From c697ccd15a9b434819d15438d7066db226ab65aa Mon Sep 17 00:00:00 2001 From: nblauch Date: Fri, 3 Apr 2026 16:21:35 -0700 Subject: [PATCH 1/2] Allow ground plane color to be specified from cfg --- .../isaaclab/sim/spawners/from_files/from_files.py | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py b/source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py index ddb7f9ff2fb3..7d6458f1dea2 100644 --- a/source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py +++ b/source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py @@ -234,13 +234,19 @@ def spawn_ground_plane( # Change the color of the plane # Warning: This is specific to the default grid plane asset. if cfg.color is not None: - # change the color + # change the color on the visual grid shader change_prim_property( prop_path=f"{prim_path}/Looks/theGrid/Shader.inputs:diffuse_tint", value=Gf.Vec3f(*cfg.color), stage=stage, type_to_create_if_not_exist=Sdf.ValueTypeNames.Color3f, ) + # Also set displayColor on the collision plane so non-RTX renderers + # (e.g. Newton) can pick up the configured color. + if collision_prim is not None: + UsdGeom.Gprim(collision_prim).CreateDisplayColorAttr().Set( + [Gf.Vec3f(*cfg.color)] + ) # Remove the light from the ground plane (USD API, works without Kit/Newton) # It isn't bright enough and messes up with the user's lighting settings light_prim = stage.GetPrimAtPath(f"{prim_path}/SphereLight") From 7aeeabb70a24f5c2bb4d8f8be36087e34c1bc7b3 Mon Sep 17 00:00:00 2001 From: nblauch Date: Fri, 3 Apr 2026 16:21:51 -0700 Subject: [PATCH 2/2] Make default background color white like in RTX --- .../isaaclab_newton/renderers/newton_warp_renderer.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/source/isaaclab_newton/isaaclab_newton/renderers/newton_warp_renderer.py b/source/isaaclab_newton/isaaclab_newton/renderers/newton_warp_renderer.py index 4fdee1041256..1723a29de569 100644 --- a/source/isaaclab_newton/isaaclab_newton/renderers/newton_warp_renderer.py +++ b/source/isaaclab_newton/isaaclab_newton/renderers/newton_warp_renderer.py @@ -221,6 +221,9 @@ def render(self, render_data: RenderData): depth_image=render_data.outputs.depth_image, normal_image=render_data.outputs.normals_image, shape_index_image=render_data.outputs.instance_segmentation_image, + clear_data=newton.sensors.SensorTiledCamera.ClearData( + clear_color=0xFFFFFFFF, clear_albedo=0xFFFFFFFF, + ), ) def write_output(self, render_data: RenderData, output_name: str, output_data: torch.Tensor):