Reset Hydra texture state when render product changes

source/extensions/isaacsim.core.nodes/python/nodes/OgnIsaacAttachHydraTexture.py

@@ -35,6 +35,7 @@ class OgnIsaacAttachHydraTextureInternalState(BaseResetNode):
     def __init__(self) -> None:
         self.hydra_texture = None
         self.applied_render_vars = set()
+        self.render_product_path = None
         self.rp_sub_stop = None
         self.rp_sub_play = None
         self.drawable_changed_sub = None
@@ -43,6 +44,22 @@ def __init__(self) -> None:
         self.is_async = settings.get("/app/asyncRendering") or False
         super().__init__(initialize=False)
 
+    def set_render_product(self, render_product_path: str) -> None:
+        """Reset cached attachment state when the render product target changes.
+
+        Args:
+            render_product_path: Render product path used by the current evaluation.
+        """
+        if self.render_product_path == render_product_path:
+            return
+        if self.hydra_texture is not None:
+            self.hydra_texture.set_updates_enabled(False)
+        self.hydra_texture = None
+        self.applied_render_vars.clear()
+        self.rp_sub_stop = None
+        self.rp_sub_play = None
+        self.render_product_path = render_product_path
+
     def on_timeline_stop(self, event: carb.eventdispatcher.Event) -> None:
         """Disable hydra texture updates when the timeline stops.
 
@@ -159,6 +176,8 @@ def compute(db: Any) -> bool:
             db.log_error(f'Invalid RenderProduct prim: "{render_product_path}"')
             return False
 
+        state.set_render_product(render_product_path)
+
         with Usd.EditContext(stage, stage.GetSessionLayer()):
             # Apply render vars
             render_vars = db.inputs.renderVars
@@ -252,6 +271,7 @@ def release_instance(node: Any, graph_instance_id: Any) -> None:
         if state is not None:
             # Clean up the hydra texture
             state.hydra_texture = None
+            state.render_product_path = None
             state.rp_sub_stop = None
             state.rp_sub_play = None
             state.drawable_changed_sub = None

source/extensions/isaacsim.core.nodes/python/tests/test_attach_hydra_texture_retarget.py

@@ -0,0 +1,55 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""Tests for render-product retargeting in IsaacAttachHydraTexture."""
+
+import importlib.util
+from pathlib import Path
+from unittest.mock import MagicMock
+
+import omni.kit.test
+
+MODULE_PATH = Path(__file__).resolve().parents[1] / "nodes" / "OgnIsaacAttachHydraTexture.py"
+SPEC = importlib.util.spec_from_file_location("_attach_hydra_texture_retarget", MODULE_PATH)
+MODULE = importlib.util.module_from_spec(SPEC)
+SPEC.loader.exec_module(MODULE)
+State = MODULE.OgnIsaacAttachHydraTextureInternalState
+
+
+class TestAttachHydraTextureRetarget(omni.kit.test.AsyncTestCase):
+    """Verify cached Hydra state follows the current render product target."""
+
+    async def test_new_render_product_clears_cached_attachment_state(self) -> None:
+        """Switching targets should force texture and render-var recreation."""
+        state = State.__new__(State)
+        old_texture = MagicMock()
+        state.hydra_texture = old_texture
+        state.applied_render_vars = {"LdrColor", "Depth"}
+        state.render_product_path = "/Render/ProductA"
+        state.rp_sub_stop = object()
+        state.rp_sub_play = object()
+
+        state.set_render_product("/Render/ProductB")
+
+        old_texture.set_updates_enabled.assert_called_once_with(False)
+        self.assertIsNone(state.hydra_texture)
+        self.assertEqual(state.applied_render_vars, set())
+        self.assertIsNone(state.rp_sub_stop)
+        self.assertIsNone(state.rp_sub_play)
+        self.assertEqual(state.render_product_path, "/Render/ProductB")
+
+    async def test_same_render_product_preserves_cached_state(self) -> None:
+        """Repeated evaluation of the same target should keep the existing texture."""
+        state = State.__new__(State)
+        texture = MagicMock()
+        state.hydra_texture = texture
+        state.applied_render_vars = {"LdrColor"}
+        state.render_product_path = "/Render/ProductA"
+        state.rp_sub_stop = object()
+        state.rp_sub_play = object()
+
+        state.set_render_product("/Render/ProductA")
+
+        texture.set_updates_enabled.assert_not_called()
+        self.assertIs(state.hydra_texture, texture)
+        self.assertEqual(state.applied_render_vars, {"LdrColor"})