[Backport release/3.0.0] Bundle selected develop PRs - #7258
Merged
kellyguo11 merged 16 commits intoAug 22, 2026
Conversation
## Description Adds Mustafa Haiderbhai to the alphabetized developer list. No dependencies are required. ## Type of change - [x] Documentation update ## Testing - `uv run --frozen isaaclab -f` - `uv run --isolated --extra test -- make -C docs current-docs` ## Checklist - [x] I have read and understood the contribution guidelines - [x] I have run the pre-commit checks - [x] I have made the corresponding documentation change - [x] My changes generate no new warnings - [x] Tests are not applicable because this only updates the developer list - [x] A changelog fragment is not applicable because no source package is touched - [x] I have added my name to `CONTRIBUTORS.md`
# Description > [!IMPORTANT] > Confirm the pull request base before submitting. Target `develop` for all > contributions. The `release/3.0.0-beta2` branch is a frozen stable landing > snapshot and is not used for ongoing maintenance. <!-- 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 added a changelog fragment under `source/<pkg>/changelog.d/` for every touched package (do **not** edit `CHANGELOG.rst` or bump `extension.toml` — CI handles that) - [ ] 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 Fix the recurring `isaaclab_rl` LEAPP export failure for `Isaac-Reach-Franka` on Newton MJWarp. The existing workaround passes `limit_cpu_threads=1` to `SimulationApp`, but the failing stack is in OpenUSD's concurrent parser and OpenUSD reads `PXR_WORK_THREAD_LIMIT` during process startup. Set that environment variable on every LEAPP child process so USD is serialized before any USD module is imported, while retaining the existing Kit-side limit. This keeps the current task and Newton backend coverage. It also adds a deterministic subprocess probe for the environment contract. Observed in unrelated PRs: - #6762: https://github.com/isaac-sim/IsaacLab/actions/runs/32343107298/job/96578439022 - #6673: https://github.com/isaac-sim/IsaacLab/actions/runs/32419190550/job/96590692454 - #7207: https://github.com/isaac-sim/IsaacLab/actions/runs/32418984574/job/96590568310 OpenUSD documents `PXR_WORK_THREAD_LIMIT=1` as single-threaded mode: https://openusd.org/dev/api/thread_limits_8h.html ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Validation - `uv run --extra sb3 --extra skrl --extra rl-games --extra leapp python -m pytest source/isaaclab_rl/test/export/test_leapp_export_flow.py -k 'openusd_thread_limit or rsl_rl-Isaac-Reach-Franka' -vv` (2 passed) - `uv run isaaclab -f` - `uv run python tools/changelog/cli.py check develop` ## Checklist - [x] I have read and understood the contribution guidelines - [x] I have run the pre-commit checks with `uv run isaaclab -f` - [x] Documentation is not required for this test-only mitigation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective - [x] I have added a changelog fragment for every touched package - [x] My name is already in `CONTRIBUTORS.md`
# Description Fix the environments-page command builder and task browser: - Make the pre-trained checkpoint control actionable from Train by switching the command to Play, and disable it for Contrib and Warp. - Add a Core / Contrib / Warp task-collection switch beside the task picker and use it to partition both the picker and available-task list. - Derive Warp-compatible tasks from the same frontend compatibility path used at runtime, keep canonical task IDs, and emit `--frontend warp`. - Align the `--task` dropdown with the physics selector below it. ## Type of change - Bug fix - Documentation update ## Validation - `uv run isaaclab -f` - `uv run python -m pytest --confcutdir=tools/test tools/test/test_environ_docs.py::test_environment_browser_rows_include_concrete_core_and_contributed_selectors` - `uv run --isolated --extra test -- make -C docs current-docs` - `node --check docs/source/_static/css/environment-browser.js` - Headless Chrome interaction check for Core, Contrib, Warp, and pre-trained checkpoint command generation The full `tools/test/test_environ_docs.py` file has one unrelated existing failure in `test_physics_names_for_docs_infers_physx_from_default`; the focused environment-browser metadata test passes. ## Checklist - [x] I have read and understood the contribution guidelines - [x] I have run the pre-commit checks - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added focused coverage for the generated Warp metadata - [x] No source package was changed, so no package changelog fragment is required - [x] My name already exists in `CONTRIBUTORS.md`
# Description Add a pure uv workflow for isaacsim Easy to use: 1. Clone your isaacsim repo somewhere. 2. run `uv run isaaclab --isaacsim_source <path_to_isaacsim>` 3. run training with isaacsim `uv run isaaclab train --task Isaac-Cartpole physics=isaacsim_physx` ## 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 added a changelog fragment under `source/<pkg>/changelog.d/` for every touched package (do **not** edit `CHANGELOG.rst` or bump `extension.toml` — CI handles that) - [ ] 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: Richard Lei <rilei@nvidia.com>
## Summary - clear filtered force-matrix history during OVPhysX contact-sensor resets - preserve history for environments outside the reset mask - add a CPU-only Warp regression test ## Testing - `uv run --extra test python -m pytest source/isaaclab_ov/test/sensors/test_contact_sensor_kernels.py` - `uv run python tools/changelog/cli.py check develop` - `uv run isaaclab -f`
AntoineRichard
requested review from
StafaH,
fatimaanes,
frlai,
huidongc,
hujc7,
kellyguo11,
marcodiiga,
myurasov-nv,
ooctipus,
pbarejko and
rilei-nvidia
as code owners
August 21, 2026 11:22
github-actions
Bot
added
documentation
Contributor
Greptile SummaryThis bundled backport revises installation extras and source-build support, improves the environment documentation browser, fixes contact-sensor history reset behavior, and updates CI, packaging, and documentation.
Confidence Score: 5/5The PR appears safe to merge because no concrete changed-code failure remains after checking the updated installation, runtime, documentation, and sensor-reset paths. The revised extras are explicitly documented and validated, current environment-browser states produce supported commands, source-build delegation is covered by focused tests, and force-matrix history is now reset alongside the other contact-sensor buffers. Important Files Changed
Flowchart%%{init: {'theme': 'neutral'}}%%
flowchart LR
Install["Isaac Lab installation"] --> All["all extra"]
Install --> Importers["importers extra"]
Install --> IsaacSim["isaacsim extra"]
Install --> Source["Isaac Sim source build"]
All --> Backends["OV + RL + visualizers"]
Importers --> AssetTools["Standalone URDF/MJCF conversion"]
IsaacSim --> WheelRuntime["Isaac Sim wheel runtime"]
Source --> LiveRuntime["_isaac_sim live release tree"]
LiveRuntime --> UvPython["Active uv Python environment"]
Reviews (1): Last reviewed commit: "Install importers in kitless Docker imag..." | Re-trigger Greptile |
![isaaclab-review-bot[bot]](https://avatars.githubusercontent.com/u/157846462?s=60&v=4){kind=small}
Contributor
There was a problem hiding this comment.
Isaac Lab Review Bot
The bundled backport consistently introduces opt-in importers and isaacsim extras, a live-linked Isaac Sim source-build workflow, environment-browser scope handling, and OVPhysX contact-history reset coverage. One installation skill still describes the superseded local-wheel workflow and must be synchronized with the implemented live-link command.
- Design and architecture: The dependency split is propagated through package metadata, lock data, Docker installation, CI, and user documentation. The source-build design builds incrementally and links the live release tree without modifying
pyproject.tomloruv.lock; the installation skill currently contradicts that design by claiming the command creates local-wheel metadata. - API: The renamed Sphinx directives, optional extras,
--isaacsim_sourceCLI option, and contact-reset kernel signature have aligned in-repository producers and consumers. However,skills/user/install-isaac-lab/reference.mddocuments a nonexistentisaacsim-localextra and nonexistentfind-links/project-file edits, so its prescribed verification command does not match the new CLI contract. - Implementation: The live-link command, Python-launcher delegation, environment-browser row generation and state transitions, Newton mask normalization, and contact-sensor history clearing were traced with their associated tests. The required fix is limited to replacing the stale source-build skill instructions with the implemented live-link verification path.
Minor fixes needed. Posted 1 actionable finding inline.
Automated review; human maintainers own approval decisions.
| - Isaac Sim source build (`installation-method-source`) runs the same script against the locally built Isaac Sim wheels: | ||
|
|
||
| ```bash | ||
| uv run --extra isaacsim-local python scripts/tutorials/00_sim/create_empty.py --viz kit |
Contributor
There was a problem hiding this comment.
🟡 Warning · Api — Skill documents nonexistent isaacsim-local extra
This verification step tells users to run uv run --extra isaacsim-local ... and states that uv run isaaclab --isaacsim_source <path> writes find-links = ["_isaac_sim_wheels"] and an isaacsim-local extra into pyproject.toml. The command added here only builds and symlinks _isaac_sim, and both the changelog fragment and installation/index.rst state that pyproject.toml and uv.lock stay unchanged; no such extra exists, so this command fails. Point the source-build route at the same live-link verification the docs use.
# Description ovstage 0.1.1 fixes nvbug 6490020 so the OVRTX ovstage path no longer needs its per-frame host round-trip - Write transforms and points straight from their Warp GPU buffers; make_dltensor now folds a producer's trailing axes into the lane count omni:xform and points expect. - Order those writes with write_attribute(cuda_stream=...) instead of blocking the host on wp.synchronize_device, as the legacy binding path already does. - Drop the _OVSTAGE_AVAILABLE guard: ovstage is an unconditional dependency of isaaclab_ov, so the fallback was unreachable. ## Type of change - New feature (non-breaking change which adds functionality) ## 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 added a changelog fragment under `source/<pkg>/changelog.d/` for every touched package (do **not** edit `CHANGELOG.rst` or bump `extension.toml` — CI handles that) - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description Fixes `mdp.image(normalize=True)` returning colorized semantic-segmentation observations as `uint8`. The normalizer now recognizes the renderer contract for this output (RGBA `uint8`) and returns the same normalized `float32` representation used for RGB-like images. Raw `int32` semantic-ID maps remain unchanged. No new dependencies. ## Type of change - [x] Bug fix (non-breaking change which fixes an issue) ## Screenshots Not applicable. ## Checklist - [x] I have read and understood the contribution guidelines - [x] I have run the pre-commit checks with `uv run isaaclab -f` - [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 added a changelog fragment under `source/<pkg>/changelog.d/` for every touched package - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
…-20260821 Signed-off-by: Kelly Guo <kellyg@nvidia.com>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
4 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Description
Bundled backport to
release/3.0.0to reduce CI load.Source PRs reviewed for this bundle:
release/3.0.0; its cherry-pick was empty, so no duplicate commit was added.Type of change
Checklist