[Development] Batch renderer integration

habitat-baselines/habitat_baselines/common/construct_vector_env.py

@@ -96,4 +96,8 @@ def construct_envs(
         env_fn_args=tuple((c,) for c in configs),
         workers_ignore_signals=workers_ignore_signals,
     )
+
+    if config.habitat.simulator.renderer.enable_batch_renderer:
+        envs.initialize_batch_renderer(config)
+
     return envs

habitat-lab/habitat/config/default_structured_configs.py

@@ -1323,6 +1323,20 @@ class AgentConfig(HabitatBaseConfig):
     motion_data_path: str = ""
 
 
+@dataclass
+class RendererConfig(HabitatBaseConfig):
+    r"""Configuration for the renderer.
+
+    :property enable_batch_renderer: [Experimental] Enables batch rendering, which accelerates rendering for concurrent environments. See env_batch_renderer.py for details.
+    :property composite_files: List of composite GLTF files to be pre-loaded by the batch renderer.
+    :property classic_replay_renderer: For debugging. Create a ClassicReplayRenderer instead of BatchReplayRenderer when enable_batch_renderer is active.
+    """
+
+    enable_batch_renderer: bool = False
+    composite_files: Optional[List[str]] = None
+    classic_replay_renderer: bool = False
+
+
 @dataclass
 class HabitatSimV0Config(HabitatBaseConfig):
     gpu_device_id: int = 0
@@ -1402,6 +1416,8 @@ class SimulatorConfig(HabitatBaseConfig):
     ep_info: Optional[Any] = None
     # The offset id values for the object
     object_ids_start: int = 100
+    # Configuration for rendering
+    renderer: RendererConfig = RendererConfig()
 
 
 @dataclass

habitat-lab/habitat/core/batch_rendering/__init__.py

@@ -0,0 +1,5 @@
+#!/usr/bin/env python3
+
+# Copyright (c) Meta Platforms, Inc. and its affiliates.
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.