Adds matplotlib-inline to license exceptions#3853
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Greptile Overview
Greptile Summary
This PR adds matplotlib-inline to the repository's license exceptions list in .github/workflows/license-exceptions.json. The matplotlib-inline package is a dependency that reports its license as "UNKNOWN" in package metadata, but is actually distributed under the BSD-3-Clause license, making it compatible with Isaac Lab's BSD-3-Clause license. The repository already contains the license file at docs/licenses/dependencies/matplotlib-inline-license.txt. This change follows the established pattern in the exceptions file where packages with unclear metadata but verified compatible licenses are explicitly whitelisted to allow CI license validation workflows to pass. The entry includes a comment field documenting the actual BSD-3 license type for maintainer reference.
Important Files Changed
| Filename | Score | Overview |
|---|---|---|
| .github/workflows/license-exceptions.json | 5/5 | Adds matplotlib-inline package to the license exceptions array with BSD-3 comment |
Confidence score: 5/5
- This PR is safe to merge with minimal risk
- Score reflects a simple, well-formatted JSON addition that follows existing patterns and addresses a legitimate CI validation issue for a license-compatible dependency
- No files require special attention
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There was a problem hiding this comment.
Greptile Overview
Greptile Summary
This PR corrects a JSON syntax error in the license exceptions file by removing a trailing comma after the last array element. The .github/workflows/license-exceptions.json file already contained the matplotlib-inline package entry with its BSD-3 license designation; this change simply removes the non-standard trailing comma to ensure strict JSON compliance. This file appears to be used in CI/CD workflows to track dependencies whose licenses have been reviewed and approved for inclusion in Isaac Lab, despite potentially having non-standard license metadata in their package definitions.
Important Files Changed
| Filename | Score | Overview |
|---|---|---|
| .github/workflows/license-exceptions.json | 5/5 | Removed trailing comma after the final array element to ensure strict JSON compliance |
Confidence score: 5/5
- This PR is safe to merge with minimal risk and contains only a syntax correction.
- Score reflects that this is a trivial formatting fix with no functional changes; the removal of a trailing comma cannot introduce bugs or break existing functionality.
- No files require special attention; this is a straightforward JSON syntax correction.
1 file reviewed, no comments
matplotlib-inline has BSD-3 license, so it's ok for us to include it. We already have the license file specified for it. - 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 - [ ] 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 -->
* Provides PBT training cfg example for Isaac-Dexsuite-Kuka-Allegro-Lift-v0 env for rl_games (#3553)
# Description
This PR provides a PBT builtin training example for
Isaac-Dexsuite-Kuka-Allegro-Lift-v0 environment.
Though we had introduction and explanation for how to run PBT, We didn't
have an builtin example.
This will make using PBT easier for user.
Fixes # (issue)
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## Type of change
- New feature (non-breaking change which adds functionality)
## Screenshots
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## 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`
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- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
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extension's `config/extension.toml` file
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* [Newton] Adds policy transfer script for sim2sim transfer from Newton to physX (#3565)
# Description
This PR adds a play script to physX-based IsaacLab to make it possible
to play a Newton-based trained policy. Tested environments are
H1/G1/Anymal-D but other exisiting Newton environment should transfer as
well.
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Link:
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💡 Please try to keep PRs small and focused. Large PRs are harder to
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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)
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## Type of change
<!-- As you go through the list, delete the ones that are not
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- 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
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## 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`
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- [ ] My changes generate no new warnings
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feature works
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extension's `config/extension.toml` file
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exists there
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---------
Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com>
* Randomizes viscous and dynamic joint friction based on IsaacSim 5.0 (#3318)
# Description
<!--
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to check the contribution guidelines.
Link:
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This PR fixes https://github.com/isaac-sim/IsaacLab/issues/3266, adding
the possibility to randomize the friction coefficient when isaacsim is
higher than 5.0.0
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- New feature (non-breaking change which adds functionality)
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## Checklist
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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- [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
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exists there
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---------
Signed-off-by: Giulio Romualdi <giulio.romualdi@gmail.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
* Fixes broken link to conda in installation doc (#3601)
Fixes broken link to conda in installation doc
* Adds link to IsaacLabEvalTasks repo from mimic section in doc (#3621)
# Description
<!--
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to check the contribution guidelines.
Link:
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💡 Please try to keep PRs small and focused. Large PRs are harder to
review and merge.
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Isaac Lab Mimic section is disjoint from [IsaacLabEvalTask
repo](https://github.com/isaac-sim/IsaacLabEvalTasks/tree/main) which
uses Mimic to generate Nut pouring task and Pipe sorting task for GR00T
post-training and closedloop evaluation. Added a pointer in the doc.
<!-- As a practice, it is recommended to open an issue to have
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## 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`
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- [x] My changes generate no new warnings
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* Updated docker image builds with new requirements (#3613)
# Description
Enabling multi-arch build with Isaac SIM 5.1 images
* Forces CRLF for .bat files to prevent script execution errors on Windows (#3624)
# Description
Fix windows script execution error as described in [Discussions
3260](https://github.com/isaac-sim/IsaacLab/discussions/3260), by
forcing to use crlf as eol in `*.bat` file
## 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
* Fixes minor typos in the documentation (#3584)
# Description
Fixes minor typos in the documentation.
## 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
- [ ] My changes generate no new warnings
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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
* Fixes SB3's template ppo cfg up to date with security-safe syntax for training specification (#3688)
# Description
This PR fixes the bug where if template is generated using SB3, the code
does not run because it couldn't parse from string
```
policy_kwargs: "dict(
activation_fn=nn.ELU,
net_arch=[32, 32],
squash_output=False,
)"
```
We have disabled the string parsing, as it is not safe(aka arbitrary
code could be parsed)
this PR makes sure the sb3's template also adopt the new secure syntax
```
policy_kwargs:
activation_fn: nn.ELU
net_arch: [32, 32]
squash_output: False
```
## 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
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* Uses the configuration to obtain the simulation device (#3636)
# Description
This MR fixes the slow-down observed in recent IsaacLab updates.
Previously, the simulation device was read through the configuration;
later, this was changed to read the device through the simulation
manager.
On profiling, I observed that the simulation manager function took 0.01
s per call. This is quite a bit of overhead, considering that
`env.device` refers to `sim.device` and gets called at multiple
locations in the environment.
This MR reverts back to the previous solution for obtaining the device.
Fixes #3554
## Type of change
- Bug fix (non-breaking change which fixes an issue)
## Screenshots
```
./isaaclab.sh -p scripts/benchmarks/benchmark_non_rl.py --task Isaac-Velocity-Flat-Anymal-C-v0 --headless --seed 0 --num_frames 2000
```
The numbers reported here are the average FPS on PC with RTX A6000 GPU
and Intel i9-9820X:
* **Before**: 94784.43553363248
* **Overriding `sim.device`**: 100484.21244511564
## 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
* Adds msgpack to license exception (#3687)
# Description
msgpack is required by ray when installing rl_games. it has an apache
2.0 license, so we are adding it to the exceptions list since the
license shows up as UNKNOWN by the license checker.
## Type of change
<!-- As you go through the list, delete the ones that are not
applicable. -->
- 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
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* Fixes skrl train/play script configurations when using the `--agent` argument and rename agent configuration variable (#3643)
# Description
This PR address the following points:
* Fix skrl train/play script configuration when using the `--agent`
argument
Example:
```bash
python scripts/reinforcement_learning/skrl/train.py --task
Isaac-Cart-Double-Pendulum-Direct-v0 --headless --agent
skrl_mappo_cfg_entry_point
```
Error:
```
[INFO]: Parsing configuration from:
isaaclab_tasks.direct.cart_double_pendulum.cart_double_pendulum_env:CartDoublePendulumEnvCfg
[INFO]: Parsing configuration from:
/home/toni/Documents/RL/toni_IsaacLab/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_mappo_cfg.yaml
[INFO] Logging experiment in directory:
/home/toni/Documents/RL/toni_IsaacLab/logs/skrl/cart_double_pendulum_direct
Error executing job with overrides: []
Traceback (most recent call last):
File
"/home/toni/Documents/RL/toni_IsaacLab/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py",
line 101, in hydra_main
func(env_cfg, agent_cfg, *args, **kwargs)
File
"/home/toni/Documents/RL/toni_IsaacLab/scripts/reinforcement_learning/skrl/train.py",
line 156, in main
log_dir = datetime.now().strftime("%Y-%m-%d_%H-%M-%S") +
f"_{algorithm}_{args_cli.ml_framework}"
^^^^^^^^^
NameError: name 'algorithm' is not defined
```
* Replace `STATES` by `OBSERVATIONS` when defining skrl's agent
configuration model inputs to ensure a smooth and error-free transition
when the new mayor version of **skrl** gets released. In such mayor
version `OBSERVATIONS` and `STATES` have different value/usage.
## 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)
* Updates SkillGen documentation for data gen command and success rates (#3702)
# SkillGen documentation: data gen command cleanup and success-rate
guidance
## Description
This PR updates the SkillGen documentation in
`docs/source/overview/imitation-learning/skillgen.rst`:
- Removes a redundant `--headless` flag from a data generation command
example.
- Adds a note with success-rate guidelines and training recommendations
for cube stacking and bin cube stacking.
- Clarifies minor text details, including correcting the planning phase
order to “Retreat → Contact → Approach” for consistency.
Motivation: Improve clarity, set realistic expectations on data
generation and downstream policy performance, and align docs with actual
planner behavior.
Dependencies: None
## 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
* Configures mesh collision schemas in `convert_mesh.py` (#3558)
# Description
The collision approximation configuration changed in main branch, but
the code in tools/convert_mesh.py does not sync.
Fixes #3557
## 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
---------
Signed-off-by: zehao-wang <59912787+zehao-wang@users.noreply.github.com>
* Fixes warnings when running AutoMate env (#3660)
# Description
* Fixes the warning messages reported in the QA testing
* Remove redundant config argument 'sample_from'
* Change the default value of config argument 'num_log_traj'
## 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>
* Exposes `physxscene:solveArticulationContactLast` flag through PhysxCfg (#3502)
# Description
This PR adds api to set physxscene:solveArticulationContactLast through
PhysxCfg,
this is only available in sim 5.1
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)
## Screenshots
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## Checklist
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- [] I have added tests that prove my fix is effective or that my
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---------
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
* Updates CODEOWNERS for Isaac Lab Mimic (#3714)
# Description
Update CODEOWNERS for Isaac Lab Mimic
## Type of change
- Documentation update
## Checklist
- [ ] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
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`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
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Signed-off-by: Yan Chang <yachang@nvidia.com>
* Update gymnasium dependency to version 1.2.1 (#3696)
# Description
This MR updates gymnasium version to prevent memory leak while video
recording.
Related MR: https://github.com/Farama-Foundation/Gymnasium/pull/1444
Fixes https://github.com/isaac-sim/IsaacLab/pull/3387
## 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
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>
* Updates SB3 ppo cfg so it trains under reasonable amount of time (#3726)
# Description
This PR fixes the sb3_ppo_cfg for task Isaac-Ant-v0
the parameter before had 4096 num_envs + horizon 512 + batch size 128 +
n_epoch 20,
that means the training one cycle it needs to for loop (20 * 512 * 4096)
/ 128 = 327680 times!
which appears as if it is hanging forever
the new config matches more closely with that of rl_games.
I verified it will trains under 5 min
[Screencast from 2025-10-15
13-56-21.webm](https://github.com/user-attachments/assets/2bc7bcd8-0063-46b9-adb0-67a6aa686732)
## Type of change
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- Bug fix (non-breaking change which fixes an issue)
## Screenshots
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## 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
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* Fixes the way seed was set in the benchmark_non_rl script (#3741)
# Description
When seed was added to the benchmark_non_rl.py script, it was mistakenly
trying to read from simulation config, which doesn't exist. We can set
seed directly from the cli arguments since it's ok to be None if it's
not specified.
## Type of change
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- 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)
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`./isaaclab.sh --format`
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- [x] My changes generate no new warnings
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* Removes pickle dependency for cfg load and dump (#3709)
# Description
We have been supporting both pickle and yaml storing for configuration.
However, pickle has some security vulnerabilities and we have been
preferring the use of yaml in most cases. Thus, we are removing the
pickle utilities for saving and loading configs.
For more info on pickle: https://docs.python.org/3/library/pickle.html
## Type of change
- 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`
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- [x] My changes generate no new warnings
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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: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
* Adds functions to obtain prim pose and scale from USD Xformable (#3371)
# Description
This MR adds two functions to obtain the pose and scale of a prim
respectively.
This is needed for #3298.
## Type of change
- 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`
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feature works
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Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
* Sets reward computation in AutoMate env with CUDA or CPU (#3733)
# Description
If Nvidia driver 580 and cuda toolkit 13.0, we compute reward with CPU.
If Nvidia driver 570 and cuda toolkit 12.8, we compute reward with CUDA.
Fixes issue with hanging process with cuda 13.
## Type of change
- 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)
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- [ ] 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>
* Normalizes line endings for docs/make.bat (#3757)
# Description
When cloning the repo, make.bat caused line ending changes to be
triggered on Linux due to difference in Windows and Linux styles. This
change normalizes the script to avoid triggering git conversions when
cloning the repo.
## 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)
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`./isaaclab.sh --format`
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feature works
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extension's `config/extension.toml` file
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exists there
* Adds data gen and policy learning times in SkillGen documentation (#3773)
## Description
This PR updates the SkillGen docs to include expected data generation
and policy training times for clarity.
Dependencies: None
## 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)
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`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
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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
* Fixes typo in rl-games configuration for cartpole task (#3767)
# Description
Fixed a typo in the RL Games PPO configuration file for the Cartpole
feature-based environment. Changed value_bootstraop to value_bootstrap
on line 60 to match the correct parameter name used throughout the
codebase.
## Type of change
- Bug fix (non-breaking change which fixes an issue)
## Screenshots
Not applicable (text-only typo fix in YAML configuration file)
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
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`./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
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Signed-off-by: G.G <148413288+tkgaolol@users.noreply.github.com>
* Updates cuRobo installation instructions and added VRAM baseline perf to SkillGen docs (#3796)
### Description
- Add a concise installation caveat for cuRobo when Omniverse Kit/Isaac
Sim environment scripts set `PYTHONPATH`/`PYTHONHOME`, with simple
mitigations.
- Clarify `TORCH_CUDA_ARCH_LIST` usage (match GPU compute capability;
add `+PTX` for forward compatibility).
- Consolidate and document VRAM usage baselines and GPU recommendations
for both Vanilla Cube Stacking and Adaptive Bin Cube Stacking (measured
over 10 demos on RTX 6000 Ada 48 GB).
- Minor wording fixes for consistency (e.g., “adaptive bin cube
stacking”).
- **Dependencies**: None
### Type of change
- Documentation update
### Checklist
- [x] I have read and understood the contribution guidelines
- [x] I have run the `pre-commit` checks 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
* Fixes cuda version as float for AutoMate to correctly convert patch versions (#3795)
# Description
To convert cuda version from a string to a float, I update the function
to handle cases with multiple points, e.g. string '12.8.9' will be
converted to float 12.89. Before, float('12.8.9') will return None for
failure conversion.
## 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
* Updates package licenses, CPU Governor setting in docs, and flaky tests (#3778)
# Description
There were some recent updates to a couple of our dependency packages
that have updated their licenses. Updating our license checker
exceptions to match with the new updated licenses for these packages.
Additionally, adds a note in the simulation performance documentation
for CPU governor setting to improve performance.
Also, updates a few unit tests to mark as flaky as we've shown in recent
CI 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)
- 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
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* Fixes TiledCamera data types and rlgames training on CPU (#3808)
# Description
We were incorrectly converting all numpy array data in the TiledCamera
class into uint8 type warp arrays when simulation device is set to CPU.
Some annotations like depth are float32 while segmentation data is
uint32. The correct behavior should convert to warp arrays depending on
the input data type of the numpy array.
Additionally, rlgames configs were set to cuda device by default but
were not being overridden when users specify the simulation device to
CPU through cmdline. We should propagate the device setting to the
rlgames configs so that we can run training on the same device, similar
to how RSL RL is set up.
Fixes #3526
## 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
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* Adds matplotlib-inline to license exceptions (#3853)
# Description
matplotlib-inline has BSD-3 license, so it's ok for us to include it. We
already have the license file specified for it.
## 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
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- [ ] I have added tests that prove my fix is effective or that my
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* Merges release 2.3 changes into main with Isaac Sim 5.1 support (#3857)
# Description
Merging in updates for the Isaac Lab 2.3 release, moving to support for
Isaac Sim 5.1.
This change includes many features for teleoperation, disjoint
navigation, whole-body control for teleoperation, and IK updates from
@rwiltz, @michaellin6, @jaybdub, @huihuaNvidia2023, @hougantc-nvda,
@lotusl-code, @yami007007, @cathyliyuanchen, @tifchen-nvda.
Additionally, support for DGX Spark is added by @ooctipus and
@matthewtrepte.
For details of the changes and updates, refer to the release notes.
## Type of change
- 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
- [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
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exists there
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---------
Signed-off-by: Harsh Patel <hapatel@theaiinstitute.com>
Signed-off-by: rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: yami007007 <weihuaz@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Louis LE LAY <le.lay.louis@gmail.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Signed-off-by: Javier Felix-Rendon <javierfelixrendon@gmail.com>
Signed-off-by: Doug Fulop <dougfulop@gmail.com>
Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com>
Signed-off-by: Giulio Romualdi <giulio.romualdi@gmail.com>
Signed-off-by: zehao-wang <59912787+zehao-wang@users.noreply.github.com>
Signed-off-by: Michael Gussert <michael@gussert.com>
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Signed-off-by: shauryadNv <shauryad@nvidia.com>
Co-authored-by: Philipp Reist <66367163+preist-nvidia@users.noreply.github.com>
Co-authored-by: Harsh Patel <hapatel@theaiinstitute.com>
Co-authored-by: James Tigue <jtigue@theaiinstitute.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com>
Co-authored-by: michaellin6 <michalin@nvidia.com>
Co-authored-by: Huihua Zhao <huihuaz@nvidia.com>
Co-authored-by: Rafael Wiltz <rwiltz@nvidia.com>
Co-authored-by: Sergey Grizan <sgrizan@nvidia.com>
Co-authored-by: Alexander Poddubny <143108850+nv-apoddubny@users.noreply.github.com>
Co-authored-by: John <jaybdub@users.noreply.github.com>
Co-authored-by: yami007007 <weihuaz@nvidia.com>
Co-authored-by: Weihua Zhang <weihuaz@weihuaz-mlt.client.nvidia.com>
Co-authored-by: PeterL-NV <petliu@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: hougantc-nvda <127865892+hougantc-nvda@users.noreply.github.com>
Co-authored-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: njawale42 <njawale@nvidia.com>
Co-authored-by: Cathy Li <40371641+cathyliyuanchen@users.noreply.github.com>
Co-authored-by: Louis LE LAY <le.lay.louis@gmail.com>
Co-authored-by: Javier Felix-Rendon <javierfelixrendon@gmail.com>
Co-authored-by: Doug Fulop <dougfulop@gmail.com>
Co-authored-by: Robin Vishen <117207232+vi7n@users.noreply.github.com>
Co-authored-by: -T.K.- <t_k_233@outlook.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>
Co-authored-by: Rebecca Zhang <rebeccaz@nvidia.com>
Co-authored-by: Lorenz Wellhausen <lorenwel@users.noreply.github.com>
Co-authored-by: Lorenz Wellhausen <lorenz.wellhausen@rivr.ai>
Co-authored-by: Michael Gussert <michael@gussert.com>
Co-authored-by: Antoine RICHARD <antoiner@nvidia.com>
Co-authored-by: tifchen-nvda <tifchen@nvidia.com>
Co-authored-by: Cathy Li <yuanchenl@yuanchenl-mlt.client.nvidia.com>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com>
Co-authored-by: Milad-Rakhsha <miladrakhsha@gmail.com>
Co-authored-by: Giulio Romualdi <giulio.romualdi@gmail.com>
Co-authored-by: Xinjie Yao <xyao@nvidia.com>
Co-authored-by: shauryadNv <shauryad@nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>
Co-authored-by: zehao-wang <59912787+zehao-wang@users.noreply.github.com>
Co-authored-by: yijieg <yijieg@nvidia.com>
Co-authored-by: ndahile-nvidia <167997649+ndahile-nvidia@users.noreply.github.com>
Co-authored-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: yanziz-nvidia <yanziz@nvidia.com>
Co-authored-by: lotusl-code <lotusl@nvidia.com>
* Updates release notes and driver versions (#3868)
# Description
Documentation update for release notes for the 2.3 release and some
final updates on recommended driver versions.
## 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
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Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
* Fixes broken link for Isaac-Tracking-LocoManip-Digit-v0 (#3883)
# Description
<!--
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to check the contribution guidelines.
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`Isaac-Tracking-LocoManip-Digit-v0` was moved to a different source code
path and docs were not updated accordingly. This change fixes the broken
URL.
## Type of change
<!-- As you go through the list, delete the ones that are not
applicable. -->
- 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`
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- [x] My changes generate no new warnings
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extension's `config/extension.toml` file
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Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com>
Signed-off-by: Giulio Romualdi <giulio.romualdi@gmail.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Signed-off-by: zehao-wang <59912787+zehao-wang@users.noreply.github.com>
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Signed-off-by: Yan Chang <yachang@nvidia.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: G.G <148413288+tkgaolol@users.noreply.github.com>
Signed-off-by: Harsh Patel <hapatel@theaiinstitute.com>
Signed-off-by: rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com>
Signed-off-by: yami007007 <weihuaz@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Louis LE LAY <le.lay.louis@gmail.com>
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# Description matplotlib-inline has BSD-3 license, so it's ok for us to include it. We already have the license file specified for it. ## 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 -->
# Description matplotlib-inline has BSD-3 license, so it's ok for us to include it. We already have the license file specified for it. ## 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 -->
# Description matplotlib-inline has BSD-3 license, so it's ok for us to include it. We already have the license file specified for it. ## 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 -->
Description
matplotlib-inline has BSD-3 license, so it's ok for us to include it. We already have the license file specified for it.
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there