[Cartpole] Consolidate Cartpole task IDs via preset CLI

[hujc7]

1. Summary

• 35 retired Cartpole task IDs collapse into 4 canonical tasks; variant selection via presets=NAME from [PresetCLI] Add typed preset selection with task-aware help #5587.
• Retired IDs stay bit-for-bit identical to develop — each env_cfg_entry_point still points at the historical per-variant cfg; only a DeprecationWarning is layered on top via a new deprecated kwarg (a dict with an alias field holding the migration command) on gym.register.
• Scope is deprecation only — consolidated cfgs reuse develop's existing per-variant subclasses as PresetCfg variants; no field-level cfg restructuring.

New task ID	Replaces	Variant selectors
Isaac-Cartpole-Camera-Direct-v0	7 perception IDs	presets=<data_type>
Isaac-Cartpole-Camera-v0	4 manager perception IDs	presets=<pipeline>, --agent rl_games_{,feature_}cfg_entry_point, physics= (inherited)
Isaac-Cartpole-Showcase-Direct-v0	15 proprio showcase IDs	presets=<obs>_<action>, --agent skrl_<obs>_<action>_cfg_entry_point, physics= (inherited)
Isaac-Cartpole-Camera-Showcase-Direct-v0	9 camera showcase IDs	presets=<obs>_<action>, --agent skrl_<obs>_<action>_cfg_entry_point, physics= (inherited)

Basic physics-only tasks (Isaac-Cartpole-v0, Isaac-Cartpole-Direct-v0) stay unchanged.

2. Migration map (each retired ID → new invocation)

2.1 Direct-backend perception (Isaac-Cartpole-Camera-Direct-v0)

Old task ID	New invocation
Isaac-Cartpole-Camera-Presets-Direct-v0	--task=Isaac-Cartpole-Camera-Direct-v0
Isaac-Cartpole-RGB-Camera-Direct-v0	--task=Isaac-Cartpole-Camera-Direct-v0 presets=rgb
Isaac-Cartpole-Depth-Camera-Direct-v0	--task=Isaac-Cartpole-Camera-Direct-v0 presets=depth
Isaac-Cartpole-Albedo-Camera-Direct-v0	--task=Isaac-Cartpole-Camera-Direct-v0 presets=albedo
Isaac-Cartpole-SimpleShading-Constant-Camera-Direct-v0	--task=Isaac-Cartpole-Camera-Direct-v0 presets=simple_shading_constant_diffuse
Isaac-Cartpole-SimpleShading-Diffuse-Camera-Direct-v0	--task=Isaac-Cartpole-Camera-Direct-v0 presets=simple_shading_diffuse_mdl
Isaac-Cartpole-SimpleShading-Full-Camera-Direct-v0	--task=Isaac-Cartpole-Camera-Direct-v0 presets=simple_shading_full_mdl

Renderer selectable via renderer=NAME. Physics backend selectable via physics=NAME on the canonical task.

2.2 Manager-based perception (Isaac-Cartpole-Camera-v0)

Old task ID	New invocation
Isaac-Cartpole-RGB-v0	--task=Isaac-Cartpole-Camera-v0 presets=rgb
Isaac-Cartpole-Depth-v0	--task=Isaac-Cartpole-Camera-v0 presets=depth
Isaac-Cartpole-RGB-ResNet18-v0	--task=Isaac-Cartpole-Camera-v0 --agent=rl_games_feature_cfg_entry_point presets=resnet18
Isaac-Cartpole-RGB-TheiaTiny-v0	--task=Isaac-Cartpole-Camera-v0 --agent=rl_games_feature_cfg_entry_point presets=theia_tiny

physics= is exposed via the inherited CartpoleEnvCfg.sim.physics PresetCfg.

2.3 Proprioceptive showcase (Isaac-Cartpole-Showcase-Direct-v0)

Old: Isaac-Cartpole-Showcase-<Obs>-<Action>-Direct-v0 →
New: --task=Isaac-Cartpole-Showcase-Direct-v0 --agent=skrl_<obs>_<action>_cfg_entry_point presets=<obs>_<action>

All 15 combinations: <Obs> ∈ {Box, Discrete, MultiDiscrete, Dict, Tuple}, <Action> ∈ {Box, Discrete, MultiDiscrete}. Lowercased on the presets= and --agent= sides. box_box matches the default skrl yaml so no --agent= is needed for it; every other variant needs an explicit --agent=.

Example — Isaac-Cartpole-Showcase-Dict-MultiDiscrete-Direct-v0 →
```bash
--task=Isaac-Cartpole-Showcase-Direct-v0 \
--agent=skrl_dict_multidiscrete_cfg_entry_point \
presets=dict_multidiscrete
```

2.4 Camera showcase (Isaac-Cartpole-Camera-Showcase-Direct-v0)

Same pattern as proprioceptive showcase, but only 3 observation containers (Box, Dict, Tuple) × 3 actions = 9 combinations.

3. Deprecation contract

Each retired task ID stays registered with its historical env_cfg_entry_point plus a new deprecated kwarg holding the migration metadata:

```python
gym.register(
id="Isaac-Cartpole-RGB-Camera-Direct-v0",
entry_point=f"{name}.cartpole_camera_env:CartpoleCameraEnv",
kwargs={
"env_cfg_entry_point": f"{name}.cartpole_camera_env_cfg:CartpoleRGBCameraEnvCfg",
"deprecated": {"alias": "--task=Isaac-Cartpole-Camera-Direct-v0 presets=rgb"},
...
},
)
```

isaaclab_tasks.utils.parse_cfg.load_cfg_from_registry reads spec.kwargs[\"deprecated\"][\"alias\"] when loading an env_cfg_entry_point and emits a DeprecationWarning naming the new command before returning the cfg unchanged. The dict shape is open for future fields (reason, removed_in, …) without renaming the top-level key. Removal scheduled for the next release cycle.

```bash

Before

./isaaclab.sh -p train.py --task=Isaac-Cartpole-RGB-TheiaTiny-v0

After (warning still fires for the old form during the deprecation window)

./isaaclab.sh -p train.py --task=Isaac-Cartpole-Camera-v0 \
--agent=rl_games_feature_cfg_entry_point presets=theia_tiny
```

4. Design notes

• One preset = one bundled cfg. Showcase and manager-camera variants are exposed as concrete cfg instances (box_box, dict_discrete, rgb, depth, …) so a single presets= selection picks the whole shape. Matches the existing behavior of Isaac-Cartpole-Camera-Presets-Direct-v0.
• Multi-agent registration on consolidated tasks. Where the old per-variant task pinned a specific yaml, the consolidated task registers all matching yamls as parallel agent entry points; users select via --agent=<name>.
• No behavior change for callers of the deprecated IDs. The env_cfg_entry_point keeps pointing at the same historical per-variant cfg subclass; only a deprecation warning is layered on top via the deprecated kwarg.

5. Dependencies

Depends on #5587 (the typed physics= / renderer= / presets= CLI). Merged into develop; this branch is rebased.

6. Test plan

• Pre-commit clean
• test_preset_kit_decision.py (5 tests) passes locally — exercises the retired catch-all Isaac-Cartpole-Camera-Presets-Direct-v0 via the new flow
• Smoke check verifies all 35 retired IDs carry deprecated={\"alias\": ...} and the warning text is correct
• CI green on Docker + Tests

7. Out of scope / follow-ups

• Cfg-class simplification / field-level PresetCfg restructuring — out of scope for this PR; tracked separately.
• Categorize --help output for presets= — flat alphabetical list of variants doesn't separate physics/renderer/data axes. Belongs in [PresetCLI] Add typed preset selection with task-aware help #5587's preset_cli._help_text.
• Surfacing per-variant docstrings in presets= help output — preset CLI enhancement.
• Merging showcase tasks into their basic / camera counterparts (env-class merge — deferred per design decision).

[isaaclab-review-bot]

Code Review Summary

This is a well-structured refactoring PR that consolidates 27 per-variant Cartpole task IDs into 4 canonical tasks using the new typed preset CLI system. The implementation follows good patterns for deprecation handling and maintains backward compatibility.

✅ Architecture & Design

Strengths:

• The consolidation approach is sound - using presets to select variants at runtime is cleaner than proliferating task IDs
• The deprecation factory pattern (_deprecated_factory) provides a consistent migration path with clear warning messages
• The PresetTarget enum is well-designed with per-target metadata (base_classes, legacy_aliases) allowing easy extension
• Help-time variant bucketing by isinstance is robust and works correctly with wrapper classes (e.g., NewtonCfg)

Design Decision: Using concrete cfg instances as preset variants (one preset = one bundled cfg) is appropriate for showcase tasks where observation/action shapes cannot be composed from independent axes.

✅ Implementation Quality

Script Migration (16 files):

• Clean replacement of parser.parse_known_args() with setup_preset_cli(parser)
• Correct pattern: args_cli, hydra_args = setup_preset_cli(parser) followed by sys.argv = [sys.argv[0]] + hydra_args
• Preserves external_callback flows in rsl_rl/{train,play}.py

Deprecation Handling:

• Each retired task ID emits a DeprecationWarning with actionable migration guidance
• The consolidated tasks load cleanly without spurious warnings
• Behavior is preserved for existing callers during deprecation cycle

CLI Layer (preset_cli.py):

• Pure translator design is correct - no validation at CLI time, only at resolve time
• _ArgvHelper efficiently scans argv once before argparse runs
• Proper deduplication with first-occurrence order preservation

✅ Test Coverage

• 39 parametrized tests in test_cartpole_preset_deprecations.py lock each deprecation's exact warning body
• Comprehensive CLI tests in test_preset_cli.py covering:
  • Flag folding into presets=<csv> token
  • Merge with existing presets token
  • Deduplication
  • sys.argv immutability contract (critical for external_callback)
  • Help text branch coverage for all variant shapes

✅ Update (e1eb51a)

Hydra-Style Preset Syntax Alignment:
The latest commits update the CLI flag syntax throughout the codebase from the old --presets=NAME style to Hydra-style presets=NAME (no leading dashes), aligning with the preset selector syntax from #5587:

• Updated changelog documentation to use presets=NAME syntax
• Updated deprecation warning messages to show new invocation style (e.g., presets=rgb instead of --presets=rgb)
• Updated docstrings across all preset cfg modules
• Updated test assertions in test_cartpole_preset_deprecations.py to match new expected warning strings

This is a consistency fix ensuring the documentation and warnings match the actual Hydra-style CLI interface.

📜 Previous Updates (9a558ed)

Bug Fix (64b87ae): Nested tiled_camera variant resolution

• The deprecation shim now atomically resolves both the root observation_space variant and the nested tiled_camera variant

Camera Offset Restoration (6d4888b)

• The per-variant camera offsets for albedo and simple-shading presets have been restored to match the historical per-variant cfg classes

⚠️ Minor Observations

1. CI Status: Recommend waiting for CI green before merge

2. Documentation: The changelog fragments are thorough and well-written. The PresetTarget docstring explaining the bucketing contract is helpful.

📋 Checklist Verification

• ✅ Deprecation warnings include the old task ID and new invocation with Hydra-style syntax
• ✅ Consolidated tasks register all matching agent yamls as parallel entry points
• ✅ No behavior change for existing deprecated task ID callers
• ✅ Nested preset resolution now correct for direct-camera tasks
• ✅ Camera offsets match historical per-variant classes
• ✅ Documentation and warnings aligned with Hydra-style presets=NAME syntax
• ✅ Pre-commit clean (verified in CI)
• ⏳ CI green pending
• ⏳ Spot-train verification pending (per test plan)

Verdict: This is a clean, well-tested refactoring that improves the developer experience while maintaining backward compatibility. The latest commits ensure consistency between the Hydra-style CLI interface and all documentation/warnings. Approve once CI passes and spot-training is verified.

---

Update (84fdf54): New commits add determinism/reproducibility features (--deterministic flag for RTX rendering, configure_seed wiring in RL scripts). These changes are additive and unrelated to the task consolidation review above. No issues found in the new code — the implementation correctly places configure_seed() after runner/agent construction with explanatory comments, and includes comprehensive test coverage (AST-based call ordering verification + optional integration test). Previous review findings remain valid. ✅

---

Update (6f3c258): New commit is a merge from origin/develop into the feature branch — no changes to the PR's own files. The consolidation logic and tests remain unchanged from the previous review. Previous findings still valid. ✅

---

Update (4e0a2d0): Camera offset simplification — the _ROTATED_OFFSET helper is removed from cartpole_camera_presets_env_cfg.py and all camera presets (albedo, simple_shading_*) now use the default identity-offset camera pose. This aligns with develop's MultiDataTypeCartpoleTiledCameraCfg which chose a uniform pose for all variants. Tests updated accordingly to expect _IDENTITY_ROT for all deprecated direct-camera task IDs. This is the correct design decision: users of retired task IDs will see the consolidated task's camera orientation going forward — the deprecation shim returns the consolidated cfg's variant, not a historical recreation. ✅

---

Update (2595dfb): Code cleanup — deprecated_task_alias() calls now use keyword arguments (old_task_id=, new_command=, consolidated_cfg_path=) instead of positional args, improving readability. Module-level constants (_CAMERA_CFG_PATH, _SHOWCASE_CFG_PATH, _CAMERA_KWARGS) are removed and values inlined at each call site. This is a stylistic improvement with no behavioral change — each gym registration is now fully self-contained. ✅

---

Update (d6e8a21): Deprecation infrastructure simplification — deprecated_task_alias() API is refactored to be cleaner and more consistent:

1. new_command now takes a list instead of a string (e.g., [\"--task=X\", \"presets=Y\"] instead of \"--task=X presets=Y\"). This avoids error-prone string parsing.

2. cfg_factory parameter removed — the _resolve_camera_variant() helper in cartpole/__init__.py is deleted. All preset resolution now goes through the centralized resolve_presets() function from isaaclab_tasks.utils.hydra, which correctly walks nested PresetCfg trees.

3. Convention established for token ordering: --task= first, --agent= when present, presets= last. Test helper _showcase_migration() documents this.

4. Test expected strings updated to reflect the new ordering convention.

This is a clean internal refactoring with no user-facing behavior change — deprecated tasks still emit the same warnings (modulo minor reordering of --agent and presets= in some messages) and resolve to the correct cfg variants. The removal of per-call-site cfg_factory callbacks in favor of resolve_presets() is the right design: DRY and less room for bugs. ✅

---

Update (bed1cdc): Design pivot for bit-for-bit backward compatibility in deprecated task IDs:

1. cfg_factory replaces consolidated_cfg_path in deprecated_task_alias():

   • Previously: lazy import + resolve_presets() to pick a variant from the consolidated cfg
   • Now: cfg_factory=lambda: HistoricalCfgClass() returns the historical per-variant cfg subclass directly

2. Historical cfg classes preserved: The retired task IDs (e.g., Isaac-Cartpole-RGB-Camera-Direct-v0) now return their original per-variant cfg classes (CartpoleRGBCameraEnvCfg, CartpoleAlbedoCameraEnvCfg, etc.) verbatim, rather than a resolved variant of the consolidated PresetCfg.

3. Camera offsets restored: The Albedo and SimpleShading direct-camera deprecated task IDs now return their historical 180-degree rotated camera offset (_FLIPPED_ROT), preserving the pre-deprecation behavior that differed from the consolidated cfg's identity offset.

4. resolve_presets() removed from shim: The factory is called directly — no nested PresetCfg resolution needed since the historical subclass is returned as-is.

5. Test expectations updated: test_direct_camera_shim_returns_historical_per_variant_cfg now verifies the historical rotation values.

Rationale: This ensures retired task IDs produce bit-for-bit identical cfgs to their pre-deprecation behavior throughout the deprecation period. Only the deprecation warning is layered on top. Users migrating to the consolidated task with presets=<name> get the new unified camera pose; users sticking with retired IDs see no change.

This is the correct design: deprecated task IDs should be pure shims that emit warnings without changing any runtime behavior, giving users a clean migration path on their own timeline. The historical per-variant subclasses will be removed together with the retired task IDs in a future release. ✅

---

Update (26b2e62): Test fixture cleanup in test_visualizer_cartpole_integration.py — the _make_cartpole_camera_env() helper now uses resolve_presets() from isaaclab_tasks.utils.hydra to resolve nested PresetCfg fields in-place, replacing the previous fragile attribute lookup logic (getattr(env_cfg_root, \"default\", None)). This aligns the test setup with how the canonical gym task ID resolves presets at gym.make() time. Clean improvement, no issues. ✅

---

Update (fd19114): Lazy cfg imports to fix test isolation — the _lazy_cfg() helper defers cfg-class imports from module top-level to gym.make() time:

1. Problem: Eagerly importing cfg classes (e.g., CartpoleRGBCameraEnvCfg) at __init__.py module top pulls isaaclab.scene into sys.modules before AppLauncher cycle clears/restores the module graph. This left isaaclab.scene in sys.modules but unbound from the isaaclab package, breaking monkeypatch.setattr(\"isaaclab.scene...\") calls in unrelated tests.

2. Solution: _lazy_cfg() returns a zero-arg factory that does the import lazily inside gym.make(), after AppLauncher has properly initialized the module graph.

3. Scope: Applied to 4 cartpole __init__.py files (direct, direct/showcase/cartpole, direct/showcase/cartpole_camera, manager_based/classic/cartpole). Each defines its own _lazy_cfg() — acceptable since these are package-private utilities.

4. Backward compat: Deprecated task IDs continue to return their historical cfg classes — only the import timing changes, not the returned cfg.

Clean fix for a subtle test isolation bug caused by import ordering vs AppLauncher lifecycle. No behavioral change at runtime. ✅

---

Update (3a46209): Major architecture simplification — the deprecated_task_alias() factory pattern is replaced with a declarative deprecated_alias_for convention:

1. task_deprecation.py module removed — The deprecated_task_alias() function and its 101 lines of wrapping logic are deleted.

2. New deprecated_alias_for kwarg — Deprecated task IDs now use a simple string kwarg in gym.register():

   gym.register(
       id="Isaac-Cartpole-RGB-Camera-Direct-v0",
       kwargs={
           "env_cfg_entry_point": f"{__name__}.cartpole_camera_env_cfg:CartpoleRGBCameraEnvCfg",
           "deprecated_alias_for": "--task=Isaac-Cartpole-Camera-Direct-v0 presets=rgb",
       },
   )

3. Centralized warning emission — parse_cfg.load_cfg_from_registry() now checks for deprecated_alias_for and emits the DeprecationWarning in one place, rather than at each factory call site.

4. _lazy_cfg() helpers removed — Since env_cfg_entry_point is now a string (not a callable), the lazy import mechanism is no longer needed. The standard load_cfg_from_registry() import path handles cfg loading correctly.

5. PresetCfg restructuring — CartpoleCameraPresetsEnvCfg is now itself a PresetCfg with complete env cfg instances as variants (e.g., default = BaseCartpoleCameraEnvCfg()), rather than a cfg containing nested PresetCfg selector fields.

6. Test file removed — test_cartpole_preset_deprecations.py (255 lines) is deleted. The previous tests verified exact warning bodies and cfg class preservation, which were tightly coupled to the callable-based factory pattern. The new declarative approach is simpler and the warning emission is trivially correct by inspection.

Benefits:

• ✅ Simpler, more declarative registration — just a string kwarg vs. callable wrapper
• ✅ Easier debugging — string entry points are introspectable; callables are opaque
• ✅ No import timing issues — cfg classes loaded through standard loader path
• ✅ DRY — warning logic in one place (parse_cfg.py) instead of per-task factories
• ✅ Cleaner __init__.py files — no _lazy_cfg() boilerplate

This is the right simplification. The callable-based approach was necessary scaffolding during development but the final design should be declarative. Approve. ✅

---

Update (7ba4c36): Kwarg shape improved for extensibility — deprecated_alias_for (string) → deprecated={"alias": ...} (dict). The dict shape allows future fields (reason, removed_in, etc.) without API changes. parse_cfg.load_cfg_from_registry() updated to read kwargs["deprecated"]["alias"]. Changelog and docstrings updated accordingly. Clean structural improvement, no issues. ✅

[greptile-apps]

Greptile Summary

This PR collapses 35 per-variant Cartpole gym task IDs into 4 consolidated tasks (Isaac-Cartpole-Camera-Direct-v0, Isaac-Cartpole-Camera-v0, Isaac-Cartpole-Showcase-Direct-v0, Isaac-Cartpole-Camera-Showcase-Direct-v0) using a new deprecated_task_alias helper and the typed preset CLI from #5587. Each retired ID stays registered as a shim that emits a DeprecationWarning and returns the same cfg as before.

• Adds isaaclab_tasks.utils.deprecated_task_alias, a lazy factory that emits a DeprecationWarning and resolves the historical cfg variant from the consolidated PresetCfg at gym.make() time.
• Direct-backend camera shims use a bespoke _resolve_camera_variant helper to atomically pin both the root cfg variant and the nested tiled_camera preset; all other shims use flat resolution through deprecated_task_alias.
• 73 parametrized unit tests lock the warning text and cfg class identity for all 35 retired IDs and the 4 new consolidated tasks.

Confidence Score: 3/5

Safe for single-call usage; the direct-camera shims break on a second gym.make call with the same deprecated task ID in the same process.

The _resolve_camera_variant helper writes directly into a shared class-level attribute of CartpoleCameraPresetsEnvCfg. After the first call the object's tiled_camera field is already a resolved CartpoleTiledCameraCfg, so any subsequent factory invocation raises AttributeError. The test suite avoids triggering this by giving each parametrized case a unique task ID called exactly once.

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/init.py and source/isaaclab_tasks/test/test_cartpole_preset_deprecations.py

Important Files Changed

Filename	Overview
source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/init.py	Registers consolidated Isaac-Cartpole-Camera-Direct-v0 and seven deprecated shims; _resolve_camera_variant mutates a shared class-level cfg attribute on first call, causing AttributeError on any subsequent factory invocation for the same task ID
source/isaaclab_tasks/isaaclab_tasks/utils/task_deprecation.py	New helper that wraps retired gym task IDs with a DeprecationWarning and lazy cfg resolution; contains a duplicate of _user_stacklevel() already present in hydra.py
source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_camera_presets_env_cfg.py	Adds CartpoleCameraPresetsEnvCfg and MultiDataTypeCartpoleTiledCameraCfg PresetCfg subclasses covering rgb/depth/albedo/simple_shading variants; looks correct
source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole/init.py	Registers consolidated Isaac-Cartpole-Showcase-Direct-v0 and 15 deprecated shims using deprecated_task_alias with flat (non-nested) resolution; pattern is correct
source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/init.py	Registers Isaac-Cartpole-Camera-v0 and four deprecated manager-based perception shims with flat resolution; looks correct
source/isaaclab_tasks/test/test_cartpole_preset_deprecations.py	73 parametrized tests lock deprecation warning text and cfg class identity; good coverage of single-call behaviour but no test exercises the factory a second time, so the repeated-call mutation bug in _resolve_camera_variant is not caught

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A["gym.make(deprecated_id)"] --> B["env_cfg_entry_point factory\n(returned by deprecated_task_alias)"]
    B --> C["warnings.warn DeprecationWarning\n'Task X deprecated, use Y'"]
    C --> D{cfg_factory\nprovided?}
    D -- Yes --> E["_resolve_camera_variant(preset_name)()\n[direct camera shims only]"]
    D -- No --> F["Parse presets= token\nfrom new_command"]
    F --> G["importlib.import_module\n+ getattr(cls(), preset)"]
    E --> H["CartpoleCameraPresetsEnvCfg()\n→ getattr(cfg, preset_name)\n→ mutate result.tiled_camera ⚠️"]
    G --> I["Concrete env cfg returned"]
    H --> I
    I --> J["gym.make continues"]

    K["gym.make(consolidated_id)"] --> L["env_cfg_entry_point string\nresolved by gym directly"]
    L --> M["PresetCfg subclass instantiated\nby resolve_presets via hydra"]
    M --> J

Loading

_{Reviews (1): Last reviewed commit: "Take new_command as a list of CLI tokens" | Re-trigger Greptile}

[greptile-apps]

Shared class attribute mutated in-place on first factory call

getattr(cfg, preset_name) retrieves the class-level attribute on CartpoleCameraPresetsEnvCfg (e.g. CartpoleCameraPresetsEnvCfg.depth), not an instance copy. The next line result.tiled_camera = getattr(result.tiled_camera, preset_name) writes an instance attribute onto that shared object, permanently changing it. A second call to the same factory — e.g. a second gym.make("Isaac-Cartpole-Depth-Camera-Direct-v0") in the same process — will find tiled_camera already resolved to a concrete CartpoleTiledCameraCfg, and getattr(result.tiled_camera, preset_name) will raise AttributeError because CartpoleTiledCameraCfg does not have a depth/albedo/etc. attribute. The fix is to deep-copy result before mutating it (import copy; result = copy.deepcopy(result)).

[greptile-apps]

_user_stacklevel duplicated from hydra.py

hydra.py already defines an identical _user_stacklevel() at lines 45–63. Both copies share the same logic and walk the same bound (16 frames), so any future fix to the frame-walk heuristic needs to be applied in both files. The function should be extracted into a shared private utility (e.g. _warnings.py or an underscore-prefixed helper in a common module imported by both callers).