Fixes various benign warnings in workflows (#513)

# Description

- Avoid printing collision filtering warning in workflows where scene
setup is done through config
- Adds check in collision filter to if /World/collisions already exist
- Avoid warnings in envIds by not enabling it in CPU simulation

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] 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
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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---------
Signed-off-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Michael Gussert <michael@gussert.com>
Signed-off-by: samibouziri <79418773+samibouziri@users.noreply.github.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Signed-off-by: Kyle Morgenstein <34984693+KyleM73@users.noreply.github.com>
Signed-off-by: Hongyu Li <lihongyu0807@icloud.com>
Signed-off-by: Toni-SM <toni.semu@gmail.com>
Signed-off-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Signed-off-by: Victor Khaustov <3192677+vi3itor@users.noreply.github.com>
Signed-off-by: AlvinC <alvincny529@gmail.com>
Signed-off-by: Tyler Lum <tylergwlum@gmail.com>
Signed-off-by: Miguel Alonso Jr. <76960110+miguelalonsojr@users.noreply.github.com>
Signed-off-by: renaudponcelet <renaud.poncelet@gmail.com>
Co-authored-by: lotusl-code <lotusl@nvidia.com>
Co-authored-by: jaczhangnv <jaczhang@nvidia.com>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: Yanzi Zhu <yanziz@nvidia.com>
Co-authored-by: nv-mhaselton <mhaselton@nvidia.com>
Co-authored-by: cosmith-nvidia <141183495+cosmith-nvidia@users.noreply.github.com>
Co-authored-by: Michael Gussert <michael@gussert.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Co-authored-by: Rafael Wiltz <rwiltz@nvidia.com>
Co-authored-by: Peter Du <peterd@nvidia.com>
Co-authored-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: chengronglai <chengrongl@nvidia.com>
Co-authored-by: pulkitg01 <pulkitg@nvidia.com>
Co-authored-by: Connor Smith <cosmith@nvidia.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <ashwinvk@nvidia.com>
Co-authored-by: shauryadNv <shauryad@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: samibouziri <79418773+samibouziri@users.noreply.github.com>
Co-authored-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>
Co-authored-by: Shundo Kishi <syundo0730@gmail.com>
Co-authored-by: Sheikh Dawood <sabdulajees@nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>
Co-authored-by: Gonglitian <70052908+Gonglitian@users.noreply.github.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>
Co-authored-by: Kyle Morgenstein <34984693+KyleM73@users.noreply.github.com>
Co-authored-by: Johnson Sun <20457146+j3soon@users.noreply.github.com>
Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Co-authored-by: Hongyu Li <lihongyu0807@icloud.com>
Co-authored-by: Jean-Francois-Lafleche <57650687+Jean-Francois-Lafleche@users.noreply.github.com>
Co-authored-by: Wei Jinqi <changshanshi@outlook.com>
Co-authored-by: Louis LE LAY <le.lay.louis@gmail.com>
Co-authored-by: Harsh Patel <hapatel@theaiinstitute.com>
Co-authored-by: Kousheek Chakraborty <kousheekc@gmail.com>
Co-authored-by: Victor Khaustov <3192677+vi3itor@users.noreply.github.com>
Co-authored-by: AlvinC <alvincny529@gmail.com>
Co-authored-by: Felipe Mohr <50018670+felipemohr@users.noreply.github.com>
Co-authored-by: AdAstra7 <87345760+likecanyon@users.noreply.github.com>
Co-authored-by: gao <ziqi.gao@iff-extern.fraunhofer.de>
Co-authored-by: Tyler Lum <tylergwlum@gmail.com>
Co-authored-by: -T.K.- <t_k_233@outlook.com>
Co-authored-by: Clemens Schwarke <96480707+ClemensSchwarke@users.noreply.github.com>
Co-authored-by: Miguel Alonso Jr. <76960110+miguelalonsojr@users.noreply.github.com>
Co-authored-by: Miguel Alonso Jr. <miguel.alonso@nfinite.app>
Co-authored-by: renaudponcelet <renaud.poncelet@gmail.com>
Co-authored-by: Ales Borovicka <aborovicka@nvidia.com>
Co-authored-by: nv-mm <mmagdics@nvidia.com>
Co-authored-by: Antoine RICHARD <antoiner@nvidia.com>
Co-authored-by: dvangelder-nvidia <dvangelder@nvidia.com>

apps/isaacsim_4_5/extension.toml

+# This is not an extension

apps/rendering_modes/extension.toml

+# This is not an extension

source/isaaclab/isaaclab/scene/interactive_scene.py

@@ -146,7 +146,9 @@ class InteractiveScene:
                 prim_paths=self.env_prim_paths,
                 replicate_physics=False,
                 copy_from_source=True,
-                enable_env_ids=self.cfg.filter_collisions,  # this won't do anything because we are not replicating physics
+                enable_env_ids=(
+                    self.cfg.filter_collisions if self.device != "cpu" else False
+                ),  # this won't do anything because we are not replicating physics
             )
             self._default_env_origins = torch.tensor(env_origins, device=self.device, dtype=torch.float32)
         else:
@@ -168,7 +170,7 @@ class InteractiveScene:
                     prim_paths=self.env_prim_paths,
                     base_env_path=self.env_ns,
                     root_path=self.env_regex_ns.replace(".*", ""),
-                    enable_env_ids=self.cfg.filter_collisions,
+                    enable_env_ids=self.cfg.filter_collisions if self.device != "cpu" else False,
                 )
 
             # since env_ids is only applicable when replicating physics, we have to fallback to the previous method
@@ -202,17 +204,22 @@ class InteractiveScene:
             prim_paths=self.env_prim_paths,
             replicate_physics=self.cfg.replicate_physics,
             copy_from_source=copy_from_source,
-            enable_env_ids=self.cfg.filter_collisions,  # this automatically filters collisions between environments
+            enable_env_ids=(
+                self.cfg.filter_collisions if self.device != "cpu" else False
+            ),  # this automatically filters collisions between environments
         )
 
         # since env_ids is only applicable when replicating physics, we have to fallback to the previous method
         # to filter collisions if replicate_physics is not enabled
         # additionally, env_ids is only supported in GPU simulation
         if (not self.cfg.replicate_physics and self.cfg.filter_collisions) or self.device == "cpu":
-            omni.log.warn(
-                "Collision filtering can only be automatically enabled when replicate_physics=True and GPU simulation."
-                " Please call scene.filter_collisions(global_prim_paths) to filter collisions across environments."
-            )
+            # if scene is specified through cfg, this is already taken care of
+            if not self._is_scene_setup_from_cfg():
+                omni.log.warn(
+                    "Collision filtering can only be automatically enabled when replicate_physics=True and using GPU"
+                    " simulation. Please call scene.filter_collisions(global_prim_paths) to filter collisions across"
+                    " environments."
+                )
 
         # in case of heterogeneous cloning, the env origins is specified at init
         if self._default_env_origins is None:
@@ -235,6 +242,10 @@ class InteractiveScene:
             # remove duplicates in paths
             global_prim_paths = list(set(global_prim_paths))
 
+        # if "/World/collisions" already exists in the stage, we don't filter again
+        if self.stage.GetPrimAtPath("/World/collisions"):
+            return
+
         # set global prim paths list if not previously defined
         if len(self._global_prim_paths) < 1:
             self._global_prim_paths += global_prim_paths

source/isaaclab/test/markers/test_visualization_markers.py

@@ -37,8 +37,8 @@ def sim():
     yield sim_context
     # Cleanup
     sim_context.stop()
-    stage_utils.close_stage()
     sim_context.clear_instance()
+    stage_utils.close_stage()
 
 
 def test_instantiation(sim):