[hougantc-nvda]

Description

Review stack · 3/5: #8787 → #8788 → #8789 → #8790 → #8791

Review only this PR’s changes. The PRs target main; the comparison isolates this layer from its predecessors.

Enable the registered GR1T2, G1 locomanipulation and fixed-base G1 tasks to run with kitless Newton or CPU OvPhysX. Explicit physics selectors choose matching task presets and USD variants; omitting the selector preserves Kit defaults.

• Task ownership: robot mappings, action conditioning, model assets and backend tuning stay in isaaclab_tasks. Teleop consumes those configurations through the existing adapter.
• Joint ordering: preserve the configured Pink joint order so hand targets reach the intended joints.
• Shared assets: extract the steering-wheel helper used by GR1T2 and G1, retaining graspable rim/spokes and valid collision shapes without a cross-task import.

The existing G1 head camera remains available at this PR boundary; wrist cameras and presentation changes belong to #8790.

Registered humanoid tasks prepare their selected backend before scene construction through both gym.make() and instantiate(cfg). Repeated preparation preserves caller overrides and copied settings; changing backends after preparation requires a fresh configuration. Task construction tests remain independent of optional teleop imports; the XR integration harness stays in isaaclab_teleop.

See registered tasks and physics selectors.

Dependencies: public isaaccapture==1.7.93a1 from NVIDIA’s Python index, using the optional XR selection documented in #8788. The stack includes upstream's merged provider upgrade #8858; the installation recipe reuses its OVRTX, OVStage, OvPhysX and schema declarations. Project-wide Kit/provider defaults are unchanged.

Backend preparation preserves required physics/action setup when optional teleoperation configuration is absent. Input bounds are named with their units and purpose; their values and physics tuning are unchanged.

Type of change

• New feature
• Bug fix
• Documentation update

GR1T2 presets use the supported joint_effort_limit field with the task-specific tuned values.

Testing

Focused follow-up validation at dd375570e1bf17d076b18bee47835d77a6647e7e: 154 passed and 3 cross-device cases skipped across the renderer contract, material synchronization, and affected task suites. The task tests exercise registered gym.make() and instantiate(cfg) through backend preparation, stopping before native simulation construction; they also cover copied settings, serialization and optional dependencies. Six additional probes of the public Capture 1.7.93a1 admission contract and Lab publication/anchor code passed with native I/O substituted. Formatting/lint and changelog checks pass at the affected PR boundaries. This follow-up does not add IWER, headset, performance or full Kit qualification.

Rebased onto upstream main 90a16f06685dbf7948262eafa628c470b4cdc78c, including the merged provider upgrade #8858 and Newton hard-reset changes.

Combined-stack validation at c2d0ebad5b3eb9a5f5a6bd1263961162c90fec3a:

• 573 passed, 5 failed, 12 skipped across the selected affected suites. All five failures are native Kit startup smoke tests that could not locate an installed Isaac Sim distribution.
• Native renderer attachment/update/normal retirement passed for same-thread and transferred ownership. Seven focused Newton graph capture/replay, concurrent-upload and hard-reset tests passed.
• Regression cases distinguish capability validation, failed scene sealing and retirement, Kit anchor composition, automatic panel layout preservation, and task preparation without optional teleop configuration.
• Cross-device renderer/publication cases were skipped; these results do not establish current split-GPU transfer or panel-output acceptance.
• The public Capture 1.7.93a1 selection resolves from the declared source metadata. Locked synchronization and the installed dependency check passed.
• Formatting checks, Sphinx's warning-as-error build, and generated installation-page readback passed. The changelog check passed separately under Python 3.12 and at each of the five sequential PR boundaries.

This is combined-stack validation, not a full-repository or independent runtime qualification of each PR. IWER scene/control/mirror and performance comparison were deferred. Earlier headset/IWER acceptance remains a preservation baseline; it is not transferred to these heads.

Native Kit XR/Stop-AR, current split-GPU/PiP output and performance remain unverified. Cold renderer attachment, intermittent GR1T2 first-Play recovery and SO101 cube retention remain open. Failure-injection tests establish the exercised ownership/error policy, not behavior during an actual driver fault. Hosted-CI and arm64 results are not claimed.

Checklist

• I have read and understood the contribution guidelines
• I have run the repository formatting checks and the separate Python 3.12 changelog check
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have validated the changed behavior with focused coverage and applied the test-audit criteria to any test changes
• I have added a changelog fragment under source/<pkg>/changelog.d/ for every touched package (do not edit CHANGELOG.rst or bump package versions — CI handles that)
• I have added my name to the CONTRIBUTORS.md or my name already exists there

The warnings checkbox remains open: native-runtime warnings and the separate Kit dependency selection are not fully qualified by this run.

[hougantc-nvda]

@greptile Please review the latest changes in this PR.

[greptile-apps]

Confidence Score: 4/5

[High impact] The PR reaches registered tasks, shared rendering, simulation setup, and live and replay teleoperation.

Update the failed-seal test renderer before merging; both cases now stop before reaching their checks.

Findings

1.  Publication tests stop early ▶

Summary

Enables G1 and GR1T2 tasks with kitless physics while retaining Kit defaults.

• G1 and GR1T2 tasks use selected physics backends with tuned robot controls.
• An external XR session can borrow Isaac Lab’s renderer and scene through a lease.
• Live input and MCAP replay can use OVXR with the simulation’s scene.
• Kitless runs and headless Kit XR keep their runtime ownership with the selected application.
• The environment browser keeps its existing behavior as its page updates.

The supplied previous threads are unnumbered. The scene-check, live-reset and standalone-startup fixes are present. hougantc-nvda disputed the replay-reset finding because the supported provider admits forced requests synchronously unless shutdown is latched; no new evidence contradicts that explanation.

Diagram

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A[Resolved task configuration] --> B[HumanoidTeleopEnv]
    B --> C{Selected physics}
    C -->|Kit| F[Base environment construction]
    C -->|OvPhysX or Newton| D[Prepare task backend]
    D --> E[Check prior preparation and bind spawn callback]
    E --> F
    F --> G[Create scene and action managers]

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_{Reviews (4) · Last reviewed commit: "Prepare registered humanoid tasks before..." · Reviewed by Greptile}

[hougantc-nvda]

@greptile Please review the current head (b1de1f7) again. Recheck the fixes and remaining issues against the published code, including the actual interfaces and callers at this PR boundary.

[hougantc-nvda]

@greptile please review this PR again at the latest head (d337b9b0cb91106142de0cbdd01256058f33e10f), including the changes since your previous review.

[greptile-apps]

Publication tests stop early

Both cases of test_host_reconciles_failed_publication_without_reusing_generation now fail before reaching their failed-seal checks. Their SimpleNamespace renderer has neither _visual_material_writer_ref, which this code reads, nor _publish_visual_materials, which the scene write now calls. The first publication raises AttributeError instead of testing the intended failure path.

Update that test renderer to supply both members.

[isaaclab-review-bot]

Isaac Lab Review Bot

All reviewed code categories look good.

• PR description: The title and body understate the renderer, replay, SO101, launcher, and visualizer changes; summarize those areas and report validation performed on the final head.
• Design and architecture: Architecture looks good.
• Scope and over-engineering: No over-engineering issues.
• API: API changes look good.
• Compatibility and deprecation: No breaking changes identified.
• Implementation: Implementation looks good.
• Style consistency: Style consistency looks good.
• Test quality: Test quality looks good.

No blocking issues. No inline findings.

The full PR diff was reviewed; some supplemental surrounding file context was omitted.

Automated review; human maintainers own approval decisions.