Bumps OVRTX runtime dependency to 0.4

pyproject.toml

@@ -126,7 +126,7 @@ rerun = [
 isaacsim = ["isaacsim[all,extscache]==6.0.0.1"]
 # Omniverse renderer / physics backends (``ov[ovphysx|ovrtx|all]`` selectors).
 ov = ["ovphysx>=0.4.13"]
-rtx = ["ovrtx>=0.3.0,<0.4.0"]
+rtx = ["ovrtx>=0.4.0,<0.5.0"]
 mimic = [
     "isaaclab-mimic",
     "ipywidgets>=8.1.5",
@@ -167,7 +167,7 @@ torch = "2.11.0"
 torchvision = "0.26.0"
 torchaudio = "2.11.0"
 ovphysx = ">=0.4.13"
-ovrtx = ">=0.3.0,<0.4.0"
+ovrtx = ">=0.4.0,<0.5.0"
 # Newton git commit + matching warp-lang prerelease (upgraded together).
 newton = "c7ae7c7648cd0717df39e5c94b95d5a02c997320"
 warp = "1.15.0.dev20260626"

source/isaaclab_ov/changelog.d/esekkin-ovrtx-bump-04.minor.rst

@@ -0,0 +1,11 @@
+Changed
+^^^^^^^
+
+* Updated the optional OVRTX runtime dependency to ``ovrtx>=0.4.0,<0.5.0``. Reinstall the OVRTX
+  extra with ``./isaaclab.sh -i 'ov[ovrtx]'`` to use the supported 0.4 runtime.
+
+Fixed
+^^^^^
+
+* Worked around OVRTX 0.4 tiled RenderProducts retaining only cameras present at stage load by
+  rewriting the camera relationship after runtime cloning.

source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer.py

@@ -419,13 +419,20 @@ def _initialize_from_spec(self, spec: CameraRenderSpec):
         self._renderer.open_usd_from_string(combined_usd_string)
         logger.info("OVRTX loaded USD from string successfully")
 
+        camera_paths = [f"/World/envs/env_{i}/{self._camera_rel_path}" for i in range(num_envs)]
         if num_envs > 1:
             self._clone_sources_in_ovrtx()
             self._update_scene_partitions_after_clone(num_envs)
+            # OVRTX 0.4 keeps the initial Fabric camera relationship after clone_usd creates the remaining
+            # cameras. Rewrite it so the RenderProduct includes every camera in its tiled output.
+            self._renderer.write_array_attribute(
+                prim_paths=[render_product_path],
+                attribute_name="camera",
+                tensors=[camera_paths],
+            )
 
         self._initialized_scene = True
 
-        camera_paths = [f"/World/envs/env_{i}/{self._camera_rel_path}" for i in range(num_envs)]
         self._camera_xform_binding = self._renderer.bind_attribute(
             prim_paths=camera_paths,
             attribute_name="omni:xform",

source/isaaclab_ov/test/test_ovrtx_clone_plan.py

@@ -101,6 +101,7 @@ def _make_ovrtx_renderer_without_backend() -> OVRTXRenderer:
     renderer._renderer = SimpleNamespace(
         clone_usd=lambda *args, **kwargs: None,
         read_attribute=lambda *args, **kwargs: None,
+        write_array_attribute=lambda *args, **kwargs: None,
         write_attribute=lambda *args, **kwargs: None,
     )
     renderer._clone_plan = None
@@ -422,6 +423,42 @@ def test_initialize_from_spec_writes_combined_stage_dump(tmp_path: Path):
     assert renderer._exported_usd_string is None
 
 
+def test_initialize_from_spec_refreshes_camera_relationship_after_cloning():
+    """Multi-environment initialization rewrites the RenderProduct cameras after cloning."""
+    num_envs = 4
+    renderer = _make_ovrtx_renderer_without_backend()
+    renderer._exported_usd_string = "#usda 1.0\n"
+
+    call_order: list[str] = []
+    write_array_calls: list[tuple[list[str], str, list[list[str]]]] = []
+
+    renderer._renderer.open_usd_from_string = lambda _usd_string: call_order.append("open")
+    renderer._clone_sources_in_ovrtx = lambda: call_order.append("clone")
+    renderer._update_scene_partitions_after_clone = lambda _num_envs: call_order.append("partitions")
+
+    def _write_array_attribute(prim_paths: list[str], attribute_name: str, tensors: list[list[str]]) -> None:
+        call_order.append("rewrite_cameras")
+        write_array_calls.append((prim_paths, attribute_name, tensors))
+
+    renderer._renderer.write_array_attribute = _write_array_attribute
+    renderer._renderer.bind_attribute = lambda **_kwargs: object()
+    renderer._renderer.write_attribute = lambda **_kwargs: None
+    renderer._setup_xform_bindings = lambda: None
+    renderer._setup_deformable_bindings = lambda _num_envs: None
+
+    spec = _make_camera_render_spec(num_envs=num_envs)
+    renderer._initialize_from_spec(spec)
+
+    assert call_order == ["open", "clone", "partitions", "rewrite_cameras"]
+    assert write_array_calls == [
+        (
+            ["/Render/RenderProduct"],
+            "camera",
+            [[f"/World/envs/env_{env_id}/Camera" for env_id in range(num_envs)]],
+        )
+    ]
+
+
 def test_prepare_stage_stores_clone_plan_and_exports(monkeypatch: pytest.MonkeyPatch):
     """prepare_stage resolves the clone plan and exports a trimmed prototype stage."""
     num_envs = 4