isaaclab.renderers

Sub-package for renderer configurations and implementations.

This sub-package contains configuration classes and implementations for different renderer backends that can be used with Isaac Lab.

Classes

BaseRenderer	Abstract base class for renderer implementations.
Renderer	Factory for creating renderer instances.
RendererCfg	Configuration for a renderer.

Base Renderer

class isaaclab.renderers.BaseRenderer

Bases: ABC

Abstract base class for renderer implementations.

Methods:

prepare_stage(stage, num_envs)	Prepare the stage for rendering before create_render_data is called.
create_render_data(sensor)	Create render data for the given sensor.
set_outputs(render_data, output_data)	Store reference to output buffers for writing during render.
update_transforms()	Update scene transforms before rendering.
update_camera(render_data, positions, ...)	Update camera poses and intrinsics for the next render.
render(render_data)	Perform rendering and write to output buffers.
write_output(render_data, output_name, ...)	Write a specific output type to the given buffer.
cleanup(render_data)	Release renderer resources associated with the given render data.

abstractmethod prepare_stage(stage: Any, num_envs: int) → None

Prepare the stage for rendering before create_render_data is called.

Some renderers need to export or preprocess the USD stage before creating render data. This method is called after the renderer is instantiated and before create_render_data.

Parameters:

• stage – USD stage to prepare, or None if not applicable.

• num_envs – Number of environments.

abstractmethod create_render_data(sensor: SensorBase) → Any

Create render data for the given sensor.

The returned object is opaque to the interface: callers pass it to other renderer methods without inspecting its contents. Its structure is implementation-specific (each renderer defines its own type).

Parameters:

sensor – The camera sensor to create render data for.

Returns:

Renderer-specific data object holding resources needed for rendering. Passed to subsequent render calls.

abstractmethod set_outputs(render_data: Any, output_data: dict[str, torch.Tensor]) → None

Store reference to output buffers for writing during render.

Parameters:

• render_data – The render data object from create_render_data().

• output_data – Dictionary mapping output names (e.g. "rgb", "depth") to pre-allocated tensors where rendered data will be written.

abstractmethod update_transforms() → None

Update scene transforms before rendering.

Called to sync physics/asset state into the renderer’s scene representation.

abstractmethod update_camera(render_data: Any, positions: torch.Tensor, orientations: torch.Tensor, intrinsics: torch.Tensor) → None

Update camera poses and intrinsics for the next render.

Parameters:

• render_data – The render data object from create_render_data().

• positions – Camera positions in world frame, shape (N, 3).

• orientations – Camera orientations as quaternions (x, y, z, w), shape (N, 4).

• intrinsics – Camera intrinsic matrices, shape (N, 3, 3).

abstractmethod render(render_data: Any) → None

Perform rendering and write to output buffers.

Parameters:

render_data – The render data object from create_render_data().

abstractmethod write_output(render_data: Any, output_name: str, output_data: torch.Tensor) → None

Write a specific output type to the given buffer.

Parameters:

• render_data – The render data object from create_render_data().

• output_name – Name of the output (e.g. "rgba", "depth").

• output_data – Pre-allocated tensor to write the output into.

abstractmethod cleanup(render_data: Any) → None

Release renderer resources associated with the given render data.

Parameters:

render_data – The render data object to clean up, or None.

Renderer Factory

class isaaclab.renderers.Renderer

Bases: FactoryBase, BaseRenderer

Factory for creating renderer instances.

Methods:

__new__(cls, cfg, *args, **kwargs)

Create a new instance of a renderer based on the backend.

static __new__(cls, cfg: RendererCfg, *args, **kwargs) → BaseRenderer

Create a new instance of a renderer based on the backend.

Renderer Configuration

class isaaclab.renderers.RendererCfg

Bases: object

Configuration for a renderer.