[WIP] Add cloner support to newton model building with SDP#1
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matthewtrepte wants to merge 316 commits intomainfrom
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[WIP] Add cloner support to newton model building with SDP#1matthewtrepte wants to merge 316 commits intomainfrom
matthewtrepte wants to merge 316 commits intomainfrom
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# Description Added a retargeter for G1 upper body which takes in controller input and outputs a bool for hand open/close in addition to the left and right EE targets based on the controller position. Fixes # (issue) ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
… body. (isaac-sim#3864) # Description Implement ability to attach an imu sensor to xform primitives in a usd file. This PR is based on work by @GiulioRomualdi here: isaac-sim#3094 Addressing issue isaac-sim#3088. We considered more general implementations to account for all sensor types, but found they all handle pose information too differently to gain any benefit from a more general solution. Fixes # (3088) ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Brian McCann <144816553+bmccann-bdai@users.noreply.github.com> Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…aclab.envs.mdp.actions.JointPositionToLimitsAction (isaac-sim#3865) # Description This PR fixes the issue reported in isaac-sim#3753 where the advanced indexing failed due to shape mismatch. This PR is an alternative solution to isaac-sim#3754, The fixes is tricky, the most elegant and performant way I found so far is separate code path when env_id is None vs env_id is tensor. if we don't do so, applying left hand side with self._prev_applied_actions[env_ids, :] where env_ids is 2d will cause the lfs shape to be ill formed. Fixes isaac-sim#3753 <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## 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) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] 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 - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: ooctipus <zhengyuz@nvidia.com> Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
# Description This PR prevents users from accidentally randomizing the mass of rigid body to small and negative by clamping at 1e-6 kg. Fixes isaac-sim#518 ## 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 - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
) # Description Adds support for vectorizing the pick and place demo to test performance for multi-environments. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
…ot installed (isaac-sim#4180) # Description the is_docker() check can sometimes detect that we are installing in docker even though docker is not available on the system, causing to downstream issues in the script. this fix narrows the checks for docker to avoid false positives. Fixes isaac-sim#4181 ## 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 read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] 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 - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
# Description Removes reference to a gitlab link in the code that is not accessible. ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Co-authored-by: ooctipus <zhengyuz@nvidia.com>
# Description Mirrors the `UrdfFileCfg` spawner for `MJCF` files. Code is done, but currently WIP until Issue isaac-sim#1671 is resolved. Edit 10/21/2025: isaac-sim#1671 is resolved with IsaacSim 5.0, PR is ready for review. ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist - [X] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] 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 - [X] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…m#3997) # Description Allows rlgames to decouple devices for simulation and training. This should allow running simulation on CPU and training on GPU ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
# Description Isaac Sim 6.0 moved to Kit 109 which now uses RT2 by default for rendering. RT2 requires different render settings in comparison to what we had in RT1. This PR updates the rendering mode settings to be compatible with RT2 as recommended by the rendering team. We are also updating the backwards compatible 4.5 settings to 5.0 and dropping support for Isaac Sim 4.5. The new settings to give a boost of ~10% in performance. ## 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 read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
…te (isaac-sim#4082) # Description This PR fixes a bug in the mesh converter where collision approximation was missing when applying mesh collision properties. The fix ensures that the collision approximation token is properly set on the USD mesh collision API. Fixes isaac-sim#4077 ### Key changes 1. Added `mesh_approximation_token` attribute to all `MeshCollisionPropertiesCfg` classes 2. Modified `modify_mesh_collision_properties` to explicitly set the mesh collision approximation using the token 3. Updated `extract_mesh_collision_api_and_attrs` to exclude `mesh_approximation_token` from custom attributes 4. Fixed a bug where `len(custom_attrs > 0)` was used instead of `len(custom_attrs) > 0` 5. Added comprehensive unit tests for various collision approximation types (convex decomposition, triangle mesh, SDF) ## 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 read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Fan Dongxuan <soappyooo@outlook.com> Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Co-authored-by: ooctipus <zhengyuz@nvidia.com>
# Description Enables a new PhysX flag to help mitigate noisy velocities. ## Type of change - New feature (non-breaking change which adds functionality) - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description Add missing params for reach policy inference ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [ x I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] My changes generate no new warnings - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
# Description This PR introduces `MultiMeshRayCaster` and `MultiMeshRayCasterCamera`, an extension of the default `RayCaster` with the following enhancements: 1. **Raycasting against multiple target types** : Supports primitive shapes (spheres, cubes, …) as well as arbitrary meshes. 2. **Dynamic mesh tracking** : Keeps track of specified meshes, enabling raycasting against moving parts (e.g., robot links, articulated bodies, or dynamic obstacles). 3. **Memory-efficient caching** : Avoids redundant memory usage by caching and reusing duplicate meshes. This is joint work with @pascal-roth and @Mayankm96. The default `RayCaster` was limited to static environments and required manual handling of moving meshes, which restricted its use for robotics scenarios where robots or obstacles move dynamically. `MultiMeshRayCaster` addresses these limitations by and now supports **raycasting against robot parts and other moving entities**. --- ## Usage For a quick demo, run: ```bash python scripts/demos/sensors/multi_mesh_raycaster.py --num_envs 16 --asset_type <allegro_hand|anymal_d|multi> ``` <img width="2882" height="804" alt="demo image" src="https://github.com/user-attachments/assets/a019e9d4-e991-4ca2-a94e-8cdba790f26d" /> ### Drop-in replacement Example change to migrate from `RayCasterCfg` to `MultiMeshRayCasterCfg`: ```diff - ray_caster_cfg = RayCasterCfg( + ray_caster_cfg = MultiMeshRayCasterCfg( prim_path="{ENV_REGEX_NS}/Robot", mesh_prim_paths=[ "/World/Ground", + MultiMeshRayCasterCfg.RaycastTargetCfg(target_prim_expr="{ENV_REGEX_NS}/Robot/LF_.*/visuals"), + MultiMeshRayCasterCfg.RaycastTargetCfg(target_prim_expr="{ENV_REGEX_NS}/Robot/RF_.*/visuals"), + MultiMeshRayCasterCfg.RaycastTargetCfg(target_prim_expr="{ENV_REGEX_NS}/Robot/LH_.*/visuals"), + MultiMeshRayCasterCfg.RaycastTargetCfg(target_prim_expr="{ENV_REGEX_NS}/Robot/RH_.*/visuals"), + MultiMeshRayCasterCfg.RaycastTargetCfg(target_prim_expr="{ENV_REGEX_NS}/Robot/base/visuals"), ], pattern_cfg=patterns.GridPatternCfg(resolution=resolution, size=(5.0, 5.0)), ) ``` --- ## Benchmarking & Validation To benchmark the new raycaster, run: ```bash python scripts/benchmarks/benchmark_ray_caster.py ``` Then plot the results with: ```bash python scripts/benchmarks/plot_raycast_results.py ``` This will generate outputs under: `outputs/benchmarks/raycast_benchmark...` ### Example plots <table style="border-collapse:collapse; width:100%;"> <!-- Row 1: big image across both columns --> <tr> <td colspan="2" style="text-align:center; padding-bottom:8px;"> <img width="1000" height="500" alt="big image" src="https://github.com/user-attachments/assets/ff69253c-0329-4ab6-a944-7fcaac233923" /> </td> </tr> <!-- Row 2: two images side by side --> <tr> <td style="text-align:center; padding-right:8px;"> <img width="500" height="500" alt="left image" src="https://github.com/user-attachments/assets/5375ed6c-f419-448d-ba25-759c1b16bcdd" /> </td> <td style="text-align:center;"> <img width="500" height="500" alt="right image" src="https://github.com/user-attachments/assets/bc36a0a6-aedd-4cdb-9909-9a05b1f2be0e" /> </td> </tr> <!-- Row 3: last image centered across both columns --> <tr> <td colspan="2" style="text-align:center; padding-top:8px;"> <img width="500" height="500" alt="bottom image" src="https://github.com/user-attachments/assets/67b75944-f64e-4c0b-b51f-aa20da3cf9b1" /> </td> </tr> </table> --- ## Type of Change * [x] New feature (non-breaking change which adds functionality) * [ ] This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [x] 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 - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: renezurbruegg <zrene@ethz.ch> Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.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: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com> Co-authored-by: Pascal Roth <roth.pascal@outlook.de> Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
# Description This MR adds the remaining comments in isaac-sim#3298 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: renezurbruegg <zrene@ethz.ch> Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.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: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com> Co-authored-by: zrene <zrene@ethz.ch> Co-authored-by: Pascal Roth <roth.pascal@outlook.de> Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: zrene <rene.zurbruegg@gmail.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
…on success. (isaac-sim#4170) # Description Add support for validating replay success using the task’s termination criteria in scripts/tools/replay_demos.py. ## Type of change - New feature (non-breaking change which adds functionality) ## Modifications Only "scripts/tools/replay_demos.py" is modified. ## Verification 1. Download the pre-recorded dataset.hdf5 for the Isaac-Stack-Cube-Franka-IK-Rel-v0 task from the [link](https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1/Isaac/IsaacLab/Mimic/franka_stack_datasets/dataset.hdf5) provided in the [teleoperation-imitation-learning](https://isaac-sim.github.io/IsaacLab/main/source/overview/imitation-learning/teleop_imitation.html#teleoperation-imitation-learning) documentation. And place it in the `dataset` folder. 2. Run the following command to verify the changes: `python scripts/tools/replay_demos.py --task Isaac-Stack-Cube-Franka-IK-Rel-v0 --dataset_file ./dataset/dataset.hdf5 --validate_success_rate` 3. For testing, I also augmented the above HDF5 file to a new one with 50 demonstration [trajectories](https://nvidia-my.sharepoint.com/:u:/p/weihuaz/IQAg9ke_LIefRonAMIZ7QyzfAeH_ydqwVbBGsPqwCSD0q3w?e=RqvPNw). You can use it to test the multi-env success rate. `python scripts/tools/replay_demos.py --task Isaac-Stack-Cube-Franka-IK-Rel-v0 --dataset_file ./dataset/dataset.hdf5 --validate_success_rate --num_envs 13` No matter how many environments are enabled, the output should be: > Successfully replayed: 31/50 > Failed demo IDs (19 total): > [0, 1, 2, 3, 5, 6, 7, 8, 9, 10, 11, 12, 23, 34, 45, 46, 47, 48, 49] ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [] 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
# Description Some versions of tqdm cause a strange sys error, fixing it to a known working version. ## 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 read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
# Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> > **Notice: The OpenArm USD files are currently under review and have not yet been officially registered. Therefore, the current setup loads the USD assets from a separate repository. Once the assets are formally registered in Isaac Sim, the loading route will be updated accordingly. This implementation detail was prepared in consultation with Kei Kase from NVIDIA Japan.** * Added the OpenArm assets to `IsaacLab/source/isaaclab_assets/isaaclab_assets/robots`. These assets include configurations for the OpenArm unimanual and bimanual models. * Added the following four environments to `IsaacLab/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation`: * OpenArm bimanual reach task * OpenArm unimanual reach task * OpenArm unimanual lift-a-cube task * OpenArm unimanual open-a-drawer task * Added the changelog entry for the OpenArm environments and updated `extension.toml` under `IsaacLab/source/isaaclab_tasks/docs`. * Added the OpenArm environments to `IsaacLab/docs/source/overview/environments.rst`. The unit tests are as follows: ```bash # Assuming the environment is set up for Isaac Lab v2.3.0. # Clone the repository to load the USD assets. git clone https://github.com/enactic/openarm_isaac_lab # Add the path and navigate to the Isaac Lab repository. export PYTHONPATH=$PYTHONPATH:~/openarm_isaac_lab cd IsaacLab # Run training. python ./scripts/reinforcement_learning/rl_games/train.py --task Isaac-Reach-OpenArm-Bi-v0 --headless # Run the test. python ./scripts/reinforcement_learning/rl_games/play.py --task Isaac-Reach-OpenArm-Bi-v0 --num_envs 4 ``` You can run different tasks and policies. | Task Description | Task Name | Policy Name | | ----------------------- | ------------------------------ | ----------------------------------- | | Reach target position (Bimanual) | `Isaac-Reach-OpenArm-Bi-v0` | `rsl_rl`, `rl_games` | | Reach target position | `Isaac-Reach-OpenArm-v0` | `rsl_rl`, `rl_games`, `skrl` | | Lift a cube | `Isaac-Lift-Cube-OpenArm-v0` | `rsl_rl`, `rl_games` | | Open a cabinet's drawer | `Isaac-Open-Drawer-OpenArm-v0` | `rsl_rl`, `rl_games` | <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) - Documentation update ## Screenshots <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ### Reach target position (Bimanual, rsl_rl) - Screenshot  - Reward function <img width="2734" height="925" alt="Screenshot from 2025-11-27 15-40-46" src="https://github.com/user-attachments/assets/e4e95786-be33-47de-a8c1-4637ae918e35" /> <img width="1568" height="487" alt="Screenshot from 2025-11-27 15-40-54" src="https://github.com/user-attachments/assets/7f50a1e5-2c28-4e70-b8de-1a9bb52b53a4" /> - Video [Screencast from 11-27-2025 03:54:44 PM.webm](https://github.com/user-attachments/assets/e9394734-6d72-42c1-979b-a559ffea0b4d) ### Reach target position (Bimanual, rl_games) - Reward function <img width="2791" height="780" alt="Screenshot from 2025-12-11 23-19-12" src="https://github.com/user-attachments/assets/3f9d6743-954f-478c-a595-06f4b2919851" /> <img width="937" height="389" alt="Screenshot from 2025-12-11 23-19-23" src="https://github.com/user-attachments/assets/d8e3ff51-12dc-4517-ae30-c42afc193b8b" /> - Video [rl_games_reach_bi.webm](https://github.com/user-attachments/assets/6f379883-1b43-45f0-b649-82b4f913cb4b) ### Reach target position (rsl_rl) - Screenshot  - Reward function <img width="1567" height="497" alt="Screenshot from 2025-11-27 15-46-03" src="https://github.com/user-attachments/assets/8f2714ef-8b3d-49ff-9974-a955357dc77a" /> - Video [Screencast from 11-27-2025 03:51:36 PM.webm](https://github.com/user-attachments/assets/53867929-8905-416a-8892-24c328b7ee56) ### Reach target position (rl_games) - Reward function <img width="937" height="389" alt="Screenshot from 2025-12-11 23-24-38" src="https://github.com/user-attachments/assets/df24c50a-07ac-4607-9cde-d1b49944b4f3" /> - Video [rl_games_reach.webm](https://github.com/user-attachments/assets/ba52e2cb-783a-4724-a679-b248ce766748) ### Reach target position (skrl) - Reward function <img width="1007" height="728" alt="Screenshot from 2025-12-11 23-25-55" src="https://github.com/user-attachments/assets/4aa05128-b18b-400f-9b03-bde32f19f71c" /> - Video [skrl_reach.webm](https://github.com/user-attachments/assets/dfab0dec-d59a-4343-85e0-09307d26f227) ### Lift a cube (rsl_rl) - Screenshot  - Reward function <img width="2364" height="487" alt="Screenshot from 2025-11-27 15-44-08" src="https://github.com/user-attachments/assets/6014c5e6-3cf9-4a80-be55-5fe1d842351b" /> <img width="1568" height="487" alt="Screenshot from 2025-11-27 15-43-57" src="https://github.com/user-attachments/assets/52edfb2d-1dcb-4020-a802-2f8d1676bb5b" /> - Video [Screencast from 11-27-2025 03:53:04 PM.webm](https://github.com/user-attachments/assets/85387631-3530-47a7-8c5d-e843ca39ce31) ### Lift a cube (rl_games) - Reward function <img width="1008" height="389" alt="Screenshot from 2025-12-11 23-26-51" src="https://github.com/user-attachments/assets/6faab135-57b0-441d-81ce-8ac59032ecbf" /> - Video [rl_games_lift.webm](https://github.com/user-attachments/assets/4a7d1284-fbb3-4f08-adaf-5a89627bdc06) ### Open a cabinet's drawer (rsl_rl) - Screenshot  - Reward function <img width="2739" height="913" alt="Screenshot from 2025-11-27 15-45-26" src="https://github.com/user-attachments/assets/2a409853-e10c-48f4-be3d-2f86b1a2ede0" /> <img width="1567" height="497" alt="Screenshot from 2025-11-27 15-45-34" src="https://github.com/user-attachments/assets/f9bbb9f1-c566-40e8-ae25-98d083dc8b54" /> - Video [Screencast from 11-27-2025 03:53:54 PM.webm](https://github.com/user-attachments/assets/7f2181e7-4784-4933-a8a7-ef5e45b0d96b) ### Open a cabinet's drawer (rl_games) - Reward function <img width="1008" height="389" alt="Screenshot from 2025-12-11 23-27-27" src="https://github.com/user-attachments/assets/c03d5d27-e52a-45ad-a675-7cc56bcfbed6" /> - Video [rl_games_drawer.webm](https://github.com/user-attachments/assets/957915ca-2cf6-4c32-968d-1f27fcfdc99d) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Antoine RICHARD <antoiner@nvidia.com> Co-authored-by: ooctipus <zhengyuz@nvidia.com> Co-authored-by: Antoine RICHARD <antoiner@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
# Description Rebase branch on latest changes from main. ## 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) - New feature (non-breaking change which adds functionality) - Breaking change (existing functionality will not work without user modification) - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Brian McCann <144816553+bmccann-bdai@users.noreply.github.com> Signed-off-by: Kelly Guo <kellyg@nvidia.com> Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com> Signed-off-by: ooctipus <zhengyuz@nvidia.com> Signed-off-by: Kelly Guo <kellyguo123@hotmail.com> Signed-off-by: Kyle Morgenstein <34984693+KyleM73@users.noreply.github.com> Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Signed-off-by: peterd-NV <peterd@nvidia.com> Signed-off-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Signed-off-by: Fan Dongxuan <soappyooo@outlook.com> Signed-off-by: renezurbruegg <zrene@ethz.ch> Signed-off-by: Antoine RICHARD <antoiner@nvidia.com> Co-authored-by: Brian McCann <144816553+bmccann-bdai@users.noreply.github.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com> Co-authored-by: ooctipus <zhengyuz@nvidia.com> Co-authored-by: Mateo Guaman Castro <mateo.guaman1998@gmail.com> Co-authored-by: Kyle Morgenstein <34984693+KyleM73@users.noreply.github.com> Co-authored-by: shryt <72003497+shryt@users.noreply.github.com> Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com> Co-authored-by: Hougant Chen <hougantc@nvidia.com> Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Co-authored-by: Özhan Özen <41010165+ozhanozen@users.noreply.github.com> Co-authored-by: garylvov <67614381+garylvov@users.noreply.github.com> Co-authored-by: renezurbruegg <zrene@ethz.ch> Co-authored-by: huihuaNvidia2023 <166744601+huihuaNvidia2023@users.noreply.github.com> Co-authored-by: peterd-NV <peterd@nvidia.com> Co-authored-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com> Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Co-authored-by: Eva M. <164949346+mmungai-bdai@users.noreply.github.com> Co-authored-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com> Co-authored-by: Toni-SM <aserranomuno@nvidia.com> Co-authored-by: Yanzi Zhu <yanziz@nvidia.com> Co-authored-by: Greg Attra <gattra@rai-inst.com> Co-authored-by: Krishna Lakhi <klakhi@nvidia.com> Co-authored-by: Fan Dongxuan <soappyooo@outlook.com> Co-authored-by: Antoine RICHARD <antoiner@nvidia.com> Co-authored-by: Pascal Roth <roth.pascal@outlook.de> Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: zrene <rene.zurbruegg@gmail.com> Co-authored-by: yami007007-weihuaz <weihuaz@nvidia.com> Co-authored-by: Jinyeob Kim <wls8074@gmail.com>
# Description Updates documentation for newton beta 2: - Installation instructions - Visualizers instructions - Multi-backends - folder restructuring and mechanism to switch between backends - Quaternion convention change - switching to XYZW - Warp dependency changes - data will be returned in Warp and users need to call wp.to_torch to convert to torch ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Signed-off-by: ooctipus <zhengyuz@nvidia.com> Signed-off-by: Kelly Guo <kellyg@nvidia.com> Signed-off-by: Brian McCann <144816553+bmccann-bdai@users.noreply.github.com> Signed-off-by: Kelly Guo <kellyguo123@hotmail.com> Signed-off-by: Fan Dongxuan <soappyooo@outlook.com> Signed-off-by: renezurbruegg <zrene@ethz.ch> Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com> Signed-off-by: matthewtrepte <mtrepte@nvidia.com> Co-authored-by: Antoine RICHARD <antoiner@nvidia.com> Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Co-authored-by: Eva M. <164949346+mmungai-bdai@users.noreply.github.com> Co-authored-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com> Co-authored-by: ooctipus <zhengyuz@nvidia.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com> Co-authored-by: Toni-SM <aserranomuno@nvidia.com> Co-authored-by: Yanzi Zhu <yanziz@nvidia.com> Co-authored-by: Greg Attra <gattra@rai-inst.com> Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com> Co-authored-by: Brian McCann <144816553+bmccann-bdai@users.noreply.github.com> Co-authored-by: Krishna Lakhi <klakhi@nvidia.com> Co-authored-by: Kyle Morgenstein <34984693+KyleM73@users.noreply.github.com> Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Co-authored-by: Fan Dongxuan <soappyooo@outlook.com> Co-authored-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com> Co-authored-by: renezurbruegg <zrene@ethz.ch> Co-authored-by: Pascal Roth <roth.pascal@outlook.de> Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: zrene <rene.zurbruegg@gmail.com> Co-authored-by: yami007007-weihuaz <weihuaz@nvidia.com> Co-authored-by: matthewtrepte <mtrepte@nvidia.com>
…ac-sim#4230) # Description `omni.metrics` is not part of IsaacSim 4.5, PR restores backward compatibility. Fixes isaac-sim#4229 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> <!--Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context. List any dependencies that are required for this change.--> Fix a bug with `TiledCamera`. The 4-th channel in the "normals" annotator output should be discarded before reshaping into [B, H, W, 3]. Please find more details in the issue below: Fixes isaac-sim#4239 <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## 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) ## Screenshots <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> | Before | After | | ------ | ----- | | <img width="1512" height="742" alt="camera_visualization_before" src="https://github.com/user-attachments/assets/fc4470ea-69c1-4012-a711-164b3c23c9a8" />| <img width="1512" height="742" alt="camera_visualization_fixed" src="https://github.com/user-attachments/assets/22019531-91e1-4614-8418-53fca716dfec" />| ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [x] 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 - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
…m#4055) # Description This PR fixes a documentation issue in the UV Environment section of the Python environment setup guide. When using `uv venv`, the created environment does not include `pip`, which leads to installation errors during Isaac Lab setup. On Ubuntu 22.04, users may also unintentionally invoke the system-wide `pip` (`/usr/bin/pip` or `/usr/bin/pip3`), resulting in packages being installed outside the virtual environment. This update adds a short clarification note and a command for installing `pip` manually inside the UV environment. Fixes # (issue) ## Type of change * Documentation update ## Screenshots <img width="771" height="397" alt="image" src="https://github.com/user-attachments/assets/853edc03-2eb9-42af-8335-c270a661f6dd" /> ## Checklist * [x] I have read and understood the [[contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) * [x] I have made corresponding changes to the documentation * [x] My changes generate no new warnings * [ ] I have run the `pre-commit` checks with `./isaaclab.sh --format` * [ ] 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 `config/extension.toml` * [ ] I have added my name to `CONTRIBUTORS.md` or my name already exists there Signed-off-by: DBin_K <DBinKv1@Gmail.com>
…-sim#3384) # Description This PR introduces an optional `--keyword <search_term>` argument to the `list_envs.py` script. It allows filtering the list of environments by keyword, making it easier to quickly find relevant tasks. ## Type of change - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## Screenshots Searching for all Franka envs: <img width="2494" height="1408" alt="Screenshot from 2025-09-08 13-39-32" src="https://github.com/user-attachments/assets/763c22e5-0f31-4cc1-9d0d-1930e53453ab" /> ## 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 - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Louis LE LAY <le.lay.louis@gmail.com> Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Co-authored-by: ooctipus <zhengyuz@nvidia.com>
Adds `--seed` in the command for `uv` to install pip. Otherwise subsequent uv workflow uses system default pip which results in errors. - Documentation update - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
…saac-sim#4259) # Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> This PR fixes a bug in RigidObjectCollection where _object_names_list accumulates duplicate entries when the simulation resets multiple times, leading to incorrect object counts. Fixes [# (4258)](isaac-sim#4258) **Problem:** When using workflows that trigger multiple simulation resets (e.g., `record_demos.py`), the `_initialize_impl()` method gets called multiple times without clearing the existing `_object_names_list`, causing duplicate object names to be appended. **Solution:** Added `self._object_names_list.clear()` at the beginning of `_initialize_impl()` to ensure the list is reset before repopulating it, making the initialization process idempotent. **Test Command:** ```bash python scripts/tools/record_demos.py --task Isaac-Stack-Cube-Instance-Randomize-Franka-IK-Rel-v0 --teleop_device keyboard ``` ## 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) ## Screenshots <img width="1492" height="403" alt="image" src="https://github.com/user-attachments/assets/4402d016-85b3-43e6-8830-dcb862bcd8b7" /> ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] 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 - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
…vent term (isaac-sim#4051) # Description Fixes isaac-sim#4050 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
…3756) This quality of life upgrade adds the ability to use the configuration classes without needing to load the kit dependencies. - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] 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 - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
…ript (isaac-sim#3889) # Description This PR fixes a bug in the `save_images_grid` function in `scripts/demos/sensors/cameras.py` that occurs when displaying a single subplot. The issue stems from matplotlib's behavior where plt.subplots(nrow, ncol) returns a single Axes object for single subplots (when nrow=1 and ncol=1) instead of an array. The original code unconditionally called .flatten() on the axes, which caused an AttributeError when axes was a single object rather than an ndarray. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. | Before | After | <img width="1116" height="502" alt="Screenshot_png before" src="https://github.com/user-attachments/assets/6d0b7add-ddad-4c9a-8614-d7a75e889769" /> | ------ | ----- | <img width="1116" height="502" alt="Screenshot_png after" src="https://github.com/user-attachments/assets/24862e7b-4431-4e21-81ea-2cfefa03b127" /> ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] 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 --------- Signed-off-by: Abhirup Das <abhirupdas1000@gmail.com>
# Description Previously, the file lived in the core package. However, it is not a part of the core functionality of Isaac Lab. This MR moves it to RL package. ## Type of change - Breaking change (existing functionality will not work without user modification) ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] 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
# Description Fixes various doc building issues ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
…sts (isaac-sim#4801) # Description Some task configs like CartpolePhysicsCfg are PresetCfg that wrap multiple physics backends (physx, newton). It gets resolved to its default field when going through the Hydra pipeline (_resolve_preset_defaults), but when creating environments directly via gym.make() (as the test does), the PresetCfg is never resolved — so SimulationContext sees a PresetCfg object instead of an actual PhysxCfg with a class_type attribute. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description Fixes training issues seen in some environments. This came from potentially using outdated data when writing root / joint propertis. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
…saac-sim#4805) # Description The existing workflow was missing an explicit step to click "accept cert" for cloudxr.js workflows. This add that step with a picture for guidance. Fixes # (issue) ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…im support (isaac-sim#4795) # Description Fixes XR instruction widget for Fabric and current scene view APIs - Use omni.kit.scene_view.xr_utils and XRSceneView instead of deprecated omni.kit.xr.scene_view.utils - When Fabric is enabled, use CopyFabricPrim so the widget transform is preserved in XR; add omni.fabric.commands kit dependency - Clear selection of the instruction prim after copy to avoid "Accessed invalid null prim" on env reset - Fix session lifecycle pre-shutdown by removing invalid unsubscribe() call Fixes # (issue) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## 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) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Co-authored-by: Kelly Guo <kellyg@nvidia.com>
The document is updated for the AutoMate environment. Now the code block looks correct in the document ## Type of change - Documentation update ## Checklist - [ x ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ 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 - [ x ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there Co-authored-by: Kelly Guo <kellyg@nvidia.com>
**Description** Builds on the new benchmarking framework from isaac-sim#4550 by adding a human-readable summary backend and wiring it into existing benchmark scripts. **Key additions:** SummaryMetrics backend that prints a structured console summary and still writes JSON CLI summary backend support across benchmark scripts Frametime recorder fallback for Isaac Sim packaging variants (bundled frametime module) Runtime stats unit fix (FPS vs ms) and num_cpus in summary header **Updated:** Benchmark scripts to enable frametime recorders only when summary is selected **Bug fix:** Runtime stats were previously logged with unit "ms" for every metric, so FPS metrics (e.g. Collection FPS, Total FPS) were mislabelled. The fix infers the unit from the metric key name (FPS vs time) so the summary shows correct units. Location: scripts/benchmarks/utils.py, log_min_max_mean_stats. **Type of change** New feature (non-breaking change which adds functionality) Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: preeves-nv <preeves@nvidia.com> Signed-off-by: Antoine RICHARD <antoiner@nvidia.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: Antoine RICHARD <antoiner@nvidia.com>
## Summary
Benchmark JSON output now includes a `presets` field in the
`benchmark_info` workflow metadata, allowing dashboards and DB to
distinguish runs made with different physics/renderer/data-type
permutations.
- Adds `get_preset_string()` to `scripts/benchmarks/utils.py` — extracts
the active preset from CLI hydra args
(`presets=physx,ovrtx_renderer,rgb`), the `ISAACLAB_BENCHMARK_PRESET`
env var, or falls back to `"default"`
- All three benchmark scripts (`benchmark_non_rl.py`,
`benchmark_rlgames.py`, `benchmark_rsl_rl.py`) now include `{"name":
"presets", "data": "..."}` in their `workflow_metadata`
### Migration note for external runners
The environment variable for passing presets has been renamed from
`OMNIPERF_ISAACLAB_PRESET` to **`ISAACLAB_BENCHMARK_PRESET`**. Any CI
runner or script that sets the old env var should update to use the new
name:
```diff
- env["OMNIPERF_ISAACLAB_PRESET"] = "physx,ovrtx_renderer,rgb"
+ env["ISAACLAB_BENCHMARK_PRESET"] = "physx,ovrtx_renderer,rgb"
```
### Context
This addresses a gap identified while integrating rendering permutation
testing into the Omniperf CI pipeline (Soowan Park's omniperf-benchmark
MR). The runner sends a preset string to benchmark scripts, but the
resulting JSON had no record of which preset was used — making runs with
different presets indistinguishable in the DB.
## Type of change
- New feature (non-breaking change which adds functionality)
## Test plan
- [x] Smoke test: `benchmark_non_rl.py` with `presets=physx` — JSON
contains `"presets": "physx"`
- [x] Smoke test: no presets — JSON contains `"presets": "default"`
- [x] Verified no change to existing JSON keys/structure (additive only)
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
---------
Signed-off-by: preeves-nv <preeves@nvidia.com>
Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
# Description ## Summary Three improvements to benchmark scripts for rendering permutation testing: 1. **Preset metadata in JSON output** — injects the active `presets` string (from CLI or `ISAACLAB_BENCHMARK_PRESET` env var) into the `benchmark_info` phase of the output JSON, enabling dashboards to distinguish runs by preset combination. 2. **Conditional Kit launch for kitless presets** — benchmark scripts now skip `AppLauncher` when the preset combination is fully kitless (e.g. `presets=newton`), matching the behavior of training scripts. Guards added for `simulation_app.is_running()`, `.close()`, and distributed rank lookups. 3. **Centralized `needs_kit()` utility** — replaces per-script inline `"newton"` string checks with a shared `needs_kit()` function in `scripts/benchmarks/utils.py`. The function considers both physics and renderer presets, so `presets=newton,ovrtx_renderer` correctly requires Kit while `presets=newton` alone skips it. New kitless backends only need to be added to `KITLESS_PHYSICS_PRESETS` or `KIT_RENDERER_PRESETS` sets in one place. ### Migration note for external runners The environment variable for passing presets has been renamed from `OMNIPERF_ISAACLAB_PRESET` to **`ISAACLAB_BENCHMARK_PRESET`**. Any CI runner or script that sets the old env var should update to use the new name: ```diff - env["OMNIPERF_ISAACLAB_PRESET"] = "physx,ovrtx_renderer,rgb" + env["ISAACLAB_BENCHMARK_PRESET"] = "physx,ovrtx_renderer,rgb" ``` ### Context Reported by Soowan Park in Slack: running `presets=newton,newton_renderer,rgb` on benchmark scripts still loaded Kit (unlike training scripts), and the benchmark JSON output contained no preset information for dashboard ingestion. ### Known limitation Newton presets will still crash due to a separate pre-existing bug: `SolverMuJoCo` is missing the `get_max_contact_count()` method that `newton_manager.py` expects. This is a Newton team fix, not addressed here. ### Recommended follow-ups - Full refactor of benchmark scripts to use `launch_simulation()` context manager (as training scripts already do) - Camera tasks (`Isaac-Cartpole-Camera-Presets-Direct-v0`) require `--enable_cameras` flag — CI runners should pass this for camera tasks - Camera tasks produce 5 extra GPU Frametime keys in JSON — may require DB schema consideration ## Type of change - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) ## Test plan - [x] PhysX default (no preset): Kit loads normally, benchmark completes, JSON written with `presets: "default"` - [ ] Newton preset: Kit skipped (cannot fully test due to Newton solver bug above) - [x] `needs_kit()` returns correct results for all preset combinations (newton, newton+ovrtx_renderer, physx, default) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings --------- Signed-off-by: preeves-nv <preeves@nvidia.com> Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…orted assets (isaac-sim#4824) # Description Adds documentation update for the command to use the new URDF Importer. Also fixes the logic to open the stage after running the converter scripts for both URDF and MJCF converters. ## 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) - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
# Description Allows looser check on asset spawning, if spawn path is None, we just assume user will handle the spawning them selfs. Fixes # (issue) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## 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) - New feature (non-breaking change which adds functionality) - Breaking change (existing functionality will not work without user modification) - Documentation update ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
…4808) # Description Isaac Teleop has moved retageters to a top level source/retargeters directory. This change updates teleop envs to reflect this. Fixes # (issue) ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description <img width="818" height="818" alt="image" src="https://github.com/user-attachments/assets/e0a8a024-f532-41ef-a0ac-22cbdf37c7fb" /> ``` diff --git a/source/isaaclab_tasks/isaaclab_tasks/utils/presets.py b/source/isaaclab_tasks/isaaclab_tasks/utils/presets.py index 3ca5ea2..69532aa21f6 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/utils/presets.py +++ b/source/isaaclab_tasks/isaaclab_tasks/utils/presets.py @@ -4,6 +4,7 @@ # SPDX-License-Identifier: BSD-3-Clause from isaaclab_newton.renderers import NewtonWarpRendererCfg +from isaaclab_ovrtx.renderers import OVRTXRendererCfg from isaaclab_physx.renderers import IsaacRtxRendererCfg from isaaclab.utils import configclass @@ -15,4 +16,5 @@ from isaaclab_tasks.utils import PresetCfg class MultiBackendRendererCfg(PresetCfg): default: IsaacRtxRendererCfg = IsaacRtxRendererCfg() newton_renderer: NewtonWarpRendererCfg = NewtonWarpRendererCfg() - ovrtx_renderer: IsaacRtxRendererCfg = default + ovrtx_renderer: OVRTXRendererCfg = OVRTXRendererCfg() + ovrtx: OVRTXRendererCfg = OVRTXRendererCfg() # alias for presets=newton,ovrtx ``` Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context. List any dependencies that are required for this change. Fixes # (issue) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## 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) - New feature (non-breaking change which adds functionality) - Breaking change (existing functionality will not work without user modification) - Documentation update ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Co-authored-by: Octi Zhang <zhengyuz@nvidia.com>
… Cartpole (isaac-sim#4816) # Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context. List any dependencies that are required for this change. Fixes # (issue) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## 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) - New feature (non-breaking change which adds functionality) - Breaking change (existing functionality will not work without user modification) - Documentation update ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
# Description
Fixes config resolution for environments that use PresetCfg or
presets-dict wrappers (multi-backend selectors for PhysX/Newton) when no
Hydra CLI override is provided (e.g. in unit tests).
Core changes:
- Added resolve_cfg_presets() in configclass.py to recursively resolve
preset wrappers to their default variant; called at construction in all
three env base classes
- Replaced the circular-import-prone resolve_preset_defaults call in
parse_cfg.py with a local implementation
- SimulationContext and InteractiveScene now also resolve preset
wrappers inline
Bug fixes:
- Automate tasks: fixed broken file path (was calling os.path.basename()
on a remote URL instead of using the return value of
retrieve_file_path())
- dexsuite MDP: moved asset imports under TYPE_CHECKING to fix circular
imports
- rl_games: added DirectMARLEnvCfg to valid cfg type check
Test/infra:
- Reduced num_envs from 32 → 2 across all environment/sensor tests
(faster CI, less GPU memory)
- Fixed app.name in all .kit files ("Isaac Lab" → "IsaacLab")
## 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 read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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
<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it
For example,
- [x] I have done this task
- [ ] I have not done this task
-->
---------
Co-authored-by: Claude Sonnet 4.6 <noreply@anthropic.com>
# Description These two files are inspired from Newton's own AGENTS.md and CLAUDE.md file. ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description This PR fixes bugs and brings inhand direct envs into isaaclab, notably, we have to migrate to newer newton, and fixes bugs that the new usd importer brings. Fixes # (issue) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
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Description
Speed up scene creation with SDP when a newton model is constructed by adding cloner support.
Type of change
Screenshots
Please attach before and after screenshots of the change if applicable.
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there