fix leapp docs#5511
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# Description - Fixed ArticulationData.body_inertia and RigidObjectData.body_inertia returning raw mat33f arrays instead of (N, B, 9) float32 as documented in the interface contract. - Removed unnecessary wp.clone() from RigidObjectCollectionData.body_inertia, making all three asset data classes consistently zero-copy. ## 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 --------- Signed-off-by: ooctipus <zhengyuz@nvidia.com> Co-authored-by: ooctipus <zhengyuz@nvidia.com>
…es docs (isaac-sim#4902) # Description Fix first-episode pose reset, IK regression, and select camera viewpoint: - Robot pose reset on first episode. - Robot placement relative to wheel. - Ground plane: Made invisible instead of deleted when a background USD is provided, preserving physics collision for stable locomotion. - Viewport camera: --init_camera_view replaced with --sensor_camera_view, which sets the GUI viewport to the robot_pov_cam sensor prim directly. - Docs: Updated NuRec background section with clearer prerequisites and asset requirements. ## Type of change - 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 - [ ] 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 skrl only writes checkpoints at `checkpoint_interval` multiples during training (in `Agent.post_interaction`). When using short training runs (e.g. `--max_iterations 5` with `rollouts=32` gives 160 timesteps vs `checkpoint_interval=3200`), no checkpoint file is ever saved. This causes SQA validation to fail because no `.pt` files are found in the `checkpoints/` directory. This PR adds an explicit `write_checkpoint` call after `runner.run()` completes to ensure at least one checkpoint always exists. This is consistent with how the sb3 training script already saves a final model after training. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots N/A ## 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
…m#4919) ## Summary - Adds a `validate_config()` hook to `@configclass` that subclasses can override for domain-specific validation. The hook is called automatically at the end of `_validate()`, after MISSING-field checks, so invalid preset combinations surface immediately with clear error messages rather than crashing deep in scene setup. - Moves `ShadowHandVisionEnvCfg` validation from the env constructor (`_validate_cfg()`) into `validate_config()`, removing the standalone function and cleaning up the env `__init__`. - Adds `validate_config()` to `DexsuiteReorientEnvCfg` to catch two classes of invalid presets early: - Newton physics with multi-asset spawning (`shapes` object preset) - Newton Warp renderer with unsupported camera data types (e.g. `albedo`, `simple_shading_*`) - Updates `test_shadow_hand_vision_presets.py` to call `cfg.validate_config()` instead of the removed `_validate_cfg()` function.
…saac-sim#4920) # Description Fixes `OgnSdSemanticLabelsMap: invalid input host AOV` warnings that appeared when using semantic segmentation cameras (e.g. Shadow Hand Vision). A recent commit replaced the standard `SemanticsLabelsAPI` schema with custom USD attributes for semantic annotation, which the Omniverse synthetic data pipeline did not recognize. This restores the correct `add_labels()` call. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots N/A ## 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: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
# Description Updates Newton dependency to 1.0.0 package. Warp dependency to 1.12.0 ## 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) ## 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 -->
…c-sim#4834) # Description This PR: Refactored ManagerBase._process_term_cfg_at_play to recursively resolve nested ManagerTermBaseCfg instances, string-based func references, and SceneEntityCfg objects found inside params dicts and lists via a new _resolve_param_value method. Added test_manager_base.py with 6 tests covering dict-nested, list-nested, string-func, class-based, deeply nested, and multi-level chained/list term resolution — all without requiring an Isaac Sim launch. 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. --> - 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 - [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 -->
…saac-sim#4879) # Description Improvements to the installation and documentation within UV and Kit-less pathways in mind. **CLI fixes:** - More reliable installation detection (using "import isaaclab"). - Handle case w/no IsaacSim symlinked. - "pip" / "uv pip" command selection based on environment. - Unit test for cli utils and uv install commands. **Docs:** - Add "Installation Configurations" section to installation index explaining the Kit vs Kit-less and PhysX vs Newton axes, with a common install paths table - Add "Install Options Reference" table listing all accepted `-i` tokens - Add "Selecting the Physics Backend" subsection to the quickstart guide with `presets=newton/physx` and `--visualizer` examples - Sync `--help` output in docs with updated CLI (`visualizers`, `ovrtx`, visualizer selector syntax) ## Type of change - Bug fixes - Improvements - Test - 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 - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added Ruben DS'a-s to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: myurasov-nv <168484206+myurasov-nv@users.noreply.github.com> Co-authored-by: Mikhail Yurasov <myurasov@nvidia.com> Co-authored-by: myurasov-nv <168484206+myurasov-nv@users.noreply.github.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
# Description The Newton training environments documentation showed example commands without `presets=newton`, which is confusing since users reading that page are specifically trying to run with the Newton backend. - Added `presets=newton` to all example commands (zero_agent, random_agent, train, play) - Added a PhysX vs Newton side-by-side comparison at the top of the examples section - Added `Isaac-Dexsuite-Kuka-Allegro-Reorient-v0` to the supported tasks list - Added a note explaining that Dexsuite environments require `presets=cube,newton` because Newton does not support multi-asset spawning ## 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
…im#4922) # Description Dexsuite Kuka Allegro gym registrations referenced a non-existent `rl_games_ppo_cfg.yaml`, causing `FileNotFoundError` when the CI training benchmark tried to resolve the rl_games agent config. The rl_games yaml was never created for these environments. - Removed `rl_games_cfg_entry_point` from all four Dexsuite Kuka Allegro gym registrations. - Updated the `fast` benchmark config to use `rsl_rl:` prefix for `Isaac-Dexsuite-Kuka-Allegro-Lift-v0`. - Updated the PBT documentation example to use `Isaac-Repose-Cube-Shadow-Direct-v0` (which has an rl_games config) instead of the Dexsuite task. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots N/A ## 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
# Description Running the benchmarks, I noticed the `SimulationContext` tear-down time was long or even hanging indefinitely. This PR skips clear_stage() when calling clear_instance(). The idea is that we likely don't need to clear the stage when we clear the instance, we already call close stage + app shutdown? Hopefully this also helps with the CI times that are getting out of hand.... ## 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 - [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
Small change to docs.yaml CI task, that: - builds only develop branch docs on develop - builds other versions on main/release - passes keep_files: true flag to the action that deploys gh pages --------- Signed-off-by: myurasov-nv <168484206+myurasov-nv@users.noreply.github.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
# Description Replace the git-clone-based Isaac Teleop setup with a pip install workflow (isaacteleop[retargeters,ui,cloudxr]), removing the need to clone the repository. Document python -m isaacteleop.cloudxr as the single command to start the CloudXR runtime and built-in WSS proxy. Add runtime configuration docs for --cloudxr-install-dir, --cloudxr-env-config, optical hand tracking, and Apple Vision Pro. Replace setup_cloudxr_env.sh with source ~/.cloudxr/cloudxr.env for Isaac Lab environment setup. Add step-by-step certificate acceptance walkthrough with screenshots for the CloudXR.js web client. 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 --------- Signed-off-by: rwiltz <165190220+rwiltz@users.noreply.github.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
…saac-sim#4933) # Description Fixed "[Error] [omni.usd] Stage opening or closing already in progress" on shutdown when running with Kit: ``env.close()`` already closes the stage, so the additional call to :func:`~isaaclab.sim.utils.stage.close_stage` from :meth:`~isaaclab.sim.SimulationContext.clear_instance` was removed as redundant (it triggered the error). 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 --> --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
# Description Updates XR profile to default to Augmented Reality (ar). Kit defaults XR profile to Virtual Reality. 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 --> --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…ctCollection (isaac-sim#4940) # Description _reshape_view_to_data_2d/_3d created strided views with device=self.device (GPU) on pointers from CPU arrays. This could not be reproduced locally because our GPUs allowed for this using heterogeneous memory management, but the CI machine did no allow for this. ## 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 --------- Co-authored-by: Kelly Guo <kellyg@nvidia.com>
# Description Only uses UV command instead of PIP when in virtual environment. Otherwise when UV is present, install is broken outside venvs. ## 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` - [NA] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [NA] I have added tests that prove my fix is effective or that my feature works - [NA] 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: myurasov-nv <168484206+myurasov-nv@users.noreply.github.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
# Description Updates installation instructions for aarch64 (Spark) to include Python 3.12 dev headers that are needed for `quadprog`. ## Feature Type Documentation change. ## 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 - [NA] I have added tests that prove my fix is effective or that my feature works - [NA] 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 adds reward convergence checking to the benchmark script. Computes
trailing window mean reward and coefficient of variation (CV) over the
last 20% of iterations. Training passes when mean >= threshold and CV <=
20%.
Hooked into both benchmark_rsl_rl.py and benchmark_rlgames.py via a new
`--check_convergence` arg. When provided, three new measurements are
added to the benchmark json output for the Grafana dashboard to ingest:
- `Mean Reward (Converged)` - trailing window mean
- `Reward CV %` - stability metric
- `Convergence Passed` - 1 if converged, 0 if not
Thresholds are loaded from configs.yaml using the `full` config by
default, but can be overridden via the `--convergence_config` arg. The
reward threshold can be overridden by the `--reward_threshold` arg.
## Usage
```
python scripts/benchmarks/benchmark_rlgames.py \
--task Isaac-Repose-Cube-Shadow-Vision-Direct-v0 \
--max_iterations 3000 --headless \
--benchmark_backend summary \
--check_convergence \
--reward_threshold 1000 \
presets=physx
```
## Example output (Shadow Hand Vision, physx, 3000 iters)
```
{"name": "Mean Reward (Converged)", "value": 2806.34, "unit": "float"},
{"name": "Reward CV %", "value": 4.2, "unit": "%"},
{"name": "Convergence Passed", "value": 1, "unit": "bool"}
```
## 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`
- [ ] I have made corresponding changes to the documentation _(N/A -
utility function in scripts/benchmarks, not a framework API change)_
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works _(manually tested)_
- [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
…isaac-sim#4925) # Description the test is using old newton contact sensor api, and new api only accepts nested list structure. Fixes isaac-sim#4908 ## 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 - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…isaac-sim#4949) # Description The Galbot RmpFlow (relative mode) env configs inherit isaac_teleop from the base joint-pos configs, which sets up an absolute-pose XR pipeline producing 8D actions. This mismatches the RMPFlowAction in relative mode, which expects 7D (6D delta + 1D gripper), causing a ValueError: Invalid action shape, expected: 7, received: 8 at runtime. This PR clears the inherited isaac_teleop and adds teleop_devices with keyboard and spacemouse configs to both RmpFlowGalbotLeftArmCubeStackEnvCfg and RmpFlowGalbotRightArmCubeStackEnvCfg, restoring the legacy teleop support that was present in release/2.3.0. 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
…aac-sim#4935) # Description * [Adds Isaac-Stack-Cube-Franka-IK-Rel-v0 task variants with varying stack orders](isaac-sim#4875) * [Updates minor RSL-RL configclass docstring](isaac-sim#4909) ## 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` - [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: Kelly Guo <kellyg@nvidia.com> Signed-off-by: Kelly Guo <kellyguo123@hotmail.com> Co-authored-by: nv-caelan <cgarrett@nvidia.com> Co-authored-by: Clemens Schwarke <96480707+ClemensSchwarke@users.noreply.github.com>
…saac-sim#4952) # Description Add instruction to install Ubuntu multimedia packages for MP4 play ## 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 - [ ] 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
…4948) # 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. --> With visualizers added, we can streamline how the headless arg works. Currently the headless and visualizer args are overlapping and confusing. This change deprecates the headless arg, and adds some additional visualizer arg features. Updates Visualizer Resolution: - No visualizer arg = headless mode - Headless arg is still supported, but outputs deprecation warning, and overwrites visualizer arg - Visualizer Configs field in Simulation Config can be used to select visualizers and launch them by default - New visualizer "none" option overwrites the Visualizer Configs to force headless mode Other Changes: - Fixes env spacing bug in Rerun and Viser visualizers - Adds --viz alias for --visualizer - Updates docs & unit tests where --headless cmd was used - Adds new unit tests - Adds headless arg section to migration docs - Updates visualization docs to explain the new visualizer selection modes <!-- 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 malloc issues seen with the physx scene data provider reduce warning msg log spam from physx scene data provider also adds a snippet to NewtonWarpRenderer from @ooctipus ## 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 - [ ] 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 Isaac Sim ships prebundled copies of packages (torch, warp, newton, etc.) inside `pip_prebundle` directories. Whether Isaac Sim is installed via pip or via a local symlink (`_isaac_sim`), these prebundled copies can shadow the versions installed in the active conda/uv environment (e.g. `torch+cu128` overriding the `torch+cu130` the user installed on aarch64), causing version mismatches or native crashes during Kit startup. This PR adds `_repoint_prebundle_packages()` which runs at the end of `command_install` and replaces prebundled package directories with symlinks pointing to the active environment's `site-packages`. Original copies are preserved as `.bak` for recovery. The operation is idempotent. ## Type of change - Bug fix (non-breaking change which fixes an issue) - 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 - [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
… USDRT (isaac-sim#4959) ## Description USDRT select prim currently requires cuda:0. the fix for this will be available in the next Kit version. For now, we will turn off fabric for non-cuda:0 devices to avoid the error in USDRT, which in turn will cause a hang in multi-GPU runs. ## 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 -->
) # 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. --> After headless arg PR goes in, the demo scripts will launch headless by default. This changes make the demo scripts now launch with a kit visualizer by default. <!-- 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 -->
…sim#4964) # Description There was too much logging being printed so we default logging verbosity to warnings. Also replicator was failing due to missing botocore package on Spark, so adding botocore as a dependency. ## 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 -->
…_teleop extensions (isaac-sim#4979) # 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. --> Adds the [nvidia-srl-usd-to-urdf](description) package as a dependency for isaaclab_mimic and isaaclab_teleop to fix missing module error for imitation learning examples with humanoid PINK envs. 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) ## 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 -->
…alizer (--visualizer) (isaac-sim#5474) # 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. --> Extending Brian's original PR: Sync video recorder's (--video) renderer backend with the active visualizer (--visualizer) Change enable cross recording support for Renderers and Visualizers Also fixes https://nvbugs/6121118 <!-- 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) ## 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: bdilinila <148156773+bdilinila@users.noreply.github.com> Signed-off-by: Kelly Guo <kellyg@nvidia.com> Signed-off-by: matthewtrepte <mtrepte@nvidia.com> Co-authored-by: Brian Dilinila <bdilinila@nvidia.com> Co-authored-by: HuiDong Chen <huidongc@nvidia.com> Co-authored-by: bdilinila <148156773+bdilinila@users.noreply.github.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: Piotr Barejko <pbarejko@nvidia.com> Co-authored-by: myurasov-nv <168484206+myurasov-nv@users.noreply.github.com> Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com> Co-authored-by: Antoine Richard <antoiner@nvidia.com> Co-authored-by: Claude Opus 4.6 (1M context) <noreply@anthropic.com> Co-authored-by: ClemensSchwarke <clemens.schwarke@gmail.com> Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kelly@nvidia.com> Co-authored-by: ooctipus <zhengyuz@nvidia.com> Co-authored-by: hougantc-nvda <127865892+hougantc-nvda@users.noreply.github.com> Co-authored-by: Piotr Barejko <piotrbarejko@protonmail.com>
# Description Adds the PhysX backend for `JointWrenchSensor`. This PR is built on top of isaac-sim#5412. Until that PR lands, this comparison also includes the Newton joint-wrench sensor commits from isaac-sim#5412. The PhysX sensor creates a PhysX articulation view and reads incoming joint wrenches from `ArticulationView.get_link_incoming_joint_force()`. It then converts the raw PhysX body1-frame, body-origin wrench into the shared `incoming_joint_frame` convention: child-side joint frame with torque referenced at the child-side joint anchor. PhysX and Newton joint-wrench sensors also resolve nested USD articulation roots before creating their articulation views so asset-level paths such as `{ENV_REGEX_NS}/Robot` work for classic Ant/Humanoid assets. This also removes `ArticulationData.body_incoming_joint_wrench_b` from the articulation data APIs, migrates manager/direct environments that used it to `JointWrenchSensor`, and documents the Isaac Lab 3.0 migration path. Classic Ant/Humanoid Newton presets now use the same wrench observations as PhysX and pass short RSL-RL training smokes. @camevor can you review? Fixes # (issue) N/A ## Type of change - New feature (non-breaking change which adds functionality) - Breaking change (existing functionality will not work without user modification) - Documentation update ## Screenshots N/A ## Tests - `./isaaclab.sh -f` - `docker exec isaac-lab-base bash -lc "cd /workspace/isaaclab && ./isaaclab.sh -p -m pytest source/isaaclab_physx/test/sensors/test_joint_wrench_sensor.py"` - 11 passed - `docker exec isaac-lab-base bash -lc "cd /workspace/isaaclab && ./isaaclab.sh -p -m pytest source/isaaclab_newton/test/sensors/test_joint_wrench_sensor.py"` - 10 passed - `docker exec isaac-lab-base bash -lc "cd /workspace/isaaclab && ./isaaclab.sh -p -m pytest source/isaaclab_tasks/test/test_environments.py -k 'Isaac-Ant-v0 or Isaac-Humanoid-v0'"` - 4 passed - `docker exec isaac-lab-base bash -lc "cd /workspace/isaaclab && ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Ant-v0 --num_envs 16 --max_iterations 1 --headless --device cuda presets=newton agent.num_steps_per_env=8"` - passed - `docker exec isaac-lab-base bash -lc "cd /workspace/isaaclab && ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Humanoid-v0 --num_envs 16 --max_iterations 1 --headless --device cuda presets=newton agent.num_steps_per_env=8"` - passed - `docker exec isaac-lab-base bash -lc "cd /workspace/isaaclab && ./isaaclab.sh -p -m pytest source/isaaclab/test/test_mock_interfaces/test_mock_data_properties.py"` - 253 passed ## 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: camevor <camevor@nvidia.com> Co-authored-by: camevor <camevor@nvidia.com>
# Description Renames the public Newton MJWarp physics preset from ``newton`` to ``mjwarp`` to distinguish solver selection from the Newton backend, Newton package, and Newton visualizer names. The change keeps legitimate Newton component names intact, including ``isaaclab_newton``, ``newton_renderer``, ``--viz newton``, backend label ``newton``, and solver value ``"newton"``. Legacy ``newton`` preset selections now resolve to ``mjwarp`` with a deprecation warning. Related to isaac-sim#5483. No new dependencies are required. ## Type of change - Bug fix (non-breaking change which fixes an issue) - Documentation update ## Screenshots Not applicable. ## Testing - Docker: ``./isaaclab.sh -p -m pytest source/isaaclab_tasks/test/test_mjwarp_preset_names.py source/isaaclab_tasks/test/test_hydra.py source/isaaclab_tasks/test/test_preset_kit_decision.py -q``: 74 passed - Docker: ``./isaaclab.sh -p -m pytest source/isaaclab_tasks/test/test_shadow_hand_vision_presets.py -q``: 67 passed, 6 skipped, 2 xpassed - Docker: ``./isaaclab.sh -p -m pytest "source/isaaclab_visualizers/test/test_visualizer_cartpole_integration.py::test_cartpole_newton_visualizer_tiled_camera_rgb_non_black[newton]" -q``: 1 passed - Docker: ``./isaaclab.sh -p -m pytest --collect-only -q source/isaaclab_tasks/test/test_environments_newton.py``: 86 tests collected - Docker byte-compile of changed Python files: passed - Docker grep guards for stale public ``newton`` preset references: passed - Host: ``./isaaclab.sh -f``: passed - Host: ``git diff --check``: passed ## 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 Note: this PR adds changelog fragments under ``changelog.d``. The extension version is compiled by the nightly workflow, so ``config/extension.toml`` is intentionally not edited directly.
# Description Refactors :class:`~isaaclab_newton.physics.NewtonManager` from a single class with a ``solver_type`` if/elif ladder into a solver-agnostic abstract base with one concrete subclass per supported solver: * :class:`~isaaclab_newton.physics.NewtonMJWarpManager` * :class:`~isaaclab_newton.physics.NewtonXPBDManager` * :class:`~isaaclab_newton.physics.NewtonKaminoManager` * :class:`~isaaclab_newton.physics.NewtonFeatherstoneManager` Each ``*SolverCfg`` now declares a ``class_type`` field pointing at its matching manager subclass. ``NewtonCfg.__post_init__`` propagates ``solver_cfg.class_type`` onto ``NewtonCfg.class_type`` so that ``SimulationContext`` resolves the right manager through the existing dispatch path. Solver construction is replaced by polymorphic dispatch on ``_build_solver`` rather than branching inside ``initialize_solver``. **Motivation.** The previous design forced every solver-specific concern (buffer allocation, contact-pipeline plumbing, Kamino's FK reset path, MJWarp's debug convergence logging) to live in `NewtonManager` behind ``if solver_type == ...`` branches. Adding a new solver meant editing the base class. With the refactor each solver owns its own file and overrides only what it needs. **User-facing API is unchanged.** Existing user code such as ```python NewtonCfg(solver_cfg=MJWarpSolverCfg(...)) ``` keeps working — class_type is wired up automatically. ## 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 --------- Co-authored-by: Copilot <copilot@github.com> Co-authored-by: Antoine RICHARD <antoiner@nvidia.com>
isaac-sim#5494) # Description Newton is not supported for real-time teleoperation in this release. Update the environments documentation to list the physx preset for all teleop environments so users know which physics backend to use. Add physx preset to GR1, G1, Galbot, and Franka IK-Abs teleop entries in the visual environment table Add missing teleop environments to the comprehensive list (PickPlace GR1T2, NutPour, ExhaustPipe, Locomanipulation G1, FixedBase G1, Stack-Cube-Franka-IK-Abs) Add physx preset to existing Galbot stack entries in the comprehensive list Remove duplicate Galbot/Agibot rows in the comprehensive list Add a tip about hand tracking input mode to the CloudXR teleoperation guide 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) ## 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
…m#5473) # 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. --> Extend debug Visualization Markers, which are supported in the Kit Visualizer, to the Newton Visualizers. These Visualization Markers are various shapes and models which can be added to envs for debugging / showing extra information. Also added filtering for partial visualization (when we filtered which envs are shown the in the visualizer, we also filter the markers) For general USD mesh marker support in Newton, a followup PR will be required, once a Newton API for general USD -> Newton Mesh conversion is added (see newton-physics/newton#2667) Checked velocity arrows, dexcubes, raycasts, frames, goal markers <!-- 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 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: matthewtrepte <mtrepte@nvidia.com>
# Description - Increase the CI startup-hang grace period from 45s to 120s so slow but valid Kit startup is not killed prematurely. - Make `SurfaceGripper` fail fast on non-CPU simulation backends before loading the surface gripper extension. - Skip the CI-only `SurfaceGripperView` CPU initialization path that can deadlock, while keeping CUDA fail-fast coverage. ## 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 -->
…isaac-sim#5478) Follow-up to isaac-sim#5434 (fragment-based changelog system). Two contributor-facing references still pointed at the old "edit CHANGELOG.rst directly" workflow: - **`docs/source/refs/contributing.rst`** — *Maintaining a changelog and extension.toml* section described per-version editing of CHANGELOG.rst with manual SemVer bumps. - **`.github/PULL_REQUEST_TEMPLATE.md`** — checklist asked contributors to update the changelog and bump extension.toml directly. Replaced only the parts that talk about direct editing; section/style guidance (Added/Changed/Deprecated/Removed/Fixed, past tense, the sample bullets themselves) stays intact. ## Test plan - [x] Pre-commit clean - [ ] Verify Build Latest Docs CI step renders the new section correctly cc @kellyguo11 — addresses the doc gaps flagged after isaac-sim#5434 merged.
# Description Mark all RTX-based rendering test cases flaky until they can produce deterministic low-res camera outputs that pass golden image testing on every CI run. 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 - Test change ## 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 - [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: HuiDong Chen <huidongc@nvidia.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
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Description
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List any dependencies that are required for this change.
Fixes # (issue)
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Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there