Merge branch 'develop' into fix/backend-fallback-without-sim-context

Author: ooctipus

source/isaaclab/changelog.d/contact-sensor-regex.skip

@@ -0,0 +1 @@
+Docstring-only clarification of the shape-expression convention; behaviour change lives in isaaclab_newton.

source/isaaclab/changelog.d/ooctipus-newton-active-solver-attributes.skip

@@ -0,0 +1,5 @@
+Fixed
+^^^^^
+
+* Fixed camera depth display normalization producing ``NaN`` values and suppressing finite depth contrast when
+  no-hit pixels contain ``inf`` or ``NaN`` values.

source/isaaclab/changelog.d/sylvesterkaczmarek-fix-depth-display-nonfinite.rst

@@ -86,6 +86,7 @@ class PhysicsManager(ABC):
     _sim_time: ClassVar[float] = 0.0
     _callbacks: ClassVar[dict[int, tuple[Any, Callable, int, str | None, Any]]] = {}
     _callback_id: ClassVar[int] = 0
+    views: ClassVar[dict[tuple[type, str], Any]] = {}
 
     @classmethod
     def _prepare_stage_creation(cls) -> None:
@@ -457,6 +458,7 @@ def close(cls) -> None:
             cls.clear_callbacks()
         finally:
             if is_active_manager:
+                PhysicsManager.views.clear()
                 PhysicsManager._sim = None
                 PhysicsManager._cfg = None
                 PhysicsManager._sim_time = 0.0

source/isaaclab/isaaclab/physics/physics_manager.py

@@ -98,6 +98,9 @@ class ContactSensorCfg(SensorBaseCfg):
     **Newton backend only** (ignored by the PhysX and OvPhysX backends). A shape is an individual
     collision geometry attached to a body. If non-empty, :attr:`prim_path` is ignored for the
     sensing objects and these shape expressions are used instead.
+
+    Full-matched against shape paths, so an expression naming a body selects nothing:
+    write ``{ENV_REGEX_NS}/Box[^/]*/.*`` to reach the shapes below it.
     """
 
     filter_shape_prim_expr: list[str] = []
@@ -106,6 +109,8 @@ class ContactSensorCfg(SensorBaseCfg):
 
     **Newton backend only** (ignored by the PhysX and OvPhysX backends). If provided, the force
     matrix reports per-shape contact forces; mutually exclusive with :attr:`filter_prim_paths_expr`.
+
+    Matched against shape paths on the same terms as :attr:`sensor_shape_prim_expr`.
     """
 
     visualizer_cfg: VisualizationMarkersCfg = CONTACT_SENSOR_MARKER_CFG.replace(prim_path="/Visuals/ContactSensor")

source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor_cfg.py

@@ -105,6 +105,7 @@ def normalize_camera_output_for_display(tensor: torch.Tensor, data_type: str) ->
     normalized = tensor.float()
 
     if data_type in ["depth", "distance_to_camera", "distance_to_image_plane"]:
+        normalized = torch.nan_to_num(normalized, nan=0.0, posinf=0.0, neginf=0.0)
         max_val = normalized.max()
         if max_val > 0:
             normalized = normalized / max_val

source/isaaclab/isaaclab/utils/images.py

@@ -26,6 +26,7 @@ class TestManager(PhysicsManager):
     monkeypatch.setattr(PhysicsManager, "_sim", SimpleNamespace(physics_manager=TestManager))
     monkeypatch.setattr(PhysicsManager, "_cfg", object())
     monkeypatch.setattr(PhysicsManager, "_sim_time", 1.0)
+    monkeypatch.setattr(PhysicsManager, "views", {(TestManager, "/World/Robot"): object()})
 
     TestManager.register_callback(
         lambda _payload: events.append("first"),
@@ -71,6 +72,7 @@ def failing_listener(_payload):
     assert PhysicsManager._sim is None
     assert PhysicsManager._cfg is None
     assert PhysicsManager._sim_time == 0.0
+    assert PhysicsManager.views == {}
 
 
 def test_close_surfaces_stop_errors_stored_by_safe_callback_invoke(monkeypatch):

source/isaaclab/test/sim/test_physics_manager_lifecycle.py

@@ -0,0 +1,30 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+import pytest
+import torch
+
+from isaaclab.utils.images import normalize_camera_output_for_display
+
+pytestmark = pytest.mark.unit
+
+
+@pytest.mark.parametrize("data_type", ["depth", "distance_to_camera", "distance_to_image_plane"])
+def test_depth_display_normalization_ignores_nonfinite_values(data_type):
+    src = torch.tensor([0.0, 2.0, float("inf"), 4.0, float("nan")])
+
+    out = normalize_camera_output_for_display(src, data_type)
+
+    expected = torch.tensor([0.0, 0.5, 0.0, 1.0, 0.0])
+    torch.testing.assert_close(out, expected)
+    assert torch.isfinite(out).all()
+
+
+def test_depth_display_normalization_handles_all_nonfinite_values():
+    src = torch.tensor([float("inf"), float("nan")])
+
+    out = normalize_camera_output_for_display(src, "depth")
+
+    torch.testing.assert_close(out, torch.zeros_like(src))

source/isaaclab/test/utils/test_images_display_nonfinite.py

@@ -0,0 +1,4 @@
+Fixed
+^^^^^
+
+* Registered every configured child solver's builder attributes for coupled Newton models.

source/isaaclab_contrib/changelog.d/ooctipus-newton-active-solver-attributes.rst

@@ -188,17 +188,15 @@ def _validate_resolved_entries(
     def _register_builder_attributes(cls, builder: ModelBuilder) -> None:
         """Register custom attributes required by nested coupled entries."""
         super()._register_builder_attributes(builder)
-        solver_cfg = getattr(PhysicsManager._cfg, "solver_cfg", None)
-        if any(isinstance(entry.solver_cfg, MPMSolverCfg) for entry in getattr(solver_cfg, "entries", ())):
-            NewtonMPMManager._register_builder_attributes(builder)
+        for entry in PhysicsManager._cfg.solver_cfg.entries:
+            entry.solver_cfg.class_type._register_builder_attributes(builder)
 
     @classmethod
     def _prepare_builder_for_finalize(cls, builder: ModelBuilder) -> None:
         """Normalize kinematic colliders when a coupled entry uses implicit MPM."""
         super()._prepare_builder_for_finalize(builder)
-        solver_cfg = getattr(PhysicsManager._cfg, "solver_cfg", None)
-        if any(isinstance(entry.solver_cfg, MPMSolverCfg) for entry in getattr(solver_cfg, "entries", ())):
-            NewtonMPMManager._prepare_builder_for_finalize(builder)
+        for entry in PhysicsManager._cfg.solver_cfg.entries:
+            entry.solver_cfg.class_type._prepare_builder_for_finalize(builder)
 
     @classmethod
     def _initialize_contacts(cls) -> None: