[pull] develop from isaac-sim:develop

source/isaaclab/changelog.d/opencv-fisheye-angular-domain.minor.rst

@@ -0,0 +1,6 @@
+Added
+^^^^^
+
+* Added a configurable ``OpenCvFisheyeDistortionCfg.max_fov`` angular domain for Newton,
+  preserving the existing 180-degree default. Documented that RTX/OVRTX's native OpenCV
+  schema does not consume this setting and can clip rectangular sensor corners to its image circle.

source/isaaclab/docs/CHANGELOG.rst

@@ -1,6 +1,127 @@
 Changelog
 ---------
 
+28.0.0 (2026-09-24)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added :func:`~isaaclab.benchmark.stepping.profile_physics_steps` and
+  :func:`~isaaclab.benchmark.stepping.profile_renderers` context managers for synchronized
+  runtime benchmark timings. Wrappers recorded complete calls after warmup and restored
+  the original methods when measurement ended, including on failure.
+* Added :class:`~isaaclab.sim.MeshFileCfg` and :func:`~isaaclab.sim.spawn_from_mesh` to spawn a mesh from a
+  mesh file (e.g. ``.obj``, ``.stl``, ``.fbx``) or from in-memory triangle data
+  (:class:`~isaaclab.sim.MeshFileCfg.TriangleMeshCfg` or a :class:`trimesh.Trimesh` through
+  :class:`~isaaclab.sim.MeshFileCfg.TrimeshObjectCfg`), with optional collision, mesh collision
+  approximation, rigid body, mass, and material properties.
+* Added :meth:`~isaaclab.utils.wrench_composer.WrenchComposer.get_forces_and_torques`, which returns the
+  cheapest representation of the buffered external wrench a consumer can accept, along with an
+  ``is_global`` boolean matching the asset API. Consumers that can apply a world-frame wrench at the
+  center of mass opt in with the new ``supports_world_at_com``
+  constructor argument. Wrenches that are already local-frame, or already global-frame at the center of
+  mass, are now submitted without composing them through the body poses.
+* Added ``delay_min_lag`` and ``delay_max_lag`` to ``ObservationTermCfg``. Lags were sampled per environment
+  at initialization and reset, then held for the episode by default, matching the delayed PD actuator's lag policy.
+* Added ``delay_hold_prob`` for optional per-sample lag resampling. ``DelayBuffer`` owned the sampling;
+  retaining a lag kept latency constant as frames advanced. The default of 1.0 preserved the existing policy.
+* Applied delay after observation modifiers, noise, clipping, and scaling, before history. Recorded samples
+  advanced only with ``update_history=True``; extra reads left delay history unchanged.
+* Shared ``DelayBuffer`` between observations and existing delayed actuators, retaining the actuator API and
+  physics-step behavior. Added optional non-recording reads and replaced history shifting with device-indexed
+  ring storage, including CUDA graph replay and isolated partial resets.
+
+Changed
+^^^^^^^
+
+* Restricted scope capture to tasks with a non-``None`` ``benchmark_mode``. To collect timings,
+  enable ``ISAACLAB_PHYSICS_PROFILE=1`` or ``ISAACLAB_RENDER_PROFILE=1`` for such a task.
+  Other tasks continued to produce standard runtime reports without scope profiling.
+
+* Included scalar physics and render profiling summaries in ``BenchmarkResult.bundle.extra``
+  without changing schema version 1.4. Schema and OmniPerf output included each scope's mean,
+  standard deviation, maximum time per call [ms], and call count. Consumers should read
+  ``physics_mean_ms``, ``physics_std_ms``, ``physics_max_ms``, ``physics_calls``, and the
+  corresponding ``render_*`` keys for these summaries. Raw ordered samples remained in
+  ``<output_path>/profile_timings.json`` as ``timings_ms`` pairs for local analysis instead
+  of parsing printed timer lines; use ``--output_path`` to select the output directory.
+
+* **Breaking:** Moved render profiling into the runtime benchmark through
+  :func:`~isaaclab.benchmark.stepping.profile_renderers`. To collect render timings with
+  ``ISAACLAB_RENDER_PROFILE=1``, use the runtime benchmark; normal simulation runs no longer
+  allocate render timers. Scene updates and output readback remained outside the timed scope.
+* Changed ``isaaclab benchmark training_multigpu`` to accept ``--check_success`` for RSL-RL and RL-Games.
+  The success metric is now summed across ranks before each convergence check, so every rank stops at
+  the same iteration.
+* Changed :func:`~isaaclab.terrains.utils.create_prim_from_mesh` to spawn the terrain mesh with
+  :class:`~isaaclab.sim.MeshFileCfg`. The authored USD is unchanged, except that the ``translation`` and
+  ``orientation`` keyword arguments now apply to the root prim instead of its ``mesh`` child prim; the
+  resulting world pose is the same.
+* **Breaking:** Added ``transforms_version`` to scene-data backends. Custom backends must initialize
+  it to zero and increment it after native pose writes or buffer swaps. SDP reads the existing
+  ``transforms`` property through ``get_transforms(output_format)`` without resetting the version. Backends
+  publishing multiple native formats may override that method and ``native_transform_formats``.
+  ``SceneDataProvider.get_transforms`` bound shared,
+  read-only arrays by default: matching layouts aliased native data and other layouts converted
+  once per publication. Callers requiring their own writable or preallocated arrays must pass
+  ``allow_passthrough=False``; this wrote directly into the supplied arrays without a staging copy.
+* Routed rigid Fabric conversion through SDP while the Kit rendering integration owned destination binding and
+  GPU hierarchy propagation, preserving native PhysX publication and authored scale. Converted rigid destinations
+  became Fabric-only reset-stack roots so nested bodies retained their absolute physics poses.
+  Transform freshness no longer depended on the physics-step counter;
+  ``RenderContext.reset_scene_state_cadence`` remained available for geometry updates.
+  ``SimulationContext.fabric_cfg`` declared the shared native Fabric stage/device without allocating bindings.
+* Used native Warp structs for Fabric transform bindings, relying on the project-managed Warp
+  dependency selected by Isaac Lab's Kit launch configuration.
+
+Deprecated
+^^^^^^^^^^
+
+* Deprecated ``isaaclab.renderers.render_context.RENDER_PROFILE_SCOPE``; use
+  :data:`~isaaclab.benchmark.stepping.RENDER_PROFILE_SCOPE` instead.
+
+Removed
+^^^^^^^
+
+* **Breaking:** Removed ``CameraRenderSpec.camera_path_relative_to_env_0``. Remove this argument
+  from render-spec constructors and use the absolute paths in ``camera_prim_paths`` instead.
+  OVRTX derived cloned camera paths from the authored source camera internally.
+
+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.
+* Fixed :func:`~isaaclab.utils.math.unproject_depth` building homogeneous pixel coordinates as
+  ``(1, u, v)`` instead of ``(u, v, 1)``, which returned wrong points and turned the first image row
+  into ``inf``/``nan``. This also affected :func:`~isaaclab.sensors.camera.utils.create_pointcloud_from_depth`
+  and :func:`~isaaclab.sensors.camera.utils.create_pointcloud_from_rgbd`.
+* Fixed :func:`~isaaclab.sensors.camera.utils.create_pointcloud_from_rgbd` raising a ``TypeError`` when
+  ``rgb`` is a color tuple or ``None``.
+* Fixed :func:`~isaaclab.utils.math.quat_slerp` negating the caller's ``q2`` tensor in place when
+  taking the shorter arc.
+* Fixed :func:`~isaaclab.utils.sensors.convert_camera_intrinsics_to_usd` not warning about aperture
+  offsets when the principal point is left of or above the image center.
+* Fixed :meth:`~isaaclab.utils.datasets.HDF5DatasetFileHandler.create` failing when ``file_path`` is a
+  bare file name without a directory.
+* Fixed the built-in :class:`~isaaclab.terrains.MeshRepeatedBoxesTerrainCfg`,
+  :class:`~isaaclab.terrains.MeshRepeatedCylindersTerrainCfg`, and
+  :class:`~isaaclab.terrains.MeshRepeatedPyramidsTerrainCfg` raising ``ValueError`` with their default
+  ``object_type``. The resolvable ``"module:function"`` default was looked up as ``make_<object_type>``
+  instead of being called.
+* Fixed :func:`~isaaclab.sim.schemas.modify_articulation_root_properties` looking up the existing fixed
+  joint on the current stage instead of the ``stage`` argument when ``fix_root_link`` is set.
+* Fixed :func:`~isaaclab.sim.utils.queries.find_global_fixed_joint_prim` raising ``AttributeError`` for an
+  :class:`pxr.Sdf.Path` argument.
+* Fixed :class:`~isaaclab.sim.converters.MeshConverter` raising ``ValueError`` for mesh file names with
+  more than one dot.
+* Fixed ``DelayBuffer.set_time_lag`` subset updates to accept both supported integer dtypes.
+
+
 27.0.1 (2026-09-23)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/sim/spawners/sensors/sensors_cfg.py

@@ -5,6 +5,7 @@
 
 from __future__ import annotations
 
+import math
 from collections.abc import Callable
 from dataclasses import MISSING
 from typing import Literal
@@ -132,6 +133,9 @@ class OpenCvFisheyeDistortionCfg(OpenCvDistortionCfg):
     k4: float = 0.0
     """Fourth fisheye distortion coefficient. Defaults to 0.0."""
 
+    max_fov: float = math.pi
+    """Full angular domain for Newton's inverse fisheye model [rad]. Defaults to pi (180 degrees)."""
+
 
 @configclass
 class PinholeCameraCfg(SpawnerCfg):

source/isaaclab/pyproject.toml

@@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "isaaclab"
-version = "27.0.1"
+version = "28.0.0"
 description = "Extension providing main framework interfaces and abstractions for robot learning."
 license = {text = "BSD-3-Clause"}
 authors = [{name = "Isaac Lab Project Developers"}]

source/isaaclab_newton/changelog.d/opencv-fisheye-angular-domain.rst

@@ -0,0 +1,6 @@
+Fixed
+^^^^^
+
+* Replaced the fixed 180-degree OpenCV fisheye ray limit with the camera's configured
+  ``max_fov``. Calibrated rays beyond the forward hemisphere can now be rendered without
+  changing the existing default or introducing per-frame ray generation.