Unit tests for newton warp, refactor camera replicator functionality to rtx_renderer

source/isaaclab/docs/CHANGELOG.rst

@@ -4,6 +4,27 @@ Changelog
 4.5.13 (2026-03-10)
 ~~~~~~~~~~~~~~~~~~~
 
+Changed
+^^^^^^^
+
+* Changed :class:`~isaaclab.sensors.camera.Camera` to use the shared
+  :func:`~isaaclab_physx.renderers.isaac_rtx_renderer_utils.apply_depth_clipping`
+  helper instead of inline depth clipping logic.
+
+* Consolidated :meth:`~isaaclab.sensors.camera.Camera._check_supported_data_types`
+  so subclasses (e.g. ``TiledCamera``) inherit it instead of duplicating the logic.
+  The error message now uses the actual class name dynamically.
+
+* Moved ``renderer`` and ``render_data`` attribute initialization from
+  :class:`~isaaclab.sensors.camera.tiled_camera.TiledCamera` up to
+  :class:`~isaaclab.sensors.camera.Camera` so the attributes exist at the
+  base-class level. No behavioral change -- ``Camera.renderer`` defaults to
+  ``None`` and the legacy Replicator code path is still used.
+
+* Extracted :meth:`~isaaclab.sensors.camera.Camera._initialize_replicator` from
+  :meth:`~isaaclab.sensors.camera.Camera._initialize_impl` to isolate the
+  Replicator annotator pipeline setup into a dedicated helper method.
+
 Fixed
 ^^^^^
 
@@ -13,7 +34,6 @@ Fixed
   now call ``clear_instance()`` on the context when initialization raises, preventing
   cascading "Simulation context already exists" errors in test suites and training loops.
 
-
 4.5.12 (2026-03-10)
 ~~~~~~~~~~~~~~~~~~~
 
@@ -50,7 +70,6 @@ Changed
   and relative wildcard re-exports from the ``.pyi`` stub, making the stub the
   single source of truth. The ``packages`` argument is deprecated.
 
-
 4.5.9 (2026-03-08)
 ~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/sensors/camera/tiled_camera.py

@@ -229,26 +229,6 @@ def _update_buffers_impl(self, env_mask: wp.array):
     Private Helpers
     """
 
-    def _check_supported_data_types(self, cfg: TiledCameraCfg):
-        """Checks if the data types are supported by the ray-caster camera."""
-        # check if there is any intersection in unsupported types
-        # reason: these use np structured data types which we can't yet convert to torch tensor
-        common_elements = set(cfg.data_types) & Camera.UNSUPPORTED_TYPES
-        if common_elements:
-            # provide alternative fast counterparts
-            fast_common_elements = []
-            for item in common_elements:
-                if "instance_segmentation" in item or "instance_id_segmentation" in item:
-                    fast_common_elements.append(item + "_fast")
-            # raise error
-            raise ValueError(
-                f"TiledCamera class does not support the following sensor types: {common_elements}."
-                "\n\tThis is because these sensor types output numpy structured data types which"
-                "can't be converted to torch tensors easily."
-                "\n\tHint: If you need to work with these sensor types, we recommend using their fast counterparts."
-                f"\n\t\tFast counterparts: {fast_common_elements}"
-            )
-
     def _create_buffers(self):
         """Create buffers for storing data."""
         # create the data object