[Newton] Add Multi-Renderer Support #4115

JerryJiehanWang · 2025-11-30T17:54:35Z

Description

Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context.
List any dependencies that are required for this change.

Fixes # (issue)

Type of change

Bug fix (non-breaking change which fixes an issue)
New feature (non-breaking change which adds functionality)
Breaking change (existing functionality will not work without user modification)
Documentation update

Screenshots

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Checklist

I have read and understood the contribution guidelines
I have run the pre-commit checks with ./isaaclab.sh --format
I have made corresponding changes to the documentation
My changes generate no new warnings
I have added tests that prove my fix is effective or that my feature works
I have updated the changelog and the corresponding version in the extension's config/extension.toml file
I have added my name to the CONTRIBUTORS.md or my name already exists there

Signed-off-by: jiehanw <[email protected]>

greptile-apps · 2025-11-30T17:58:21Z

Greptile Overview

Greptile Summary

This PR introduces a multi-renderer architecture to support different rendering backends (Newton Warp, Omniverse RTX, Kit App) for camera sensors. The implementation adds a new isaaclab.renderer module with a registry pattern for lazy-loading renderer implementations.

Key Changes:

New renderer module with base classes RendererBase and RendererCfg
Newton Warp renderer implementation with RenderContext integration
Camera sensor integration to use configurable renderer backends via renderer_type field
Updated Newton dependency to fork with rendering support

Critical Issues Found:

Multiple import errors for non-existent files (KitAppRendererCfg, OVRTXRendererCfg)
Filename typo: newton_warp_render_cfg.py should be newton_warp_renderer_cfg.py
Wrong class name imported: Renderer vs actual RendererBase
Undefined attribute self._num_cameras used in camera.py:414
Undefined attribute self._num_envs used in newton_warp_renderer.py:19
Missing reset() method called in camera.py:371
Empty step() implementation in NewtonWarpRenderer
Incorrect import path in camera.py:41

The code will not run due to these import and attribute errors.

Confidence Score: 0/5

This PR contains critical runtime errors that will prevent the code from executing
Multiple syntax errors (missing files, wrong imports, filename typos) and logic errors (undefined attributes, missing methods) make this code non-functional. The Newton Warp renderer cannot be instantiated due to undefined _num_envs, camera integration cannot import renderer configs due to wrong paths, and the registry imports non-existent config files.
All renderer files require immediate attention: __init__.py (import errors), newton_warp_render_cfg.py (filename typo), newton_warp_renderer.py (undefined attributes), and camera.py (undefined attributes and missing methods)

Important Files Changed

File Analysis

Filename	Score	Overview
source/isaaclab/isaaclab/renderer/init.py	1/5	Creates renderer registry with lazy loading, but imports non-existent config files (KitAppRendererCfg, OVRTXRendererCfg) and wrong class name (Renderer vs RendererBase)
source/isaaclab/isaaclab/renderer/newton_warp_render_cfg.py	2/5	Config class for Newton Warp renderer - filename has typo (should be newton_warp_renderer_cfg.py) causing import failures
source/isaaclab/isaaclab/renderer/newton_warp_renderer.py	1/5	Newton Warp renderer implementation with critical issues: uses undefined _num_envs attribute, empty step() method, missing reset() method
source/isaaclab/isaaclab/sensors/camera/camera.py	1/5	Integrates renderer into camera sensor - has incorrect import path, uses undefined _num_cameras attribute, calls non-existent reset() method

Sequence Diagram

sequenceDiagram
    participant User
    participant CameraCfg
    participant Camera
    participant RendererCfg
    participant RendererBase
    participant NewtonWarpRenderer
    participant RenderContext

    User->>CameraCfg: Set renderer_type="newton_warp"
    User->>Camera: Initialize Camera(cfg)
    Camera->>Camera: _initialize_impl()
    
    alt renderer_type == "newton_warp"
        Camera->>RendererCfg: Create NewtonWarpRendererCfg
        Camera->>NewtonWarpRenderer: NewtonWarpRenderer(cfg)
        NewtonWarpRenderer->>RendererBase: super().__init__(cfg)
        RendererBase-->>NewtonWarpRenderer: Sets _width, _height
        NewtonWarpRenderer->>RenderContext: RenderContext(width, height, num_worlds)
        RenderContext-->>NewtonWarpRenderer: _render_context
        Camera->>NewtonWarpRenderer: initialize()
        NewtonWarpRenderer-->>Camera: (empty implementation)
    else other renderer types
        Camera->>Camera: raise ValueError
    end
    
    Camera->>Camera: _create_buffers()
    
    loop Simulation Steps
        User->>Camera: update()
        Camera->>Camera: _update_buffers_impl(env_ids)
        Camera->>NewtonWarpRenderer: get_output()
        NewtonWarpRenderer-->>Camera: _output_data_buffers
        Camera->>Camera: _process_annotator_output()
    end
    
    User->>Camera: reset(env_ids)
    Camera->>NewtonWarpRenderer: reset()
    Note over NewtonWarpRenderer: Method not implemented!

greptile-apps

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greptile-apps · 2025-11-30T17:58:11Z