Add Option for Warp Renderer backend with PhysX simulation engine by bdilinila · Pull Request #4612 · isaac-sim/IsaacLab

bdilinila · 2026-02-13T17:01:27Z

TODO: Changelog, testing

Description

Checklist

I have read and understood the contribution guidelines
I have run the pre-commit checks 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

Changes:

This commit adds the foundation for Newton Warp rendering support:

Completed NewtonManager implementation:

Implemented full state synchronization:

Changes:

Major achievements:

Added:

Major achievements:

Added comprehensive documentation and tools:

…v; fix tiled_camera init

…obot transforms

bdilinila · 2026-02-18T03:36:47Z

source/isaaclab_rl/isaaclab_rl/rsl_rl/rl_cfg.py

@@ -67,6 +67,52 @@ class RslRlPpoActorCriticRecurrentCfg(RslRlPpoActorCriticCfg):
    """The number of RNN layers."""


+@configclass


I believe this was carried over from this change.

bdilinila · 2026-02-18T03:37:24Z

...aclab_tasks/manager_based/manipulation/dexsuite/config/kuka_allegro/agents/rsl_rl_cnn_cfg.py

@@ -0,0 +1,47 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).


Change here and other files in config/kuka_allegro likely came from: https://github.com/isaac-sim/IsaacLab/pull/4421/changes#diff-d0e6df098d4f172bbe27cf3e9dd93c0e4d91eb6231e64f57380922ec7d51461aR1

bdilinila · 2026-02-18T03:58:20Z

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/reach_env_cfg.py

@@ -116,6 +116,28 @@ def __post_init__(self):
    policy: PolicyCfg = PolicyCfg()


+@configclass


Changes here and this folder come from https://github.com/ooctipus/IsaacLab/tree/feature/dexsuite_vision/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach

bdilinila · 2026-02-18T03:58:59Z

source/isaaclab_tasks/test/test_hydra.py

@@ -26,7 +26,7 @@
 from isaaclab.utils import replace_strings_with_slices


This file and source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/reach_env_cfg.py both come from https://github.com/ooctipus/IsaacLab/tree/feature/dexsuite_vision/source/isaaclab_tasks

greptile-apps · 2026-02-18T04:41:13Z

Greptile Summary

This PR adds an optional Newton Warp renderer backend for tiled cameras while keeping PhysX as the simulation engine. It introduces a new isaaclab.renderer sub-package with a registry pattern, a NewtonManager singleton that synchronizes PhysX rigid body states into a Newton model via GPU kernels, and integration into TiledCamera via a new renderer_type config field. The PR also adds Hydra config group variants for scene/agent configuration, CNN actor-critic support for RSL-RL, vision-based Dexsuite Kuka-Allegro environments, and bumps rsl-rl-lib to 3.3.0.

Key issues found:

Missing gym environment classes: The __init__.py registers 4 vision-based gym environments, but 3 reference classes (DexsuiteKukaAllegroLiftSingleCameraEnvCfg_PLAY, DexsuiteKukaAllegroReorientSingleCameraEnvCfg, DexsuiteKukaAllegroReorientSingleCameraEnvCfg_PLAY) that are either commented out or never defined, causing runtime failures on use.
Pervasive debug instrumentation: print(f"[PERF]...") statements and import time as _t calls are injected into hot paths (simulation_context.py reset()/step()/render(), manager_based_rl_env.py) that affect all users, not just Newton Warp users.
Overly broad exception handling: except Exception: pass in manager_based_env.py silently swallows real errors from NewtonManager.set_scene().
Hardcoded temp path with rmtree: NewtonWarpRenderer.__init__ unconditionally deletes /tmp/newton_renders on every instantiation, which is fragile for multi-camera and multi-process setups.
No-op device string conversion: str(self.device).replace("cuda:", "cuda:") in tiled_camera.py.
Missing save_run_artifacts.sh: train.py references a shell script that doesn't exist in the repo.
The PR description notes TODO items for changelog, testing, and formatting that are still unfinished (tests checkbox unchecked, changelog not updated).

Confidence Score: 2/5

This PR has runtime-breaking issues (missing classes for gym registrations) and pervasive debug instrumentation that affects all users, making it not ready for merge as-is.
Score of 2 reflects: (1) gym environments referencing non-existent classes will cause ImportErrors at runtime; (2) debug print statements in simulation_context.py hot paths affect all users globally; (3) overly broad exception handling hides real errors; (4) hardcoded /tmp path with rmtree is fragile; (5) missing shell script reference. The core Newton Warp rendering architecture is sound, but the PR needs cleanup before merge.
Pay close attention to: kuka_allegro/__init__.py (missing classes), simulation_context.py (debug prints in hot paths), manager_based_env.py (broad exception catch), newton_warp_renderer.py (hardcoded /tmp rmtree), tiled_camera.py (no-op device replace)

Important Files Changed

Filename	Overview
scripts/reinforcement_learning/rsl_rl/train.py	Adds --renderer_backend CLI arg, timing summary, and save_run_artifacts call referencing a non-existent shell script. Contains debug instrumentation.
source/isaaclab/isaaclab/envs/manager_based_env.py	Adds NewtonManager.set_scene() call with overly broad exception handling that hides errors, plus verbose debug prints during startup.
source/isaaclab/isaaclab/envs/manager_based_rl_env.py	Wraps simulation step and observation compute in Timer contexts, adds debug prints. Adds isaac_sim_version to metadata. Debug prints affect all users.
source/isaaclab/isaaclab/renderer/newton_warp_renderer.py	New Newton Warp renderer implementation with Warp kernels. Has hardcoded /tmp path with unconditional rmtree, debug image saving every 50 frames, and verbose print statements.
source/isaaclab/isaaclab/sensors/camera/tiled_camera.py	Core integration point for Newton Warp rendering. Contains no-op device string replace, but otherwise correctly branches between RTX and Newton Warp paths.
source/isaaclab/isaaclab/sim/_impl/newton_manager.py	New 507-line Newton Manager singleton for PhysX-to-Newton state sync. Uses class-level state, has debug logger.warning calls that should be logger.debug, and GPU kernel for pose copying.
source/isaaclab/isaaclab/sim/simulation_context.py	Adds extensive PERF print instrumentation to reset(), step(), and render() hot paths that affects all users regardless of renderer backend choice.
source/isaaclab/setup.py	Loosens flatdict dependency from ==4.0.1 to >=3.4.0 with no upper bound, risking future incompatibilities.
source/isaaclab_rl/setup.py	Bumps rsl-rl-lib from 3.1.2 to 3.3.0. Major version bump needs validation.
source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/config/kuka_allegro/init.py	Registers 4 new vision gym environments, but 3 reference classes that don't exist (commented out or never defined), causing runtime ImportError on use.
source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/config/kuka_allegro/dexsuite_kuka_allegro_vision_env_cfg.py	New vision env configs with RTX and Newton Warp variants. Missing PLAY and Reorient classes that are referenced by gym registrations in init.py.
source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py	Major extension adding Hydra group variant system (register_hydra_group, resolve_hydra_group_runtime_override, helper functions). Complex new functionality with lambda-based logic.

Sequence Diagram

sequenceDiagram
    participant Train as train.py
    participant RLEnv as ManagerBasedRLEnv
    participant SimCtx as SimulationContext
    participant Scene as InteractiveScene
    participant TiledCam as TiledCamera
    participant NM as NewtonManager
    participant NWR as NewtonWarpRenderer
    participant Warp as SensorTiledCamera (Warp)

    Train->>RLEnv: step(action)
    RLEnv->>SimCtx: sim.step(render=False)
    Note over SimCtx: PhysX physics step
    RLEnv->>Scene: scene.update(dt)

    RLEnv->>RLEnv: observation_manager.compute()
    RLEnv->>TiledCam: _update_buffers_impl()

    alt renderer_type == "newton_warp"
        TiledCam->>NM: update_state_from_physx_tensors_gpu()
        NM->>NM: GPU kernel: copy PhysX poses → Newton body_q
        TiledCam->>NWR: render(pos_w, quat_w, intrinsics)
        NWR->>NWR: _prepare_camera_transforms()
        NWR->>Warp: SensorTiledCamera.render()
        Warp-->>NWR: color_image, depth_image
        NWR->>NWR: _copy_outputs_to_buffers()
        NWR-->>TiledCam: output buffers (rgba, depth)
    else RTX (default)
        TiledCam->>TiledCam: annotator.get_data()
        TiledCam->>TiledCam: reshape_tiled_image kernel
    end

    TiledCam-->>RLEnv: observation tensors

_{Last reviewed commit: 42dbb9b}

greptile-apps

_{30 files reviewed, 10 comments}

_{Edit Code Review Agent Settings | Greptile}

greptile-apps · 2026-02-18T04:41:17Z

...lab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/config/kuka_allegro/__init__.py

    disable_env_checker=True,
    kwargs={
        "env_cfg_entry_point": f"{__name__}.dexsuite_kuka_allegro_env_cfg:DexsuiteKukaAllegroLiftEnvCfg",
-        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:DexsuiteKukaAllegroPPORunnerCfg",


Missing classes will cause ImportError at registration time

The gym registrations reference four classes from dexsuite_kuka_allegro_vision_env_cfg that do not exist:

DexsuiteKukaAllegroLiftSingleCameraEnvCfg_PLAY — class definition is commented out in vision_env_cfg (line 248)

DexsuiteKukaAllegroReorientSingleCameraEnvCfg — never defined anywhere

DexsuiteKukaAllegroReorientSingleCameraEnvCfg_PLAY — never defined anywhere

Attempting to create any of these gym environments (e.g., Isaac-Dexsuite-Kuka-Allegro-Lift-Single-Camera-Play-v0) will fail with an AttributeError/ImportError at runtime.

greptile-apps · 2026-02-18T04:41:18Z

source/isaaclab/isaaclab/renderer/newton_warp_renderer.py

+        self._save_dir = "/tmp/newton_renders"
+        if os.path.exists(self._save_dir):
+            shutil.rmtree(self._save_dir)
+        os.makedirs(self._save_dir, exist_ok=True)


Hardcoded /tmp path and unconditional rmtree on construction

This constructor unconditionally deletes /tmp/newton_renders via shutil.rmtree every time a NewtonWarpRenderer is instantiated. If multiple renderers are created (e.g. multi-camera setups), the second instance will wipe the first's saved images. This is also fragile in multi-process scenarios.

Consider making the save directory configurable (e.g. via cfg) and/or appending a unique suffix (PID, timestamp) to avoid collisions.

source/isaaclab/isaaclab/envs/manager_based_env.py

greptile-apps · 2026-02-18T04:41:23Z

source/isaaclab/isaaclab/envs/manager_based_rl_env.py

        # -- step interval events
        if "interval" in self.event_manager.available_modes:
            self.event_manager.apply(mode="interval", dt=self.step_dt)
-        # -- compute observations
+        # -- compute observations (includes camera/tiled camera rendering)
        # note: done after reset to get the correct observations for reset envs
-        self.obs_buf = self.observation_manager.compute(update_history=True)
+        if self.common_step_counter <= 3 or self.common_step_counter % 50 == 0:
+            msg = (
+                f"[PERF][manager_based_rl_env] Computing observations (camera/tiled render) "
+                f"step #{self.common_step_counter}..."


Debug print statements in hot loop for all users

The conditional print(msg, flush=True) executes for all users on steps 1-3 and every 50th step, regardless of whether Newton Warp is being used. This adds unwanted console noise for all training runs. Consider using logger.debug() or gating behind a verbosity/debug flag.

_{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!}

greptile-apps · 2026-02-18T04:41:24Z

source/isaaclab/isaaclab/sim/_impl/newton_manager.py

+
+    @classmethod
+    def _body_path_to_newton_idx_lookup(cls, body_path: str, root_path: str, body_name: str) -> int:
+        """Resolve Newton body index: try exact path, then match body_key by path components."""
+        idx = cls._body_path_to_newton_idx.get(body_path, -1)
+        if idx >= 0:
+            return idx
+        # Newton's body_key may use different path format; match by root + body_name as last component
+        suffix = "/" + body_name


Debug logger.warning calls left in production code

The _build_physx_to_newton_mapping method uses logger.warning for "DEBUG" messages (e.g., "[NewtonManager] DEBUG sample Newton body_key (first 15)"). These are development debugging aids that will appear in production logs for all users. Use logger.debug instead of logger.warning for these, or remove them.

Suggested change

@classmethod

def _body_path_to_newton_idx_lookup(cls, body_path: str, root_path: str, body_name: str) -> int:

"""Resolve Newton body index: try exact path, then match body_key by path components."""

idx = cls._body_path_to_newton_idx.get(body_path, -1)

if idx >= 0:

return idx

# Newton's body_key may use different path format; match by root + body_name as last component

suffix = "/" + body_name

if not _debug_done:

newton_keys = list(cls._body_path_to_newton_idx.keys())

logger.debug("[NewtonManager] sample Newton body_key (first 15): %s", newton_keys[:15])

if len(newton_keys) > 20:

logger.debug("[NewtonManager] Newton body_key (last 5): %s", newton_keys[-5:])

greptile-apps · 2026-02-18T04:41:25Z

source/isaaclab/isaaclab/sensors/camera/tiled_camera.py

+            if not hasattr(NewtonManager, "_is_initialized") or not NewtonManager._is_initialized:
+                device_str = str(self.device).replace("cuda:", "cuda:")
+                NewtonManager.initialize(num_envs=self._num_envs, device=device_str)


No-op string replace for device conversion

str(self.device).replace("cuda:", "cuda:") replaces "cuda:" with the identical string "cuda:", making this a no-op. If this was intended to strip or transform the device string in some way, the logic is incorrect. Otherwise, it should just be str(self.device).

Suggested change

if not hasattr(NewtonManager, "_is_initialized") or not NewtonManager._is_initialized:

device_str = str(self.device).replace("cuda:", "cuda:")

NewtonManager.initialize(num_envs=self._num_envs, device=device_str)

device_str = str(self.device)

greptile-apps · 2026-02-18T04:41:26Z

scripts/reinforcement_learning/rsl_rl/train.py

+    try:
+        _repo_root = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..", ".."))
+        _save_script = os.path.join(_repo_root, "scripts", "save_run_artifacts.sh")
+        _dest = os.path.join(_repo_root, "run_artifacts", datetime.now().strftime("%Y-%m-%d_%H-%M-%S"))
+        os.makedirs(_dest, exist_ok=True)
+        if _timing_lines is not None:
+            _timing_file = os.path.join(_dest, "timing_summary.txt")
+            with open(_timing_file, "w") as f:
+                f.write("Training time: " + str(round(time.time() - start_time, 2)) + " seconds\n")
+                f.write("[Timing summary]\n")
+                f.write("\n".join(_timing_lines) + "\n")
+        if os.path.isfile(_save_script):
+            import subprocess
+


References non-existent save_run_artifacts.sh script

The code references scripts/save_run_artifacts.sh but this file doesn't exist in the repository. When the script isn't found, the os.path.isfile check prevents a crash, but the timing summary file and os.makedirs side-effect still occur, and the "Run artifacts saved" message is never printed, which may confuse users. Either add the script to the PR or remove this dead code path.

greptile-apps · 2026-02-18T04:41:27Z

source/isaaclab_rl/setup.py

        "gym",
    ],  # rl-games still needs gym :(
-    "rsl-rl": ["rsl-rl-lib==3.1.2", "onnxscript>=0.5"],  # linux aarch 64 requires manual onnxscript installation
+    "rsl-rl": ["rsl-rl-lib==3.3.0", "onnxscript>=0.5"],  # linux aarch 64 requires manual onnxscript installation


Major version bump of rsl-rl-lib (3.1.2 → 3.3.0)

This bumps rsl-rl-lib from 3.1.2 to 3.3.0. This is a significant version jump that could introduce breaking API changes (e.g., the new ActorCriticCNN class used by RslRlActorCriticCNNCfg). Make sure this is intentional and that all existing RSL-RL training configurations remain compatible with v3.3.0. Is the bump to rsl-rl-lib==3.3.0 intentional and have existing training configs been validated against the new version?

greptile-apps · 2026-02-18T04:41:28Z

source/isaaclab/setup.py

    "junitparser",
    "coverage==7.6.1",
-    "flatdict==4.0.1",
+    "flatdict>=3.4.0",


Loosened dependency constraint for flatdict

Changing flatdict==4.0.1 to flatdict>=3.4.0 allows any version from 3.4.0 upward, including potential future versions with breaking changes. Unless there's a specific need for an older version, a safer pattern would be flatdict>=3.4.0,<5 to at least pin the major version.

greptile-apps · 2026-02-18T04:41:31Z

Additional Comments (1)

source/isaaclab/isaaclab/sim/simulation_context.py
Excessive debug print statements in production code paths

The reset(), step(), and render() methods now contain numerous import time as _t calls and print(f"[PERF]...") statements that execute in hot paths. These will:

Pollute stdout for all users even when Newton Warp is not in use
Duplicate timing that is already handled by the Timer class
Import time at function level repeatedly (though this is cached by Python, it adds noise)

This instrumentation should be removed or gated behind a debug flag / logging level before merge.

…and Warp renderer

Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Signed-off-by: bdilinila <148156773+bdilinila@users.noreply.github.com>

…Lab into dev/bdilinila/physx-warp

bdilinila · 2026-02-18T18:12:36Z

source/isaaclab/isaaclab/renderer/renderer.py

+        self._data_types = []
+
+        # output buffer format: dict mapping data type -> list of buffers (one per camera)
+        # TODO: Document the standard format of the output data buffers. Need discussion.


TODOs in this file originate from https://github.com/ooctipus/IsaacLab/blob/newton/dexsuite_warp_rendering/source/isaaclab/isaaclab/renderer/renderer.py#L26

We can disregard unless directed otherwise.

ooctipus and others added 27 commits February 3, 2026 16:25

save

393e68a

add hydra group override feature

88c60d0

fix lambda in loop issue

310d730

add vision env

36963d5

Add vision-based dexterous manipulation support with RTX rendering

2d10bc0

Changes:

Add Newton Warp renderer infrastructure

d21f97b

This commit adds the foundation for Newton Warp rendering support:

Implement Newton Manager for PhysX-to-Newton state synchronization

e6c76b4

Completed NewtonManager implementation:

Complete USDRT transform extraction for PhysX→Newton sync

400f176

Implemented full state synchronization:

Add renderer_type configuration to vision tasks

dc43748

Changes:

Newton Warp renderer integration complete and working!

9b2c16c

Major achievements:

Add detiling kernels for Newton Warp multi-env (WIP)

16c7314

Added:

Complete Newton Warp integration with multi-env support!

6291895

Major achievements:

Add Newton Warp rendering documentation and visualization tools

7d88833

Added comprehensive documentation and tools:

Add automatic image saving to Newton Warp renderer

db22c61

Add vision-based dexterous manipulation support with RTX rendering

83dbc77

Add Newton Warp renderer infrastructure

66fa614

Implement Newton Manager for PhysX-to-Newton state synchronization

87acdbd

Complete USDRT transform extraction for PhysX to Newton sync

7db2a32

Add renderer_type configuration to vision tasks

cb1531a

Newton Warp renderer integration complete and working

8613b18

Add detiling kernels for Newton Warp multi-env (WIP)

2a2346f

Complete Newton Warp integration with multi-env support

f56b895

Use PhysX->Newton GPU sync before Newton Warp render; set_scene in en…

917daa1

…v; fix tiled_camera init

debugging; fix of save_images conflict

d36d6b7

Fix Timer

0d5e07f

Add --renderer_backend to train.py

fbd2625

Add --renderer_backend to train.py; restore hydra doc

3e0182e

github-actions bot added the isaac-lab Related to Isaac Lab team label Feb 13, 2026

bdilinila added 2 commits February 13, 2026 21:58

Revert change to threshold from merge conflict

8728f15

Added timers for sim-render engine comparisons; fix for PhysX->Warp r…

f38d9a2

…obot transforms

bdilinila added 2 commits February 17, 2026 18:01

Removed files used for local testing

1d2a982

Move newton_manager.py back to _impl per newton/dexsuite_warp_rendering

cb3d618

bdilinila commented Feb 18, 2026

View reviewed changes

docstrings; update docs for backend

449f91e

github-actions bot added the documentation Improvements or additions to documentation label Feb 18, 2026

bdilinila added 2 commits February 17, 2026 20:17

--format

7e3e86f

Added name to CONTRIBUTORS.md

42dbb9b

bdilinila force-pushed the dev/bdilinila/physx-warp branch from 317b60d to 42dbb9b Compare February 18, 2026 04:33

bdilinila marked this pull request as ready for review February 18, 2026 04:35

bdilinila requested review from ClemensSchwarke, Mayankm96, jtigue-bdai, kellyguo11, matthewtrepte, ooctipus, ossamaAhmed and pascal-roth as code owners February 18, 2026 04:35

greptile-apps bot reviewed Feb 18, 2026

View reviewed changes

bdilinila and others added 7 commits February 18, 2026 09:42

Use newton from Github vice local clone

6677288

Added docs for setting up and running train.py with PhysX sim engine …

6f87bac

…and Warp renderer

Removed temporary code to save images for testing

2fbe650

Apply ImportError suggestion from @greptile-apps[bot]

bec397f

Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Signed-off-by: bdilinila <148156773+bdilinila@users.noreply.github.com>

Merge branch 'dev/bdilinila/physx-warp' of github.com:bdilinila/Isaac…

4f293b7

…Lab into dev/bdilinila/physx-warp

flatdict greptile suggestion

6508a09

Missing classes in kula_allegro

f810502

bdilinila commented Feb 18, 2026

View reviewed changes

renderer_backend logs and tess

af16c69

		@@ -67,6 +67,52 @@ class RslRlPpoActorCriticRecurrentCfg(RslRlPpoActorCriticCfg):
		"""The number of RNN layers."""


		@configclass

		@@ -0,0 +1,47 @@
		# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).

		@@ -116,6 +116,28 @@ def __post_init__(self):
		policy: PolicyCfg = PolicyCfg()


		@configclass

		@@ -26,7 +26,7 @@
		from isaaclab.utils import replace_strings_with_slices

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greptile-apps bot commented Feb 18, 2026

Greptile Summary

Confidence Score: 2/5

Important Files Changed

Sequence Diagram

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bdilinila commented Feb 13, 2026 •

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