Select Renderer Hydra Args

docs/source/features/hydra.rst

@@ -83,6 +83,37 @@ To set parameters to None, use the ``null`` keyword, which is a special keyword
 In the above example, we could also disable the ``joint_pos_rel`` observation by setting it to None with
 ``env.observations.policy.joint_pos_rel=null``.
 
+TiledCamera renderer type
+^^^^^^^^^^^^^^^^^^^^^^^^^
+
+You can select the :class:`~isaaclab.sensors.TiledCamera` backend (RTX vs. Warp) at train time via Hydra by
+overriding the camera config's ``renderer_type``.
+
+**Override path:** It must match where the task puts the TiledCamera in the env config:
+
+- **Scene has ``base_camera``:** If the task uses a scene config that exposes the camera as ``scene.base_camera``
+  (e.g. a scene class like ``KukaAllegroSingleTiledCameraSceneCfg`` with a ``base_camera: TiledCameraCfg`` field),
+  use:
+
+  .. code-block:: shell
+
+      env.scene.base_camera.renderer_type=rtx
+      # or
+      env.scene.base_camera.renderer_type=warp_renderer
+
+- **Camera on env config:** If the task puts the camera elsewhere (e.g. ``env.tiled_camera`` on the env config),
+  override that path instead:
+
+  .. code-block:: shell
+
+      env.tiled_camera.renderer_type=rtx
+      # or
+      env.tiled_camera.renderer_type=warp_renderer
+
+**Values:** ``rtx`` selects the Isaac RTX (Replicator) renderer; ``warp_renderer`` selects the Newton Warp renderer
+(when the ``isaaclab_newton`` package is available). No change to env or env_cfg code is required—only the
+config hierarchy must expose the camera at the path you override.
+
 Dictionaries
 ^^^^^^^^^^^^
 Elements in dictionaries are handled as a parameters in the hierarchy. For example, in the Cartpole environment:

docs/source/overview/core-concepts/sensors/camera.rst

@@ -23,6 +23,11 @@ The Tiled Rendering APIs provide a vectorized interface for collecting data from
 
 Isaac Lab provides tiled rendering APIs for RGB, depth, along with other annotators through the :class:`~sensors.TiledCamera` class. Configurations for the tiled rendering APIs can be defined through the :class:`~sensors.TiledCameraCfg` class, specifying parameters such as the regex expression for all camera paths, the transform for the cameras, the desired data type, the type of cameras to add to the scene, and the camera resolution.
 
+The renderer backend (Isaac RTX vs. Newton Warp) can be selected at run time via the config's ``renderer_type``
+(``"rtx"`` or ``"warp_renderer"``). When using Hydra (e.g. in ``train.py``), override the camera config path your
+task uses—e.g. ``env.scene.base_camera.renderer_type=rtx`` when the scene exposes ``base_camera``, or
+``env.tiled_camera.renderer_type=rtx`` when the camera is on the env config. See **Hydra Configuration System** (Features) for override paths and examples.
+
 .. code-block:: python
 
     tiled_camera: TiledCameraCfg = TiledCameraCfg(

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

@@ -147,5 +147,14 @@ class OffsetCfg:
 
     """
 
+    renderer_type: Literal["rtx", "warp_renderer"] = "rtx"
+    """Hydra-friendly renderer selector. When set, overrides :attr:`renderer_cfg` for the backend.
+
+    - ``"rtx"``: Use Isaac RTX (Replicator) renderer (default).
+    - ``"warp_renderer"``: Use Newton Warp renderer (when available).
+
+    Can be overridden at train time via e.g. ``env.scene.base_camera.renderer_type=warp_renderer``.
+    """
+
     renderer_cfg: RendererCfg = field(default_factory=IsaacRtxRendererCfg)
     """Renderer configuration for camera sensor."""

source/isaaclab/isaaclab/sensors/camera/tiled_camera.py

@@ -185,7 +185,9 @@ def _initialize_impl(self):
             self._sensor_prims.append(UsdGeom.Camera(cam_prim))
 
         # Create renderer after scene is ready (post-cloning) so world_count is correct
-        self.renderer = Renderer(self.cfg.renderer_cfg)
+        # Resolve Hydra-friendly renderer_type to concrete renderer_cfg if set
+        renderer_cfg = self._get_effective_renderer_cfg()
+        self.renderer = Renderer(renderer_cfg)
         logger.info("Using renderer: %s", type(self.renderer).__name__)
 
         self.render_data = self.renderer.create_render_data(self)
@@ -222,6 +224,19 @@ def _update_buffers_impl(self, env_mask: wp.array):
     Private Helpers
     """
 
+    def _get_effective_renderer_cfg(self):
+        """Resolve renderer_cfg from optional renderer_type (Hydra override)."""
+        rt = getattr(self.cfg, "renderer_type", None)
+        if rt == "rtx":
+            from isaaclab_physx.renderers import IsaacRtxRendererCfg
+
+            return IsaacRtxRendererCfg()
+        if rt == "warp_renderer":
+            from isaaclab_newton.renderers import NewtonWarpRendererCfg
+
+            return NewtonWarpRendererCfg()
+        return self.cfg.renderer_cfg
+
     def _check_supported_data_types(self, cfg: TiledCameraCfg):
         """Checks if the data types are supported by the ray-caster camera."""
         # check if there is any intersection in unsupported types