[pull] develop from isaac-sim:develop - #61
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Bumped packages: - isaaclab: 27.0.1 → 28.0.0 - isaaclab_newton: 7.0.0 → 7.0.1 - isaaclab_ov: 3.3.1 → 3.3.2 - isaaclab_physx: 7.2.1 → 7.2.2 - isaaclab_tasks: 21.0.3 → 21.1.0 - isaaclab_visualizers: 1.12.0 → 1.12.1
## Description OpenCV fisheye cameras can have valid sensor rays beyond 90 degrees from the optical axis. The Newton adapter currently hardcodes a 180-degree full FoV, so those pixels receive zero rays even when the calibrated projection covers them. Add `OpenCvFisheyeDistortionCfg.max_fov` in radians and pass it to Newton's existing fisheye ray generator. The default remains pi, preserving current behavior. Validate the configured range at construction and document that the polynomial must remain monotonic over the requested angular domain. Ray generation stays at initialization with the existing shared buffer; no extra per-frame pass or render pixels are introduced. For example, an equidistant ray 92.8 degrees off-axis is invisible with the default and renders correctly with `max_fov=math.radians(190)`. ### RTX / OVRTX gap The config documentation distinguishes Newton's explicit angular cutoff from the native RTX OpenCV image-circle restriction. The current `OmniLensDistortionOpenCvFisheyeAPI` exposes calibration and coefficients but no angular-domain/image-circle control. RTX can render rearward rays, while valid corners of a rectangular sensor may still be clipped. A wider render canvas with a shifted principal point and an exact crop, or a generalized lens LUT, can retain those corners. **Upstream guidance requested:** can the native OpenCV schema expose a calibrated angular domain or a way to disable image-circle clipping, so applications can render the physical sensor rectangle without overscan or a generated LUT? This PR fixes the Newton cutoff and documents the RTX limitation; it does not claim the new field changes native RTX behavior. Reference: [Omniverse lens calibration and schema attributes](https://docs.omniverse.nvidia.com/materials-and-rendering/latest/cameras.html#lens-calibration). ## Validation - 101 focused tests passed: existing OpenCV authoring/intrinsics tests plus the new CPU ray-domain tests. - The new rendered regression traces a real sphere at 92.8 degrees using `SensorTiledCamera`: the 180-degree domain misses it; the 190-degree domain returns the expected surface distance. - Restoring the hardcoded 180-degree limit makes the 190-degree, 220-degree, and rendered-target regressions fail; restoring the fix passes them. - `uv run --no-sync isaaclab -f` passed, as did `git diff --check`. - Tested with Newton `24bd863528d6` and Warp 1.17.0. These focused tests run on CPU without a Kit launch; full GPU CI is not claimed. ## Type of change - Non-breaking feature / bug fix - 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 the contribution guidelines. - [x] I have run the pre-commit checks through `uv run --no-sync isaaclab -f`. - [x] I have updated the configuration documentation. - [x] I have added regressions demonstrating the fix. - [x] I have added changelog fragments for both affected packages. - [x] My name already exists in `CONTRIBUTORS.md`. The CPU render test emits the existing Newton free-body joint-target-layout deprecation warning; no production warning was added.
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