Expand Visualizer Tests and Patch Visualizer Bugs

docs/source/features/visualization.rst

@@ -109,12 +109,12 @@ You can also configure custom visualizers in the code by defining ``VisualizerCf
                 dock_position="SAME",
                 window_width=1280,
                 window_height=720,
-                camera_position=(0.0, 0.0, 20.0), # high top down view
-                camera_target=(0.0, 0.0, 0.0),
+                eye=(0.0, 0.0, 20.0), # high top down view
+                lookat=(0.0, 0.0, 0.0),
             ),
             NewtonVisualizerCfg(
-                camera_position=(5.0, 5.0, 5.0), # closer quarter view
-                camera_target=(0.0, 0.0, 0.0),
+                eye=(5.0, 5.0, 5.0), # closer quarter view
+                lookat=(0.0, 0.0, 0.0),
                 show_joints=True,
             ),
             RerunVisualizerCfg(
@@ -201,8 +201,8 @@ Omniverse Visualizer
         window_height=720,                        # Viewport height in pixels
 
         # Camera settings
-        camera_position=(8.0, 8.0, 3.0),         # Initial camera position (x, y, z)
-        camera_target=(0.0, 0.0, 0.0),           # Camera look-at target
+        eye=(8.0, 8.0, 3.0),                     # Initial camera position (x, y, z)
+        lookat=(0.0, 0.0, 0.0),                  # Camera look-at target
 
         # Feature toggles
         enable_markers=True,                      # Enable visualization markers
@@ -217,7 +217,7 @@ Newton Visualizer
 
 - Lightweight OpenGL rendering with low overhead
 - Visualization markers (joints, contacts, springs, COM)
-- Training and rendering pause controls
+- Simulation and rendering pause controls
 - Adjustable update frequency for performance tuning
 - Some customizable rendering options (shadows, sky, wireframe)
 
@@ -255,8 +255,8 @@ Newton Visualizer
         window_height=1080,                       # Window height in pixels
 
         # Camera settings
-        camera_position=(8.0, 8.0, 3.0),         # Initial camera position (x, y, z)
-        camera_target=(0.0, 0.0, 0.0),           # Camera look-at target
+        eye=(8.0, 8.0, 3.0),                     # Initial camera position (x, y, z)
+        lookat=(0.0, 0.0, 0.0),                  # Camera look-at target
 
         # Performance tuning
         update_frequency=1,                       # Update every N frames (1=every frame)
@@ -303,8 +303,8 @@ Rerun Visualizer
         bind_address="0.0.0.0",                  # Endpoint host formatting/reuse checks
 
         # Camera settings
-        camera_position=(8.0, 8.0, 3.0),         # Initial camera position (x, y, z)
-        camera_target=(0.0, 0.0, 0.0),           # Camera look-at target
+        eye=(8.0, 8.0, 3.0),                     # Initial camera position (x, y, z)
+        lookat=(0.0, 0.0, 0.0),                  # Camera look-at target
 
         # History settings
         keep_historical_data=False,               # Keep transforms for time scrubbing
@@ -393,12 +393,6 @@ the num of environments can be overwritten and decreased using ``--num_envs``:
     python scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Cartpole-v0 --viz rerun --num_envs 512
 
 
-.. note::
-
-    A future feature will support visualizing only a subset of environments, which will improve visualization performance
-    and reduce resource usage while maintaining full-scale training in the background.
-
-
 **Rerun Visualizer FPS Control**
 
 The FPS control in the Rerun visualizer UI may not affect the visualization frame rate in all configurations.

source/isaaclab/isaaclab/app/app_launcher.py

@@ -189,6 +189,7 @@ def __init__(self, launcher_args: argparse.Namespace | dict | None = None, **kwa
         self._offscreen_render: bool  # 0: Disabled, 1: Enabled
         self._sim_experience_file: str  # Experience file to load
         self._visualizer_max_worlds: int | None  # Optional max worlds override for Newton-based visualizers
+        self._video_enabled: bool  # Whether --video recording is enabled
 
         # Exposed to train scripts
         self.device_id: int  # device ID for GPU simulation (defaults to 0)
@@ -858,12 +859,13 @@ def _resolve_xr_settings(self, launcher_args: dict):
 
     def _resolve_viewport_settings(self, launcher_args: dict):
         """Resolve viewport related settings."""
+        self._video_enabled = bool(launcher_args.get("video", False))
         # Check if we can disable the viewport to improve performance
         #   This should only happen if we are running headless and do not require livestreaming or video recording
         #   This is different from offscreen_render because this only affects the default viewport and
         #   not other render-products in the scene
         self._render_viewport = True
-        if self._headless and not self._livestream and not launcher_args.get("video", False):
+        if self._headless and not self._livestream and not self._video_enabled:
             self._render_viewport = False
 
         # hide_ui flag
@@ -1085,6 +1087,8 @@ def _load_extensions(self):
         # (no Kit GUI) the AR profile must be enabled programmatically so that
         # the OpenXR session starts without user interaction
         settings.set_bool("/isaaclab/xr/auto_start", self._headless and self._xr)
+        # set setting to indicate video recording mode
+        settings.set_bool("/isaaclab/video/enabled", self._video_enabled)
 
         # set setting to indicate no RTX sensors are used (set to True when RTX sensor is created)
         settings.set_bool("/isaaclab/render/rtx_sensors", False)

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/envs/common.py

@@ -5,6 +5,8 @@
 
 from __future__ import annotations
 
+import warnings
+from dataclasses import MISSING, fields
 from typing import Dict, Literal, TypeVar  # noqa: UP035
 
 import gymnasium as gym
@@ -17,9 +19,28 @@
 ##
 
 
+def _viewer_cfg_value_matches_default(current: object, default: object) -> bool:
+    """Return True if ``current`` matches the dataclass field default (including list/tuple equivalence)."""
+    if current == default:
+        return True
+    if isinstance(current, (list, tuple)) and isinstance(default, (list, tuple)):
+        if len(current) != len(default):
+            return False
+        return all(a == b for a, b in zip(current, default, strict=True))
+    return False
+
+
 @configclass
 class ViewerCfg:
-    """Configuration of the scene viewport camera."""
+    """Configuration of the scene viewport camera.
+
+    Note:
+        Overriding non-default fields is deprecated. In a future release, Isaac Sim viewport camera
+        configuration will be expressed only through ``KitVisualizerCfg`` under
+        ``SimulationCfg.visualizer_cfgs``; use ``NewtonVisualizerCfg`` for the Newton viewer.
+        Those visualizer configs replace the viewport camera pose, resolution, prim path, and
+        frame-origin behavior that this class used to configure.
+    """
 
     eye: tuple[float, float, float] = (7.5, 7.5, 7.5)
     """Initial camera position (in m). Default is (7.5, 7.5, 7.5)."""
@@ -67,6 +88,35 @@ class ViewerCfg:
     This quantity is only effective if :attr:`origin` is set to "asset_body".
     """
 
+    def __post_init__(self) -> None:
+        # Dataclasses do not record which arguments were passed explicitly vs defaulted, and
+        # warning only on ``**kwargs`` would miss positional arguments. Comparing each field to
+        # its declared default catches any non-default effective configuration (including
+        # ``replace()`` and ``from_dict``), while keeping ``ViewerCfg()`` silent.
+        differing: list[str] = []
+        for f in fields(self):
+            if not f.init:
+                continue
+            if f.default is not MISSING:
+                default_val = f.default
+            elif f.default_factory is not MISSING:
+                default_val = f.default_factory()
+            else:
+                continue
+            if not _viewer_cfg_value_matches_default(getattr(self, f.name), default_val):
+                differing.append(f.name)
+        if differing:
+            warnings.warn(
+                "ViewerCfg is deprecated when overriding default viewport camera fields "
+                f"({', '.join(sorted(differing))}). In a future release, Isaac Sim viewport camera "
+                "settings will be configured only through ``SimulationCfg.visualizer_cfgs`` using "
+                "``KitVisualizerCfg`` (viewport camera pose, resolution, prim path, and "
+                "frame-origin options). For the Newton viewer, use ``NewtonVisualizerCfg``. "
+                "Migrate overrides out of ``ViewerCfg`` accordingly.",
+                DeprecationWarning,
+                stacklevel=2,
+            )
+
 
 ##
 # Types.

source/isaaclab/isaaclab/envs/direct_marl_env.py

@@ -151,10 +151,10 @@ def _init_sim(self, render_mode: str | None = None, **kwargs):
         # viewport is not available in other rendering modes so the function will throw a warning
         # FIXME: This needs to be fixed in the future when we unify the UI functionalities even for
         # non-rendering modes.
-        # Initialize when GUI is available OR when visualizers are active (headless rendering)
-        # Visualizers support camera updates via sim.set_camera_view() which forwards to all active visualizers
-        has_visualizers = bool(self.sim.get_setting("/isaaclab/visualizer"))
-        if self.sim.has_gui or has_visualizers:
+        # Initialize when a Kit viewport exists. ViewportCameraController uses omni.kit (renderer camera);
+        # skip in kitless Newton-only runs (e.g. --viz rerun) where no Kit app is running.
+        has_visualizers = self.sim.has_active_visualizers()
+        if (self.sim.has_gui or has_visualizers) and has_kit():
             self.viewport_camera_controller = ViewportCameraController(self, self.cfg.viewer)
         else:
             self.viewport_camera_controller = None

source/isaaclab/isaaclab/envs/direct_rl_env.py

@@ -156,10 +156,10 @@ def _init_sim(self, render_mode: str | None = None, **kwargs):
         # viewport is not available in other rendering modes so the function will throw a warning
         # FIXME: This needs to be fixed in the future when we unify the UI functionalities even for
         # non-rendering modes.
-        # Initialize when GUI is available OR when visualizers are active (headless rendering)
-        # Visualizers support camera updates via sim.set_camera_view() which forwards to all active visualizers
-        has_visualizers = bool(self.sim.get_setting("/isaaclab/visualizer"))
-        if self.sim.has_gui or has_visualizers:
+        # Initialize when a Kit viewport exists. ViewportCameraController uses omni.kit (renderer camera);
+        # skip in kitless Newton-only runs (e.g. --viz rerun) where no Kit app is running.
+        has_visualizers = self.sim.has_active_visualizers()
+        if (self.sim.has_gui or has_visualizers) and has_kit():
             self.viewport_camera_controller = ViewportCameraController(self, self.cfg.viewer)
         else:
             self.viewport_camera_controller = None

source/isaaclab/isaaclab/envs/manager_based_env.py

@@ -21,6 +21,7 @@
 from isaaclab.utils.configclass import resolve_cfg_presets
 from isaaclab.utils.seed import configure_seed
 from isaaclab.utils.timer import Timer
+from isaaclab.utils.version import has_kit
 
 from .common import VecEnvObs
 from .manager_based_env_cfg import ManagerBasedEnvCfg
@@ -166,10 +167,10 @@ def _init_sim(self):
         # viewport is not available in other rendering modes so the function will throw a warning
         # FIXME: This needs to be fixed in the future when we unify the UI functionalities even for
         # non-rendering modes.
-        # Initialize when GUI is available OR when visualizers are active (headless rendering)
-        # Visualizers support camera updates via sim.set_camera_view() which forwards to all active visualizers
-        has_visualizers = bool(self.sim.get_setting("/isaaclab/visualizer"))
-        if self.sim.has_gui or has_visualizers:
+        # Initialize when a Kit viewport exists. ViewportCameraController uses omni.kit (renderer camera);
+        # skip in kitless Newton-only runs (e.g. --viz rerun) where no Kit app is running.
+        has_visualizers = self.sim.has_active_visualizers()
+        if (self.sim.has_gui or has_visualizers) and has_kit():
             self.viewport_camera_controller = ViewportCameraController(self, self.cfg.viewer)
         else:
             self.viewport_camera_controller = None

source/isaaclab/isaaclab/envs/ui/viewport_camera_controller.py

@@ -218,8 +218,11 @@ def update_view_location(self, eye: Sequence[float] | None = None, lookat: Seque
         cam_eye = viewer_origin + self.default_cam_eye
         cam_target = viewer_origin + self.default_cam_lookat
 
-        # set the camera view
-        self._env.sim.set_camera_view(eye=cam_eye, target=cam_target)
+        # set the renderer viewport camera view (does not broadcast to visualizers)
+        # Kit-specific helper lives in isaaclab_physx
+        from isaaclab_physx.renderers.kit_viewport_utils import set_kit_renderer_camera_view
+
+        set_kit_renderer_camera_view(eye=cam_eye, target=cam_target, camera_prim_path=self.cfg.cam_prim_path)
 
     """
     Private Functions

source/isaaclab/isaaclab/envs/utils/recording_hooks.py

@@ -0,0 +1,50 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Hooks that run after visualizers during :meth:`~isaaclab.sim.SimulationContext.render`.
+
+Lives alongside :mod:`video_recorder` / :mod:`video_recorder_cfg` because both tie into
+``--video`` / ``rgb_array`` recording. Keeps :class:`~isaaclab.sim.SimulationContext` free
+of imports from ``isaaclab_physx``, ``isaaclab_newton``, and other recording backends.
+Each integration is loaded lazily so optional extensions are not required at import time.
+"""
+
+from __future__ import annotations
+
+from typing import Any
+
+
+def run_recording_hooks_after_visualizers(sim: Any) -> None:
+    """Run recording-related work after :meth:`~isaaclab.sim.SimulationContext.render` steps visualizers.
+
+    Isaac Sim / RTX follow-up is loaded lazily so minimal installs still work.
+    Newton GL video is handled by :class:`~isaaclab.envs.utils.video_recorder.VideoRecorder`
+    (e.g. :class:`~isaaclab_newton.video_recording.newton_gl_perspective_video.NewtonGlPerspectiveVideo`),
+    not here.
+
+    Args:
+        sim: Active :class:`~isaaclab.sim.SimulationContext` instance.
+    """
+    _recording_followup_isaac_sim(sim)
+
+
+def _recording_followup_isaac_sim(sim: Any) -> None:
+    """Isaac Sim: keep RTX / Replicator outputs fresh when recording video without a Kit visualizer.
+
+    When ``--video`` uses ``rgb_array`` / :class:`~gymnasium.wrappers.RecordVideo`, Replicator
+    render products must see Kit's event loop pumped. :class:`~isaaclab_visualizers.kit.KitVisualizer`
+    already calls ``omni.kit.app.get_app().update()`` in its ``step()``; if no such visualizer
+    is active, we pump here (guarded by ``/isaaclab/video/enabled`` and ``is_rendering``).
+
+    Implemented by ``pump_kit_app_for_headless_video_render_if_needed`` in
+    :mod:`isaaclab_physx.renderers.isaac_rtx_renderer_utils`.
+    """
+    try:
+        from isaaclab_physx.renderers.isaac_rtx_renderer_utils import (
+            pump_kit_app_for_headless_video_render_if_needed,
+        )
+    except ImportError:
+        return
+    pump_kit_app_for_headless_video_render_if_needed(sim)

source/isaaclab/isaaclab/physics/physics_manager.py

@@ -276,6 +276,16 @@ def pre_render(cls) -> None:
         """
         pass
 
+    @classmethod
+    def after_visualizers_render(cls) -> None:
+        """Hook after visualizers have stepped during :meth:`~isaaclab.sim.SimulationContext.render`.
+
+        Use for physics-backend sync (e.g. fabric) if needed. Recording pipelines (Kit/RTX,
+        Newton GL video, etc.) run from :mod:`isaaclab.envs.utils.recording_hooks` so they are not
+        tied to a specific physics manager. Default is a no-op.
+        """
+        pass
+
     @classmethod
     def close(cls) -> None:
         """Clean up physics resources.