isaaclab_physx.renderers

isaaclab_physx.renderers#

Sub-module for PhysX renderer backends (Isaac RTX / Omniverse Replicator).

Additional Public Classes#

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

IsaacRtxRenderer

Isaac RTX backend using Omniverse Replicator for tiled camera rendering.

IsaacRtxRendererCfg

Configuration for Isaac RTX renderer using Omniverse Replicator.

IsaacRtxRendererGlobalSettingsCfg

Global Isaac RTX renderer settings.
class isaaclab_physx.renderers.IsaacRtxRenderer[source]#

Bases: BaseRenderer

Isaac RTX backend using Omniverse Replicator for tiled camera rendering.

Requires Isaac Sim.

Methods:

__init__(cfg)

__new__(*args, **kwargs)

__init__(cfg: IsaacRtxRendererCfg)[source]#
classmethod __new__(*args, **kwargs)#
class isaaclab_physx.renderers.IsaacRtxRendererCfg[source]#

Bases: RendererCfg

Configuration for Isaac RTX renderer using Omniverse Replicator.

Holds the Replicator/RTX-specific knobs (semantic segmentation, instance segmentation, semantic filtering, depth clipping) used by the RTX rendering pipeline.

Methods:

__new__(*args, **kwargs)

__init__([class_type, renderer_type, ...])

classmethod __new__(*args, **kwargs)#
__init__(class_type: type[IsaacRtxRenderer] | str = <factory>, renderer_type: str = <factory>, global_settings: IsaacRtxRendererGlobalSettingsCfg = <factory>, enable_scene_partitioning: bool = <factory>, semantic_filter: str | list[str] = <factory>, colorize_semantic_segmentation: bool = <factory>, colorize_instance_id_segmentation: bool = <factory>, colorize_instance_segmentation: bool = <factory>, semantic_segmentation_mapping: dict = <factory>, depth_clipping_behavior: Literal['max', 'zero', 'none'] = <factory>) → None#
class isaaclab_physx.renderers.IsaacRtxRendererGlobalSettingsCfg[source]#

Bases: object

Global Isaac RTX renderer settings.

These settings are applied to Kit/RTX carb settings. They are carried by IsaacRtxRendererCfg so they are owned by the Isaac RTX backend, but they affect the process-global RTX renderer rather than a single camera.

Methods:

__new__(*args, **kwargs)

__init__([enable_translucency, ...])

classmethod __new__(*args, **kwargs)#
__init__(enable_translucency: bool | None = <factory>, enable_reflections: bool | None = <factory>, enable_global_illumination: bool | None = <factory>, antialiasing_mode: ~typing.Literal['Off', 'FXAA', 'DLSS', 'TAA', 'DLAA'] | None = <factory>, enable_dlssg: bool | None = <factory>, enable_dl_denoiser: bool | None = <factory>, dlss_mode: ~typing.Literal[0, 1, 2, 3] | None = <factory>, enable_direct_lighting: bool | None = <factory>, samples_per_pixel: int | None = <factory>, enable_shadows: bool | None = <factory>, enable_ambient_occlusion: bool | None = <factory>, dome_light_upper_lower_strategy: ~typing.Literal[0, 3, 4] | None = <factory>, max_bounces: int | None = <factory>, split_glass: bool | None = <factory>, split_clearcoat: bool | None = <factory>, split_rough_reflection: bool | None = <factory>, ambient_light_intensity: float | None = <factory>, ambient_occlusion_denoiser_mode: ~typing.Literal[0, 1] | None = <factory>, subpixel_mode: int | None = <factory>, enable_cached_raytracing: bool | None = <factory>, max_samples_per_launch: int | None = <factory>, view_tile_limit: int | None = <factory>, show_all_partitions_by_default: bool | None = <factory>, carb_settings: dict[str, ~typing.Any] | None = <factory>) → None#