[pull] develop from isaac-sim:develop - #59
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# Description Second PR in a series that splits the core cleanup in #7949 into small, reviewable pieces. This PR contains only comment and style changes in `source/isaaclab/isaaclab`; there is no logic change. - Comments that restate the next line of code are removed (e.g. `# get stage handle`, `# import logger`, `# return the prim`), along with commented-out code. - Comments are kept when they explain intent or ordering constraints, units (e.g. `N-m/rad --> N-m/deg`), deprecation plans, tensor shapes and formulas, non-obvious semantics (e.g. the same random value per body), the `FactoryBase` dispatch, TODO/FIXME items, and section markers in long functions. - The `# extract the used quantities (to enable type-hinting)` boilerplate is removed from the core package; the typed local variable already states its purpose. - Blank lines inside function bodies that `ruff format` does not require are removed. - Empty `dict()` / `list()` calls are replaced with `{}` / `[]`. - A duplicated license header in `utils/warp/fabric.py` is removed. This PR only deletes comments. Comments that the reference branch rewrites alongside code changes will ship in the PRs that change that code. Verification: - Every file's AST (including docstrings) is identical to `develop` apart from the `dict()`/`list()` literals (520 files). - Importing every module under `isaaclab` gives the same result as on `develop`. - `ruff check` / `ruff format` are clean. ## Type of change - Code cleanup (non-breaking, no functional change) - [x] <!-- backport-active-release --> Backport this pull request to the active release branch after it merges into `develop` ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have added a changelog fragment under `source/<pkg>/changelog.d/` for every touched package (`.skip`) - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description camera cloning on ovrtx for the duo-camera preset was failing, this PR addresses the issue and properly clones them Fixes # (issue) OVRTX scenes with more than one camera failing at startup with ``Layout-compatible non-array tensor shape[0] (N) must equal binding prim count (1)``. Cameras registered after the first one bound the camera prims authored on the USD stage, which is one prototype per spawn variant rather than one per environment whenever USD replication does not run, as in kitless runs on OvPhysx and Newton. Every camera now binds one prim per environment, for both its transform and its calibration columns. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Release backport - [x] <!-- backport-active-release --> Backport this pull request to the active release branch after it merges into `develop` ## Checklist Docker and GPU tests run on demand. Push the commits you want tested, then comment `run-ci` on the pull request. - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have added a changelog fragment under `source/<pkg>/changelog.d/` for every touched package (do **not** edit `CHANGELOG.rst` or bump `extension.toml` — CI handles that) - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description Follow-up to #7702. Added direct-pose and actuator-driven workloads to the canonical Franka cabinet renderer benchmark, with physics and render timings available through the benchmark API and persisted reports. - `BENCHMARK_MODE=render` (default) writes the analytic joint pose after physics and before the camera read. `BENCHMARK_MODE=physics_render` sets actuator targets before physics. Both modes still step physics. - Direct posing requires lazy sensor updates. With Isaac RTX, it also rejects visualizers that pump the Kit app before the pose write; use `--visualizer none` or `physics_render`. - Runtime benchmarks collect synchronized scopes after warmup when the task has a non-`None` `benchmark_mode` and the corresponding `ISAACLAB_PHYSICS_PROFILE` / `ISAACLAB_RENDER_PROFILE` flag is enabled. Temporary wrappers restore the original methods on success or failure, so subsequent runs do not inherit profiling overhead or duplicate samples. - Schema **1.4 remains unchanged**. `BenchmarkResult.bundle.extra`, schema JSON, and OmniPerf output include per-call mean, standard deviation, maximum [ms], and call count under `physics_*` and `render_*`. Disabled scopes add no keys, and distributed metadata is preserved. - Ordered raw samples remain in local `profile_timings.json`, outside `output_paths`. The renderer sweep groups physics calls by rendered frame and reports render, physics, and combined statistics without scraping logs. Invalid profiling output errors propagate. ```bash uv run python scripts/benchmarks/benchmark_renderer.py 'newton_*' BENCHMARK_MODE=physics_render uv run python scripts/benchmarks/benchmark_renderer.py 'newton_*' ``` Scope timing synchronizes the device and changes execution overlap, so profiled runs are diagnostics. API/OmniPerf summaries cover all captured calls; the sweep additionally removes padding frames and reports per-frame statistics. Migration: collect scope timings through the runtime benchmark; normal simulations no longer install render timers from the profiling flag. Read scalar summaries from `bundle.extra` or raw `timings_ms` pairs from the local profiling file. The old `isaaclab.renderers.render_context.RENDER_PROFILE_SCOPE` import remains available with a deprecation warning; use `isaaclab.benchmark.stepping.RENDER_PROFILE_SCOPE`. ## Validation - Benchmark, renderer orchestration, task configuration, sweep, and runtime smoke tests: 398 passed, 1 skipped. - Regression tests failed before the fixes and passed afterward for profiling restoration, the deprecated scope import, and invalid direct-pose rendering configurations. - Real Newton GPU sweeps passed in both modes with 1 environment, 3 measured frames, and 64×64 resolution. Reported statistics were independently checked against raw samples. - Formatting and changelog checks passed against the current `develop` base. - Sphinx documentation built without warnings or errors using `uv run --isolated --extra dev -- make -C docs current-docs` with `SPHINXOPTS='-D viewcode_follow_imported_members=0'` to omit imported source-code links. ## Type of change - New feature - Bug fix - Breaking change: render profiling moved from normal simulation runs into the runtime benchmark - Documentation update ## Release backport - [x] <!-- backport-active-release --> Backport this pull request to the active release branch after it merges into `develop` ## Checklist - [x] I have read and understood the contribution guidelines - [x] I have run the pre-commit checks with `uv run isaaclab -f` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have added a changelog fragment under `source/<pkg>/changelog.d/` for every touched package - [x] My name already exists in `CONTRIBUTORS.md`
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