prepping

Author: matthewtrepte

source/isaaclab/isaaclab/sim/simulation_context.py

@@ -294,10 +294,14 @@ def _init_usd_physics_scene(self) -> None:
             UsdGeom.SetStageMetersPerUnit(self.stage, 1.0)
             UsdPhysics.SetStageKilogramsPerUnit(self.stage, 1.0)
 
-            # Find and delete any existing physics scene
-            for prim in self.stage.Traverse():
-                if prim.GetTypeName() == "PhysicsScene":
-                    sim_utils.delete_prim(prim.GetPath().pathString, stage=self.stage)
+            # Find and delete any existing physics scene.
+            # Collect paths first to avoid mutating the stage while traversing,
+            # which can invalidate the USD iterator.
+            physics_scene_paths = [
+                prim.GetPath().pathString for prim in self.stage.Traverse() if prim.GetTypeName() == "PhysicsScene"
+            ]
+            for physics_scene_path in physics_scene_paths:
+                sim_utils.delete_prim(physics_scene_path, stage=self.stage)
 
             # Create a new physics scene
             if self.stage.GetPrimAtPath(cfg.physics_prim_path).IsValid():

source/isaaclab_visualizers/isaaclab_visualizers/kit/Untitled-1.sh

@@ -0,0 +1,6 @@
+./isaaclab.sh -p scripts/imitation_learning/isaaclab_mimic/generate_dataset.py \
+--enable_cameras \
+--num_envs 1 \
+--generation_num_trials 1 \
+--input_file ./datasets/annotated_dataset_visuomotor.hdf5 \
+--output_file ./datasets/generated_dataset_visuomotor.hdf5

source/isaaclab_visualizers/isaaclab_visualizers/kit/kit_visualizer.py

@@ -111,10 +111,7 @@ def step(self, dt: float) -> None:
 
             app = omni.kit.app.get_app()
             if app is not None and app.is_running():
-                settings = carb.settings.get_settings()
-                settings.set_bool("/app/player/playSimulations", False)
                 app.update()
-                settings.set_bool("/app/player/playSimulations", True)
         except (ImportError, AttributeError) as exc:
             logger.debug("[KitVisualizer] App update skipped: %s", exc)
 

source/isaaclab_visualizers/test/test_visualizer_smoke_logs.py

@@ -224,8 +224,7 @@ def _step_until_non_black_kit_viewport(
 ) -> None:
     """Step env until Kit viewport camera render product is non-black, bounded by max_steps."""
     camera_path = getattr(kit_visualizer, "_controlled_camera_path", None)
-    if not camera_path:
-        pytest.skip("Kit visualizer does not expose a controlled viewport camera path.")
+    assert camera_path, "Kit visualizer does not expose a controlled viewport camera path."
 
     annotator = None
     render_product = None
@@ -385,8 +384,7 @@ def test_newton_visualizer_non_black_viewer_frame(backend_kind: str):
         assert viewer is not None, "Newton viewer was not created."
 
         get_frame = getattr(viewer, "get_frame", None)
-        if not callable(get_frame):
-            pytest.skip("ViewerGL.get_frame is not available in this Newton version.")
+        assert callable(get_frame), "ViewerGL.get_frame is not available in this Newton version."
 
         frame = get_frame()
         _assert_non_black_frame_array(frame)