Merge branch 'develop' into esekkin/upgrade-isaac-sim-alpha50

Author: nvsekkin

.github/actions/validate-kitless-image/action.yml

@@ -54,10 +54,8 @@ runs:
       print("ovrtx renderer initialized")
       '
 
-      # The Newton training probe is the shared one architecture CI also runs, so
-      # the command and its assertions live in one place. pytest goes only into
-      # this disposable layer; reinstalling the workspace would fail against the
-      # read-only source mount.
+      # Discover files by grep, not by pointing pytest at a directory: this image has no Isaac
+      # Sim, and collecting a directory imports every module to read its markers.
       docker run --rm --gpus all --network host \
         "${mount_args[@]}" \
         "$IMAGE_TAG" \
@@ -67,6 +65,8 @@ runs:
       python -m pytest \
         source/isaaclab/test/install_ci/misc/cartpole_training_smoke.py::test_train_cartpole_state_completes \
         source/isaaclab/test/benchmark/test_asset_suite_runtime_semantics.py \
+        source/isaaclab/test/sim/test_urdf_converter.py \
+        source/isaaclab/test/sim/test_mjcf_converter.py \
         -q -p no:cacheprovider
       '
 

.github/workflows/build.yaml

@@ -552,6 +552,27 @@ jobs:
         filter-pattern: "isaaclab_assets"
         container-name: isaac-lab-assets-test
 
+  test-isaaclab-experimental:
+    name: isaaclab_experimental
+    runs-on: [self-hosted, gpu]
+    timeout-minutes: 180
+    needs: [build, config]
+    if: >-
+      github.event_name != 'push' &&
+      needs.build.result == 'success'
+    steps:
+    - uses: actions/checkout@v6
+      with:
+        fetch-depth: 1
+        lfs: true
+    - uses: ./.github/actions/run-package-tests
+      with:
+        image-tag: ${{ needs.config.outputs.ci_image_tag }}
+        isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
+        isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
+        filter-pattern: "isaaclab_experimental"
+        container-name: isaac-lab-experimental-test
+
   test-isaaclab-newton:
     name: isaaclab_newton
     runs-on: [self-hosted, gpu]

.gitignore

@@ -65,6 +65,10 @@ _build
 # Teleop Recorded Dataset
 /datasets/
 
+# Local Franka Pour reset-generator references retained while the public one-file workflow is slimmed.
+/scripts/tools/generate_franka_pour_reset_dataset_legacy.py
+/source/isaaclab_tasks/isaaclab_tasks/contrib/franka_pour/reset_dataset_generator_legacy.py
+
 # Tests
 /tests/
 

conftest.py

@@ -11,10 +11,15 @@
 Level markers (``unit`` / ``integration`` / ``benchmark``) are applied per file via a module-level ``pytestmark``
 and registered in the repo-root ``pyproject.toml``. Select them with the standard ``-m`` syntax,
 e.g. ``pytest -m unit source/isaaclab/test`` or ``pytest -m "not unit" source/isaaclab/test``.
+
+Also loads ``tools/ovrtx_log.py``, which replays the OVRTX renderer log per test, so every suite that
+builds a renderer reports what it logged the same way.
 """
 
 from __future__ import annotations
 
+pytest_plugins = ["tools.ovrtx_log"]
+
 
 def pytest_collection_modifyitems(config, items):
     """Record each collected test's registered markers for the JUnit report.

docker/Dockerfile.kitless

@@ -46,12 +46,13 @@ COPY source/ source/
 COPY isaaclab.sh ./
 
 # Same entry point as Dockerfile.base. The selectors are explicit because a bare
-# --install excludes `ov` and `visualizer`; both take `[all]` here. The venv pins
+# --install excludes `ov` and `visualizer`; both take `[all]` here. `importers` carries
+# the standalone URDF/MJCF importers that replace the Isaac Sim ones. The venv pins
 # python3.12 to match the runtime stage's libpython3.12, and isaaclab.sh resolves
 # VIRTUAL_ENV first.
 RUN uv venv --python /usr/bin/python3.12 --seed --no-managed-python "${VIRTUAL_ENV}" \
  && chmod +x "${ISAACLAB_PATH}/isaaclab.sh" \
- && "${ISAACLAB_PATH}/isaaclab.sh" --install newton,rl[all],ov[all],visualizer[all] \
+ && "${ISAACLAB_PATH}/isaaclab.sh" --install newton,rl[all],ov[all],visualizer[all],importers \
  && python -c "import importlib.metadata as m; \
       names = {d.metadata['Name'].lower() for d in m.distributions()}; \
       assert 'isaacsim' not in names; \

docs/source/_static/css/environment-browser.js

@@ -21,8 +21,11 @@
             ["Isaac-Fourbar-Pole-Swingup", "rsl_rl", "newton_kamino", "", ""],
             ["Isaac-Humanoid-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
             ["Isaac-Humanoid", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
-            ["Isaac-Lift-Cloth-Franka", "rsl_rl", "newton_mjwarp_vbd_proxy", "", "ik,joint"],
-            ["Isaac-Lift-Cloth-Franka-Camera", "rsl_rl", "newton_mjwarp_vbd_proxy", "isaacsim_rtx,newton_renderer,ovrtx", "ik,joint"],
+            ["IsaacContrib-Keyboard-SO101", "rsl_rl", "isaacsim_physx,newton_mjwarp,physx", "", ""],
+            ["Isaac-Lift-Cable-Franka", "rsl_rl", "newton_mjwarp_vbd_proxy", "", "ik,joint"],
+            ["Isaac-Lift-Cable-Franka-Camera", "rsl_rl", "newton_mjwarp_vbd_proxy", "isaacsim_rtx,newton_renderer,ovrtx", "ik,joint"],
+            ["Isaac-Lift-Cloth-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "", "ik,joint"],
+            ["Isaac-Lift-Cloth-Franka-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "isaacsim_rtx,newton_renderer,ovrtx", "ik,joint"],
             ["Isaac-Lift-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp", "", "cube,shapes"],
             ["Isaac-Lift-KukaAllegro", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,shapes"],
             ["Isaac-Lift-KukaAllegro-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo128,albedo256,albedo64,cube,depth128,depth256,depth64,duo_camera,raycaster_depth128,raycaster_depth256,raycaster_depth64,rgb128,rgb256,rgb64,semantic_segmentation128,semantic_segmentation256,semantic_segmentation64,shapes,simple_shading_constant_diffuse128,simple_shading_constant_diffuse256,simple_shading_constant_diffuse64,simple_shading_diffuse_mdl128,simple_shading_diffuse_mdl256,simple_shading_diffuse_mdl64,simple_shading_full_mdl128,simple_shading_full_mdl256,simple_shading_full_mdl64,single_camera"],
@@ -91,7 +94,7 @@
         if (task.includes("Velocity")) {
             return "locomotion";
         }
-        if (/Lift|Reach|Reorient|Drawer|Handover/.test(task)) {
+        if (/Lift|Reach|Reorient|Drawer|Handover|Keyboard/.test(task)) {
             return "manipulation";
         }
         return "classic";
@@ -115,6 +118,7 @@
             [/Pendulum/, "tasks/classic/cart_double_pendulum.jpg"],
             [/^Isaac-Ant/, "tasks/classic/ant.jpg"],
             [/^Isaac-Humanoid/, "tasks/classic/humanoid.jpg"],
+            [/Lift-Cable-Franka/, "tasks/manipulation/franka_lift_cable.jpg"],
             [/Lift-Cloth-Franka/, "tasks/manipulation/franka_lift_cloth.jpg"],
             [/Lift-Soft-Franka/, "newton/franka-mjwarp-vbd-coupling.png"],
             [/Lift-(Cube-)?Franka/, "tasks/manipulation/franka_lift.jpg"],
@@ -127,6 +131,7 @@
             [/Reorient-Franka/, "tasks/manipulation/franka_lift.jpg"],
             [/Reorient-KukaAllegro/, "tasks/manipulation/kuka_allegro_reorient.jpg"],
             [/Shadow-Handover/, "tasks/manipulation/shadow_hand_over.jpg"],
+            [/Keyboard-SO101/, "tasks/manipulation/so101_keyboard.jpg"],
             [/AnymalB/, "tasks/locomotion/anymal_b_flat.jpg"],
             [/AnymalC/, "tasks/locomotion/anymal_c_flat.jpg"],
             [/AnymalD/, "tasks/locomotion/anymal_d_flat.jpg"],

docs/source/_static/tasks/manipulation/franka_lift_cable.jpg

@@ -38,7 +38,7 @@ Mesh Converter
     :members:
     :inherited-members:
     :show-inheritance:
-    :exclude-members: __init__
+    :exclude-members: __init__, PhysicsVariant
 
 
 URDF Converter
@@ -53,7 +53,7 @@ URDF Converter
     :members:
     :inherited-members:
     :show-inheritance:
-    :exclude-members: __init__
+    :exclude-members: __init__, PhysicsVariant
 
 MJCF Converter
 --------------
@@ -67,4 +67,4 @@ MJCF Converter
     :members:
     :inherited-members:
     :show-inheritance:
-    :exclude-members: __init__
+    :exclude-members: __init__, PhysicsVariant