# Render Settings

Fixed protocol:

- **Level 1:** Whole task space, same env cfg
- **Level 2:** Randomize Ground Texture
- **Level 3:** Randomize Camera Pose
- **Level 4:** Rondomize "Material"/Lighting

For overall Sim2Real, Randomization is applied on:

- Task space
- Material
- Texture
- Lighting
- Camera pose

Setup: Env Wrapper + Asset set