Fix renderer cadence after environment reset

Environment resets can change simulation state without advancing the physics-step counter. Invalidate render-context scene-state cadence in every reset implementation so the next render republishes transforms.

Fixes #6609

Author: ruziniuuuuu

CONTRIBUTORS.md

@@ -72,6 +72,7 @@ Guidelines for modifications:
 * Cameron Upright
 * Cathy Y. Li
 * Cheng-Rong Lai
+* Chenyu Cao
 * Chenyu Yang
 * Connor Smith
 * CY (Chien-Ying) Chen

source/isaaclab/changelog.d/ruziniuuuuu-reset-render-cadence.rst

@@ -0,0 +1,5 @@
+Fixed
+^^^^^
+
+* Fixed camera renderers retaining pre-reset transforms when an environment
+  resets state without advancing the physics-step counter.

source/isaaclab/isaaclab/envs/direct_marl_env.py

@@ -737,6 +737,8 @@ def _reset_idx(self, env_ids: Sequence[int]):
         # reset the episode length buffer
         self.episode_length_buf[env_ids] = 0
 
+        self.sim.render_context.reset_scene_state_cadence()
+
     """
     Implementation-specific functions.
     """

source/isaaclab/isaaclab/envs/direct_rl_env.py

@@ -721,6 +721,8 @@ def _reset_idx(self, env_ids: Sequence[int]):
         # reset the episode length buffer
         self.episode_length_buf[env_ids] = 0
 
+        self.sim.render_context.reset_scene_state_cadence()
+
     """
     Implementation-specific functions.
     """

source/isaaclab/isaaclab/envs/manager_based_env.py

@@ -658,3 +658,5 @@ def _reset_idx(self, env_ids: Sequence[int]):
         # -- recorder manager
         info = self.recorder_manager.reset(env_ids)
         self.extras["log"].update(info)
+
+        self.sim.render_context.reset_scene_state_cadence()

source/isaaclab/isaaclab/envs/manager_based_rl_env.py

@@ -409,3 +409,5 @@ def _reset_idx(self, env_ids: Sequence[int]):
 
         # reset the episode length buffer
         self.episode_length_buf[env_ids] = 0
+
+        self.sim.render_context.reset_scene_state_cadence()

source/isaaclab/test/envs/test_direct_marl_env.py

@@ -79,3 +79,18 @@ def test_initialization(device):
     assert len(env.action_spaces) == 2
     # close the environment
     env.close()
+
+
+def test_reset_invalidates_renderer_scene_state_cadence():
+    """A same-step multi-agent reset must republish renderer scene state."""
+    sim_utils.create_new_stage()
+    env = DirectMARLEnv(cfg=get_empty_base_env_cfg())
+    try:
+        env._get_observations = lambda: {}
+        env.sim.render_context._last_scene_state_step = 7
+
+        env.reset()
+
+        assert env.sim.render_context._last_scene_state_step is None
+    finally:
+        env.close()

source/isaaclab/test/envs/test_env_rendering_logic.py

@@ -253,6 +253,30 @@ def wrapped_step(dt):
             SimulationContext.clear_instance()
 
 
+@pytest.mark.parametrize("env_type", ["manager_based_env", "manager_based_rl_env", "direct_rl_env"])
+def test_env_reset_invalidates_renderer_scene_state_cadence(env_type):
+    """A same-step reset must force the next camera read to republish scene state."""
+    env = None
+    try:
+        sim_utils.create_new_stage()
+        if env_type == "manager_based_env":
+            env = create_manager_based_env(render_interval=1)
+        elif env_type == "manager_based_rl_env":
+            env = create_manager_based_rl_env(render_interval=1)
+        else:
+            env = create_direct_rl_env(render_interval=1)
+
+        env.sim.render_context._last_scene_state_step = 7
+        env.reset()
+
+        assert env.sim.render_context._last_scene_state_step is None
+    finally:
+        if env is not None:
+            env.close()
+        else:
+            SimulationContext.clear_instance()
+
+
 @pytest.mark.parametrize("env_type", ["manager_based_env", "manager_based_rl_env", "direct_rl_env"])
 def test_env_render_false_skips_rendering(env_type, physics_callback, render_callback):
     """Test that setting render_enabled=False skips all rendering while physics continues."""