Bumps OVRTX runtime dependency to 0.4

pyproject.toml

@@ -125,7 +125,7 @@ rerun = [
 isaacsim = ["isaacsim[all,extscache]==6.0.0.1"]
 # Omniverse renderer / physics backends (``ov[ovphysx|ovrtx|all]`` selectors).
 ov = ["ovphysx==0.5.2+head.f62c22207c"]
-rtx = ["ovrtx>=0.3.0,<0.4.0"]
+rtx = ["ovrtx>=0.4.0,<0.5.0"]
 mimic = [
     "isaaclab-mimic",
     "ipywidgets>=8.1.5",
@@ -166,7 +166,7 @@ torch = "2.11.0"
 torchvision = "0.26.0"
 torchaudio = "2.11.0"
 ovphysx = "0.5.2+head.f62c22207c"
-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 collapsing to one camera after runtime cloning by
+  preserving camera prims in trimmed stage exports.

source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_usd.py

@@ -267,18 +267,18 @@ def create_scene_partition_attributes(
             logger.debug("Set scene partition '%s' on '%s'", scene_partition, attr_path.GetPrimPath())
 
 
-def _collect_prims_to_deactivate(parent_prim: Usd.Prim, source_paths: frozenset[Sdf.Path]) -> list[Sdf.Path]:
+def _collect_prims_to_deactivate(parent_prim: Usd.Prim, preserve_paths: frozenset[Sdf.Path]) -> list[Sdf.Path]:
     """Collect child prims under ``parent_prim`` for deactivation.
 
     For each child:
 
-    * If the child is a source, keep the full subtree and stop descending.
-    * If the child is an ancestor of some source, recurse to deactivate non-source siblings deeper in the tree.
+    * If the child is preserved, keep the full subtree and stop descending.
+    * If the child is an ancestor of a preserved path, recurse to deactivate non-preserved siblings.
     * Otherwise, deactivate the child prim (including descendants).
 
     Args:
         parent_prim: Parent prim whose children are considered.
-        source_paths: The paths to the cloning sources.
+        preserve_paths: Source and camera paths to preserve in the trimmed stage.
 
     Returns:
         Paths of prims to deactivate on the root layer.
@@ -288,13 +288,13 @@ def _collect_prims_to_deactivate(parent_prim: Usd.Prim, source_paths: frozenset[
     for child in parent_prim.GetChildren():
         child_path = child.GetPath()
 
-        # If the child is a source, keep it and stop walking down the tree.
-        if child_path in source_paths:
+        # If the child is preserved, keep it and stop walking down the tree.
+        if child_path in preserve_paths:
             continue
 
-        # If the child is an ancestor of some source, recurse to deactivate non-source siblings deeper in the tree.
-        if any(source.HasPrefix(child_path) for source in source_paths):
-            prim_paths.extend(_collect_prims_to_deactivate(child, source_paths))
+        # Preserve the ancestor chain while deactivating unrelated descendants.
+        if any(path.HasPrefix(child_path) for path in preserve_paths):
+            prim_paths.extend(_collect_prims_to_deactivate(child, preserve_paths))
             continue
 
         # Otherwise, deactivate the child prim (including descendants).
@@ -347,14 +347,19 @@ def export_stage_to_string(stage: Usd.Stage, num_envs: int, source_paths: tuple[
         raise RuntimeError(f"Failed to get prim at path: {envs_path}")
 
     source_path_set = frozenset(map(Sdf.Path, source_paths))
+    camera_path_set = frozenset(prim.GetPath() for prim in Usd.PrimRange(envs_prim) if prim.IsA(UsdGeom.Camera))
+    # OVRTX 0.4 resolves a RenderProduct's Fabric camera relationship during initial population and does not add
+    # cameras created later by clone_usd. Keep all cameras and their ancestor chains active in the trimmed stage so
+    # tiled RenderProducts discover every camera while preserving the optimized runtime-cloning path.
+    preserve_path_set = source_path_set | camera_path_set
     prim_paths: list[Sdf.Path] = []
 
     for child in envs_prim.GetChildren():
-        # All env roots will be kept in the stage. If an env root is a source, keep the full subtree and don't walk down
-        # the subtree, otherwise walk down the subtree to collect descendant prims that are not sources to deactivate.
+        # All env roots remain in the stage. Keep full source subtrees and camera paths,
+        # while trimming other descendants.
         child_path = child.GetPath()
-        if child_path not in source_path_set:
-            prim_paths.extend(_collect_prims_to_deactivate(child, source_path_set))
+        if child_path not in preserve_path_set:
+            prim_paths.extend(_collect_prims_to_deactivate(child, preserve_path_set))
 
     root_layer = stage.GetRootLayer()
 

source/isaaclab_ov/test/test_ovrtx_clone_plan.py

@@ -70,14 +70,16 @@ def _make_multi_env_stage(num_envs: int) -> Usd.Stage:
     return stage
 
 
-def _assert_export_contains_env_roots_and_children(exported: str, env_indices: range | list[int]) -> None:
+def _assert_export_contains_env_roots_and_children(
+    exported: str, env_indices: range | list[int], camera_count: int | None = None
+) -> None:
     """Listed environment roots appear in the stage export."""
     for env_idx in env_indices:
         assert f'def Xform "env_{env_idx}"' in exported
         assert f'def Xform "Object_env{env_idx}_only"' in exported
 
     assert exported.count('def Xform "Robot"') == len(env_indices)
-    assert exported.count('def Camera "Camera"') == len(env_indices)
+    assert exported.count('def Camera "Camera"') == (len(env_indices) if camera_count is None else camera_count)
 
 
 def _assert_export_contains_env_roots_but_omits_children(exported: str, env_indices: range | list[int]) -> None:
@@ -437,6 +439,6 @@ def test_prepare_stage_stores_clone_plan_and_exports(monkeypatch: pytest.MonkeyP
     assert renderer._clone_plan is not None
     assert renderer._clone_plan.sources == published.sources
 
-    # Only the env_0 prototype subtree is exported.
-    _assert_export_contains_env_roots_and_children(renderer._exported_usd_string, [0])
+    # Only the env_0 prototype geometry is exported, while all cameras remain discoverable.
+    _assert_export_contains_env_roots_and_children(renderer._exported_usd_string, [0], camera_count=num_envs)
     _assert_export_contains_env_roots_but_omits_children(renderer._exported_usd_string, [1, 2, 3])

source/isaaclab_ov/test/test_ovrtx_usd.py

@@ -59,14 +59,16 @@ def _make_multi_env_stage(num_envs: int) -> Usd.Stage:
     return stage
 
 
-def _assert_export_contains_env_roots_and_children(exported: str, env_indices: range | list[int]) -> None:
+def _assert_export_contains_env_roots_and_children(
+    exported: str, env_indices: range | list[int], camera_count: int | None = None
+) -> None:
     """Listed environment roots appear in the stage export."""
     for env_idx in env_indices:
         assert f'def Xform "env_{env_idx}"' in exported
         assert f'def Xform "Object_env{env_idx}_only"' in exported
 
     assert exported.count('def Xform "Robot"') == len(env_indices)
-    assert exported.count('def Camera "Camera"') == len(env_indices)
+    assert exported.count('def Camera "Camera"') == (len(env_indices) if camera_count is None else camera_count)
 
 
 def _assert_export_omits_env_children(exported: str, env_indices: range | list[int]) -> None:
@@ -226,8 +228,8 @@ def test_export_stage_full_when_single_env():
     _assert_export_contains_env_roots_and_children(exported, range(num_envs))
 
 
-def test_export_stage_homogeneous_keeps_only_env0_prototype():
-    """Homogeneous cloning exports only the env_0 prototype subtree."""
+def test_export_stage_homogeneous_keeps_env0_prototype_and_all_cameras():
+    """Homogeneous cloning exports the env_0 prototype subtree and every camera."""
     num_envs = 4
     stage = _make_multi_env_stage(num_envs)
 
@@ -237,10 +239,32 @@ def test_export_stage_homogeneous_keeps_only_env0_prototype():
         source_paths=("/World/envs/env_0",),
     )
 
-    _assert_export_contains_env_roots_and_children(exported, [0])
+    _assert_export_contains_env_roots_and_children(exported, [0], camera_count=num_envs)
     _assert_export_omits_env_children(exported, range(1, num_envs))
 
 
+def test_export_stage_preserves_nested_camera_ancestor_chains():
+    """Trimming keeps nested cameras and their ancestors while omitting unrelated siblings."""
+    num_envs = 4
+    stage = _make_multi_env_stage(num_envs)
+    for env_idx in range(num_envs):
+        robot_path = f"/World/envs/env_{env_idx}/Robot"
+        UsdGeom.Xform.Define(stage, f"{robot_path}/Sensors")
+        UsdGeom.Camera.Define(stage, f"{robot_path}/Sensors/HeadCamera")
+        UsdGeom.Xform.Define(stage, f"{robot_path}/UnrelatedVisual")
+
+    exported = export_stage_to_string(
+        stage,
+        num_envs,
+        source_paths=("/World/envs/env_0",),
+    )
+
+    assert exported.count('def Xform "Robot"') == num_envs
+    assert exported.count('def Xform "Sensors"') == num_envs
+    assert exported.count('def Camera "HeadCamera"') == num_envs
+    assert exported.count('def Xform "UnrelatedVisual"') == 1
+
+
 def test_export_stage_heterogeneous_keeps_multiple_sources():
     """Heterogeneous source paths export only prototype env subtrees."""
     num_envs = 4
@@ -261,7 +285,7 @@ def test_export_stage_heterogeneous_keeps_multiple_sources():
     # Other env roots remain, but their prototype children are omitted.
     _assert_export_omits_env_children(exported, [1, 2])
     assert 'def Xform "Robot"' not in exported
-    assert 'def Camera "Camera"' not in exported
+    assert exported.count('def Camera "Camera"') == num_envs
 
 
 def test_export_stage_restores_active_state():