[pull] develop from isaac-sim:develop

source/isaaclab/changelog.d/visualizer-error-reason.rst

@@ -0,0 +1,8 @@
+Fixed
+^^^^^
+
+* Fixed ``--visualizer newton`` (the deprecated alias for ``newton_gl``) always raising
+  ``RuntimeError: Explicitly requested visualizer(s) [...] could not be configured`` even though it
+  resolved successfully. :meth:`SimulationContext._resolve_visualizer_cfgs` compared the raw,
+  possibly-aliased CLI string against the resolved config's canonical ``visualizer_type``, which
+  never matched for an aliased request.

source/isaaclab/docs/CHANGELOG.rst

@@ -1,6 +1,24 @@
 Changelog
 ---------
 
+27.0.1 (2026-09-23)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed ``DelayBuffer.set_time_lag`` leaving invalid per-batch delays in the buffer by validating requested
+  values before assignment, without cloning the live lag tensor.
+* Fixed ``isaaclab --editor`` failing or writing invalid JSON when the interpreter path contained
+  backslashes. The interpreter path in ``.vscode/settings.json`` was JSON-encoded.
+* Removed the deprecated Black, Flake8, and Jedi settings from the fallback VS Code settings
+  generated by ``isaaclab --editor`` in favor of Ruff.
+* Fixed :class:`~isaaclab.envs.utils.video_recorder_cfg.VideoRecorderCfg` accepting clip schedules the
+  recorder cannot honor. Environment config validation now rejects a non-positive ``video_length`` or
+  ``frame_stride`` and a negative ``video_interval`` or ``step_offset`` instead of silently writing
+  one-frame clips, dividing by zero, or recording nothing.
+
+
 27.0.0 (2026-09-22)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/sim/simulation_context.py

@@ -570,6 +570,10 @@ def _resolve_visualizer_cfgs(self) -> list[Any]:
         cli_explicit = self._is_cli_visualizer_explicit()
         cli_disable_all = self._is_cli_visualizer_disable_all()
 
+        # cli_requested holds raw, possibly-aliased strings (e.g. "newton"); resolved cfgs carry
+        # the canonical visualizer_type (e.g. "newton_gl"). Compare via this instead of directly.
+        canonical_requested = [_VISUALIZER_ALIASES.get(t, t) for t in cli_requested]
+
         if cli_disable_all:
             resolved = []
         elif not cli_explicit:
@@ -582,15 +586,15 @@ def _resolve_visualizer_cfgs(self) -> list[Any]:
             self._apply_visualizer_cli_overrides(resolved)
         else:
             # CLI selection is explicit: keep only requested cfg types, then add defaults for missing.
-            cli_requested_set = set(cli_requested)
+            cli_requested_set = set(canonical_requested)
             resolved = [cfg for cfg in visualizer_cfgs if getattr(cfg, "visualizer_type", None) in cli_requested_set]
             for cfg in resolved:
                 self._apply_default_visualizer_cfg(cfg)
             existing_types = {getattr(cfg, "visualizer_type", None) for cfg in resolved}
             for viz_type in cli_requested:
-                if viz_type not in existing_types and viz_type in _VISUALIZER_TYPES:
+                if _VISUALIZER_ALIASES.get(viz_type, viz_type) not in existing_types:
                     resolved.extend(self._create_default_visualizer_configs([viz_type]))
-                    existing_types.add(viz_type)
+                    existing_types.add(_VISUALIZER_ALIASES.get(viz_type, viz_type))
             self._apply_visualizer_cli_overrides(resolved)
 
         # When visualizers were explicitly requested via CLI, verify all
@@ -599,7 +603,11 @@ def _resolve_visualizer_cfgs(self) -> list[Any]:
         # skips.
         if cli_explicit and cli_requested:
             resolved_types = {getattr(cfg, "visualizer_type", None) for cfg in resolved}
-            missing = [t for t in cli_requested if t not in resolved_types]
+            missing = [
+                t
+                for t, canonical in zip(cli_requested, canonical_requested, strict=True)
+                if canonical not in resolved_types
+            ]
             if missing:
                 install_hints = " ".join(
                     _get_visualizer_install_hint(visualizer_type)

source/isaaclab/pyproject.toml

@@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "isaaclab"
-version = "27.0.0"
+version = "27.0.1"
 description = "Extension providing main framework interfaces and abstractions for robot learning."
 license = {text = "BSD-3-Clause"}
 authors = [{name = "Isaac Lab Project Developers"}]

source/isaaclab/test/sim/test_simulation_context_visualizers.py

@@ -1098,9 +1098,73 @@ def test_explicit_partial_valid_types_raises_for_invalid():
     }
     ctx = _make_context_with_settings(settings)
 
-    with pytest.raises(RuntimeError, match="bogus_viz"):
+    with pytest.raises(RuntimeError) as exc_info:
+        ctx._create_visualizers()
+
+    message = str(exc_info.value)
+    assert "bogus_viz" in message
+    # The successfully-resolved deprecated alias must not also be reported as missing.
+    assert "'newton'" not in message
+
+
+def test_explicit_deprecated_alias_alone_does_not_raise():
+    """Requesting only the deprecated 'newton' alias resolves successfully and does not raise,
+    even though the resolved cfg carries the canonical 'newton_gl' type."""
+    settings = {
+        "/isaaclab/visualizer/types": "newton",
+        "/isaaclab/visualizer/explicit": True,
+        "/isaaclab/visualizer/disable_all": False,
+        "/isaaclab/visualizer/max_visible_envs": None,
+    }
+    ctx = _make_context_with_settings(settings)
+
+    with pytest.warns(DeprecationWarning, match="newton.*deprecated.*newton_gl"):
         ctx._create_visualizers()
 
+    assert len(ctx._pending_visualizers) == 1
+
+
+def test_explicit_deprecated_alias_matches_existing_cfg_by_canonical_type():
+    """Requesting 'newton' via CLI when cfg.visualizer_cfgs already has a customized 'newton_gl'
+    config selects and returns that exact instance, rather than discarding it and building a
+    fresh default -- exercising the branch that filters pre-existing cfgs by canonical type."""
+    existing_cfg = NewtonGLVisualizerCfg(background_color=(0.4, 0.5, 0.6))
+    settings = {
+        "/isaaclab/visualizer/types": "newton",
+        "/isaaclab/visualizer/explicit": True,
+        "/isaaclab/visualizer/disable_all": False,
+        "/isaaclab/visualizer/max_visible_envs": None,
+    }
+    ctx = _make_context_with_settings(settings, visualizer_cfgs=[existing_cfg])
+
+    # No alias-resolution warning: the pre-existing cfg already satisfies the canonical type.
+    cfgs = ctx._resolve_visualizer_cfgs()
+
+    assert len(cfgs) == 1
+    assert cfgs[0] is existing_cfg
+    assert cfgs[0].background_color == (0.4, 0.5, 0.6)
+
+
+def test_explicit_existing_cfg_plus_failing_requested_type_raises_for_the_failure():
+    """A pre-existing cfg satisfies one requested type; a second requested type that cannot be
+    resolved still raises, exercising the branch that extends pre-existing cfgs with freshly-created
+    defaults for the remaining requested types."""
+    existing_cfg = _FakeVisualizerCfg("kit")
+    settings = {
+        "/isaaclab/visualizer/types": "kit,bogus_viz",
+        "/isaaclab/visualizer/explicit": True,
+        "/isaaclab/visualizer/disable_all": False,
+        "/isaaclab/visualizer/max_visible_envs": None,
+    }
+    ctx = _make_context_with_settings(settings, visualizer_cfgs=[existing_cfg])
+
+    with pytest.raises(RuntimeError) as exc_info:
+        ctx._resolve_visualizer_cfgs()
+    message = str(exc_info.value)
+    # 'kit' was satisfied by the pre-existing cfg, so only the unresolved type is reported missing.
+    assert "['bogus_viz']" in message
+    assert "'kit':" not in message
+
 
 def test_deprecated_newton_alias_warns_and_resolves_to_newton_gl():
     """Requesting 'newton' via CLI emits DeprecationWarning and resolves to a NewtonGLVisualizerCfg."""

source/isaaclab_ov/changelog.d/ovrtx-cache-frame-keys.rst

@@ -0,0 +1,5 @@
+Changed
+^^^^^^^
+
+* Cached OVRTX render-var frame keys during camera initialization, avoiding repeated version checks and
+  path construction during frame processing. Existing camera output behavior and APIs remained unchanged.

source/isaaclab_ov/docs/CHANGELOG.rst

@@ -1,6 +1,37 @@
 Changelog
 ---------
 
+3.3.1 (2026-09-23)
+~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* **Breaking:** Centralized camera identity and simplified USD helper inputs. Pass ``render_scope_name``
+  explicitly to ``OVRTXCameraRenderData`` and render-var configuration helpers. Pass ``spec`` and ``render_data``
+  to ``build_render_scope_usd`` and ``build_render_product_as_string`` instead of individual camera fields.
+  The product builder returns a complete USD layer string; pass it directly to USD loaders without adding
+  a header or default-prim metadata, and use ``OVRTXCameraRenderData.render_product_path`` instead of
+  unpacking a path from the builder's return value.
+
+Removed
+^^^^^^^
+
+* **Breaking:** Removed ``build_render_var_frame_keys`` and ``RENDER_VAR_FRAME_KEYS``.
+  Use ``render_var_prim_names_by_source()`` for the static source-to-prim-name mapping. Direct frame readers
+  must use source names on OVRTX 0.4 and ``/<camera scope>/Vars/<prim name>`` paths on OVRTX 0.5 and later.
+
+Fixed
+^^^^^
+
+* Fixed OVRTX 0.5 camera output and segmentation metadata lookups to use each camera's
+  authored RenderVar paths, preventing empty images and missing segmentation maps.
+  Kept OVRTX 0.4 support by resolving frame keys in the shared output lookup helper.
+* Fixed OVRTX cloning of homogeneous scenes, where every spawner is single-variant and the clone plan replicates the
+  environment roots themselves. The exported stage retained those roots, so cloning targeted prims that already
+  existed. The env roots were trimmed for such plans and kept for plans whose rows target prims beneath them.
+
+
 3.3.0 (2026-09-22)
 ~~~~~~~~~~~~~~~~~~
 

source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer.py

@@ -106,7 +106,7 @@
 
 if TYPE_CHECKING:
     from isaaclab_ppisp import PpispPipeline
-    from ovrtx import AttributeBinding, FrameOutput, RenderVarOutput
+    from ovrtx import AttributeBinding
 
     from isaaclab.renderers.base_renderer import VisualMaterialBatch
     from isaaclab.sensors.camera.camera_data import CameraData
@@ -290,6 +290,11 @@ def __init__(self, spec: CameraRenderSpec, device, render_scope_name: str):
         self.render_scope_name = render_scope_name
         self.render_product_name = "RenderProduct"
         self.render_product_path = f"/{render_scope_name}/{self.render_product_name}"
+        self.render_var_keys: dict[str, str] = (
+            {source: f"/{render_scope_name}/Vars/{name}" for source, name in _RENDER_VAR_PRIM_NAMES.items()}
+            if uses_prim_path_render_vars(OVRTX_VERSION)
+            else {source: source for source in _RENDER_VAR_PRIM_NAMES}
+        )
         self.camera_xform_binding = None
         self.camera_xform_query = None
         self.resources = contextlib.ExitStack()
@@ -1276,17 +1281,6 @@ def _generate_random_colors_from_ids(self, input_ids: wp.array, output_colors: w
         )
         return output_colors
 
-    @staticmethod
-    def _get_render_var_output(
-        render_data: OVRTXCameraRenderData, frame: FrameOutput, source_name: str
-    ) -> RenderVarOutput | None:
-        """Resolve a render-var source name to the installed OVRTX frame key and read its output."""
-        render_var_key = source_name
-        if uses_prim_path_render_vars(OVRTX_VERSION):
-            prim_name = _RENDER_VAR_PRIM_NAMES[source_name]
-            render_var_key = f"/{render_data.render_scope_name}/Vars/{prim_name}"
-        return frame.render_vars.get(render_var_key)
-
     @contextlib.contextmanager
     def _map_render_var_to_dlpack(self, render_var: Any) -> Iterator[wp.array]:
         """Map ``render_var`` for CUDA reads and yield it as a Warp array.
@@ -1344,7 +1338,7 @@ def _process_id_segmentation_render_var(
             buffer_key: Data type key into ``output_buffers``.
             colorize: If True, IDs are mapped to RGBA colors; otherwise raw uint32 IDs are copied.
         """
-        render_var = self._get_render_var_output(render_data, frame, render_var_key)
+        render_var = frame.render_vars.get(render_data.render_var_keys[render_var_key])
         if render_var is None or buffer_key not in output_buffers:
             return
 
@@ -1385,7 +1379,7 @@ def _process_semantic_id_map(self, render_data: OVRTXCameraRenderData, frame) ->
             render_data: OVRTX render data for the current frame.
             frame: OVRTX frame holding the mapped render vars.
         """
-        semantic_id_map = self._get_render_var_output(render_data, frame, _SEMANTIC_ID_MAP_VAR)
+        semantic_id_map = frame.render_vars.get(render_data.render_var_keys[_SEMANTIC_ID_MAP_VAR])
         if semantic_id_map is None:
             return
 
@@ -1423,7 +1417,7 @@ def _process_instance_segmentation_maps(self, render_data: OVRTXCameraRenderData
             frame: OVRTX frame holding the mapped render vars.
         """
         resolved = {
-            key: self._get_render_var_output(render_data, frame, key) for key in _INSTANCE_SEGMENTATION_MAP_VARS
+            key: frame.render_vars.get(render_data.render_var_keys[key]) for key in _INSTANCE_SEGMENTATION_MAP_VARS
         }
         missing = [key for key, render_var in resolved.items() if render_var is None]
         if missing:
@@ -1561,7 +1555,7 @@ def _process_render_frame(self, render_data: OVRTXCameraRenderData, frame, outpu
         # is available, so without this a missing SemanticIdMap on a later frame would leave a stale mapping.
         render_data.renderer_info.clear()
 
-        ldr_color = self._get_render_var_output(render_data, frame, _LDR_COLOR_VAR)
+        ldr_color = frame.render_vars.get(render_data.render_var_keys[_LDR_COLOR_VAR])
         if ldr_color is not None:
             buffer_key = None
 
@@ -1580,7 +1574,7 @@ def _process_render_frame(self, render_data: OVRTXCameraRenderData, frame, outpu
                     self._extract_rgba_tiles(render_data, tiled_data, output_buffers, buffer_key)
 
         for depth_var, buffer_keys in _DEPTH_VAR_BUFFER_KEYS.items():
-            depth_render_var = self._get_render_var_output(render_data, frame, depth_var)
+            depth_render_var = frame.render_vars.get(render_data.render_var_keys[depth_var])
             if depth_render_var is None:
                 continue
             if not any(buffer_key in output_buffers for buffer_key in buffer_keys):
@@ -1592,12 +1586,12 @@ def _process_render_frame(self, render_data: OVRTXCameraRenderData, frame, outpu
                     )
                 self._extract_depth_tiles(render_data, tiled_depth_data, output_buffers, buffer_keys)
 
-        albedo_var = self._get_render_var_output(render_data, frame, _ALBEDO_VAR)
+        albedo_var = frame.render_vars.get(render_data.render_var_keys[_ALBEDO_VAR])
         if albedo_var is not None and "albedo" in output_buffers:
             with self._map_render_var_to_dlpack(albedo_var) as tiled_albedo_data:
                 self._extract_rgba_tiles(render_data, tiled_albedo_data, output_buffers, "albedo", suffix="albedo")
 
-        hdr_color = self._get_render_var_output(render_data, frame, _HDR_COLOR_VAR)
+        hdr_color = frame.render_vars.get(render_data.render_var_keys[_HDR_COLOR_VAR])
         if hdr_color is not None and "rgb_hdr" in output_buffers:
             with self._map_render_var_to_dlpack(hdr_color) as tiled_hdr_data:
                 tiled_hdr_data = self._prepare_ppisp_hdr_source(render_data, tiled_hdr_data, output_buffers)
@@ -1628,15 +1622,15 @@ def _process_render_frame(self, render_data: OVRTXCameraRenderData, frame, outpu
         if "instance_segmentation" in output_buffers:
             self._process_instance_segmentation_maps(render_data, frame)
 
-        normals_var = self._get_render_var_output(render_data, frame, _NORMALS_VAR)
+        normals_var = frame.render_vars.get(render_data.render_var_keys[_NORMALS_VAR])
         if normals_var is not None and "normals" in output_buffers:
             with self._map_render_var_to_dlpack(normals_var) as tiled_normals_data:
                 self._launch_extract_all_tiles(render_data, tiled_normals_data, output_buffers["normals"])
 
         # For motion vectors, extract only the first two (u, v) channels from the tiled buffer.
         # Note: mirrors the Isaac RTX renderer's handling of the "TargetMotionSD" AOV
         # (check: https://github.com/isaac-sim/IsaacLab/issues/2003).
-        motion_var = self._get_render_var_output(render_data, frame, _MOTION_VECTORS_VAR)
+        motion_var = frame.render_vars.get(render_data.render_var_keys[_MOTION_VECTORS_VAR])
         if motion_var is not None and "motion_vectors" in output_buffers:
             with self._map_render_var_to_dlpack(motion_var) as tiled_motion_vectors_data:
                 self._launch_extract_all_tiles(render_data, tiled_motion_vectors_data, output_buffers["motion_vectors"])

source/isaaclab_ov/pyproject.toml

@@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "isaaclab_ov"
-version = "3.3.0"
+version = "3.3.1"
 description = "Extension providing Omniverse rendering and OVPhysX simulation integrations."
 license = {text = "BSD-3-Clause"}
 authors = [{name = "Isaac Lab Project Developers"}]