wip

Author: matthewtrepte

source/isaaclab/isaaclab/cli/commands/install.py

@@ -305,6 +305,9 @@ def _install_extra_frameworks(framework_name: str = "all") -> None:
     "newton_actuators",
     "warp",
     "mujoco_warp",
+    "websockets",
+    "viser",
+    "imgui_bundle",
 ]
 """Package directory names in Isaac Sim prebundle directories to repoint.
 
@@ -352,7 +355,25 @@ def _repoint_prebundle_packages() -> None:
         print_warning(f"site-packages directory not found: {site_packages} — skipping prebundle repoint.")
         return
 
-    prebundle_dirs = list(isaacsim_path.rglob("pip_prebundle"))
+    # Discover pip_prebundle directories from both the Isaac Sim tree and
+    # Omniverse cache roots. Some Isaac Sim directories are symlinked into
+    # ~/.local/share/ov and may be missed by a plain rglob() on _isaac_sim.
+    candidate_roots: set[Path] = set()
+    for root in (
+        isaacsim_path,
+        isaacsim_path.resolve(),
+        isaacsim_path / "extscache",
+        Path.home() / ".local" / "share" / "ov" / "data" / "exts",
+        Path.home() / ".local" / "share" / "ov" / "data" / "exts" / "v2",
+    ):
+        if root.exists():
+            candidate_roots.add(root)
+            candidate_roots.add(root.resolve())
+
+    prebundle_dirs: set[Path] = set()
+    for root in candidate_roots:
+        prebundle_dirs.update(root.rglob("pip_prebundle"))
+
     if not prebundle_dirs:
         print_debug("No pip_prebundle directories found under Isaac Sim.")
         return

source/isaaclab/isaaclab/sim/simulation_context.py

@@ -747,6 +747,11 @@ def update_visualizers(self, dt: float) -> None:
                     visualizers_to_remove.append(viz)
                     continue
                 if viz.is_rendering_paused():
+                    # Keep non-Kit visualizer event loops responsive while rendering is paused.
+                    # KitVisualizer pumps app.update() and had historical pause/unpause issues
+                    # with zero-dt stepping, so skip it.
+                    if not viz.pumps_app_update():
+                        viz.step(0.0)
                     continue
                 while viz.is_training_paused() and viz.is_running():
                     viz.step(0.0)

source/isaaclab/test/sim/test_simulation_context_visualizers.py

@@ -45,6 +45,7 @@ def __init__(
         training_paused_steps=0,
         raises_on_step=False,
         requires_forward=False,
+        pumps_app_update=False,
     ):
         self._env_ids = env_ids
         self._running = running
@@ -53,6 +54,7 @@ def __init__(
         self._training_paused_steps = training_paused_steps
         self._raises_on_step = raises_on_step
         self._requires_forward = requires_forward
+        self._pumps_app_update = pumps_app_update
         self.step_calls = []
         self.close_calls = 0
 
@@ -87,6 +89,9 @@ def get_visualized_env_ids(self):
     def requires_forward_before_step(self):
         return self._requires_forward
 
+    def pumps_app_update(self):
+        return self._pumps_app_update
+
 
 def _make_context(visualizers, provider=None):
     ctx = object.__new__(SimulationContext)
@@ -136,11 +141,21 @@ def test_update_visualizers_removes_closed_nonrunning_and_failed(caplog):
     assert stopped_viz.close_calls == 1
     assert failing_viz.close_calls == 1
     assert paused_viz.close_calls == 0
-    assert paused_viz.step_calls == []
+    assert paused_viz.step_calls == [0.0]
     assert healthy_viz.step_calls == [0.1]
     assert any("Error stepping visualizer" in r.message for r in caplog.records)
 
 
+def test_update_visualizers_skips_zero_dt_for_paused_app_pumping_visualizer():
+    provider = _FakeProvider()
+    paused_app_pumping_viz = _FakeVisualizer(rendering_paused=True, pumps_app_update=True)
+    ctx = _make_context([paused_app_pumping_viz], provider=provider)
+
+    ctx.update_visualizers(0.3)
+
+    assert paused_app_pumping_viz.step_calls == []
+
+
 def test_update_visualizers_handles_training_pause_loop():
     provider = _FakeProvider()
     viz = _FakeVisualizer(training_paused_steps=1)

source/isaaclab_visualizers/isaaclab_visualizers/kit/kit_visualizer.py

@@ -86,6 +86,7 @@ def initialize(self, scene_data_provider: BaseSceneDataProvider) -> None:
                 ("lookat", self.cfg.lookat),
                 ("cam_source", self.cfg.cam_source),
                 ("visualizer_camera_prim_path", self.cfg.visualizer_camera_prim_path),
+                ("focal_length", self.cfg.focal_length),
                 ("enable_visualizer_cam", self.cfg.enable_visualizer_cam),
                 ("num_visualized_envs", num_visualized_envs),
                 ("create_viewport", self.cfg.create_viewport),
@@ -321,6 +322,11 @@ def _create_and_assign_camera(self, usd_stage) -> None:
         camera_prim = usd_stage.GetPrimAtPath(camera_path)
         if not camera_prim.IsValid():
             UsdGeom.Camera.Define(usd_stage, camera_path)
+            camera_prim = usd_stage.GetPrimAtPath(camera_path)
+
+        camera_geom = UsdGeom.Camera(camera_prim)
+        if camera_geom:
+            camera_geom.GetFocalLengthAttr().Set(float(self.cfg.focal_length))
 
         if self._viewport_api:
             self._viewport_api.set_active_camera(camera_path)

source/isaaclab_visualizers/isaaclab_visualizers/kit/kit_visualizer_cfg.py

@@ -25,6 +25,9 @@ class KitVisualizerCfg(VisualizerCfg):
     visualizer_camera_prim_path: str = "/World/Cameras/KitVisualizerCamera"
     """Dedicated camera prim path controlled by the Kit visualizer."""
 
+    focal_length: float = 12.0
+    """Focal length in millimeters applied to the dedicated visualizer camera."""
+
     enable_visualizer_cam: bool = True
     """Whether the Kit visualizer should control/bind a dedicated viewport camera.
 

source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py

@@ -56,7 +56,7 @@ def __init__(
             self._fallback_draw_controls = True
 
     def is_training_paused(self) -> bool:
-        """Return whether training is paused by viewer controls."""
+        """Return whether physics is paused by viewer controls."""
         return self._paused_training
 
     def is_rendering_paused(self) -> bool:
@@ -68,7 +68,7 @@ def _render_training_controls(self, imgui):
         imgui.separator()
         imgui.text("IsaacLab Controls")
 
-        pause_label = "Resume Training" if self._paused_training else "Pause Training"
+        pause_label = "Resume Physics" if self._paused_training else "Pause Physics"
         if imgui.button(pause_label):
             self._paused_training = not self._paused_training
 
@@ -110,7 +110,7 @@ def _render_ui(self):
             imgui.set_next_window_pos(imgui.ImVec2(320, 10))
 
         flags = 0
-        if imgui.begin("Training Controls", flags=flags):
+        if imgui.begin("Physics Controls", flags=flags):
             self._render_training_controls(imgui)
         imgui.end()
         return None