
+      to reflect the latest states from the reset. This comes at a cost of performance as additional render
+      steps will be performed after each time an environment is reset.
     """
 
     wait_for_textures: bool = True

source/isaaclab/isaaclab/envs/manager_based_rl_env.py

@@ -222,8 +222,9 @@ def step(self, action: torch.Tensor) -> VecEnvStepReturn:
             self._reset_idx(reset_env_ids)
 
             # if sensors are added to the scene, make sure we render to reflect changes in reset
-            if self.sim.has_rtx_sensors() and self.cfg.rerender_on_reset:
-                self.sim.render()
+            if self.sim.has_rtx_sensors() and self.cfg.num_rerenders_on_reset > 0:
+                for _ in range(self.cfg.num_rerenders_on_reset):
+                    self.sim.render()
 
             # trigger recorder terms for post-reset calls
             self.recorder_manager.record_post_reset(reset_env_ids)

source/isaaclab_tasks/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.11.1"
+version = "0.11.2"
 
 # Description
 title = "Isaac Lab Environments"

source/isaaclab_tasks/docs/CHANGELOG.rst

@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.11.2 (2025-10-23)
+~~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Changed to use of ``num_rerenders_on_reset`` and ``DLAA`` in visuomotor imitation learning environments.
+
+
 0.11.1 (2025-09-24)
 ~~~~~~~~~~~~~~~~~~~~
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/exhaustpipe_gr1t2_base_env_cfg.py

@@ -320,9 +320,9 @@ def __post_init__(self):
         self.sim.dt = 1 / 100
         self.sim.render_interval = 2
 
-        # # Set settings for camera rendering
-        self.rerender_on_reset = True
-        self.sim.render.antialiasing_mode = "OFF"  # disable dlss
+        # Set settings for camera rendering
+        self.num_rerenders_on_reset = 3
+        self.sim.render.antialiasing_mode = "DLAA"  # Use DLAA for higher quality rendering
 
         # List of image observations in policy observations
         self.image_obs_list = ["robot_pov_cam"]

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/nutpour_gr1t2_base_env_cfg.py

@@ -356,8 +356,8 @@ def __post_init__(self):
         self.sim.render_interval = 2
 
         # Set settings for camera rendering
-        self.rerender_on_reset = True
-        self.sim.render.antialiasing_mode = "OFF"  # disable dlss
+        self.num_rerenders_on_reset = 3
+        self.sim.render.antialiasing_mode = "DLAA"  # Use DLAA for higher quality rendering
 
         # List of image observations in policy observations
         self.image_obs_list = ["robot_pov_cam"]

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_visuomotor_cosmos_env_cfg.py

@@ -156,8 +156,8 @@ def __post_init__(self):
         )
 
         # Set settings for camera rendering
-        self.rerender_on_reset = True
-        self.sim.render.antialiasing_mode = "OFF"  # disable dlss
+        self.num_rerenders_on_reset = 1
+        self.sim.render.antialiasing_mode = "OFF"
 
         # List of image observations in policy observations
         self.image_obs_list = ["table_cam", "wrist_cam"]

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_visuomotor_env_cfg.py

@@ -231,8 +231,8 @@ def __post_init__(self):
         )
 
         # Set settings for camera rendering
-        self.rerender_on_reset = True
-        self.sim.render.antialiasing_mode = "OFF"  # disable dlss
+        self.num_rerenders_on_reset = 3
+        self.sim.render.antialiasing_mode = "DLAA"  # Use DLAA for higher quality rendering
 
         # List of image observations in policy observations
         self.image_obs_list = ["table_cam", "wrist_cam"]

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_rmp_rel_env_cfg.py

@@ -230,8 +230,8 @@ def __post_init__(self):
         )
 
         # Set settings for camera rendering
-        self.rerender_on_reset = True
-        self.sim.render.antialiasing_mode = "OFF"  # disable dlss
+        self.num_rerenders_on_reset = 3
+        self.sim.render.antialiasing_mode = "DLAA"  # Use DLAA for higher quality rendering
 
         # List of image observations in policy observations
         self.image_obs_list = ["ego_cam", "left_wrist_cam", "right_wrist_cam"]