test: Add all-environment perspective golden

[nvsekkin]

Description

Adds the perspective-camera visual regression requested as a follow-up to #7053 and [NVBUG 6632117].

• Creates four spatially separated Cartpole environments for one PhysX + Kit viewport case.
• Frames all four scene partitions in a single perspective-camera capture.
• Rejects flat or missing-content captures before comparing against the new golden image.

Type of change

• Test update

Release backport

• Backport this pull request to the active release branch after it merges into develop

Screenshot

Validation

• uv run isaaclab -f
• The final candidate was captured twice against the current CI Isaac Sim image (sha256:50d2491d..., Isaac Sim 6.1.0-alpha.72); the repeat comparison passed.

Checklist

• I have read and understood the contribution guidelines.
• I have run the pre-commit checks.
• Documentation changes are not applicable to this test-only update.
• My changes generate no new warnings.
• I have added a test that covers the requested behavior.
• I have added a test-only changelog .skip fragment for isaaclab_visualizers.
• My name already exists in CONTRIBUTORS.md.

[greptile-apps]

Greptile Summary

Adds a PhysX/Kit visual-regression test that captures four spatially separated Cartpole environments through one perspective viewport.

• Introduces a dedicated four-environment camera and scene configuration.
• Adds a non-flat-frame precondition and a separate golden-image namespace.
• Commits the expected 400×400 viewport golden and a test-only changelog fragment.

Confidence Score: 5/5

The test-only change appears safe to merge, with no actionable correctness or security issues identified.

The new mode is restricted to the intended Kit viewport path, its environment grid is centered on the configured camera target, and the capture is validated against a committed dedicated golden.

Important Files Changed

Filename	Overview
source/isaaclab_visualizers/test/test_visualizer_golden_physx.py	Adds the standalone PhysX Kit viewport golden test for the four-environment perspective view.
source/isaaclab_visualizers/test/visualizer_golden_utils.py	Threads the perspective mode through Cartpole setup, validates capture content, and selects a distinct golden-image directory.
source/isaaclab_visualizers/test/visualizer_integration_utils.py	Configures four centered environments, wider spacing, and a dedicated Kit camera pose while rejecting incompatible tiled-camera use.
source/isaaclab_visualizers/test/golden_images/cartpole_all_envs/physx-kit-viewport.png	Adds the expected image used by the new perspective visual-regression test.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart LR
  T[Perspective golden test] --> C[Configure four Cartpole environments]
  C --> V[Apply centered Kit camera pose]
  V --> R[Capture Kit viewport]
  R --> N[Reject empty or flat frame]
  N --> G[Compare with cartpole_all_envs golden]

Loading

_{Reviews (1): Last reviewed commit: "test: Cover all scene partitions in pers..." | Re-trigger Greptile}

[isaaclab-review-bot]

Isaac Lab Review Bot

The test-only change adds a focused PhysX + Kit viewport golden for a perspective view containing four spatially separated Cartpole environments. The new scenario is integrated into the existing golden-image harness without altering default test behavior.

• Design and architecture: The implementation reuses the existing Cartpole environment and golden runner, with an opt-in all_envs_perspective path controlling environment count, spacing, and camera pose. Existing tiled-camera behavior remains separate, and incompatible tiled/perspective combinations are explicitly rejected.
• API: No public or extension-facing API is changed. The added test-helper parameters are keyword-only and default to False, preserving existing callers and prior camera/environment configuration. The package also includes the appropriate test-only .skip changelog fragment.
• Implementation: The new test name resolves to the committed golden_images/cartpole_all_envs/physx-kit-viewport.png path. The four-environment configuration and perspective pose are consistently applied to the environment viewer and visualizer configuration, and the capture receives a non-flat-frame check before golden comparison. Coverage is intentionally limited to the requested PhysX + Kit viewport path.

No blocking issues. No inline issue met the actionable-evidence threshold; the assessment above records the review feedback.

Automated review; human maintainers own approval decisions.

[nvsekkin]

run-ci