Loading...
Benchmark environment
Environment for the selected GPU (from latest run in dataset).
Data type presets
These presets control what kind of image the camera captures. Different types produce different visual information and have different rendering costs.
3-channel output (color images)
- rgb — The fully rendered color image. Includes all lighting effects like reflections, shadows, and global illumination. Most realistic but slowest to render.
- albedo — The raw surface color of objects, with no lighting or shadows applied. Useful for fast rendering when you only need texture colors.
- simple_shading_constant_diffuse — All surfaces are drawn with a single flat color, ignoring textures and materials. Simplest and fastest shading mode.
- simple_shading_diffuse_mdl — Surfaces use their assigned material textures for color, but without reflections or advanced lighting.
- simple_shading_full_mdl — Uses full material properties (specular highlights, roughness, etc.). More detailed than the other simple shading modes, but still faster than full rgb rendering.
1-channel output
- depth — Distance from the camera to each pixel, stored as a single floating-point value per pixel.
Renderer support
- IsaacRtx (isaacsim_rtx_renderer) — Supports all data types.
- Newton Warp (newton_sensors) — Supports rgb, albedo, depth, normals, and more. Some environments restrict to rgb and depth only.
- OVRTX (ovrtx_renderer) — Supports rgb, albedo, depth, semantic segmentation, and simple shading modes.