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name: rendering description: "Configure robosuite rendering, camera observations, transforms, offscreen capture, domain randomization, and optional USD/Isaac export paths." disable-model-invocation: true metadata: disco-role: operating license: NOASSERTION

Rendering

Use this sub-skill for rendering and camera-adjacent tasks in robosuite:

• choose has_renderer vs has_offscreen_renderer
• select renderer="mujoco" or renderer="mjviewer"
• request camera RGB, depth, and segmentation observations
• read and back-project camera transforms
• record short offscreen videos
• randomize cameras, lighting, textures, dynamics, and sensor noise
• follow optional USD / Isaac Sim export paths

Start with:

• references/rendering-and-cameras.md
• references/domain-randomization.md
• references/video-and-usd.md
• references/troubleshooting.md

Bundled helpers:

• scripts/offscreen_camera_smoke.py
• scripts/camera_transform_smoke.py
• scripts/record_random_video.py

Do not handle here:

• ../environments for task setup, horizons, reward flow, and general env creation
• ../teleoperation for keyboard/SpaceMouse/DualSense capture and teleop video/USD collection
• ../modeling for camera XML tuning and MJCF camera placement

Core rules:

1. use_camera_obs=True requires has_offscreen_renderer=True.
2. Depth observations are normalized; convert them with get_real_depth_map before metric use.
3. Segmentation observations appear only when camera_segmentations is enabled, with keys like frontview_segmentation_instance.
4. Set robosuite.macros.IMAGE_CONVENTION = "opencv" before env creation when writing video with imageio or OpenCV-style consumers.
5. Treat USD/Isaac export as optional and environment-dependent, not as a core verified runtime path.