isaac-sim · mataylor-nvidia · Jun 12, 2026 · Jun 12, 2026 · Jun 12, 2026
diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
@@ -127,6 +127,7 @@ Guidelines for modifications:
 * Masoud Moghani
 * Mateo Guaman Castro
 * Maurice Rahme
+* Matthew Taylor
 * Michael Gussert
 * Michael Lin
 * Michael Noseworthy

@@ -82,7 +82,6 @@ app.useFabricSceneDelegate = false
 
 # Enable Iray and pxr by setting this to "rtx,iray,pxr"
 renderer.enabled = "rtx"
-renderer.scenePartitioning.enabled = true # Enable before RTX initialization so env-root partitions are honored
 
 # Avoid warning on shutdown from audio context
 app.audio.enabled = false

@@ -41,7 +41,6 @@ app.version = "3.0.0"
 app.useFabricSceneDelegate = true
 # Temporary, should be enabled by default in Kit soon
 rtx.hydra.readTransformsFromFabricInRenderDelegate = true
-renderer.scenePartitioning.enabled = true # Enable before RTX initialization so env-root partitions are honored
 
 # Disable print outs on extension startup information
 # this only disables the app print_and_log function

@@ -122,7 +122,6 @@ exts."omni.kit.viewport.window".windowMenu.label = "" # Put Viewport menuitem un
 exts."omni.rtx.window.settings".window_menu = "Window" # Where to put the render settings menuitem
 exts."omni.usd".locking.onClose = false # reduce time it takes to close/create stage
 renderer.asyncInit = true # Don't block while renderer inits
-renderer.scenePartitioning.enabled = true # Enable before RTX initialization so env-root partitions are honored
 renderer.gpuEnumeration.glInterop.enabled = false # Improves startup speed.
 rendergraph.mgpu.backend = "copyQueue" # In MGPU configurations, This setting can be removed if IOMMU is disabled for better performance, copyQueue improves stability and performance when IOMMU is enabled
 rtx-transient.dlssg.enabled = false # DLSSG frame generation is not compatible with synthetic data generation

@@ -36,7 +36,6 @@ app.version = "3.0.0"
 app.useFabricSceneDelegate = true
 # Temporary, should be enabled by default in Kit soon
 rtx.hydra.readTransformsFromFabricInRenderDelegate = true
-renderer.scenePartitioning.enabled = true # Enable before RTX initialization so env-root partitions are honored
 
 # Disable print outs on extension startup information
 # this only disables the app print_and_log function

@@ -21,7 +21,6 @@ app.version = "3.0.0"
 app.useFabricSceneDelegate = true
 # Temporary, should be enabled by default in Kit soon
 rtx.hydra.readTransformsFromFabricInRenderDelegate = true
-renderer.scenePartitioning.enabled = true # Enable before RTX initialization so env-root partitions are honored
 
 # xr optimizations
 xr.skipInputDeviceUSDWrites = true

@@ -31,7 +31,6 @@ renderer.gpuEnumeration.glInterop.enabled = true # Allow Kit XR OpenXR to render
 app.useFabricSceneDelegate = true
 # Temporary, should be enabled by default in Kit soon
 rtx.hydra.readTransformsFromFabricInRenderDelegate = true
-renderer.scenePartitioning.enabled = true # Enable before RTX initialization so env-root partitions are honored
 
 # xr optimizations
 xr.skipInputDeviceUSDWrites = true

@@ -14,7 +14,7 @@
 import torch
 import warp as wp
 
-from pxr import Sdf, UsdGeom
+from pxr import UsdGeom
 
 import isaaclab.sim as sim_utils
 from isaaclab.sensors.camera import Camera, CameraCfg
@@ -133,14 +133,6 @@ def create_visualizer_camera(
     for path in generated_paths:
         if len(sim_utils.find_matching_prims(path)) == 0:
             spawn.func(path, spawn, translation=(0.0, 0.0, 0.0), orientation=(0.0, 0.0, 0.0, 1.0))
-
-    stage = sim_utils.get_current_stage()
-    for path in generated_paths:
-        cam_prim = stage.GetPrimAtPath(path)
-        attr = cam_prim.GetAttribute("omni:scenePartition")
-        if not attr.IsValid():
-            attr = cam_prim.CreateAttribute("omni:scenePartition", Sdf.ValueTypeNames.Token)
-        attr.Set(path.split("/")[-2])
     cfg = CameraCfg(
         prim_path=f"/World/envs/env_.*/{camera_name}",
         update_period=0.0,

diff --git a/source/isaaclab_physx/isaaclab_physx/renderers/isaac_rtx_renderer.py b/source/isaaclab_physx/isaaclab_physx/renderers/isaac_rtx_renderer.py
@@ -17,7 +17,7 @@
 import warp as wp
 from packaging import version
 
-from pxr import Sdf, Usd, UsdGeom
+from pxr import Sdf
 
 from isaaclab.app.settings_manager import get_settings_manager
 from isaaclab.renderers import BaseRenderer, RenderBufferKind, RenderBufferSpec
@@ -178,40 +178,10 @@ def supported_output_types(self) -> dict[RenderBufferKind, RenderBufferSpec]:
 
         return specs
 
-    def prepare_stage(self, stage: Usd.Stage, num_envs: int) -> None:
-        """Author per-env ``omni:scenePartition`` attributes for RTX cull-by-env rendering.
-
-        For each ``/World/envs/env_{i}`` root, writes the inheriting primvar
-        ``primvars:omni:scenePartition`` (token ``env_{i}``) on the root and the matching
-        non-primvar ``omni:scenePartition`` token on every :class:`UsdGeom.Camera` descendant.
-        RTX honors primvar inheritance, so the env-root primvar propagates to all descendant
-        geometry and isolates each env's render tile.
+    def prepare_stage(self, stage: Any, num_envs: int) -> None:
+        """No-op for Isaac RTX - uses USD scene directly without export.
         See :meth:`~isaaclab.renderers.base_renderer.BaseRenderer.prepare_stage`."""
-        root_layer = stage.GetRootLayer()
-        token_type = Sdf.ValueTypeNames.Token
-        with Sdf.ChangeBlock():
-            for env_idx in range(num_envs):
-                env_prim = stage.GetPrimAtPath(f"/World/envs/env_{env_idx}")
-                if not env_prim.IsValid():
-                    continue
-                token = f"env_{env_idx}"
-                for prim in Usd.PrimRange(env_prim):
-                    if prim == env_prim:
-                        attr_path = prim.GetPath().AppendProperty("primvars:omni:scenePartition")
-                    elif prim.IsA(UsdGeom.Camera):
-                        attr_path = prim.GetPath().AppendProperty("omni:scenePartition")
-                    else:
-                        continue
-                    # Idempotent: a different renderer backend sharing this stage may have already
-                    # authored this attribute. Re-creating an existing spec raises, so only create
-                    # it when absent, then (re)assign the per-env token either way.
-                    attr_spec = root_layer.GetAttributeAtPath(attr_path)
-                    if attr_spec is None:
-                        Sdf.JustCreatePrimAttributeInLayer(
-                            root_layer, attr_path, token_type, Sdf.VariabilityUniform, True
-                        )
-                        attr_spec = root_layer.GetAttributeAtPath(attr_path)
-                    attr_spec.default = token
+        pass
 
     def create_render_data(self, spec: CameraRenderSpec) -> IsaacRtxRenderData:
         """Create render product and annotators for the tiled camera.

diff --git a/source/isaaclab_physx/test/renderers/test_isaac_rtx_renderer_scene_partitioning.py b/source/isaaclab_physx/test/renderers/test_isaac_rtx_renderer_scene_partitioning.py
diff --git a/...isaaclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-rgb.png b/...isaaclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-rgb.png
diff --git a/...saaclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-rgba.png b/...saaclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-rgba.png
diff --git a/...mages/cartpole/newton-isaacsim_rtx_renderer-simple_shading_constant_diffuse.png b/...mages/cartpole/newton-isaacsim_rtx_renderer-simple_shading_constant_diffuse.png
diff --git a/...den_images/cartpole/newton-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png b/...den_images/cartpole/newton-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png
diff --git a/...golden_images/cartpole/newton-isaacsim_rtx_renderer-simple_shading_full_mdl.png b/...golden_images/cartpole/newton-isaacsim_rtx_renderer-simple_shading_full_mdl.png
diff --git a/.../isaaclab_tasks/test/golden_images/cartpole/physx-isaacsim_rtx_renderer-rgb.png b/.../isaaclab_tasks/test/golden_images/cartpole/physx-isaacsim_rtx_renderer-rgb.png
diff --git a/...isaaclab_tasks/test/golden_images/cartpole/physx-isaacsim_rtx_renderer-rgba.png b/...isaaclab_tasks/test/golden_images/cartpole/physx-isaacsim_rtx_renderer-rgba.png
diff --git a/...images/cartpole/physx-isaacsim_rtx_renderer-simple_shading_constant_diffuse.png b/...images/cartpole/physx-isaacsim_rtx_renderer-simple_shading_constant_diffuse.png
diff --git a/...lden_images/cartpole/physx-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png b/...lden_images/cartpole/physx-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png
diff --git a/.../golden_images/cartpole/physx-isaacsim_rtx_renderer-simple_shading_full_mdl.png b/.../golden_images/cartpole/physx-isaacsim_rtx_renderer-simple_shading_full_mdl.png
diff --git a/...test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-albedo.png b/...test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-albedo.png
diff --git a/...ks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-rgb.png b/...ks/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-rgb.png
diff --git a/...s/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-rgba.png b/...s/test/golden_images/dexsuite_kuka_hetero/newton-isaacsim_rtx_renderer-rgba.png