[Backport release/3.0.0] Complete September 19-20 develop backports (#7530, #7899)

[StafaH]

Description

Backports the two changes merged into develop since September 19 that are still missing from release/3.0.0:

Source PR	Change	Source commit
#7530	Validate camera outputs against renderer capabilities before simulator startup	31d1c53510490c76841e9c35a329574b357d9900
#7899	Share native resources by construction cfg and centralize ownership and teardown	c90c3a1097a0a669a823b880b1c8d0654d7fd267

Includes the original regression tests, API documentation, and changelog fragments. #7530 applied without changes. #7899 required two conflict resolutions to retain the release branch's OVRTX mapping API, documentation, and tests. Of its 62 files, 59 match the merged source exactly; the other three retain those existing release additions. Release versions, lockfile entries, compiled changelogs, and documentation routing are preserved.

Audit

Checked all 33 PRs merged from September 19, 2026 00:00 America/Los_Angeles through develop commit c90c3a1097 (September 20, 21:29 Pacific), against release base 75e9c8ce12. 31 are already backported; the remaining two are included here. Git first-parent history and GitHub's merged PR list agree. Automatic changelog/version compilation remains branch-specific.

31 PRs already recorded in release

Source PRs	Existing release commit
#7777, #7608, #7895, #7872, #7831, #7834, #7838, #7840, #7903, #7674	ff22c52891
#7886	41bfaee5f0
#7042	970d21ef48
#7905	f0563d1f9e
#7604	dca7cfe984
#7610, #7603	5dd2220243
#7839	b8b93bb96e
#6851	baa025ad90
#7250	f86b33e6b1
#7910	24f7b4842b
#7810	9738e096c8
#7832	be270ed88b
#4679	80157aa22d
#7914	01b59b5a22
#7502	db7db61f60
#7918	bca9dba8bb
#7919	ef1514c97c
#7922	7d6979a19e
#7923	a1dd560b98
#7924	892e51dc1d
#7925	75e9c8ce12

Validation

745 tests passed on the combined backport:

• Core registry, configclass, replication, camera contracts, and task presets: 158 passed.
• Newton manager/model/reset and coupling suites: 299 passed.
• OVPhysX/OVRTX lifecycle, scene data, bindings, and material contracts: 141 passed on CPU.
• Clone-plan algebra: 83 passed.
• All 8 OV CUDA cases skipped in the CPU run: 8 passed on GPU.
• OVPhysX ray-caster regression: 1 passed.
• Kit simulation-context and PhysX scene-data tests: 54 passed.
• Newton solver reset integration: 1 passed.

The registry-identity and borrowed-config-field regressions both fail with the pre-backport implementations and pass with this change. Backport file-scope validation, source-file comparison, git diff --check, and uv run isaaclab -f passed.

Local validation used PyTorch 2.12.0/CUDA 13.0, Isaac Sim 6.0.1.0, Newton 1.6.0rc1, and an RTX 5090. Existing deprecation/runtime warnings occurred. Full Docker CI is requested separately against the pinned environment; local checks do not claim a startup or runtime speedup.

Checklist

• Read the contribution guidelines and ran formatting/changelog checks.
• Included source tests, documentation, and changelog fragments.
• Verified regression behavior and preserved release-specific changes.
• Recorded source commit hashes and audited the requested merge window.

[greptile-apps]

Confidence Score: 4/5

The PR needs one compatibility-validation fix before merging because valid-looking OVRTX configurations can still fail later during renderer setup.

Findings

1.  OVRTX combinations pass validation ▶

Summary

This backport introduces configuration-time camera output validation, recursively runs validation hooks for nested configclasses, and moves renderer output contracts into renderer configuration objects.

• Newton, OVRTX, and Isaac RTX configurations now publish output layouts without constructing renderer implementations.
• Camera configurations reject output names absent from the selected renderer contract.
• Task-specific Newton guards are replaced by the shared camera validation path.
• Renderer and task tests cover supported and unsupported output presets.
• One OVRTX incompatibility remains deferred to renderer construction because the shared contract models individual outputs but not invalid output combinations.

Diagram

%%{init: {'theme': 'neutral'}}%%
flowchart LR
  E[Environment configuration] --> V[Recursive configclass validation]
  V --> C[CameraCfg.validate_config]
  C --> R[RendererCfg.supported_output_types]
  R --> N[Newton contract]
  R --> P[Isaac RTX contract]
  R --> O[OVRTX contract]
  C -->|supported| S[Simulator and renderer startup]
  C -->|unsupported name| X[Early ValueError]
  S --> M{OVRTX combination valid?}
  M -->|yes| D[Create render product]
  M -->|no| L[Late ValueError]

Loading

_{Reviews (1) · Last reviewed commit: "Backport renderer output validation to r..."}

[greptile-apps]

OVRTX combinations pass validation

This checks each requested output independently, so an OVRTX camera requesting both rgb and simple_shading_full_mdl passes validate() even though those outputs cannot share one render product. The same gap allows multiple simple-shading modes. These configurations then raise during renderer setup, defeating the new early compatibility check.

Knowledge Base Used:

• Simulation, rendering, and sensors
• Omniverse backend

[StafaH]

run-ci

[isaaclab-review-bot]

Isaac Lab Review Bot

The backport centralizes camera output capability contracts on renderer configs and uses recursive configclass validation to reject incompatible camera/renderer combinations before simulator startup. The shared validation path correctly replaces the removed Shadow Hand and Lift-specific Newton guards.

• Design and architecture: The backend-agnostic RendererCfg.supported_output_types() contract is coherent across Newton, OVRTX, and Isaac RTX. Post-order traversal reaches nested CameraCfg instances while excluding arbitrary non-configclass objects, preserving the intended ownership boundaries.
• API: RendererCfg.supported_output_types() is additive, and its None default preserves deferred validation for dynamically selected renderers. Concrete configs return fresh mappings with the established output names and layouts; runtime Isaac RTX filtering for Isaac Sim versions before 6 remains intact.
• Implementation: The validation traversal reports missing fields before invoking custom hooks, then runs nested hooks before their owners. Camera compatibility checks compare requested data types against the selected config contract, while runtime renderer checks remain available for dynamic or version-dependent capabilities. The main residual tradeoff is that pre-6 Isaac RTX limitations cannot be detected from the config-only contract and therefore remain deferred to renderer initialization.

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.

[ooctipus]

run-ci