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…nce_objects, fix wp2torch in g1_wbv_embodiment
Pinocchio was previously imported before AppLauncher as a workaround to force version resolution at startup. Isaac Lab 3 / Newton no longer requires this workaround, so all early pinocchio imports and the --disable_pinocchio CLI flag are removed. Changes: - Remove --disable_pinocchio arg from isaaclab_arena_cli.py - Remove pre-AppLauncher pinocchio imports from all scripts (train, play, teleop, record_demos, replay_demos, annotate_demos, generate_dataset, notebooks) - Remove enable_pinocchio param from test subprocess helpers - Remove peg/hole skip decorators from assembly and asset registry tests - Unconditionally import pick_place and enable XR detection where previously gated on enable_pinocchio Signed-off-by: Clemens Volk <cvolk@nvidia.com>
The hf binary installed in Isaac Sim's Python couldn't find 'requests' because Isaac Sim bundles it in a zip only accessible via python.sh. Use pipx to install hf into an isolated venv so all deps are available, without touching system Python packages.
Support Quest3 for loco-manipulation teleop and record/replay - What was the reason for the change? Support Quest3 for loco-manipulation teleop for g1_pink example. This allows proper data recording for the locomanipulation. - What has been changed? Adds openxr + g1_pink teleop support Adds documention for locomanip data recording with Quest
This reverts commit 97d25d7.
Now teleop interface returns the transformed EE pose in robot base, and avoids doing the transform in process_action IK. This fixes the EE transform drift in replay due to robot pose non deterministic in replay.
## Summary To fix tests hang on CI ## Detailed description Split the CI test step into two separate pytest invocations: 1. Run subprocess-spawning tests (test_policy_runner.py, test_sequential_task_mimic_data_generation.py) — each subprocess gets exclusive GPU access, runs, and exits cleanly 2. Run all remaining in-process tests with --ignore flags — these share the persistent SimulationApp as intended
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## Summary Try to fix CI stalls affecting the Lab 3.0 branch. ## Detailed description - Caused by `run_subprocess` being called when a persistent simulation app is open. --------- Signed-off-by: Xinjie Yao <xyao@nvidia.com> Co-authored-by: Xinjie Yao <xyao@nvidia.com>
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Summary
This is the working branch for upgrading Isaac Lab Arena to Lab 3.0 with Newton.
Detailed description