Updates app pathing for user provided rendering preset mode (#3148)

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Update rendering preset mode pathing to be compatible when an experience
file is set.

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## Type of change

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- Bug fix (non-breaking change which fixes an issue)

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## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
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Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.44.11 (2025-08-11)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed rendering preset mode when an experience CLI arg is provided.
+
+
 0.44.10 (2025-08-06)
 ~~~~~~~~~~~~~~~~~~~
 
 Fixed
 ^^^^^
 
-* The old termination manager in :class:`~isaaclab.managers.TerminationManager` term_done logging logs the instantaneous
-term done count at reset. This let to inaccurate aggregation of termination count, obscuring the what really happening
-during the traing. Instead we log the episodic term done.
+* Fixed the old termination manager in :class:`~isaaclab.managers.TerminationManager` term_done logging that logs the
+instantaneous term done count at reset. This let to inaccurate aggregation of termination count, obscuring the what really
+happeningduring the traing. Instead we log the episodic term done.
 
 
 0.44.9 (2025-07-30)

source/isaaclab/isaaclab/sim/simulation_context.py

@@ -349,11 +349,14 @@ class SimulationContext(_SimulationContext):
                     f"RenderCfg rendering mode '{rendering_mode}' not in supported modes {supported_rendering_modes}."
                 )
 
-            # parse preset file
-            repo_path = os.path.join(carb.tokens.get_tokens_interface().resolve("${app}"), "..")
+            # grab isaac lab apps path
+            isaaclab_app_exp_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), *[".."] * 4, "apps")
+            # for Isaac Sim 4.5 compatibility, we use the 4.5 rendering mode app files in a different folder
             if float(".".join(self._isaacsim_version[2])) < 5:
-                repo_path = os.path.join(repo_path, "..")
-            preset_filename = os.path.join(repo_path, f"apps/rendering_modes/{rendering_mode}.kit")
+                isaaclab_app_exp_path = os.path.join(isaaclab_app_exp_path, "isaacsim_4_5")
+
+            # grab preset settings
+            preset_filename = os.path.join(isaaclab_app_exp_path, f"rendering_modes/{rendering_mode}.kit")
             with open(preset_filename) as file:
                 preset_dict = toml.load(file)
             preset_dict = dict(flatdict.FlatDict(preset_dict, delimiter="."))

source/isaaclab/test/sim/test_simulation_render_config.py

@@ -14,12 +14,14 @@ simulation_app = AppLauncher(headless=True, enable_cameras=True).app
 
 """Rest everything follows."""
 
+import os
 import toml
 
 import carb
 import flatdict
 import pytest
 from isaacsim.core.utils.carb import get_carb_setting
+from isaacsim.core.version import get_version
 
 from isaaclab.sim.simulation_cfg import RenderCfg, SimulationCfg
 from isaaclab.sim.simulation_context import SimulationContext
@@ -101,8 +103,15 @@ def test_render_cfg_presets():
     rendering_modes = ["performance", "balanced", "quality"]
 
     for rendering_mode in rendering_modes:
-        # grab groundtruth preset settings
-        preset_filename = f"apps/rendering_modes/{rendering_mode}.kit"
+        # grab isaac lab apps path
+        isaaclab_app_exp_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), *[".."] * 4, "apps")
+        # for Isaac Sim 4.5 compatibility, we use the 4.5 rendering mode app files in a different folder
+        isaac_sim_version = float(".".join(get_version()[2]))
+        if isaac_sim_version < 5:
+            isaaclab_app_exp_path = os.path.join(isaaclab_app_exp_path, "isaacsim_4_5")
+
+        # grab preset settings
+        preset_filename = os.path.join(isaaclab_app_exp_path, f"rendering_modes/{rendering_mode}.kit")
         with open(preset_filename) as file:
             preset_dict = toml.load(file)
         preset_dict = dict(flatdict.FlatDict(preset_dict, delimiter="."))