How can we improve fidelity of rendered images (lights, shadows, etc)

[ykim104]

Intro

Hi!

I am a research engineer at Ai2, I use MuJoCo for my research on mobile manipulation.

My setup

My question

I am hoping for some insights and tips to make the rendered images not look so harsh with lightis. As you can see from the screenshots - some agent's views can get very white (it's a yellow wall) which is not realistic.

What are the best way to make lightings and shadows look more realistic??
How should I set them up in Mujoco?

Thank you in advance for your help!!

Here is the video for reference:
https://drive.google.com/file/d/1UCxEQ_Zm3HXP8usaIrNAWlHvf4rPFs9q/view?usp=sharing

My XML has these section: (sorry I can't share the scene right now...)

`  <visual>
    <global offwidth="1280" offheight="720" realtime="1"/>
    <quality shadowsize="16384"/>
    <headlight ambient="0.34999999999999998 0.34999999999999998 0.34999999999999998" diffuse="1 0.85518430000000001 0.65566040000000003" active="1"/>
    <map znear="0.001"/>
  </visual>
  ...
    </worldbody>
    ....
      <light name="DirectionalLight" class="/" directional="true" pos="0.83999999999999975 -1.0899999999999999 0.18549999999999997" dir="1.6965868108202937 0.36062065908266966 2.2110349790887498" diffuse="1 1 1"/>
    <light name="light_2" class="/" directional="false" pos="10.464 9.5919999999999987 3.004524633083697" diffuse="1 0.85499999999999998 0.72199999999999998"/>
    <light name="light_3" class="/" directional="false" pos="13.951999999999996 9.5919999999999987 3.004524633083697" diffuse="1 0.85499999999999998 0.72199999999999998"/>
    <light name="light_4" class="/" directional="false" pos="10.588571428571427 3.8617142857142843 3.004524633083697" diffuse="1 0.85499999999999998 0.72199999999999998"/>
    <light name="light_5" class="/" directional="false" pos="13.951999999999996 5.2319999999999993 3.004524633083697" diffuse="1 0.85499999999999998 0.72199999999999998"/>
    <light name="light_6" class="/" directional="false" pos="6.1039999999999983 3.4879999999999995 3.004524633083697" diffuse="1 0.85499999999999998 0.72199999999999998"/>
    <light name="light_7" class="/" directional="false" pos="1.7439999999999996 3.4879999999999995 3.004524633083697" diffuse="1 0.85499999999999998 0.72199999999999998"/>
    <light name="light_8" class="/" directional="false" pos="6.1039999999999992 10.837714285714284 3.004524633083697" diffuse="1 0.85499999999999998 0.72199999999999998"/>
    <light name="light_9" class="/" directional="false" pos="1.7439999999999996 10.463999999999999 3.004524633083697" diffuse="1 0.85499999999999998 0.72199999999999998"/>
    <light name="light_10" class="/" directional="false" pos="6.1039999999999983 6.9759999999999991 3.004524633083697" diffuse="1 0.85499999999999998 0.72199999999999998"/>
    <light name="light_11" class="/" directional="false" pos="1.7439999999999996 6.9759999999999991 3.004524633083697" diffuse="1 0.85499999999999998 0.72199999999999998"/>
  </worldbody>
  `

Minimal model and/or code that explain my question

If you encountered the issue in a complex model, please simplify it as much as possible (while still reproducing the issue).

Model:

minimal XML

<mujoco>
  <worldbody>
    <light pos="0 0 1"/>
    <geom type="sphere" size="1" rgba="1 0 0 1"/>
  </worldbody>
</mujoco>

Code:

import mujoco
import mediapy as media
model = mujoco.MjModel.from_xml_string(xml)
data = mujoco.MjData(model)

with mujoco.Renderer(model) as renderer:
  mujoco.mj_forward(model, data)
  renderer.update_scene(data)

  media.show_image(renderer.render())

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[ykim104]

I actually had diffuse parameter set high ([0.8551843, 0.8551843, 0.6556604]) and lowering it to a default values "hl.diffuse = [0.4, 0.4, 0.4]" softened the harsh white shown in the images

i would still appreciate some tips on improving the image fidelity if it is possible! Thank you!! :D