isaaclab_ov.renderers

Sub-module for OVRTX renderer backend.

Additional Public Classes

The following classes are part of the public isaaclab_ov.renderers API.

OVRTXRenderer	OVRTX Renderer implementation using the ovrtx library.
OVRTXRendererCfg	Configuration for OVRTX Renderer.
OVRTXBackendCfg	Native engine settings and the configuration identifying its scene resource.

class isaaclab_ov.renderers.OVRTXRenderer

Bases: BaseRenderer

OVRTX Renderer implementation using the ovrtx library.

This renderer uses the ovrtx library for high-fidelity RTX-based rendering, providing ray-traced rendering capabilities for Isaac Lab environments.

Methods:

__init__(cfg, *, sim)	Bind this renderer to its owning simulation.
__new__(*args, **kwargs)

__init__(cfg: OVRTXRendererCfg, *, sim: SimulationContext)

Bind this renderer to its owning simulation.

Parameters:

• cfg – Renderer configuration.

• sim – Simulation that creates and owns this renderer through its backend registry.

classmethod __new__(*args, **kwargs)

class isaaclab_ov.renderers.OVRTXRendererCfg

Bases: 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 CameraRenderSpec when create_render_data() is called (same pattern as Isaac RTX).

Methods:

__new__(*args, **kwargs)
__init__([class_type, renderer_type, ...])

classmethod __new__(*args, **kwargs)

__init__(class_type: type[OVRTXRenderer] | str = <factory>, renderer_type: str = <factory>, cloning_contexts: tuple[type | str, ...] = <factory>, async_rendering: bool = <factory>, temp_usd_dir: str | None = <factory>, log_level: str = <factory>, log_file_path: str = <factory>, enable_shadows: bool = <factory>, colorize_semantic_segmentation: bool = <factory>, colorize_instance_segmentation: bool = <factory>, colorize_instance_id_segmentation: bool = <factory>) → None

class isaaclab_ov.renderers.OVRTXBackendCfg

Bases: BackendCfg

Native engine settings and the configuration identifying its scene resource.

Methods:

__new__(*args, **kwargs)
__init__([class_type, scene_key, ...])

classmethod __new__(*args, **kwargs)

__init__(class_type: type[OVRTXBackend] | str = <factory>, scene_key: OVRTXRendererCfg | None = <factory>, log_file_path: str = <factory>, log_level: str = <factory>, use_ovstage: bool = <factory>, read_gpu_transforms: bool = <factory>, device: str = <factory>) → None

Simulation-owned stages

The simulation owns these detached stages and releases them after their consumers close. Each stage’s configuration selects the populated USD domains, and OvstageReplicateContext prepares its copies. OVRTX cameras and RTX visualizers use the renderer’s stage in the rendering domain. Clone routing selects stage ownership and environment overrides before backend initialization. OVPhysX retains a separate physics stage and native replication path by default.

class isaaclab_ov.stage.OvstageBackendCfg

Bases: BackendCfg

Configuration of a simulation-owned stage and its populated domains.

Methods:

__new__(*args, **kwargs)
__init__([class_type, scene_key, ...])

classmethod __new__(*args, **kwargs)

__init__(class_type: type[~isaaclab_ov.stage.OvstageBackend] | str = <factory>, scene_key: ~isaaclab.sim.simulation_cfg.BackendCfg | int | None = <factory>, population_domains: ~ovstage._src.types.PopulationDomain = <factory>) → None

class isaaclab_ov.stage.OvstageBackend

Own a detached stage and its paths until the simulation has closed its consumers.

Methods:

__init__(cfg)	Create the stage identified by its consumer configuration and population domains.
populate(usda)	Import the exported prototypes and apply the clone context's prepared operations.
query(prim_paths)	Retain a query and its path list together until the caller leaves the context.
commit()	Seal pending writes and return their ordinal; all consumers share the next write ordinal.
close()	Release borrowers, then the path dictionary and stage.
__new__(*args, **kwargs)
reset()	Recreate the native stage after all consumers detach, retaining the prepared clone operations.

__init__(cfg: OvstageBackendCfg)

Create the stage identified by its consumer configuration and population domains.

Parameters:

cfg – Scene identity and USD domains to populate.

populate(usda: str) → None

Import the exported prototypes and apply the clone context’s prepared operations.

Population commits ordinal 1. Consumers may then author render products and poses starting at ordinal 2, after every cloned camera path exists.

Parameters:

usda – USD scene containing the routed prototypes and their materials.

query(prim_paths: Sequence[str]) → Iterator[Query]

Retain a query and its path list together until the caller leaves the context.

Parameters:

prim_paths – Prim paths in the query’s binding order.

Yields:

The query, released before its caller-owned path list.

commit() → int

Seal pending writes and return their ordinal; all consumers share the next write ordinal.

close() → None

Release borrowers, then the path dictionary and stage.

classmethod __new__(*args, **kwargs)

reset() → None

Recreate the native stage after all consumers detach, retaining the prepared clone operations.