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Runtime switch to read transforms from GPU. #5411

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Merged
pbarejko merged 1 commit into from
Apr 27, 2026
Merged

Runtime switch to read transforms from GPU. #5411

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8 changes: 7 additions & 1 deletion source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,13 @@
# By setting OVRTX_SKIP_USD_CHECK, we prevent the C library from loading the pxr Python package.
os.environ["OVRTX_SKIP_USD_CHECK"] = "1"

import ovrtx
from ovrtx import Device, PrimMode, Renderer, RendererConfig, Semantic
from packaging.version import Version

# In previous versions of ovrtx, there was a bug where we would have to set read_gpu_transforms to False.
# In later versions, we can read transforms from GPU.
_OVRTX_READ_GPU_TRANSFORMS = Version(ovrtx.__version__) > Version("0.2.0")
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@greptile-apps greptile-apps Bot Apr 27, 2026

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P2 Version boundary may be off-by-one

The comment states the bug existed in "previous versions," but the threshold > Version("0.2.0") treats 0.2.0 itself as a buggy version (leaves read_gpu_transforms=False). If the GPU-transform fix was introduced in 0.2.0 (rather than strictly after it), the condition should be >= Version("0.2.0"). Worth confirming the exact release that introduced the fix.

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P2 No guard against malformed or missing __version__

Version(ovrtx.__version__) is evaluated at module-import time. If ovrtx doesn't expose __version__ (AttributeError) or its value isn't a valid PEP 440 string (packaging.version.InvalidVersion), the entire module fails to import. Consider wrapping this in a try/except so a version-parsing failure degrades gracefully (e.g. falls back to False):

try:
    _OVRTX_READ_GPU_TRANSFORMS = Version(ovrtx.__version__) > Version("0.2.0")
except Exception:
    _OVRTX_READ_GPU_TRANSFORMS = False


from isaaclab.renderers.base_renderer import BaseRenderer
from isaaclab.utils.math import convert_camera_frame_orientation_convention
Expand Down Expand Up @@ -171,7 +177,7 @@ def initialize(self, sensor: SensorBase):
OVRTX_CONFIG = RendererConfig(
log_file_path=self.cfg.log_file_path,
log_level=self.cfg.log_level,
read_gpu_transforms=False,
read_gpu_transforms=_OVRTX_READ_GPU_TRANSFORMS,
)
self._renderer = Renderer(OVRTX_CONFIG)
assert self._renderer, "Renderer should be valid after creation"
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