Merge branch 'develop' into octi/cloner_ordering

Author: ooctipus

source/isaaclab/changelog.d/rschmitt_default_cameracfg_renderer.rst

@@ -0,0 +1,11 @@
+Added
+^^^^^
+
+* Added :meth:`~isaaclab.utils.backend_utils.get_default_renderer_cfg`. to lazy load the IsaacRtxRendererCfg
+
+Changed
+^^^^^^^
+
+* :class:`~isaaclab.sensors.camera.CameraCfg` now defaults its render_cfg to :class:`~isaaclab.renderers.RenderCfg`
+  :meth:`~isaaclab.utils.backend_utils.get_default_renderer_cfg` is called during __post_init__ to replace
+  the generic RenderCfg with the default config :class:`~isaaclab_physx.renderers.IsaacRtxRendererCfg`

source/isaaclab/isaaclab/sensors/camera/camera.py

@@ -113,7 +113,8 @@ def __init__(self, cfg: CameraCfg):
         # IsaacRtxRendererCfg overrides to flip /isaaclab/render/rtx_sensors. The
         # flag must be set pre-sim.reset() because SimulationContext.is_rendering
         # and several env classes read it before the renderer's __init__ runs.
-        if self.cfg.renderer_cfg.renderer_type == "isaac_rtx":
+        renderer_type = getattr(self.cfg.renderer_cfg, "renderer_type", None)
+        if renderer_type == "isaac_rtx":
             get_settings_manager().set_bool("/isaaclab/render/rtx_sensors", True)
 
         # Compute camera orientation (convention conversion) and spawn

source/isaaclab/isaaclab/sensors/camera/camera_cfg.py

@@ -9,8 +9,6 @@
 from dataclasses import MISSING, field
 from typing import TYPE_CHECKING, Literal
 
-from isaaclab_physx.renderers import IsaacRtxRendererCfg
-
 from isaaclab.renderers import RendererCfg
 from isaaclab.sim import FisheyeCameraCfg, PinholeCameraCfg
 from isaaclab.utils import configclass
@@ -191,7 +189,7 @@ class OffsetCfg:
         on :attr:`renderer_cfg` instead.
     """
 
-    renderer_cfg: RendererCfg = field(default_factory=IsaacRtxRendererCfg)
+    renderer_cfg: RendererCfg = field(default_factory=RendererCfg)
     """Renderer configuration for camera sensor."""
 
     def __post_init__(self):
@@ -201,6 +199,14 @@ def __post_init__(self):
         :class:`DeprecationWarning` and is copied onto ``self.renderer_cfg``
         when that cfg defines the same-named field.
         """
+        # TODO when Camera.__init__ moves rtx_sensor setting out of camera initialization
+        # the default renderer config instantiation can be moved into the render factory
+        # and get_default_render_cfg method can be removed from backend_utils
+        renderer_type = getattr(self.renderer_cfg, "renderer_type", None)
+        if renderer_type == "default":
+            from isaaclab.utils.backend_utils import get_default_renderer_cfg
+
+            self.renderer_cfg = get_default_renderer_cfg()
         # Forwarded by name: any same-named field on ``renderer_cfg`` will receive the value.
         for field_name, default in _DEPRECATED_RENDERER_FIELD_DEFAULTS.items():
             value = getattr(self, field_name)

source/isaaclab/isaaclab/sensors/camera/tiled_camera_cfg.py

@@ -27,6 +27,14 @@ class TiledCameraCfg(CameraCfg):
     class_type: type["TiledCamera"] | str = "{DIR}.tiled_camera:TiledCamera"
 
     def __post_init__(self):
+        # TODO when Camera.__init__ moves rtx_sensor setting out of camera initialization
+        # the default renderer config instantiation can be moved into the render factory
+        # and get_default_render_cfg method can be removed from backend_utils
+        renderer_type = getattr(self.renderer_cfg, "renderer_type", None)
+        if renderer_type == "default":
+            from isaaclab.utils.backend_utils import get_default_renderer_cfg
+
+            self.renderer_cfg = get_default_renderer_cfg()
         warnings.warn(
             "TiledCameraCfg is deprecated. Use CameraCfg directly — "
             "Camera now includes TiledCamera's vectorized rendering optimizations.",

source/isaaclab/isaaclab/utils/backend_utils.py

@@ -3,12 +3,48 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+from __future__ import annotations
+
 import importlib
 import logging
+from typing import TYPE_CHECKING
+
+if TYPE_CHECKING:
+    from isaaclab.renderers.renderer_cfg import RendererCfg
 
 logger = logging.getLogger(__name__)
 
 
+def get_default_renderer_cfg() -> RendererCfg:
+    """Return the default :class:`~isaaclab.renderers.renderer_cfg.RendererCfg` for cameras.
+
+    Lazily imports :mod:`isaaclab_physx.renderers` and returns a new
+    :class:`~isaaclab_physx.renderers.IsaacRtxRendererCfg` instance.
+
+    Returns:
+        A new default Isaac RTX renderer configuration.
+
+    Raises:
+        ImportError: If :mod:`isaaclab_physx.renderers` cannot be imported or does not
+            expose ``IsaacRtxRendererCfg``.
+    """
+    try:
+        renderers_mod = importlib.import_module("isaaclab_physx.renderers")
+    except ImportError as e:
+        raise ImportError(
+            "The default camera renderer configuration requires the optional 'isaaclab_physx' "
+            "package (import 'isaaclab_physx.renderers'). Install isaaclab_physx or set "
+            "CameraCfg.renderer_cfg explicitly."
+        ) from e
+    try:
+        default_cls = renderers_mod.IsaacRtxRendererCfg
+    except AttributeError as e:
+        raise ImportError(
+            "Module 'isaaclab_physx.renderers' is available but does not define 'IsaacRtxRendererCfg'."
+        ) from e
+    return default_cls()
+
+
 class FactoryBase:
     """A generic factory class that dynamically loads backends."""