[hougantc-nvda]

Description

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

Review only this layer. These PRs target main; the comparison excludes predecessors.

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

• Robot mappings, action conditioning, assets and backend tuning stay in isaaclab_tasks.
• One task-owned preparation function selects concrete backend/solver configuration types. Teleop invokes it before OVXR creates simulation resources; registered Gym and instantiate(cfg) construction invoke it before scene creation. Repeated preparation preserves caller settings and rejects changing an already prepared backend.
• Declared spawn settings and module-level callbacks preserve normal independent configuration copies and serialization. GR1T2 actions read the actual spawned asset's conditioned limits and mimic metadata.
• Pink preserves configured joint order. The shared steering-wheel helper retains graspable geometry without a cross-task dependency.

GR1T2 action conditioning applies to both kitless backends. The IK joint bound is documented per action application relative to measured joint state. Task construction remains independent of optional teleop imports.

The G1 head camera is available here; wrist cameras and presentation belong to #8790. See task selectors.

Installation: use published isaaccapture==1.7.93a1 from NVIDIA’s Python index with the scoped OVXR installation. The guide creates the optional ovxr selection; project-wide Kit/provider defaults are unchanged.

Type of change

• New feature
• Bug fix
• Documentation update

Testing

The combined stack passed 877 tests across 33 affected test files, with no failures or skips. This includes the native Newton graph-capture/replay/reset tests, renderer/lease contracts, recorded-control gating, camera cleanup failures, registered task selection and CPU collision checks, plus the inherited upstream noise-reset cases. Formatting, all five changelog boundaries and the warning-as-error documentation build pass. These are cumulative integration results; individual PR boundaries received static/API and changelog checks. Runtime and performance scope is detailed in #8791.

Remaining qualification: native Kit execution and MCAP-file playback were not rerun; control/replay owner tests substitute external I/O. Native consumer-destruction failure is not established by normal shutdown. Cold renderer attachment, intermittent GR1T2 first-Play recovery and SO101 cube retention remain open. Existing USD, render-product GPU-assignment and native runtime warnings are retained; this is not a warning-free qualification.

Checklist

• Contribution guidelines read
• Changed-file formatting/lint and Python 3.12 changelog checks pass
• Public documentation and release fragments updated
• Affected behavior and cumulative IWER regression checks complete within the scope above
• Native Kit and physical-headset qualification at this revision
• No new warnings

[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.

[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.

[hougantc-nvda]

@isaaclab-review-bot review