Cherry-picks RLinf/compass doc updates, visualizer fixes, presets and imports fixes, Newton 1.2.1rc2 pin

[kellyguo11]

Description

Cherry pick fixes from develop:

• Fix failing doc link checks #5990
• Validate typed presets resolve against their backend during Hydra resolution #5944
• Compass document bug fix #5973
• General Visualizer Fixes #5935
• Update Newton pin to v1.2.1rc2 #5948
• Defer eager submodule imports via lazy .pyi stubs #5932
• Fixes rlinf issue on windows and spark #5966
• Add tutorial script and documentation for Tiled Camera View in Visualizers #5927

[isaaclab-review-bot]

Code Review Summary

This cherry-pick PR bundles 8 commits from develop covering: documentation fixes (COMPASS, LEAPP, links), visualizer improvements (contacts, tiled camera tutorial, ground plane rendering, imgui dependency checks), preset/Hydra refactoring (typed-selector validation, fold_preset_tokens removal), lazy-import fixes, Newton v1.2.1rc2 pin bump, and PhysX rigid-body-view hardening.

Overall the changes are well-structured and improve both the user experience and internal consistency. The "clean up" commit (e3a6487) fixed the duplicate-import issue from the prior review. One critical item remains:

---

🔴 Critical: Tutorial script imports removed function

scripts/tutorials/07_visualizers/run_tiled_camera_visualizer.py (lines 34-36, 125)

The new tutorial script imports and uses fold_preset_tokens:

from isaaclab_tasks.utils import (
    add_launcher_args,
    fold_preset_tokens,   # ← removed from public API in this same PR
    ...
)

And later calls it (line 125):

sys.argv = [sys.argv[0]] + fold_preset_tokens(hydra_args)

This PR removes fold_preset_tokens from isaaclab_tasks.utils (see preset_cli.py and __init__.pyi). This will produce an ImportError at runtime. The fix is to align with the pattern used everywhere else:

from isaaclab_tasks.utils import (
    add_launcher_args,
    launch_simulation,
    resolve_task_config,
    setup_preset_cli,
)

sys.argv = [sys.argv[0]] + hydra_args

---

🟡 Minor: Image filename typo — "iteractive"

docs/source/_static/visualizers/kit_viz_anymal_iteractive_view.jpg

The filename contains a typo: iteractive should be interactive. This also propagates to the RST reference in docs/source/how-to/visualizer_tiled_camera.rst:

.. figure:: ../_static/visualizers/kit_viz_anymal_iteractive_view.jpg

Not a functional issue, but would be nice to fix for consistency with the interactive_view naming used by the Newton image.

---

🟡 Note: PhysX rigid-body-view name collision matching

source/isaaclab_physx/isaaclab_physx/physics/physx_manager.py (around line 195)

The new logic collects non_rigid_body_names using only the leaf prim name:

non_rigid_body_names.add(prim_path.rsplit("/", 1)[-1])

If a non-rigid prim shares its leaf name (e.g. collision, visual) with a rigid-body prim at a different hierarchy location, the rigid-body prim will be kept as exact per-env paths rather than wildcarded. In high-env-count scenes (4096+) this could create many explicit paths. The correctness direction is right — just a note for future performance consideration if common leaf names trigger false positives.

---

🔵 Observation: PR title says "Newton 1.3.1rc2" but code pins v1.2.1rc2

The PR title references "Newton 1.3.1rc2" while the actual pin in all setup.py files is v1.2.1rc2. This is cosmetic but could confuse anyone searching by version number.

---

✅ Positive observations

• The typed-preset validation in hydra.py is well-designed with proper typed_hits tracking threaded through the resolution chain.
• VisualizationMarkers edge-case fix (marker count == prototype count) is clean and covered by a new unit test.
• Newton contact arrow rendering with scene-contact-sensor fallback and proper visibility filtering is solid.
• expand_infinite_plane_scale is well-factored with thorough unit tests covering all edge cases.
• Newton v1.2.1rc2 pin consistently applied across all 4 locations.
• The imgui-bundle integration test assertion (assert_no_newton_imgui_bundle_warning) is good defensive CI.
• Pre-commit, Build Wheel, Check for Broken Links, and Check changelog fragments all pass ✓.
• The prim_world_positions() reordering (scene articulation first) correctly avoids expensive USD traversal.

---

Verdict: One critical item remains — the tutorial script's fold_preset_tokens import will fail at runtime and should be patched before merge. Everything else looks good.

---

Update (commit b2ca1b6): ✅ The critical issue is fixed — fold_preset_tokens import has been removed and sys.argv = [sys.argv[0]] + hydra_args is now used directly, matching all other scripts. No new issues introduced in this commit. LGTM.

[greptile-apps]

Greptile Summary

This cherry-pick consolidates eight PRs onto release/3.0.0-beta2, covering: the fold_preset_tokens → direct-passthrough refactor for the preset CLI (with new typed-selector validation in Hydra), Newton visualizer contact rendering and infinite-plane fixes, PhysX rigid-body wildcard collision fix, visualization marker first-call behaviour, lazy exports for mdp/ui/ray_caster.patterns, Newton pin bump to v1.2.1rc2, and a new tiled-camera visualizer tutorial.

• Preset CLI refactor (preset_cli.py, hydra.py, all RL scripts): fold_preset_tokens is removed; preset tokens pass through verbatim and register_task now validates that physics=/renderer= selectors actually resolve against a config of the declared type.
• Visualizer fixes (newton_visualizer.py, newton_adapter.py, rerun_visualizer.py, viser_visualizer.py): contact arrows now fall back to scene contact sensor data when native Newton contacts are absent; infinite-plane scale is expanded for web viewers; Viser avoids re-adding unchanged static planes each frame.
• New tutorial script (run_tiled_camera_visualizer.py): demonstrates the tiled camera panel for Kit and Newton visualizers — but the script still imports the now-removed fold_preset_tokens, which will raise ImportError at startup.

Confidence Score: 3/5

The new tutorial script crashes on import due to a removed API; the core library changes are solid.

The new run_tiled_camera_visualizer.py tutorial is the only entry point not updated alongside the fold_preset_tokens removal — it raises ImportError immediately. Additionally, 13 scripts have duplicate import entries left from the cherry-pick merge.

scripts/tutorials/07_visualizers/run_tiled_camera_visualizer.py needs its fold_preset_tokens import and call replaced. The ~13 RL training/play scripts with duplicate import lines should also be cleaned up before release.

Important Files Changed

Filename	Overview
scripts/tutorials/07_visualizers/run_tiled_camera_visualizer.py	New tutorial script for tiled camera visualizer — imports removed fold_preset_tokens API, causing an ImportError at startup.
source/isaaclab_tasks/isaaclab_tasks/utils/preset_cli.py	Removes fold_preset_tokens entirely; setup_preset_cli now returns the verbatim remainder for Hydra to parse directly. Clean refactor.
source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py	Adds typed-preset validation (physics=/renderer= must resolve against a matching config type) via _validate_typed_presets and typed_hits tracking. Looks correct.
source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py	Adds contact visualization fallback using scene contact sensor arrows when native Newton contacts are unavailable; guards correctly with show_contacts flag.
source/isaaclab_visualizers/isaaclab_visualizers/newton_adapter.py	Adds expand_infinite_plane_scale and log_geo_with_expanded_plane_scale helpers to fix infinite-plane rendering in web viewers. Well-tested.
source/isaaclab_physx/isaaclab_physx/physics/physx_manager.py	Fixes wildcard collision in get_rigid_body_view by keeping exact paths when a rigid body name is shared by a non-rigid prim. Logic is correct and conservative.
source/isaaclab/isaaclab/envs/utils/camera_view.py	Prioritises scene articulation state over FrameView/USD fallback in prim_world_positions, and improves error message when no camera sensor matches a prim path.
source/isaaclab/isaaclab/markers/visualization_markers.py	Adds _has_visualized flag so omitted marker indices default to prototype 0 on the first call even when count matches prototype count.
scripts/reinforcement_learning/rl_games/play.py	Removes fold_preset_tokens and passes hydra args verbatim — correct change, but cherry-pick left duplicate import entries for 4 symbols.
source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py	Adds get_contacts() classmethod to expose the current Newton contact buffer to callers (visualizers).

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A["CLI: physics=NAME / renderer=NAME / presets=NAME"] --> B["setup_preset_cli()\nreturns verbatim remainder"]
    B --> C["sys.argv = [argv0] + remainder"]
    C --> D["register_task()\nparses tokens from sys.argv"]
    D --> E["_resolve_active_presets()\nwalks config tree\ncollects typed_hits"]
    E --> F{"typed selector?"}
    F -- "physics= / renderer=" --> G["_validate_typed_presets()\nensures name hit its type"]
    G -- "hit found" --> H["Hydra DictConfig\nregistered"]
    G -- "no hit" --> I["ValueError:\nTyped preset selector did not match"]
    F -- "presets= broadcast" --> H
    H --> J["launch_simulation()"]

Loading

Comments Outside Diff (1)

1. scripts/reinforcement_learning/rl_games/play.py, line 41-51 (link)

   Duplicate imports — cherry-pick artifact

   get_checkpoint_path, launch_simulation, resolve_task_config, and setup_preset_cli each appear twice in this import block. Python silently accepts duplicate names in a single from … import statement, so there is no runtime error, but the redundant lines should be removed. The same pattern appears in play_rl_games.py, train.py, sb3/play.py, sb3/play_sb3.py, sb3/train.py, skrl/play.py, skrl/play_skrl.py, skrl/train.py, rsl_rl/play.py, rsl_rl/play_rsl_rl.py, environments/random_agent.py, and environments/zero_agent.py.

   Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!

_{Reviews (1): Last reviewed commit: "Add tutorial script and documentation fo..." | Re-trigger Greptile}

[greptile-apps]

Removed API imported by new tutorial script

fold_preset_tokens was deleted from preset_cli.py and removed from __init__.pyi in this same PR; every other updated script now assigns sys.argv = [sys.argv[0]] + hydra_args directly. Because isaaclab_tasks/utils/__init__.py drives its public exports via lazy_export() (which reads the .pyi stub), fold_preset_tokens is no longer available at runtime. Running this new tutorial script will immediately raise ImportError: cannot import name 'fold_preset_tokens'. The fix is to drop the import and use hydra_args directly, exactly as the other scripts do.

[greptile-apps]

The sys.argv assignment here uses the removed fold_preset_tokens; replace it with the direct pass-through used by all other updated scripts.

Suggested change

	sys.argv = [sys.argv[0]] + fold_preset_tokens(hydra_args)
	sys.argv = [sys.argv[0]] + hydra_args

[isaaclab-review-bot]

Incremental Review Update (e3a6487)

Commit reviewed: e3a6487 ("clean up")

✅ New Changes Look Good

The new commit removes duplicate imports from 14 files across scripts/environments/ and scripts/reinforcement_learning/. This cleanup is correct and complete:

File	Change
random_agent.py	Removed duplicate resolve_task_config, setup_preset_cli
zero_agent.py	Removed duplicate resolve_task_config, setup_preset_cli
rl_games/play.py	Removed 4 duplicate imports
rl_games/play_rl_games.py	Removed 4 duplicate imports
rl_games/train.py	Removed duplicate resolve_task_config, setup_preset_cli
rsl_rl/play.py	Removed 3 duplicate imports
rsl_rl/play_rsl_rl.py	Removed 3 duplicate imports
sb3/play.py	Removed 4 duplicate imports
sb3/play_sb3.py	Removed 4 duplicate imports
sb3/train.py	Removed duplicate resolve_task_config, setup_preset_cli
skrl/play.py	Removed 4 duplicate imports
skrl/play_skrl.py	Removed 4 duplicate imports
skrl/train.py	Removed duplicate resolve_task_config, setup_preset_cli

No new issues introduced.

---

🔴 Critical Issue Still Outstanding

The tutorial script issue from the original review remains unaddressed:

scripts/tutorials/07_visualizers/run_tiled_camera_visualizer.py still imports and uses fold_preset_tokens (lines 36, 125), which is not exported from isaaclab_tasks.utils. This will cause an ImportError at runtime.

---

Status Summary

Issue	Status
🔴 Tutorial fold_preset_tokens import	❌ Not fixed
🟡 Image filename typo ("iteractive")	❌ Not fixed
🔵 PR title version mismatch	❌ Not fixed
✅ Duplicate imports cleanup	✅ Fixed in this commit

Verdict: The cleanup commit is good, but the critical tutorial import issue must still be resolved before merge.