Rendering Configuration

The RenderCfg class controls the renderer, ray-tracing sample count, tone mapping, and DLSS settings used by SimulationManager.

Core options

Parameter	Type	Default	Description
renderer	str	"auto"	Renderer backend: auto, hybrid, fast-rt, or rt.
spp	int	1	Samples per pixel for ray-traced rendering. Must be at least 1.
tone_mapping_enabled	bool	False	Apply modified Reinhard tone mapping to RGB output.
tone_mapping_exposure	float	1.0	Fixed linear exposure multiplier used before tone mapping.
dlss	DLSSCfg	DLSSCfg()	NVIDIA DLSS settings. See NVIDIA DLSS.

Ray-traced output uses DexSim’s OptiX denoiser. Tone mapping affects RGB output only; depth, segmentation masks, normals, and position buffers remain unchanged.

Renderer selection

With renderer="auto", EmbodiChain selects a backend from the GPU detected at the configured gpu_id when the simulation manager is constructed:

GPU class	Examples	Selected renderer
RTX-series consumer/workstation GPUs	RTX 4090, RTX 6000 Ada	hybrid
Datacenter accelerators	A100, A800, H100, H800, H200, H20	fast-rt
No CUDA device or unknown GPU	—	hybrid

An explicit renderer always takes precedence over automatic selection. The process-wide default can also be changed through SimulationManager.set_default_renderer():

from embodichain.lab.sim import SimulationManager

SimulationManager.set_default_renderer("auto")
SimulationManager.set_default_renderer("fast-rt")

Configuration example

from embodichain.lab.sim import SimulationManagerCfg
from embodichain.lab.sim.cfg import RenderCfg

sim_config = SimulationManagerCfg(
    render_cfg=RenderCfg(
        renderer="fast-rt",
        spp=4,
        tone_mapping_enabled=True,
        tone_mapping_exposure=1.0,
    )
)

For DLSS-specific settings, see NVIDIA DLSS.