Do not merge: NVBUG-6432543 Repro code

source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/__init__.py

@@ -30,6 +30,17 @@
     },
 )
 
+gym.register(
+    id="Isaac-Velocity-Flat-AnymalD-Camera",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.camera_env_cfg:AnymalDFlatCameraEnvCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalDFlatPPORunnerCfg",
+        "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
+    },
+)
+
 gym.register(
     id="Isaac-Velocity-Rough-AnymalD",
     entry_point="isaaclab.envs:ManagerBasedRLEnv",

source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/camera_env_cfg.py

@@ -0,0 +1,121 @@
+# 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
+
+"""Anymal-D flat locomotion with a per-environment tiled camera.
+
+This variant is meant for validating RTX per-environment scene partitioning on a
+robot with a *moving base*. Enable partitioning with
+``ISAAC_LAB_ENABLE_ISAAC_RTX_PER_ENV_SCENE_PARTITION=1`` and, to preview the Kit
+feature that keeps every partition visible to the spectator camera, pass
+``--kit_args "--/rtx/scenePartitioning/showPartitionsInBackground=true"``.
+"""
+
+import isaaclab.sim as sim_utils
+from isaaclab.managers import ObservationGroupCfg as ObsGroup
+from isaaclab.managers import ObservationTermCfg as ObsTerm
+from isaaclab.managers import SceneEntityCfg
+from isaaclab.sensors import CameraCfg
+from isaaclab.utils.configclass import configclass
+
+import isaaclab_tasks.core.velocity.mdp as mdp
+from isaaclab_tasks.core.velocity.velocity_env_cfg import MySceneCfg, ObservationsCfg
+from isaaclab_tasks.utils import PresetCfg
+from isaaclab_tasks.utils.presets import MultiBackendRendererCfg
+
+from .flat_env_cfg import AnymalDFlatEnvCfg
+
+##
+# Camera presets
+##
+
+
+@configclass
+class AnymalDTiledCameraCfg(PresetCfg):
+    """Per-environment tiled-camera presets, selectable via ``presets=``.
+
+    The camera prim lives under each env root (``/World/envs/env_.*/Camera``), so the
+    env-root ``primvars:omni:scenePartition`` token (authored only when
+    ``ISAAC_LAB_ENABLE_ISAAC_RTX_PER_ENV_SCENE_PARTITION=1``) propagates to it and the
+    render is culled to its own environment.
+    """
+
+    @configclass
+    class BaseAnymalDTiledCameraCfg(CameraCfg):
+        prim_path: str = "/World/envs/env_.*/Camera"
+        # Placed behind and slightly above each env origin, looking down +x toward the
+        # robot's spawn. The robot walks around, so the view intentionally shows the base
+        # moving within (and potentially out of) its own partition volume.
+        offset: CameraCfg.OffsetCfg = CameraCfg.OffsetCfg(
+            pos=(-5.0, 0.0, 1.2), rot=(0.0, 0.0, 0.0, 1.0), convention="world"
+        )
+        data_types: list[str] = []
+        spawn: sim_utils.PinholeCameraCfg = sim_utils.PinholeCameraCfg(
+            focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 40.0)
+        )
+        width: int = 128
+        height: int = 128
+        renderer_cfg: MultiBackendRendererCfg = MultiBackendRendererCfg()
+
+    default = BaseAnymalDTiledCameraCfg(data_types=["rgb"])
+    rgb64 = BaseAnymalDTiledCameraCfg(data_types=["rgb"], width=64, height=64)
+    rgb128 = BaseAnymalDTiledCameraCfg(data_types=["rgb"], width=128, height=128)
+    rgb256 = BaseAnymalDTiledCameraCfg(data_types=["rgb"], width=256, height=256)
+    depth128 = BaseAnymalDTiledCameraCfg(data_types=["depth"], width=128, height=128)
+    rgb = default
+
+
+##
+# Scene + observations
+##
+
+
+@configclass
+class AnymalDCameraSceneCfg(MySceneCfg):
+    """Anymal-D locomotion scene with a selectable per-env tiled camera."""
+
+    tiled_camera: AnymalDTiledCameraCfg = AnymalDTiledCameraCfg()
+
+
+@configclass
+class AnymalDCameraObservationsCfg(ObservationsCfg):
+    """Adds a camera observation group so the tiled camera renders every step.
+
+    rsl_rl consumes only the ``policy`` group (``obs_groups = {"actor": ["policy"],
+    "critic": ["policy"]}``), so this extra group does not alter the locomotion policy;
+    it only forces the sensor to be read (and thus rendered) each step.
+    """
+
+    @configclass
+    class ImageObsCfg(ObsGroup):
+        image = ObsTerm(
+            func=mdp.image,
+            params={"sensor_cfg": SceneEntityCfg("tiled_camera"), "data_type": "rgb", "normalize": False},
+        )
+
+        def __post_init__(self):
+            self.enable_corruption = False
+            self.concatenate_terms = True
+
+    camera: ObsGroup = ImageObsCfg()
+
+
+##
+# Environment configuration
+##
+
+
+@configclass
+class AnymalDFlatCameraEnvCfg(AnymalDFlatEnvCfg):
+    """Anymal-D flat locomotion with a per-environment tiled camera."""
+
+    scene: AnymalDCameraSceneCfg = AnymalDCameraSceneCfg(num_envs=4096, env_spacing=10.0)
+    observations: AnymalDCameraObservationsCfg = AnymalDCameraObservationsCfg()
+
+    def __post_init__(self):
+        super().__post_init__()
+        # Widen env spacing so each env's partition bounding volume stays clear of its
+        # neighbours' as the base moves. Lower this (e.g. back to 2.5) to observe the
+        # limitation when partitions overlap.
+        self.scene.env_spacing = 10.0

source/isaaclab_visualizers/isaaclab_visualizers/kit/kit_visualizer.py

@@ -620,7 +620,9 @@ def _apply_viewport_camera_scene_partition(self, usd_stage: Usd.Stage, num_envs:
 
         This method is a no-op unless ``ISAAC_LAB_ENABLE_ISAAC_RTX_PER_ENV_SCENE_PARTITION=1``,
         matching the opt-in behaviour of
-        :meth:`~isaaclab_physx.renderers.IsaacRtxRenderer.prepare_stage`.
+        :meth:`~isaaclab_physx.renderers.IsaacRtxRenderer.prepare_stage`. It is also a no-op
+        when no env subset was resolved (all environments visible), so the viewport camera stays
+        unpartitioned and keeps seeing the whole scene.
         """
 
         if not isaac_rtx_per_env_scene_partition_enabled():
@@ -629,14 +631,17 @@ def _apply_viewport_camera_scene_partition(self, usd_stage: Usd.Stage, num_envs:
         if num_envs <= 0 or self._controlled_camera_path is None:
             return
 
+        if not self._resolved_visible_env_ids:
+            return
+
         logger.debug(
             "[KitVisualizer] Per-environment Isaac RTX scene partitioning is enabled"
             " (ISAAC_LAB_ENABLE_ISAAC_RTX_PER_ENV_SCENE_PARTITION=1)."
             " Authoring omni:scenePartition attribute onto viewport camera '%s'.",
             self._controlled_camera_path,
         )
 
-        env_id = self._resolved_visible_env_ids[0] if self._resolved_visible_env_ids else 0
+        env_id = self._resolved_visible_env_ids[0]
         camera_prim = usd_stage.GetPrimAtPath(self._controlled_camera_path)
         if not camera_prim.IsValid() or not camera_prim.IsA(UsdGeom.Camera):
             logger.debug(