Use clone plan for shadow visualization layout

Author: ooctipus

source/isaaclab/test/sim/test_newton_manager_visualization_state.py

@@ -52,7 +52,7 @@ def _make_standalone_stage():
 
 
 def _set_sim_context(monkeypatch, nm, clone_plan=_DEFAULT, scene_data_provider=_DEFAULT):
-    clone_plan = SimpleNamespace() if clone_plan is _DEFAULT else clone_plan
+    clone_plan = SimpleNamespace(clone_mask=np.ones((1, 1), dtype=np.bool_)) if clone_plan is _DEFAULT else clone_plan
     scene_data_provider = SimpleNamespace() if scene_data_provider is _DEFAULT else scene_data_provider
     sim = SimpleNamespace(
         get_clone_plan=lambda: clone_plan,
@@ -418,9 +418,9 @@ def test_ensure_visualization_model_populates_num_envs_when_backend_is_physx(mon
 
     _reset_newton_manager_state()
     monkeypatch.setattr(NewtonManager, "_backend_is_newton", classmethod(lambda cls, scene_data_provider=None: False))
-    monkeypatch.setattr(nm, "get_current_stage", lambda *args, **kwargs: _make_env_stage(num_envs=4))
+    monkeypatch.setattr(nm, "get_current_stage", lambda *args, **kwargs: _make_env_stage())
     monkeypatch.setattr(nm.PhysicsManager, "_sim", None, raising=False)
-    _set_sim_context(monkeypatch, nm)
+    _set_sim_context(monkeypatch, nm, clone_plan=SimpleNamespace(clone_mask=np.ones((1, 4), dtype=np.bool_)))
     monkeypatch.setattr(nm.PhysicsManager, "_device", "cpu", raising=False)
 
     builder = _make_finalize_builder(body_count=3)
@@ -835,6 +835,7 @@ def test_clone_visualization_builder_ignores_non_env_deformables_on_world_import
         destinations=("/World/envs/env_{}",),
         env_ids=np.asarray([0, 1], dtype=np.int64),
         clone_mask=np.asarray([[False, False]], dtype=np.bool_),
+        positions=np.zeros((2, 3), dtype=np.float32),
     )
     monkeypatch.setattr(vb, "ModelBuilder", lambda up_axis="Z": fake_builder)
     monkeypatch.setattr(vb, "_restore_visible_colliders_without_visual_shapes", lambda *args, **kwargs: None)

source/isaaclab_newton/changelog.d/ooctipus-plan-owned-shadow-layout.rst

@@ -0,0 +1,4 @@
+Fixed
+^^^^^
+
+* Built Newton shadow visualization layouts from clone-plan positions when destination USD environment prims are absent.

source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py

@@ -2902,7 +2902,7 @@ def _ensure_visualization_model(cls) -> None:
                 "deferring visualization model creation."
             )
             return
-        NewtonManager._num_envs = len(env_paths) if clone_plan is not None else 1
+        NewtonManager._num_envs = clone_plan.clone_mask.shape[1] if clone_plan is not None else 1
         builder, (shadow_entities, registry_groups) = build_visualization_builder_from_stage_envs(
             stage, env_paths, clone_plan, up_axis=up_axis, device=str(PhysicsManager._device or "cpu")
         )

source/isaaclab_newton/isaaclab_newton/physics/visualization_builder.py

@@ -15,7 +15,6 @@
 from pxr import Usd
 
 from isaaclab.scene_data.deformable_discovery import DeformableStageEntry, discover_deformables_on_stage
-from isaaclab.sim.utils.transforms import resolve_prim_pose
 
 from isaaclab_newton.cloner.newton_clone_utils import (
     _restore_visible_colliders_without_visual_shapes,
@@ -120,16 +119,15 @@ def build_visualization_builder_from_stage_envs(
     if not env_paths:
         raise ValueError("clone plan requires at least one environment path")
 
-    env_path_by_id = dict(env_paths)
-
     sources = tuple(clone_plan.sources)
     destinations = tuple(clone_plan.destinations)
     env_ids = clone_plan.env_ids
     mapping = clone_plan.clone_mask
-
-    poses = [resolve_prim_pose(stage.GetPrimAtPath(env_path_by_id[int(env_id)])) for env_id in env_ids]
-    positions = np.asarray([pos for pos, _ in poses], dtype=np.float32)
-    quaternions = np.asarray([quat for _, quat in poses], dtype=np.float32)
+    if env_ids is None or clone_plan.positions is None:
+        raise ValueError("clone plan requires environment ids and positions for visualization")
+    positions = clone_plan.positions.astype(np.float32, copy=False)
+    quaternions = np.zeros((len(env_ids), 4), dtype=np.float32)
+    quaternions[:, 3] = 1.0
     # Ignore every deformable on the stage for the world import — not only those under
     # clone sources. Otherwise a non-env deformable (e.g. ``/World/Assets/Cloth``) is
     # imported here and added again by ``add_shadow_deformables_to_builder``.

source/isaaclab_newton/test/cloner/test_rename_builder_labels.py

@@ -414,6 +414,7 @@ def test_visualization_builder_disables_collision_pairs(self):
             destinations=("/World/envs/env_{}/Robot",),
             clone_mask=np.ones((1, 2), dtype=np.bool_),
             env_ids=np.arange(2, dtype=np.int64),
+            positions=np.asarray(((0.0, 0.0, 0.0), (2.0, 0.0, 0.0)), dtype=np.float32),
         )
         for env_paths, plan, expected_shape_count in (
             ([], None, 2),
@@ -451,7 +452,7 @@ def test_visualization_builder_uses_clone_plan_sources_and_rewrites_labels(self)
         UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.z)
         self._define_xform(stage, "/World")
         self._define_xform(stage, "/World/envs")
-        env_paths = [(env_id, f"/World/envs/env_{env_id}") for env_id in (0, 1, 2)]
+        env_paths = [(env_id, f"/World/envs/env_{env_id}") for env_id in (0, 1)]
         for env_id, env_path in env_paths:
             self._define_xform(stage, env_path, (float(env_id) * 3.0, 0.0, 0.0))
             self._define_xform(stage, f"{env_path}/Object")
@@ -463,6 +464,7 @@ def test_visualization_builder_uses_clone_plan_sources_and_rewrites_labels(self)
             destinations=("/World/envs/env_{}/Object", "/World/envs/env_{}/Object"),
             clone_mask=np.array([[True, False, True], [False, True, False]], dtype=np.bool_),
             env_ids=np.array([0, 1, 2], dtype=np.int64),
+            positions=np.asarray(((0.0, 0.0, 0.0), (3.0, 0.0, 0.0), (6.0, 0.0, 0.0)), dtype=np.float32),
         )
 
         with (