# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Configuration for OVRTX Renderer."""
from __future__ import annotations
import os
import tempfile
from dataclasses import MISSING
from typing import TYPE_CHECKING, ClassVar
import warp as wp
from isaaclab.renderers import RenderBufferKind, RenderBufferSpec
from isaaclab.renderers.renderer_cfg import RendererCfg
from isaaclab.sim import BackendCfg
from isaaclab.utils import configclass
if TYPE_CHECKING:
from .ovrtx_renderer import OVRTXBackend, OVRTXRenderer
[docs]
@configclass
class OVRTXBackendCfg(BackendCfg):
"""Native engine settings and the configuration of its detached scene owner."""
class_type: type[OVRTXBackend] | str = "{DIR}.ovrtx_renderer:OVRTXBackend"
renderer_cfg: OVRTXRendererCfg = MISSING
"""Renderer configuration; incompatible scene/product policies require separate native engines."""
use_ovstage: bool = MISSING
"""Whether the native resource owns a detached OVStage instead of the legacy internal stage."""
read_gpu_transforms: bool = MISSING
"""Whether OVRTX reads its GPU transform cache, resolved before native construction."""
[docs]
@configclass
class OVRTXRendererCfg(RendererCfg):
"""Configuration for OVRTX Renderer.
The OVRTX renderer uses the ovrtx library for high-fidelity RTX-based rendering.
width, height, num_envs, and data_types are obtained from the
:class:`~isaaclab.renderers.camera_render_spec.CameraRenderSpec` when
:meth:`~isaaclab.renderers.base_renderer.BaseRenderer.create_render_data` is called
(same pattern as Isaac RTX).
"""
class_type: type[OVRTXRenderer] | str = "{DIR}.ovrtx_renderer:OVRTXRenderer"
"""Renderer implementation class."""
renderer_type: str = "ovrtx"
"""Type identifier for OVRTX renderer."""
launcher_type: ClassVar[str] = "isaaclab_ov.app:OvrtxLauncher"
"""The launcher that registers the OVRTX runtime before the stage is created."""
temp_usd_dir: str | None = None
"""Directory for temporary USD debug dumps written during OVRTX stage preparation.
When set, the renderer writes ``pre_ovrtx_renderer_stage.usda`` (raw stage before
partition attributes and export trimming) and ``ovrtx_renderer_stage.usda`` (exported
stage plus injected render products) under this directory. Must be writable.
"""
log_level: str = "verbose"
"""OVRTX carb log level: "verbose", "info", "warn", "error"."""
log_file_path: str = os.path.join(tempfile.gettempdir(), "ovrtx_renderer.log")
"""Path for OVRTX log file. Defaults to ``<system temp>/ovrtx_renderer.log``."""
enable_shadows: bool = False
"""Whether lights cast shadows in RTX Minimal mode. Defaults to False.
Shadow rays cost render time that rarely changes what a policy learns, so they are turned off
and opted back into for visually faithful renders.
Only the ``simple_shading_constant_diffuse``, ``simple_shading_diffuse_mdl`` and
``simple_shading_full_mdl`` data types are affected, because those are the ones that put the
render product into RTX Minimal mode, whose ``omni:rtx:minimal:castShadows`` switch this drives.
OVRTX's path-traced modes offer no equivalent switch and always cast shadows, so this setting
does not change ``rgb`` and the other AOV outputs.
"""
colorize_semantic_segmentation: bool = True
"""Whether to colorize semantic segmentation output. Defaults to True.
If True, semantic IDs are mapped to RGBA colors and returned as a ``uint8`` 4-channel array.
If False, raw semantic IDs are returned as an ``int32`` 1-channel array.
Regardless of this setting, the semantic ID (or color) to label mapping is exposed via
``camera.data.info["semantic_segmentation"]["idToLabels"]``.
"""
colorize_instance_segmentation: bool = True
"""Whether to colorize instance segmentation output. Defaults to True.
If True, instance IDs are mapped to RGBA colors and returned as a ``uint8`` 4-channel array.
If False, raw instance IDs are returned as a ``uint32`` 1-channel array.
Regardless of this setting, the instance ID (or color) to prim-path mapping is exposed via
``camera.data.info["instance_segmentation"]["idToLabels"]`` and the instance ID (or color) to
semantic-label mapping via ``camera.data.info["instance_segmentation"]["idToSemantics"]``.
"""
colorize_instance_id_segmentation: bool = True
"""Whether to colorize instance ID segmentation output. Defaults to True.
If True, instance IDs are mapped to RGBA colors and returned as a ``uint8`` 4-channel array.
If False, raw instance IDs are returned as a ``uint32`` 1-channel array.
"""
def supported_output_types(self) -> dict[RenderBufferKind, RenderBufferSpec]:
"""Return the per-output layouts supported by the OVRTX renderer."""
def segmentation_spec(colorize: bool) -> RenderBufferSpec:
return RenderBufferSpec(4, wp.uint8) if colorize else RenderBufferSpec(1, wp.int32)
return {
RenderBufferKind.RGBA: RenderBufferSpec(4, wp.uint8),
RenderBufferKind.RGB: RenderBufferSpec(3, wp.uint8),
RenderBufferKind.RGB_HDR: RenderBufferSpec(3, wp.float32),
RenderBufferKind.ALBEDO: RenderBufferSpec(4, wp.uint8),
RenderBufferKind.SIMPLE_SHADING_CONSTANT_DIFFUSE: RenderBufferSpec(3, wp.uint8),
RenderBufferKind.SIMPLE_SHADING_DIFFUSE_MDL: RenderBufferSpec(3, wp.uint8),
RenderBufferKind.SIMPLE_SHADING_FULL_MDL: RenderBufferSpec(3, wp.uint8),
RenderBufferKind.SEMANTIC_SEGMENTATION: segmentation_spec(self.colorize_semantic_segmentation),
RenderBufferKind.INSTANCE_SEGMENTATION: segmentation_spec(self.colorize_instance_segmentation),
RenderBufferKind.DEPTH: RenderBufferSpec(1, wp.float32),
RenderBufferKind.DISTANCE_TO_IMAGE_PLANE: RenderBufferSpec(1, wp.float32),
RenderBufferKind.DISTANCE_TO_CAMERA: RenderBufferSpec(1, wp.float32),
RenderBufferKind.NORMALS: RenderBufferSpec(3, wp.float32),
RenderBufferKind.MOTION_VECTORS: RenderBufferSpec(2, wp.float32),
}
