isaaclab_ov.cloner

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isaaclab_ov.cloner#

Clone contexts route assets to the representation that owns their copies:

  • OvPhysxReplicateContext prepares native physics replication.

  • OvrtxReplicateContext prepares copies for an OVRTX engine’s internal scene.

  • OvstageReplicateContext prepares copies for simulation-owned OVStage resources, independently of their consumers. An OVRTX engine borrowing that stage does not clone it again.

Clone routing#

OvrtxReplicateContext.prepare in isaaclab_ov/cloner/replicate.py selects the representation before native resource initialization. Without environment overrides, OVRTX uses native cloning with both OVPhysX and Newton. OVPhysX also retains native physics cloning.

ISAAC_LAB_OVRTX_USE_OVSTAGE=1 selects independent OVStage rendering with either physics backend; 0 selects native OVRTX cloning. Set the flag before creating the simulation. Reset retains the selected route. This flag alone never enables physics/rendering stage sharing.

To share one OVStage with OVPhysX and OVRTX, set ISAAC_LAB_SHARE_OVSTAGE=1. Sharing requires OVPhysX and selects OVStage rendering regardless of ISAAC_LAB_OVRTX_USE_OVSTAGE.

Sharing remains opt-in pending upstream cold-binding and shared-stage update performance fixes; OVPhysX 0.6.3 has the measured startup regression. In shared mode, OvstageReplicateContext combines both asset routes and clones one stage populated with physics and rendering domains before either consumer attaches.

Configure shared-stage cameras before the initial simulation reset. Cameras may have different product settings, but share one native renderer and must agree on native logging and transform-cache settings. Full-stage physics imports, including deformable scenes that require authored environment copies, are not supported in shared mode. Disable ISAAC_LAB_SHARE_OVSTAGE for those scenes; sharing rejects them before native population rather than dropping their USD overrides.

The stage owner coordinates write ordinals and releases its borrowers before rebuilding. Rendering on an OVStage is synchronous.

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