Fix cloned camera bindings and moving-camera poses for OVRTX batching

source/isaaclab/changelog.d/moving-camera-pose-refresh.rst

@@ -0,0 +1,7 @@
+Fixed
+^^^^^
+
+* Documented the need for ``CameraCfg.update_latest_camera_pose=True`` on moving cameras when the renderer
+  receives explicit camera poses.
+* Clarified that camera render specifications can describe logical instances whose clones are absent
+  from the authored USD stage.

source/isaaclab/isaaclab/renderers/camera_render_spec.py

@@ -23,8 +23,10 @@ class CameraRenderSpec:
         cfg: Camera configuration (data types, resolution, filters, etc.).
         device: Torch device string (e.g. ``"cuda:0"``) used by GPU annotators and Warp.
         num_instances: Number of tiled camera instances (environments).
-        camera_prim_paths: Absolute USD paths for each environment's camera prim.
-        view_count: Number of camera prims (must match ``len(camera_prim_paths)``).
+        camera_prim_paths: Absolute paths of the authored camera prims. When the renderer
+            clones environments internally, this may contain only the source camera path;
+            the renderer resolves its logical per-environment paths during registration.
+        view_count: Number of logical camera instances in the sensor view.
         camera_path_relative_to_env_0: Camera prim path with ``/World/envs/env_0/`` prefix
             stripped; required by OVRTX. Empty string if the first camera is not under env 0.
     """

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

@@ -104,6 +104,9 @@ class OffsetCfg:
     If True, the latest camera pose is updated in the camera's data which will slow down performance
     due to the use of :class:`FrameView`.
     If False, the pose of the camera during initialization is returned.
+
+    Renderers that receive explicit camera poses also use this cached pose for rendering. Set this
+    to True for cameras attached to moving bodies so their rendered views follow the bodies.
     """
 
     semantic_filter: str | list[str] = "*:*"

source/isaaclab_ov/changelog.d/ovrtx-cloned-camera-bindings.rst

@@ -0,0 +1,5 @@
+Fixed
+^^^^^
+
+* Bound OVRTX camera poses and intrinsics to every logical environment when Newton authored only
+  the source camera in USD, including additional cameras sharing the renderer.

source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer.py

@@ -27,6 +27,7 @@
 import sys
 import weakref
 from collections.abc import Iterator, Sequence
+from dataclasses import replace
 from pathlib import Path
 from typing import TYPE_CHECKING, Any, NoReturn, cast
 
@@ -921,6 +922,20 @@ def create_render_data(self, spec: CameraRenderSpec) -> OVRTXCameraRenderData:
         Performs OVRTX initialization (stage export, USD load, bindings) on first call,
         matching the interface of Isaac RTX and Newton Warp which need no separate initialize().
         """
+        # Newton authors only the source camera in USD; OVRTX clones it for every environment.
+        # Bind later cameras and calibration writes to the same paths as the initial camera.
+        if (
+            len(spec.camera_prim_paths) == 1
+            and spec.num_instances > 1
+            and spec.camera_path_relative_to_env_0
+            and spec.camera_prim_paths[0] == f"/World/envs/env_0/{spec.camera_path_relative_to_env_0}"
+        ):
+            spec = replace(
+                spec,
+                camera_prim_paths=tuple(
+                    f"/World/envs/env_{i}/{spec.camera_path_relative_to_env_0}" for i in range(spec.num_instances)
+                ),
+            )
         # Normalize aliases such as "cuda" before comparing cameras sharing this renderer.
         warp_device = wp.get_device(spec.device)
         if self._initialized_scene and str(warp_device) != self._device:

source/isaaclab_ov/test/test_ovrtx_renderer_contract.py

@@ -249,7 +249,8 @@ def test_ovrtx_render_empty_sequence_does_not_require_initialized_backend():
 @pytest.mark.integration
 @pytest.mark.rendering
 @pytest.mark.parametrize("use_ovstage", [False, True])
-def test_ovrtx_multiple_cameras_render_independent_views(monkeypatch, use_ovstage, tmp_path):
+@pytest.mark.parametrize("source_only", [False, True])
+def test_ovrtx_multiple_cameras_render_independent_views(monkeypatch, use_ovstage, source_only, tmp_path):
     """Check independent camera batches and save RGB/depth frames under pytest's temporary directory.
 
     Use ``--basetemp=/tmp/ovrtx-camera-frames`` to choose where pytest writes the captures.
@@ -337,7 +338,7 @@ def check_depth(rd, data, expected, label):
                 cfg=cfg,
                 device="cuda:0",
                 num_instances=2,
-                camera_prim_paths=tuple(f"/World/envs/env_{i}/cam{index}" for i in range(2)),
+                camera_prim_paths=tuple(f"/World/envs/env_{i}/cam{index}" for i in range(1 if source_only else 2)),
                 view_count=2,
                 camera_path_relative_to_env_0=f"cam{index}",
             )
@@ -352,6 +353,13 @@ def check_depth(rd, data, expected, label):
             )
             renderer.set_outputs(rd, data.output)
             cameras.append((rd, data))
+            # Calibration writes must also cover clones absent from the authored USD.
+            parameters = wp.array(
+                [[24.0, 24.0], [20.0, 20.0], [20.0, 20.0], [0.0, 0.0], [0.0, 0.0]],
+                dtype=wp.float32,
+                device="cuda:0",
+            )
+            renderer.update_camera_intrinsics(rd, wp.zeros(2, dtype=wp.mat33f, device="cuda:0"), parameters)
             # Register the next camera after rendering has already started.
             renderer.render([rd])
             check_depth(rd, data, 5.0 - index - 0.5, f"initial_cam{index}")
@@ -871,8 +879,11 @@ def test_ovrtx_cleanup_without_render_data_keeps_renderer_state():
 
 
 @pytest.mark.parametrize("use_ovstage", [False, True])
-def test_intrinsic_updates_target_the_given_camera(monkeypatch, use_ovstage):
-    """Cameras sharing a renderer must bind and update distinct native camera paths."""
+@pytest.mark.parametrize("source_only", [False, True])
+def test_intrinsic_updates_target_the_given_camera(monkeypatch, use_ovstage, source_only):
+    """Bindings target every logical camera, including clones absent from the source USD."""
+    from isaaclab.renderers.camera_render_spec import CameraRenderSpec
+
     renderer = _make_ovrtx_renderer_without_backend()
     renderer._initialized_scene = True
     renderer._device = "cpu"
@@ -888,15 +899,16 @@ def test_intrinsic_updates_target_the_given_camera(monkeypatch, use_ovstage):
     renderer.backend.stage.query_from_path_list.side_effect = lambda paths: contextlib.nullcontext(object())
     for name in ("add_usd_reference_from_string", "apply_usd_changes", "remove_usd"):
         monkeypatch.setattr(ovrtx_renderer_module.ovstage.population, name, MagicMock())
-    paths = [[f"/World/envs/env_{i}/{name}" for i in range(2)] for name in ("CameraA", "CameraB")]
+    paths = [[f"/World/envs/env_{i}/{name}" for i in range(2)] for name in ("CameraA", "Robot/wrist/CameraB")]
     cameras = [
         renderer.create_render_data(
-            types.SimpleNamespace(
+            CameraRenderSpec(
                 cfg=_make_camera_cfg(["depth"]),
                 device="cpu",
                 num_instances=2,
-                camera_prim_paths=camera_paths,
-                camera_path_relative_to_env_0=camera_paths[0].rsplit("/", 1)[1],
+                camera_prim_paths=tuple(camera_paths[:1] if source_only else camera_paths),
+                view_count=2,
+                camera_path_relative_to_env_0=camera_paths[0].removeprefix("/World/envs/env_0/"),
             )
         )
         for camera_paths in paths

source/isaaclab_tasks/changelog.d/moving-camera-pose-refresh.rst

@@ -0,0 +1,5 @@
+Fixed
+^^^^^
+
+* Fixed stale rendered views from Kuka-Allegro wrist cameras and Galbot wrist and head cameras by
+  enabling camera pose refresh.

source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/galbot/stack_rmp_rel_env_cfg.py

@@ -171,6 +171,7 @@ def __post_init__(self):
         # Set left and right wrist cameras for VLA policy training
         self.scene.right_wrist_cam = CameraCfg(
             prim_path="{ENV_REGEX_NS}/Robot/right_arm_camera_sim_view_frame/right_camera",
+            update_latest_camera_pose=True,
             update_period=0.0333,
             height=256,
             width=256,
@@ -184,6 +185,7 @@ def __post_init__(self):
 
         self.scene.left_wrist_cam = CameraCfg(
             prim_path="{ENV_REGEX_NS}/Robot/left_arm_camera_sim_view_frame/left_camera",
+            update_latest_camera_pose=True,
             update_period=0.0333,
             height=256,
             width=256,
@@ -198,6 +200,7 @@ def __post_init__(self):
         # Set ego view camera
         self.scene.ego_cam = CameraCfg(
             prim_path="{ENV_REGEX_NS}/Robot/head_camera_sim_view_frame/head_camera",
+            update_latest_camera_pose=True,
             update_period=0.0333,
             height=256,
             width=256,

source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/camera_cfg.py

@@ -44,6 +44,7 @@
 
 WRIST_CAMERA_CFG = CameraCfg(
     prim_path="{ENV_REGEX_NS}/Robot/ee_link/palm_link/Camera",
+    update_latest_camera_pose=True,
     offset=CameraCfg.OffsetCfg(
         pos=(0.038, -0.38, -0.18),
         rot=(0.641, 0.641, -0.299, 0.299),