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# Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> Tests - Add visualizer tests which load cartpole scene and check the viewport isn't black or frozen - Add regression tests for visualization pumping from Pascal's change - isaac-sim#5056 Newton Visualizer - Fix "Pause/Resume Rendering" button - Change "Pause/Resume Training" to "Pause/Resume Simulation" Kit Visualizer - Fix recording in headless mode - Resolve overlapping camera cfg behavior in ViewerCfg and KitVisualizerCfg (will likely need another PR + design to streamline the cfgs) Rerun Visualizer - Fix issue when launching rerun + newton physics without KitVisualizer RTX Renderer - Fix stale image issue after resets which require Kit Visualizer's continuous app updates to avoid - Fix strange wrist camera orientation offset issue Else - Rename camera_position/camera_target_position fields to eye/lookat across the board <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) - Breaking change (existing functionality will not work without user modification) - Documentation update ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
Signed-off-by: matthewtrepte <mtrepte@nvidia.com>
Signed-off-by: matthewtrepte <mtrepte@nvidia.com>
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# Description This PR upgrades the Newton physics library to git commit `a27277`, pins `mujoco` and `mujoco-warp` to 3.6.0, and refreshes four Dexsuite Kuka golden images that changed because the new Newton version now correctly honors prim visibility in the Warp renderer. Fixes # (issue) ## Type of change - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) - Breaking change (existing functionality will not work without user modification) - Documentation update ## 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` - [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 updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
…#5231) # Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context. List any dependencies that are required for this change. Fixes # (issue) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) - Breaking change (existing functionality will not work without user modification) - Documentation update ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: bdilinila <148156773+bdilinila@users.noreply.github.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
)" (isaac-sim#5348) We don't need custom instrumentation. Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context. List any dependencies that are required for this change. Fixes # (issue) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) - Breaking change (existing functionality will not work without user modification) - Documentation update ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
Fix documentation bugs, improve installation guides, add install_ci test coverage, and decouple isaaclab_physx from isaaclab_newton. [Lines 24, 25, 27 in Isaac Lab Release Tracker] - Fix incorrect variable, link, comment syntax, and missing pip index URL in installation docs - Rewrite cloud installation guide for Isaac Automator v4 - Improve installation docs consistency: standard venv name, aarch64 PyTorch tab, rl_games clarification - Add install_ci test for Newton-only and PhysX-only installation paths - Decouple isaaclab_physx from hard isaaclab_newton dependency: remove NewtonSceneDataProvider from the physx .pyi stub, gate the import behind an availability check with a warning, and add newton as an optional dependency in isaaclab_physx setup.py - Add automatic docker/native environment detection with marker-based test skipping ## Type of change - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) - Documentation update ## 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` - [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 - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description Fixes 3.0 GA M1 issues. Code changes in this PR fix: - NVBug 5985028 (also fixes 5984996) - Win11 isaaclab.bat install + Sim-binary detection on conda. - NVBug 5992915 - docs version selector now picks up pre-release tags like v3.0.0-beta. Triaged separately (no code changes needed in this PR): - NVBug 5974917 - hf-xet pip metadata error: fixed via PR#4992 plus Artifactory cache purge. - NVBug 5994306 - Docker image not found: already fixed in PR#5189 (ISAACSIM_VERSION=6.0.0-dev2). - NVBug 5974684 - pip [newton] warp-lang conflict: already aligned (warp-lang==1.12.0 in tools/wheel_builder/res/python_packages.toml). Needs next-rc-wheel re-verify. - NVBug 5983721 - pip pillow conflict: already aligned (pillow==12.1.1 in tools/wheel_builder/res/python_packages.toml). Needs next-rc-wheel re-verify. - NVBug 5983082 - duplicate of 5979273 (Isaac Sim sensors.rtx Windows DLL chain). - NVBug 5627823 - VDR docs feedback: item 1 already fixed on develop via -u/--uv; remaining items split into follow-ups. This should complete M1 issues. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the contribution guidelines - [x] I have run the pre-commit checks 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 - [ ] I have updated the changelog and the corresponding version in the extension's config/extension.toml file - [x] I have added my name to the CONTRIBUTORS.md or my name already exists there
# Description Transitions the raycaster to warp ## Type of change - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) ## 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` - [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 updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by: Antoine Richard <antoiner@nvidia.com>
# Description Replaces the single-buffer WrenchComposer with a dual-buffer architecture that stores global (world-frame) and local (body-frame) forces separately. Follows develop's warp-first paradigm: all internal buffers are warp arrays, inputs accept both torch.Tensor and wp.array (warp ingests both natively), outputs are wp.array. Updates PhysX and Newton asset write_data_to_sim to use add_raw_buffers_from + compose_to_body_frame instead of the old composed_force/composed_torque merge pattern. ## Type of change - Bug fix (non-breaking change which fixes an issue) - ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by: Claude Opus 4.6 (1M context) <noreply@anthropic.com> Co-authored-by: ClemensSchwarke <clemens.schwarke@gmail.com>
…c-sim#5268) # Description - Add message-channel-based start/stop/reset control from the XR headset, replacing the legacy carb message bus path with TeleopCore's native `teleop_control_pipeline`. - Introduce `ControlEvents` dataclass, `poll_control_events()` helper, and `MessageChannelTeleopStateManager` for consuming control commands over the OpenXR opaque data channel (`XR_NV_opaque_data_channel`). - Bridge pipeline-based control events to legacy `add_callback()` callbacks so existing scripts work without migration. - Fix `IsaacTeleopDevice.reset()` to propagate reset to retargeters via `ExecutionEvents`, and fix `record_demos.py` to reset the teleop device on success-triggered environment resets. - Fix shutdown hang caused by Kit's pre-shutdown callback racing with the simulation loop. Fixes # (issue) ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## 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` - [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 updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description
For the rendering correctness test, we don't really need the
`env.reset()` call to fill the camera output buffers. Instead, if we
remove `env.reset()`, the camera output buffers will be filled on the
invocation of camera.data:
```python
@Property
def data(self) -> CameraData:
# update sensors if needed
self._update_outdated_buffers()
# return the data
return self._data
```
This means we can remove `env.reset()` calls in the rendering
correctness test to avoid non-deterministic initial pose. Articulation
bodies will be at their default pose for rendering for all combos. With
this removal I can set the max pixel diff threshold to smaller
(stricter) values:
```python
"cartpole": 1.0, # decreased from 2.0
"shadow_hand": 3.0, # decreased from 8.0
"dexsuite_kuka": 4.0, # decreased from 10.0
```
The test will become more sensitive to capture rendering changes but
hopefully it can still tolerate minor pixel noise.
Fixes # (issue)
<!-- As a practice, it is recommended to open an issue to have
discussions on the proposed pull request.
This makes it easier for the community to keep track of what is being
developed or added, and if a given feature
is demanded by more than one party. -->
## Type of change
- Test-only change
## 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
- [x] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
<!--
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…5360) # Description Adds a new column to the environments list with available presets defined for all example environments. Fixes recent doc build errors. ## Type of change - Documentation update ## 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` - [x] 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 - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Co-authored-by: Kelly Guo <kelly@nvidia.com>
…and shared contract tests (isaac-sim#5179) # Description ### Summary Rewrites the Newton `XformPrimView` from scratch with correct local-pose semantics, a clean site-based architecture, and a shared test contract that enforces the same invariants across all backends (USD, Fabric, Newton). **Key changes:** - **Fix local poses**: `get_local_poses` / `set_local_poses` now correctly compute parent-relative transforms on GPU (`inv(parent_world) * prim_world`) instead of incorrectly returning world poses - **Fix set_world_poses**: Updates `site_local` offset instead of writing `body_q` directly (which would move the parent body) - **Guard against misuse**: Raises `ValueError` if prim path resolves to a physics body or collision shape — XformPrimView is for non-physics child prims only (cameras, sensors, markers) - **Warp-native API**: All inputs/outputs are `wp.array` — no torch/list conversion overhead - **Factory dispatch**: `from isaaclab.sim.views import XformPrimView` now auto-selects the correct backend (USD, Fabric, Newton) via `XformPrimViewFactory` - **Composition over inheritance**: PhysX `FabricXformPrimView` uses composition (`self._usd_view`) instead of inheriting from `UsdXformPrimView` - **Explicit class names**: `UsdXformPrimView`, `FabricXformPrimView`, `NewtonSiteXformPrimView` — no more ambiguous `XformPrimView` in every package - **Shared contract tests**: 16 test functions in `xform_contract_tests.py` that any backend imports and runs by providing a `view_factory` fixture - **Benchmark updates**: Both benchmark scripts support Newton, use warp-native arrays, and include per-backend round-trip verification ### Type of change - [x] Bug fix (Newton local poses were fundamentally broken — `local == world`) - [x] New feature (shared contract test infrastructure, factory dispatch) - [x] Breaking change (Newton `XformPrimView` renamed to `NewtonSiteXformPrimView`, PhysX to `FabricXformPrimView`; indices parameter changed from `Sequence[int]` to `wp.array`) - [x] Documentation update ### Expected failures - `test_set_world_updates_local[cuda:0]` in Fabric — pre-existing limitation: `set_world_poses` writes to `omni:fabric:worldMatrix` but `get_local_poses` reads from USD, so local poses are stale after a Fabric world write. This will be fixed by the Fabric backend PR (isaac-sim#4923) which adds `omni:fabric:localMatrix` support. ### Test results | Backend | Passed | Failed | Skipped | |---|---|---|---| | Newton | 40 | 0 | 0 | | USD | 45 | 0 | 0 | | Fabric | 15 | 1 (xfail) | 16 (CPU) | | Camera | 20 | 0 | 0 | | TiledCamera | 61 | 0 | 0 | | RayCaster | 5 | 0 | 0 | ### Benchmark (1024 prims, 50 iterations, RTX 5090) ``` ======================================================================================================================== BENCHMARK RESULTS: 1024 prims, 50 iterations ======================================================================================================================== Operation Isaaclab Usd (ms) Isaaclab Fabric (ms) Isaaclab Newton Site (ms) ------------------------------------------------------------------------------------------------------------------------ Initialization 3.7168 3.6596 39.0608 Get World Poses 6.6730 0.0296 0.0180 Set World Poses 15.5574 0.0640 0.0186 Get Local Poses 4.6086 4.5637 0.0216 Set Local Poses 6.4680 6.6221 0.0218 Get Both (World+Local) 12.1240 4.7361 0.0374 Interleaved World Set->Get 23.4141 0.1050 0.0344 ======================================================================================================================== Total 72.5619 19.7800 39.2126 ======================================================================================================================== ``` ### Checklist - [x] I have read and understood the contribution guidelines - [ ] I have run the pre-commit checks 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 updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Antoine Richard <antoiner@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…aac-sim#5202) # Description `Articulation.find_joints` and `find_bodies` delegate to `resolve_matching_names`, which runs a Python regex double-loop on every call. Nsight profiling of the pick-place task showed this costs ~881μs per call (~1.83 ms / 1.5% of step time) for work that always returns the same result — joint and body names are fixed after construction. This PR adds a module-level `@functools.cache` on a new private `_resolve_matching_names_impl` helper. Hashable tuples are used for the cache key; cached results are immutable tuples that the public wrapper copies into fresh lists per caller, so callers cannot mutate shared state. `resolve_matching_names_values` is left uncached because its current callers only use it during init, never in the step loop. A `clear_resolve_matching_names_cache()` helper is called from `SimulationContext.clear_instance()` so cached entries from destroyed assets do not accumulate across scene rebuilds in long-lived processes. <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context. List any dependencies that are required for this change. Fixes # (issue) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## 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` - [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 updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Co-authored-by: Antoine Richard <antoiner@nvidia.com>
# Description The origin remote points to the public isaac-sim/IsaacLab repo. Agents and contributors should push to their own fork remote or to the remote of the PR they are working on instead. ## Type of change - Documentation update ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
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Description
Improve Partial Visualization feature where a subset of envs are shown in the launched visualizers to speed up performance.
Newton visualizers align on using the set_visible_worlds API to select envs to show.
Kit visualizer just sets non selected envs invisible.
Updated docs and added tests.
Type of change
Screenshots
Please attach before and after screenshots of the change if applicable.
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there