Report resolved backend for play benchmarks

[AntoineRichard]

Description

Fixed benchmark play adapters to pass the resolved environment configuration when building RunConfig. This makes run.config.physics_backend report the backend that ran, matching training, runtime, and startup behavior.

For isaacsim_physx, play results now report physx; the requested preset remains in run.config.presets.

No additional dependencies are required.

Type of change

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

Screenshots

Not applicable.

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks
• My changes generate no new warnings
• I have added tests that prove my fix is effective
• I have added a changelog fragment under source/<pkg>/changelog.d/ for every touched package
• My name already exists in CONTRIBUTORS.md

[isaaclab-review-bot]

Isaac Lab Review Bot

The four benchmark play adapters now pass their resolved env_cfg to capture.run_config_from_presets, aligning reported run.config.physics_backend with the backend actually used while retaining requested tokens in run.config.presets.

• Design and architecture: Backend identification remains centralized in capture.run_config_from_presets; the rl_games, rsl_rl, sb3, and skrl adapters reuse their existing resolved environment configuration rather than duplicating backend-resolution logic.
• API: The change uses the existing env_cfg keyword without altering the function signature, exports, or defaults. The intentional metadata behavior change for isaacsim_physx is documented in the isaaclab changelog fragment.
• Implementation: All four play paths pass env_cfg before constructing benchmark metadata, and the focused capture test verifies that an isaacsim_physx preset with a resolved PhysX configuration reports physics_backend as physx. The requested preset remains available through cfg.presets; the only compatibility tradeoff is for metadata consumers that previously interpreted the requested preset name as the resolved backend.

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.

[greptile-apps]

Greptile Summary

The PR makes all four benchmark play adapters derive run metadata from the resolved environment configuration, aligning play reporting with training, runtime, and startup behavior.

• Passes env_cfg to run_config_from_presets for RL-Games, RSL-RL, Stable-Baselines3, and SKRL play runs.
• Adds a regression assertion that an Isaac Sim PhysX configuration reports physx.
• Adds the required changelog fragment.

Confidence Score: 5/5

The PR appears safe to merge, with the changed play adapters consistently using the resolved configuration already followed by sibling benchmark paths.

The four adapters pass a native resolved environment configuration whose backend fields are finalized before metadata capture, and no changed-code-triggered failure remains.

Important Files Changed

Filename	Overview
source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_play_rl_games.py	Passes the resolved environment configuration into benchmark run metadata construction, matching existing training behavior.
source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_play_rsl_rl.py	Uses the resolved environment configuration when recording play-run backend metadata.
source/isaaclab/isaaclab/benchmark/entrypoints/backends/sb3/benchmark_play_sb3.py	Aligns Stable-Baselines3 play metadata capture with the resolved simulation configuration.
source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_play_skrl.py	Aligns SKRL play metadata capture with the resolved simulation configuration.
source/isaaclab/test/benchmark/test_capture.py	Extends backend-resolution coverage to verify that a PhysX manager is normalized to the physx metadata value.
source/isaaclab/changelog.d/play-resolved-backend.rst	Documents the corrected play benchmark metadata behavior.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart LR
    CLI[Play benchmark arguments] --> Resolve[Resolve task environment config]
    Resolve --> Launch[Resolve and launch simulation backend]
    Launch --> Capture[Build RunConfig from presets and env_cfg]
    Capture --> Metadata[Report resolved physics backend]

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