[Cloner] Scope Newton global imports with clone plans by ooctipus · Pull Request #7292 · isaac-sim/IsaacLab

ooctipus · 2026-08-22T02:00:55Z

Description

Newton replication currently calls ModelBuilder.add_usd() from the stage root and relies on ignore paths for replicated environments. This change moves global ownership to the scene composition root and carries it in ClonePlan.global_paths.

InteractiveScene returns env-scoped clone configs and an ordered tuple[str, ...] of shared prim roots.
ClonePlan carries that tuple without representing globals as clone rows.
Hand-built scenes pass non-empty globals explicitly; the ordinary no-global case defaults to ().
The replication pipeline passes the plan declaration directly to backend contexts.
Newton imports only the physics scene and each declared global root with root_path=....
Terrain-heightfield discovery scans those same roots.

There is no stage-root guessing, global-path registry, or full-stage fallback in clone-plan replication.

Data flow

The scene owns classification:

clone_cfgs, global_paths = self._collect_asset_cfgs()
with ReplicateSession(clone_cfgs, ..., global_paths=global_paths, stage=stage):
    self._add_entities_from_cfg()

The plan carries the declaration:

ctx = BackendContext(stage, global_paths=plan.global_paths)

Newton performs narrow imports. For a plan declaring ground and light:

builder.add_usd(stage, root_path="/physicsScene")
builder.add_usd(stage, root_path="/World/Ground")
builder.add_usd(stage, root_path="/World/Light")

The physics-scene result remains the returned stage metadata; global-import result dictionaries are not merged. Globals stay outside sources, destinations, clone_mask, and cfg_rows, so they create no clone work or per-environment solver/sensor structures.

PhysX collision filtering remains a separate post-clone concern based on collision_group == -1; global import ownership does not change that policy.

Direct scenes

Only scenes with shared roots need an explicit argument:

global_paths = ("/World/ground",)
plan = clone_plan_from_env_0(src, dest, num_envs, device, positions, global_paths)

Scenes without shared roots keep the compact default:

plan = clone_plan_from_env_0(src, dest, num_envs, device, positions)

Startup benchmark

RTX 5090, 4,096 environments, seed 42, Newton MJWarp, three post-warm-up runs per commit in alternating order. The baseline is bc8b7bdf005, immediately before scoped global import. Values are medians; positive deltas mean the PR is faster.

Workload	Metric	Baseline	PR	PR delta
`Isaac-Velocity-Rough-AnymalD`, kitless	Scene creation	4.932 s	4.934 s	-0.05%
	Environment creation	13.511 s	13.569 s	-0.43%
	Total startup	15.420 s	15.520 s	-0.65%
`Isaac-Lift-KukaAllegro`, kitless	Scene creation	14.248 s	14.202 s	+0.32%
	Environment creation	26.222 s	26.184 s	+0.15%
	Total startup	28.875 s	28.830 s	+0.16%
`Isaac-Lift-KukaAllegro-Camera`, OVRTX RGB64	Scene creation	8.312 s	8.232 s	+0.96%
	Environment creation	35.743 s	35.782 s	-0.11%
	Total startup	39.936 s	39.976 s	-0.10%

All differences are below 1%, so these workloads show no measurable gain. That is expected for the two kitless tasks because their USD stages do not contain materialized replicated environment trees. The warmed OVRTX workload also does not reproduce the earlier single-run estimate.

A full Kit-stage comparison could not be run because Isaac Sim/Kit is not installed on the benchmark machine. That is the case where avoiding traversal of a materialized replicated USD tree should matter, and it remains unmeasured here.

Testing

Clone-plan, replication-session, and Newton global-world coverage: 90 passed on the final API.
Newton contact-sensor module after moving its ground into the scene declaration: 85 passed, 8 xpassed.
Earlier full focused suite: 151 passed.
Finalized-model coverage verifies the declared ground collider has Newton shape_world == -1; the declared light correctly creates no Newton physics entity.
16-env Cartpole, Anymal-D, and Newton + OVRTX camera startup/reset/first-step checks passed.
Three 4,096-environment benchmark runs per workload and commit passed.
Repository formatting and pre-commit checks passed.

The contact suite exposed the ownership boundary correctly: its ground had previously been spawned by build_simulation_context() outside the scene config and therefore was absent from the clone plan. The fix declares the ground in ContactSensorTestSceneCfg; the single intentionally groundless test sets terrain = None. No discovery fallback was added.

Type of change

Performance/architecture improvement
Documentation update

Checklist

I have run the pre-commit checks.
I have made corresponding changes to the documentation.
My changes generate no new warnings.
I have added tests that prove the feature works.
I have added changelog fragments for changed packages.

Keep shared scene assets explicit without encoding them as no-op replication rows. Populate the paths from both scene-driven and direct-env plan construction so backend work can be scoped from an authoritative plan.

greptile-apps · 2026-08-22T02:03:04Z

Greptile Summary

The PR extends ClonePlan with ordered, de-duplicated metadata for shared assets without changing replication-row semantics.

Collects global paths in both scene-driven and direct-environment plan construction.
Keeps global assets out of sources, destinations, clone masks, and configuration-row ownership.
Adds focused tests, user documentation, and a changelog fragment.

Confidence Score: 5/5

The PR appears safe to merge, with global asset ownership added without changing existing replication behavior.

The new field defaults safely for existing constructors, is populated in every return path, preserves insertion order while removing duplicates, and remains separate from all replication-row structures.

Important Files Changed

Filename	Overview
source/isaaclab/isaaclab/cloner/clone_plan.py	Adds `global_paths` to the plan contract and consistently populates it, with stable ordering and de-duplication, in every construction branch.
source/isaaclab/test/cloner/test_clone_plan_algebra.py	Verifies that global metadata does not alter the shape of the replication table.
source/isaaclab/test/sim/test_cloner.py	Covers global-path collection, ordering, de-duplication, and separation from replication rows in both plan constructors.
docs/source/how-to/cloning.rst	Documents the new shared-asset metadata and illustrates its relationship to the existing clone-plan fields.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    Cfg[Scene asset configuration] --> Match{Path under environment template?}
    Match -->|Yes, spawn exists| Row[Replication row]
    Row --> Sources[sources and destinations]
    Row --> Mask[clone_mask]
    Row --> Ownership[cfg_rows]
    Match -->|No| Global[global_paths]
    Match -->|Yes, no spawn| Skip[Omitted from plan]
    Global -. excluded .-> Sources
    Global -. excluded .-> Mask
    Global -. excluded .-> Ownership

_{Reviews (1): Last reviewed commit: "Record global assets in clone plans" | Re-trigger Greptile}

isaaclab-review-bot

Isaac Lab Review Bot

Reviewed the addition of ordered, de-duplicated shared-asset paths to clone plans. Both plan-construction paths populate the new field while keeping global assets outside the replication rows, and the documentation, changelog, and focused tests reflect that contract.

Design and architecture: Separating global asset ownership into global_paths preserves the invariant that each replication row represents a prototype-to-environment mapping. The main non-blocking tradeoff is that global ownership remains inferred by failure to match the environment destination template rather than by an explicit asset classification.
API: global_paths is an additive public dataclass field with an empty-tuple default and is placed after existing fields, preserving existing positional and keyword construction. Its uniqueness, purpose, and exclusion from replication rows are documented.
Implementation: Traced both make_clone_plan and clone_plan_from_env_0: each retains encounter order, removes duplicate paths, and leaves sources, destinations, clone_mask, and cfg_rows semantics unchanged. Tests cover homogeneous, heterogeneous, global-only, duplicate-path, and direct-environment construction paths.

No blocking issues. No inline issue met the actionable-evidence threshold; the assessment above records the review feedback.

Automated review; human maintainers own approval decisions.

StafaH

Nice! I have 2 comments:

The type for global paths looks inconsistent, and also the conversion looks odd. Can we enfore a type that doesn't require conversion? If its tuple, then we know everywhere that user needs to pass tuple.

Second question is on global world. Let's verify (either in a test or manually), that the generated newton model has the global prim inside newton's global world (found at index -1).

StafaH · 2026-08-22T04:54:20Z

        env_ids=torch.arange(num_clones, dtype=torch.long, device=device),
        positions=positions,
        cfg_rows=cfg_rows,
+        global_paths=tuple(dict.fromkeys(global_paths)),


Can we use a different input type then Iterable[str], so that we can avoid the conversions?

Updated all clone/import global_paths annotations to tuple[str, ...] and now pass the tuple through unchanged. The normalization conversions in both clone-plan constructors are removed.

StafaH · 2026-08-22T04:55:31Z

    replicate_priority = 100

-    def __init__(self, stage: Usd.Stage):
+    def __init__(self, stage: Usd.Stage, global_paths: Sequence[str] = ()):


type here is Sequence now

Updated this and the other replication contexts to use tuple[str, ...] consistently.

StafaH · 2026-08-22T04:56:27Z

        else:
            self._clone_valid_set = None
-        return cfgs
+        return cfgs, tuple(dict.fromkeys(global_paths))


the main thing to try to improve is to avoide the tuple(dict.fromkeys( if we can with something cleaner.

Removed tuple(dict.fromkeys(...)). InteractiveScene now constructs the ordered unique tuple directly and returns it unchanged.

ooctipus · 2026-08-22T05:07:22Z

Addressed the global-world verification in test_newton_builder_world_hook.py: the test now builds and finalizes a real Newton model from declared ("/World/Ground", "/World/Light") roots, verifies all scoped add_usd calls, and asserts the ground shape has shape_world == -1 with two local worlds. The light root is imported too; as expected, a USD light creates no Newton physics body or shape.

ooctipus · 2026-08-22T05:40:26Z

Re-ran the startup comparison with three alternating post-warm-up runs per commit at 4,096 environments (seed 42). The medians show no measurable end-to-end improvement: Anymal-D Rough kitless -0.65%, KukaAllegro kitless +0.16%, and KukaAllegro Camera/OVRTX -0.10% total startup. Scene-creation deltas were -0.05%, +0.32%, and +0.96%, respectively, all within run-to-run spread. I replaced the earlier 6–9% claim in the PR body because it was based on only one baseline and was sensitive to warm-up variance. This matches the expectation that kitless stages do not materialize the replicated USD env tree. A direct Kit/full-stage benchmark is still needed; Isaac Sim/Kit is not installed on this machine.

## Summary This PR is now the contact/raycast part of the Newton startup work: - compile contact-sensor full-path expressions once and match them directly, without regex-to-glob conversion or stage globbing; - use Newton's current contact-sensing API names; - declare raycast collision-shape requirements before model finalization, so the model builds one correctly configured BVH instead of rebuilding it during sensor initialization. The contact-selector and sensing-API commits retain Chris's (`camevor`) original authorship. The BVH lifecycle change incorporates the review from #7296 while keeping this as Chris's PR. The related ownership work is intentionally split by component: #7292 handles explicit global ownership, and #7295 handles model/articulation startup. This PR contains no inactive-solver registration or articulation-view changes and supersedes #7296. Production code is `+29/-56` (net `-27`) against `909cc5decc5`. ## Startup benchmark RTX 5090, CUDA device 1, 4096 environments, three fresh processes per revision/task. Values are median end-to-end startup wall time. Base: `909cc5decc5`. PR: `5d0e1b1595e`. | Task | Base | PR | Change | |---|---:|---:|---:| | `Isaac-Cartpole` | 8.316 s | 8.410 s | +1.1% | | `Isaac-Velocity-Rough-UnitreeGo2` | 16.363 s | 15.682 s | -4.2% | | `Isaac-Lift-KukaAllegro-Camera` | 39.473 s | 37.605 s | -4.7% | Cartpole has no contact/raycast workload here and is neutral within process-startup noise. The sensor-heavy tasks show the intended gain: | Median phase | Go2 base | Go2 PR | Kuka base | Kuka PR | |---|---:|---:|---:|---:| | `newton_contact_sensor` | 0.10 s | 0.04 s | 1.32 s | 0.24 s | | `simulation_start` | 6.36 s | 5.91 s | 11.48 s | 10.39 s | Raw end-to-end totals: - Cartpole base: 9.368, 8.316, 8.195 s; PR: 8.410, 8.370, 8.476 s. - Go2 rough base: 19.900, 16.363, 16.091 s; PR: 15.669, 15.682, 15.984 s. - Kuka camera base: 41.328, 38.625, 39.473 s; PR: 37.580, 37.605, 38.785 s. ## Test plan - `261 passed, 8 xpassed` across the Newton manager abstraction, contact-sensor, and raycast-sensor suites. - Repository formatting and pre-commit checks pass. - Architecture checks reject the removed regex-to-glob path, deprecated sensing names, duplicate BVH state, and late BVH fallback. - The three 4096-environment benchmark tasks also provide end-to-end Newton MJWarp startup coverage. ## Type of change - Performance improvement - Bug fix --------- Co-authored-by: Octi Zhang <zhengyuz@nvidia.com>

## Summary This PR is now the contact/raycast part of the Newton startup work: - compile contact-sensor full-path expressions once and match them directly, without regex-to-glob conversion or stage globbing; - use Newton's current contact-sensing API names; - declare raycast collision-shape requirements before model finalization, so the model builds one correctly configured BVH instead of rebuilding it during sensor initialization. The contact-selector and sensing-API commits retain Chris's (`camevor`) original authorship. The BVH lifecycle change incorporates the review from isaac-sim#7296 while keeping this as Chris's PR. The related ownership work is intentionally split by component: isaac-sim#7292 handles explicit global ownership, and isaac-sim#7295 handles model/articulation startup. This PR contains no inactive-solver registration or articulation-view changes and supersedes isaac-sim#7296. Production code is `+29/-56` (net `-27`) against `909cc5decc5`. ## Startup benchmark RTX 5090, CUDA device 1, 4096 environments, three fresh processes per revision/task. Values are median end-to-end startup wall time. Base: `909cc5decc5`. PR: `5d0e1b1595e`. | Task | Base | PR | Change | |---|---:|---:|---:| | `Isaac-Cartpole` | 8.316 s | 8.410 s | +1.1% | | `Isaac-Velocity-Rough-UnitreeGo2` | 16.363 s | 15.682 s | -4.2% | | `Isaac-Lift-KukaAllegro-Camera` | 39.473 s | 37.605 s | -4.7% | Cartpole has no contact/raycast workload here and is neutral within process-startup noise. The sensor-heavy tasks show the intended gain: | Median phase | Go2 base | Go2 PR | Kuka base | Kuka PR | |---|---:|---:|---:|---:| | `newton_contact_sensor` | 0.10 s | 0.04 s | 1.32 s | 0.24 s | | `simulation_start` | 6.36 s | 5.91 s | 11.48 s | 10.39 s | Raw end-to-end totals: - Cartpole base: 9.368, 8.316, 8.195 s; PR: 8.410, 8.370, 8.476 s. - Go2 rough base: 19.900, 16.363, 16.091 s; PR: 15.669, 15.682, 15.984 s. - Kuka camera base: 41.328, 38.625, 39.473 s; PR: 37.580, 37.605, 38.785 s. ## Test plan - `261 passed, 8 xpassed` across the Newton manager abstraction, contact-sensor, and raycast-sensor suites. - Repository formatting and pre-commit checks pass. - Architecture checks reject the removed regex-to-glob path, deprecated sensing names, duplicate BVH state, and late BVH fallback. - The three 4096-environment benchmark tasks also provide end-to-end Newton MJWarp startup coverage. ## Type of change - Performance improvement - Bug fix --------- Co-authored-by: Octi Zhang <zhengyuz@nvidia.com> (cherry picked from commit 21bc111)

## Summary This is the model/articulation part of the scoped Newton startup work. It keeps startup work with the component that owns it: - each Newton manager declares only the custom builder schema used by its active solver; - articulation target modes are resolved for the prototype and copied to its replicas; - the base physics manager owns the articulation-view registry; - articulations create and register their view, while joint-wrench sensors reuse it or create it when used independently; - root expressions remain regular expressions instead of taking a lossy regex-to-glob round trip. The active-solver and reusable-view findings originated in Chris's #7269. This PR isolates those model/articulation changes so #7269 can remain the contact/raycast change under Chris's PR. This replaces the cloner's unconditional MuJoCo + Kamino registration and the duplicate joint-wrench view. There is no view scan, manager-specific cache API, compatibility fallback, or duplicate registry. The production diff against the current base is `+57/-60` (net `-3`). The explicit-global-ownership part is #7292. The contact/raycast part remains in #7269. ## Startup benchmark RTX 5090, CUDA device 1, 4096 environments, three fresh processes per revision/task. Values are median end-to-end startup wall time; raw runs are included below. Base: `86cf66651bd`. PR: `947869af173`. | Task | Base | PR | Change | |---|---:|---:|---:| | `Isaac-Cartpole` | 8.316 s | 7.655 s | -8.0% | | `Isaac-Velocity-Rough-UnitreeGo2` | 17.525 s | 14.844 s | -15.3% | | `Isaac-Lift-KukaAllegro-Camera` | 41.691 s | 36.832 s | -11.7% | Raw totals: - Cartpole base: 10.595, 8.190, 8.316 s; PR: 7.655, 7.674, 7.469 s. - Go2 rough base: 17.568, 17.525, 16.426 s; PR: 14.852, 14.844, 14.724 s. - Kuka camera base: 47.590, 41.691, 38.724 s; PR: 36.832, 36.666, 37.032 s. The measured `env_creation` medians improve from 6.473 to 5.801 s for Cartpole, 15.558 to 12.863 s for Go2 rough, and 37.481 to 32.578 s for Kuka camera. ## Test plan - `247 passed` across the physics-manager lifecycle, Newton cloner, manager abstraction, coupled-manager, and joint-wrench reuse tests. - `test_rename_builder_labels.py`: `17 passed` after removing obsolete solver-registration mocks. - Ruff check and format pass on all changed Python files. - The three 4096-environment benchmark tasks provide end-to-end Newton MJWarp startup coverage.

## Summary This is the model/articulation part of the scoped Newton startup work. It keeps startup work with the component that owns it: - each Newton manager declares only the custom builder schema used by its active solver; - articulation target modes are resolved for the prototype and copied to its replicas; - the base physics manager owns the articulation-view registry; - articulations create and register their view, while joint-wrench sensors reuse it or create it when used independently; - root expressions remain regular expressions instead of taking a lossy regex-to-glob round trip. The active-solver and reusable-view findings originated in Chris's isaac-sim#7269. This PR isolates those model/articulation changes so isaac-sim#7269 can remain the contact/raycast change under Chris's PR. This replaces the cloner's unconditional MuJoCo + Kamino registration and the duplicate joint-wrench view. There is no view scan, manager-specific cache API, compatibility fallback, or duplicate registry. The production diff against the current base is `+57/-60` (net `-3`). The explicit-global-ownership part is isaac-sim#7292. The contact/raycast part remains in isaac-sim#7269. ## Startup benchmark RTX 5090, CUDA device 1, 4096 environments, three fresh processes per revision/task. Values are median end-to-end startup wall time; raw runs are included below. Base: `86cf66651bd`. PR: `947869af173`. | Task | Base | PR | Change | |---|---:|---:|---:| | `Isaac-Cartpole` | 8.316 s | 7.655 s | -8.0% | | `Isaac-Velocity-Rough-UnitreeGo2` | 17.525 s | 14.844 s | -15.3% | | `Isaac-Lift-KukaAllegro-Camera` | 41.691 s | 36.832 s | -11.7% | Raw totals: - Cartpole base: 10.595, 8.190, 8.316 s; PR: 7.655, 7.674, 7.469 s. - Go2 rough base: 17.568, 17.525, 16.426 s; PR: 14.852, 14.844, 14.724 s. - Kuka camera base: 47.590, 41.691, 38.724 s; PR: 36.832, 36.666, 37.032 s. The measured `env_creation` medians improve from 6.473 to 5.801 s for Cartpole, 15.558 to 12.863 s for Go2 rough, and 37.481 to 32.578 s for Kuka camera. ## Test plan - `247 passed` across the physics-manager lifecycle, Newton cloner, manager abstraction, coupled-manager, and joint-wrench reuse tests. - `test_rename_builder_labels.py`: `17 passed` after removing obsolete solver-registration mocks. - Ruff check and format pass on all changed Python files. - The three 4096-environment benchmark tasks provide end-to-end Newton MJWarp startup coverage. (cherry picked from commit c4a2759)

…7299) ## Summary Backports the following merged changes to `release/3.0.0` as separate provenance-preserving cherry-picks: - #7292 — scope Newton global imports with clone plans - #7285 — stabilize the sensor/PhysX video recording test - #7269 — streamline Newton contact and raycast sensor startup - #7119 — normalize non-finite depth display values safely - #7295 — avoid repeated Newton model and articulation startup work Each source squash commit was cherry-picked with `-x` and applied without conflicts. ## Validation - Stable patch IDs match all five source squash commits exactly. - File-by-file manifests match each source squash commit. - `git diff --check upstream/release/3.0.0..HEAD` - `uv run --frozen python tools/changelog/cli.py check backport-7285-7292-base` - `SKIP=check-changelog-fragments uv run --frozen isaaclab -f` - Cloner/Newton focused tests: 98 passed - Scene global-ownership tests: 2 passed - Simulator clone-plan tests: 4 passed - Video recording regression test: 1 passed - Newton BVH lifecycle tests: 2 passed - Newton contact-selector tests: 7 passed - Newton raycast BVH test: 4 passed - Non-finite depth display tests: 4 passed - #7295 physics lifecycle, cloner, manager, and coupling tests: 248 passed - #7295 Newton joint-wrench sensor tests: 11 passed - #7295 PhysX joint-wrench sensor tests: 16 passed PR #7121 remains open and is intentionally excluded; it will be backported from its final merge commit after merging. --------- Signed-off-by: Sylvester Kaczmarek <16242628+sylvesterkaczmarek@users.noreply.github.com> Co-authored-by: matthewtrepte <mtrepte@nvidia.com> Co-authored-by: camevor <camevor@nvidia.com> Co-authored-by: Sylvester Kaczmarek <16242628+sylvesterkaczmarek@users.noreply.github.com> Co-authored-by: Antoine RICHARD <antoiner@nvidia.com>

Record global assets in clone plans

bc8b7bd

Keep shared scene assets explicit without encoding them as no-op replication rows. Populate the paths from both scene-driven and direct-env plan construction so backend work can be scoped from an authoritative plan.

ooctipus requested a review from a team August 22, 2026 02:00

ooctipus requested review from AntoineRichard, StafaH, fatimaanes, kellyguo11 and pbarejko as code owners August 22, 2026 02:00

github-actions Bot added documentation Improvements or additions to documentation isaac-lab Related to Isaac Lab team labels Aug 22, 2026

isaaclab-review-bot Bot reviewed Aug 22, 2026

View reviewed changes

Scope Newton global imports to clone plans

c85becc

ooctipus requested a review from hujc7 as a code owner August 22, 2026 02:51

ooctipus changed the title ~~[Cloner] Record global assets in clone plans~~ [Cloner] Scope Newton global imports with clone plans Aug 22, 2026

ooctipus added 3 commits August 21, 2026 20:30

Simplify explicit global imports

8b01062

Compact explicit clone plan calls

5c830bb

Require explicit global clone paths

45826c6

ooctipus requested review from huidongc, marcodiiga and rilei-nvidia as code owners August 22, 2026 03:50

github-actions Bot added the infrastructure label Aug 22, 2026

ooctipus added 7 commits August 21, 2026 20:50

Add OV changelog marker

9cd9d7c

Make clone ownership contracts explicit

03aa063

Keep replication context constructors compatible

123de98

Keep asset collection naming

ebb0454

Simplify Newton global import defaults

90ae650

Allow positional global path defaults

8de0ec6

Remove remaining global path keyword marker

56aad69

StafaH reviewed Aug 22, 2026

View reviewed changes

Address global path review

5e739b7

Compact global world coverage

0b5ec23

StafaH approved these changes Aug 22, 2026

View reviewed changes

This was referenced Aug 22, 2026

[Newton] Avoid repeated model startup work #7295

Merged

[Newton] Streamline contact and raycast sensor startup #7296

Closed

ooctipus added 2 commits August 22, 2026 00:25

Declare contact test ground in the scene

9e47e9b

Default clone plans to no global roots

ef77e25

ooctipus merged commit 909cc5d into isaac-sim:develop Aug 22, 2026
47 of 48 checks passed

This was referenced Aug 22, 2026

[Newton] Streamline contact and raycast sensor startup #7269

Merged

[Backport release/3.0.0] Newton startup, cloner, and rendering fixes #7299

Merged

Navigation Menu

Uh oh!

[Cloner] Scope Newton global imports with clone plans - #7292

[Cloner] Scope Newton global imports with clone plans#7292
ooctipus merged 16 commits into
isaac-sim:developfrom
ooctipus:ooctipus/explicit-global-clone-plan

ooctipus commented Aug 22, 2026 •

edited

Loading

Uh oh!

greptile-apps Bot commented Aug 22, 2026

Uh oh!

isaaclab-review-bot Bot left a comment

Uh oh!

StafaH left a comment

Uh oh!

StafaH Aug 22, 2026

Uh oh!

ooctipus Aug 22, 2026 •

edited

Loading

Uh oh!

StafaH Aug 22, 2026

Uh oh!

ooctipus Aug 22, 2026 •

edited

Loading

Uh oh!

StafaH Aug 22, 2026

Uh oh!

ooctipus Aug 22, 2026 •

edited

Loading

Uh oh!

ooctipus commented Aug 22, 2026

Uh oh!

ooctipus commented Aug 22, 2026

Uh oh!

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

2 participants

Uh oh!

Conversation

ooctipus commented Aug 22, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Description

Data flow

Direct scenes

Startup benchmark

Testing

Type of change

Checklist

Uh oh!

greptile-apps Bot commented Aug 22, 2026

Greptile Summary

Confidence Score: 5/5

Important Files Changed

Flowchart

Uh oh!

isaaclab-review-bot Bot left a comment

Choose a reason for hiding this comment

Isaac Lab Review Bot

Uh oh!

StafaH left a comment

Choose a reason for hiding this comment

Uh oh!

StafaH Aug 22, 2026

Choose a reason for hiding this comment

Uh oh!

ooctipus Aug 22, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Choose a reason for hiding this comment

Uh oh!

StafaH Aug 22, 2026

Choose a reason for hiding this comment

Uh oh!

ooctipus Aug 22, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Choose a reason for hiding this comment

Uh oh!

StafaH Aug 22, 2026

Choose a reason for hiding this comment

Uh oh!

ooctipus Aug 22, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Choose a reason for hiding this comment

Uh oh!

ooctipus commented Aug 22, 2026

Uh oh!

ooctipus commented Aug 22, 2026

Uh oh!

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

2 participants

ooctipus commented Aug 22, 2026 •

edited

Loading

ooctipus Aug 22, 2026 •

edited

Loading

ooctipus Aug 22, 2026 •

edited

Loading

ooctipus Aug 22, 2026 •

edited

Loading