[pull] release/3.0.0-beta2 from isaac-sim:release/3.0.0-beta2#20
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pull[bot] merged 32 commits intoJul 25, 2026
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…saacRTX (#6166) # Description Followup #5979 : on release/3.0.0-beta2, the flag is set in launch_simulation() as a workaround to keep USD cloning enabled when using Isaac RTX renderer. The test has to set the flag manually here to match the behavior of training. # Type of change - Test fix (non-breaking change which fixes an issue) ## Screenshots See golden image changes. ## 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
## Summary - beta2 companion for #6174 - initialize lifecycle state in MARL adapter wrappers that subclass DirectRLEnv/DirectMARLEnv without running the base constructor - make adapter close idempotent so inherited destructors can clean up without AttributeError - add regression coverage for both MARL adapter destructor paths ## Testing - git diff --check - python3 -m py_compile source/isaaclab/isaaclab/envs/utils/marl.py source/isaaclab/test/envs/test_env_destructors.py - python3 tools/changelog/cli.py check release/3.0.0-beta2 Not run locally: focused pytest, because this worktree launcher uses /usr/bin/python3.12 without gymnasium installed.
Bumped packages: - isaaclab: 6.1.8 → 6.1.9 - isaaclab_newton: 0.13.4 → 0.13.5
# Description - Remove the Pink IK runtime dependency on `nvidia.srl` and use Isaac Sim's built-in `isaacsim.asset.exporter.urdf` converter. - Normalize generated URDF joint limits so Pinocchio accepts Isaac Sim exporter output (`effort`/`velocity` defaults and `inf` cleanup). - Align affected GR1T2 and G1-Inspire Pink IK frame names with the link/frame names produced by the Isaac Sim exporter. - Remove the `nvidia-srl-usd-to-urdf` dependency from `isaaclab_mimic`. - `python -m py_compile docs/conf.py source/isaaclab/isaaclab/controllers/utils.py source/isaaclab/test/controllers/test_controller_utils.py source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/pickplace_gr1t2_env_cfg.py source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py` - `git diff --check` - Direct mocked smoke test of `convert_usd_to_urdf()` using Isaac Sim exporter modules. - Generated GR1T2 and G1-Inspire URDFs with `isaacsim.asset.exporter.urdf`, sanitized them with the new utility, and verified Pinocchio can load them and contains the adjusted target frames: - `GR1T2_fourier_hand_6dof.urdf nq 54 nv 54 missing frames []` - `g1_29dof_inspire_hand.urdf nq 53 nv 53 missing frames []` - Attempted focused pytest through `./isaaclab.sh -p -m pytest source/isaaclab/test/controllers/test_controller_utils.py -k convert_usd_to_urdf_uses_isaacsim_exporter -q`, but this worktree uses system Python and is missing `lazy_loader`. - Attempted Ruff on touched files, but no local Python environment had Ruff installed. ## 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 --> Co-authored-by: ooctipus <zhengyuz@nvidia.com>
# Description Updates Isaac Sim docker version to the latest released 6.0.0 version. ## 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 -->
Bumped packages: - isaaclab: 6.1.9 → 6.1.10 - isaaclab_mimic: 1.3.1 → 1.3.2 - isaaclab_newton: 0.13.5 → 0.13.6 - isaaclab_tasks: 1.10.7 → 1.10.8
# Description Pins the third-party GitHub Actions referenced in the CI workflows to full-length commit SHAs, keeping the human-readable version as a trailing comment. This follows GitHub's supply-chain hardening guidance, which recommends pinning third-party actions to an immutable commit SHA rather than a mutable tag. Actions pinned (current tag -> SHA): - `lycheeverse/lychee-action` v2 -> `8646ba30535128ac92d33dfc9133794bfdd9b411` (check-links.yml) - `dorny/test-reporter` v2.6.0 -> `3d76b34a4535afbd0600d347b09a6ee5deb3ed7f` (daily-compatibility.yml) - `peaceiris/actions-gh-pages` v4 -> `84c30a85c19949d7eee79c4ff27748b70285e453` (docs.yaml) - `pre-commit/action` v3.0.0 -> `646c83fcd040023954eafda54b4db0192ce70507` (pre-commit.yaml) - `docker/setup-qemu-action` v3 -> `c7c53464625b32c7a7e944ae62b3e17d2b600130` (publish-images.yaml) - `docker/setup-buildx-action` v3 -> `8d2750c68a42422c14e847fe6c8ac0403b4cbd6f` (publish-images.yaml) No functional change; first-party `actions/*` are left as-is. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the contribution guidelines - [ ] I have run the `pre-commit` checks 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 added a changelog fragment under `source/<pkg>/changelog.d/` for every touched package (N/A — CI-only change, no package touched) - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description Add a note to the RLinf VLA post-training docs that Windows support is still being optimized and Linux is recommended for RLinf training and evaluation. ## 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 - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
# Description Updates docker image for release to latest 3.0.0.beta2 tag. ## 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 Fix newton shape color resolution when skipping USD cloning Commit e9fe73c skipped USD cloning in pure newton path. As a side effect, shape labels for non-clone-source envs point to USD prims that no longer exist, causing replace_newton_shape_colors to silently fallback to Newton's random palette colors. This fix updates _resolve_shape_color to use the iter_clone_plan_matches and resolve the source prim for cloned destination prims. ## Screenshots Please attach before and after screenshots of the change if applicable. | Before | After | | ------ | ----- | | <img width="134" height="134" alt="image" src="https://github.com/user-attachments/assets/f9dd0d0a-dd4f-4c5f-90db-0333d3e896db" /> | <img width="134" height="134" alt="image" src="https://github.com/user-attachments/assets/9758051b-f496-4b8c-a68d-4d69cc91c3df" /> | ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description Fixes the Isaac Lab container pull tag in the Docker deployment docs. `docs/source/deployment/docker.rst` referenced `nvcr.io/nvidia/isaac-lab:3.0.0.beta2` (dot), but the published NGC container tag uses a hyphen: `nvcr.io/nvidia/isaac-lab:3.0.0-beta2` (matching the `3.0.0-beta1` convention). The dotted tag does not exist, so the documented `docker pull` / `docker run` commands would fail. The same file already refers to "3.0.0-beta2 and later" (hyphen) in prose, so this also removes an internal inconsistency. Fixes # (issue) ## Type of change - Documentation update ## Checklist - [x] I have read and understood the contribution guidelines - [ ] 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 added a changelog fragment under `source/<pkg>/changelog.d/` for every touched package (N/A — docs-only change) - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description Removes rlgames from pypi as public pypi does not allow using git links directly. Adds back note in docs with command to install rlgames if needed. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
Bumped packages: - isaaclab: 6.1.10 → 6.1.11 - isaaclab_tasks: 1.10.8 → 1.10.9
# Description Remove direct installs of libgmp-dev, libgmpxx4ldbl, and swig in container. ## 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 Previous PR that attempted to keep swig at the docker layer level to avoid GPL dependencies broke the post-merge docker publish job on arm. This PR keeps swig for the full installation process before pruning it from the image.
Bumped packages: - isaaclab: 6.1.11 → 6.1.12
# Description Bumps h5py dep version to >=3.16.0 to be in line with Isaac Sim 6.0 GA which requires 3.16.x Fixes #6213 ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] 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 -->
Bumped packages: - isaaclab_mimic: 1.3.2 → 1.3.3 - isaaclab_rl: 0.5.4 → 0.5.5
# Description Updates Isaac Sim to version 6.0.1 in docs for wheel and docker. Isaac Sim 6.0.1 is a patch release with some fixes and improvements for the asset toolchains and NuRec workflows - https://docs.isaacsim.omniverse.nvidia.com/6.0.1/overview/release_notes.html ## 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 -->
Bumped packages: - isaaclab: 6.1.12 → 6.1.13
## 1. Summary - Cherry-picks #6288 onto `release/3.0.0-beta2`. - Prevents Isaac Sim 6.0 streaming launches from loading prebundled torch against the older pip-installed NCCL. - Makes prebundle repointing work on overlayfs and fail loudly when a shadowing torch copy remains. ## 2. Validation - [x] `69 passed` in the touched install CLI test modules. - [x] Release Docker image invariant failed before repointing and passed afterward. - [x] Exact NVBug 6343978 streaming command reached the Isaac Sim 6.0.1 full-streaming marker after the fix. - [x] `./isaaclab.sh -f`. ## 3. Related - Cherry-pick of #6288. - Fixes NVBug 6343978.
Bumped packages: - isaaclab: 6.1.13 → 6.1.14
# Description Bumps pyarrow version to 23.0.1 due to vulnerability in 22.0.0. Also removes some links that were added by mistake. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
…etion, pin-pink) (#6436) # Description Cherry-pick of #6329 onto `release/3.0.0-beta2` — the follow-up to #6295 for NVBug 6410989 (continuation of NVBug 6343978): Docker streaming works but the log floods with 438 `[Error]` lines and 14 Isaac Sim extensions fail to load. uv installs are unaffected. ## 1. Summary - Relaxed the vestigial `packaging<24` bound in `isaaclab_rl` — it forced pip to downgrade `packaging` and delete it from the `omni.isaac.core_archive` prebundle, dangling the per-file symlink farm `omni.services.pip_archive` shares with it (13 extension startup failures). - Bumped `pin-pink` `3.1.0` → `3.3.0` at every pin site — `isaacsim.robot_motion.pink` needs `pink.exceptions.NoSolutionFound` (pink ≥ 3.3.0); pink 3.4+ stays excluded (pink_ik task-API break, #5846). The wheel spec's `pin-pink>=2.3.6` also becomes `==3.3.0` (it currently resolves to 4.x). - Added the fail-loud post-install invariant: the install aborts when pip leaves a prebundled Isaac Sim package with a dangling `__init__.py`; other new dangling links only warn. ## 2. Backport adaptations vs #6329 This branch predates the #6009 dependency centralization, so: - Pin edits land in `source/isaaclab/setup.py`, `source/isaaclab_rl/setup.py`, and `tools/wheel_builder/res/python_packages.toml` instead of the root `pyproject.toml`. - The install CLI keeps its hardcoded `_PINK_IK_STACK` (bumped to 3.3.0); the pyproject-derived stack from #6329 and its tests are not ported — the derivation would `KeyError` here since the root `pyproject.toml` has no pin entries on this branch. - `import pytest` added to `test_install_prebundle.py` (develop had it from an intermediate commit not on this branch). ## 3. Heads-up: the invariant can surface latent arm64 breakage On develop, the first nightly image build containing #6329 failed its arm64 leg because the invariant caught a real prebundle breakage (Pillow deleted from `omni.kit.pip_archive`). If this release branch's arm64 docker build has a similar latent issue, the invariant will turn a silently-broken image into a failed build — that is by design, but worth knowing before merging. ## 4. Test plan - [x] `source/isaaclab/test/cli/` — 141 passed locally (prebundle invariant tests included). - [ ] PR CI green. --------- Co-authored-by: Piotr Barejko <pbarejko@nvidia.com>
Bumped packages: - isaaclab: 6.1.14 → 6.1.15 - isaaclab_rl: 0.5.5 → 0.5.6
…cker installs (#6467) # Description Cherry-pick of #6437 onto `release/3.0.0-beta2`, plus the `isaaclab_rl` pillow floor that this branch's per-package install path additionally needs. Unblocks the `Publish Docker Images` arm64 leg, which fails since the #6436 post-install invariant landed (run [29124274839](https://github.com/isaac-sim/IsaacLab/actions/runs/29124274839)). ## 1. Summary - Root cause on this branch: `moviepy` (unpinned in `isaaclab_rl`) resolves to 2.2.1, which caps `pillow<12.0`. The standalone `isaaclab_rl` install batches do not have `isaaclab`'s pillow pin in their resolution set, so pip downgrades pillow to 11.3.0 and uninstalls the prebundled pillow 12.2.0 from `omni.kit.pip_archive` — on aarch64 that dangles the per-file symlink farm (228 links incl. `PIL/__init__.py`) and breaks extension startup at runtime (nvbugs 6410989). Green builds before the invariant were already doing this silently (run [28493820266](https://github.com/isaac-sim/IsaacLab/actions/runs/28493820266) shows the same `Uninstalling pillow-12.2.0`). - `source/isaaclab_rl/setup.py`: added a `pillow>=12.1.1` floor — pip then backs moviepy off to 1.0.3 instead of touching pillow. - `source/isaaclab/setup.py`: relaxed the exact `pillow==12.2.0` pin to `>=12.1.1` (the #6437 change), so a future Isaac Sim base-image bump past the pinned version cannot force the same downgrade. - `tools/wheel_builder/res/python_packages.toml`: mirrored both changes. - `moviepy` bounded to `>=1.0.3,<2.0.0.dev0` (the #6454 change adapted to this branch): with the floor excluding stable moviepy 2.x, prerelease-allowing resolvers (uv with `prerelease = "allow"`) otherwise fall through to the broken `2.0.0.dev2` build; the bound makes pip and uv both resolve stable 1.0.3. ## 2. Backport adaptations vs #6437 - This branch predates the #6009 dependency centralization, so the floor lands in the two `setup.py` files + the wheel spec instead of the root `pyproject.toml`. - The extra `isaaclab_rl` floor is beta2-specific: develop resolves `isaaclab` + RL dependencies in one pip batch where the central floor is in scope; this branch installs per package, so `isaaclab_rl`'s own resolution needs the floor. An exact `pillow==12.2.0` in `isaaclab` demonstrably did not protect it — the failing run shows `Uninstalling pillow-12.2.0` during the `isaaclab_rl` batch with only a resolver warning for the isaaclab pin. ## 3. Test plan - [x] Resolver regression proof (py3.12 venv with pillow 12.2.0 preinstalled — the prebundle state — then `pip install --dry-run --report` of `source/isaaclab_rl`): - without fix: plans `pillow 11.3.0` + `moviepy 2.2.1` (the prebundle-deleting downgrade) - with fix: plans `moviepy 1.0.3` + `decorator 4.4.2`; pillow untouched - [x] `source/isaaclab/test/cli` — 140 passed, 1 skipped locally. - [x] pre-commit clean on all files. - [ ] Local amd64 `docker build -f docker/Dockerfile.base` with the fix (in progress). - [ ] PR CI green (incl. Build Base Docker Image + ARM installation tests). - [x] arm64 proof: diagnostic PR #6469 ran the exact publish arm64 leg (build-only) with this fix — green (run [29134632249](https://github.com/isaac-sim/IsaacLab/actions/runs/29134632249)): moviepy backtracks to 1.0.3, no pillow uninstall, post-install invariant passes. - [ ] After merge: the next `Publish Docker Images` run on `release/3.0.0-beta2` validates the arm64 leg — run [29124274839](https://github.com/isaac-sim/IsaacLab/actions/runs/29124274839) is the FAIL baseline.
Bumped packages: - isaaclab: 6.1.15 → 6.1.16 - isaaclab_rl: 0.5.6 → 0.5.7
# Description Update all 14 Isaac Lab 6.0 references to the Franka Panda instanceable USD so they resolve under `FrankaEmika/Legacy/`. The asset is no longer available at the previous URL: the focused asset-path test reports the old path as missing, while the new S3 object returns HTTP 200. This change covers the spawner examples, simulator and asset tests, `FRANKA_PANDA_CFG`, and the direct Franka cabinet task. Also backport the OVRTX CI pinning behavior from upstream develop commit [`ea8f511280`](ea8f511). The release branch stores its OVRTX requirement in `source/isaaclab_ov/setup.py`, so both release CI jobs now install the matching `ovrtx>=0.3.0,<0.4.0` range. A regression test rejects future bare OVRTX installs. No dependencies are added. ## Type of change - [x] Bug fix (non-breaking change which fixes an issue) ## Screenshots Not applicable. ## Validation - Confirmed the focused asset-path test fails with the old URL (`0 != 2`). - Confirmed the OVRTX regression test fails with the original bare CI inputs. - `uv run python -m pytest source/isaaclab/test/utils/test_assets.py::test_check_file_path_nucleus -q` - `uv run python -m pytest source/isaaclab/test/cli/test_uv_run_pyproject.py -q` - `uv run python tools/changelog/cli.py check release/3.0.0-beta2` - `uv run isaaclab -f` - `uv run isaaclab -d` ## 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 fixes are effective - [x] I have added a changelog fragment under `source/<pkg>/changelog.d/` for every touched package - [x] My name already exists in `CONTRIBUTORS.md`
…6690) Cherry-pick of [f67ae28](f67ae28) from Isaac Lab develop branch to release/3.0.0-beta2 to enable Isaac Lab Arena interop. # Description Isaac Lab Arena currently keeps it's own copy of Isaac Lab imitation learning scripts (record_demos.py, generate_dataset.py, etc.). This PR updates the imitation learning scripts in Isaac Lab to enable direct interop with Arena environments, allowing Arena to remove it's own copy of the scripts and directly invoke the Isaac Lab ones. Changes are: 1. Add CLI arg to toggle sim buffer reset in recording script 2. Add configurable recorder cfg to recording script 3. Add configurable recorder cfg to data generation script All additions are optional parameters and default to old behaviour so existing Isaac Lab workflows are not impacted. ## 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 - [ ] 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: Peter Du <peterd@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Bumped packages: - isaaclab: 6.1.16 → 6.1.17 - isaaclab_assets: 0.3.4 → 0.3.5 - isaaclab_mimic: 1.3.3 → 1.3.4
# Description Prepare `release/3.0.0-beta2` to serve temporarily as the repository default and stable landing branch while keeping the released code frozen. This change: - restores default-branch-owned schedules on the release branch without using release code as an active development source; - keeps scheduled link checking on `main` and disables the obsolete daily compatibility workflow; - keeps scheduled and manually dispatched documentation assembly on `develop`, while making the published site root follow the repository default branch (`release/3.0.0-beta2` after cutover); - keeps scheduled changelog compilation and image publishing on `develop` only, while manual release-image dispatches load the selected release branch's compatible image configuration; - identifies this branch as the stable Isaac Lab 3.0.0 Beta 2 landing page and points reproducible users to `v3.0.0-beta2.patch1`; and - directs all ongoing contributions to `develop`. Push-triggered workflows that explicitly target `main` remain unchanged. ## Type of change - Documentation update - CI/CD maintenance ## Testing - `.\isaaclab.bat -f` - Parsed all GitHub Actions YAML with PyYAML. - Verified the daily compatibility workflow is absent from the release landing branch. - Verified scheduled branch-routing invariants for link checks, docs, changelog compilation, and image publishing. - Verified multi-version docs always check out `develop`, including manual dispatches from the release landing branch, while the site root still follows the repository default branch. - Verified branch-specific image configuration resolves `develop` to `nvcr.io/nvidian/isaac-sim:latest-develop` and `release/3.0.0-beta2` to `nvcr.io/nvidia/isaac-sim:6.0.1`. - Ran the Windows `make.bat multi-docs` path with a fake Sphinx builder and verified both the release redirect and the `main` fallback contain no placeholder. - Ported the branch-layout staging and commit-message handling from upstream `main` commit `b0542fe2d45`, while retaining develop-only scheduled changelog routing. - Changelog tests: 89 passed; one existing Windows path-separator assertion failed in `test_display_path_strips_repo_root_for_internal_paths` (`tools\changelog\cli.py` versus `tools/changelog/cli.py`). - `Build Latest Docs` passed on the previous PR revision in Linux CI; the current revision is rebuilding. - A local Windows `.\isaaclab.bat -d` render remains blocked by the existing `sphinxcontrib.icon` absolute CSS path error (`OSError: [Errno 22] Invalid argument`). ## Repository settings after merge - Protect `release/3.0.0-beta2` with the same required reviews and strict status checks as `main` (`pre-commit` and `Build Latest Docs`). - Allow `release/3.0.0-beta2` to deploy to the `github-pages` environment. - Change the repository default branch to `release/3.0.0-beta2`. - Manually dispatch the docs workflow and verify the site root redirects to the release branch docs. - Verify the scheduled docs, image, link-check, and changelog workflows appear under the new default.
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merged commit Jul 25, 2026
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