[Backport] Fix ray caster path matching regressions (#7516)

[StafaH]

Description

Backports #7516 to release/3.0.0.

The automatic backport workflow completed successfully but skipped the backport because the source PR body did not retain the hidden <!-- backport-active-release --> selection marker. This branch manually cherry-picks the canonical merged commit 167b6b15538bc6ec23554ec1b69f45ac34ae35bd with -x provenance.

The cherry-pick applied without conflicts or release-specific edits. Its stable patch ID is identical to the source commit, and all seven source paths are preserved exactly.

Type of change

• Bug fix (non-breaking change which fixes an issue)

Release backport

• This PR already targets the active release branch.

Validation

• Stable source/backport patch IDs match: b30f8378be6d764298eb95b92d8f5e03ffb97b51.
• uv run python -m pytest source/isaaclab_newton/test/sensors/test_newton_raycast_sensor.py -vv — 18 passed.
• uv run python -m pytest source/isaaclab/test/app/test_standalone_scripts.py::test_commands_respect_script_launcher_capabilities -vv — 1 passed.
• ISAACLAB_CHANGELOG_BASE_REF=release/3.0.0 uv run isaaclab -f — all hooks passed.
• git diff --check upstream/release/3.0.0..HEAD — passed.

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks
• I have made corresponding changes to the tutorial and smoke configuration
• My changes generate no new warnings
• I have added tests that prove the fix is effective
• I have added changelog fragments for the touched source packages
• My name already exists in CONTRIBUTORS.md

[greptile-apps]

Greptile Summary

The backport fixes legacy Newton ray-caster target association by preserving registration order instead of looking up sites through potentially different path expressions.

• Resets positional target association whenever Warp meshes are initialized.
• Narrows the tutorial camera expression to a single path segment.
• Removes unnecessary camera-rendering startup flags from the Warp-only tutorial smoke cases.
• Adds regression coverage and package changelog fragments.

Confidence Score: 5/5

The PR appears safe to merge with no concrete regressions identified.

The new positional bookkeeping follows the same filtered target order as mesh-view initialization and is reset on every reinitialization, while the tutorial and smoke changes remain consistent with the Warp-only ray-caster path.

Important Files Changed

Filename	Overview
source/isaaclab_newton/isaaclab_newton/sensors/ray_caster/legacy_ray_caster.py	Replaces expression-keyed site lookup with lifecycle-safe positional association matching the base initializer’s target order.
source/isaaclab_newton/test/sensors/test_newton_raycast_sensor.py	Adds regression coverage for tracked ad-hoc regex targets whose discovery and registration expressions differ.
scripts/tutorials/04_sensors/run_ray_caster_camera.py	Uses a segment-bounded prim expression so camera matching cannot span nested path components.
source/isaaclab/test/app/standalone_script_cases.py	Stops enabling RTX camera services for a ray-caster camera implemented through Warp.
source/isaaclab/test/app/test_standalone_scripts.py	Updates launcher-capability coverage to enforce omission of the unnecessary camera flag.

_{Reviews (1): Last reviewed commit: "[Sensor] Fix ray caster path matching re..." | Re-trigger Greptile}

[isaaclab-review-bot]

Isaac Lab Review Bot

Reviewed the backport’s ray-caster path-matching correction, including the tutorial regex, legacy Newton tracked-target association, smoke-test launcher arguments, regression coverage, and package changelog fragments. No actionable finding is directly supported by the patch.

• Design and architecture: The fix remains scoped to the legacy Newton adapter: tracked site labels are associated by target configuration order, and the cursor is reset before base mesh-view initialization. This avoids changing shared ray-caster architecture while addressing the mismatch between discovered owner paths and registration expressions.
• API: No public API is removed or renamed. The changed tracking state is private, MultiMeshRayCasterCfg behavior remains compatible, and the user-visible Newton fix is represented by an isaaclab_newton changelog fragment while the ancillary isaaclab changes use a .skip fragment.
• Implementation: The initialization and consumption paths were traced: labels are collected in tracked-target order, the cursor is reset before mesh views are recreated, and mesh updates retain the same target ordering. The tutorial’s segment-bounded regex matches its generated camera prims, and the smoke override consistently stops passing the unnecessary --enable_cameras flag. Positional association is more order-dependent than the former dictionary lookup, but the shown creation path preserves that ordering and the regression test exercises the reported expression mismatch.

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.

[StafaH]

run-ci