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Fixes camera fast path logic and GPU buffer in dexsuite (isaac-sim#4776)
# Description Fixes a bad merge of the camera class logic to check for when to enable the fast paths. Also fixes GPU buffer size that now needs to be increased for dexsuite environments. Fixes IMU tests and URDF converter logic. Fixes teleop tests where patching wasn't working correctly with the new lazy export mechanism. Switches Factory and Forge environments to use timestamp logging to avoid overwriting the same folder when running multiple training runs. Removes omni.kit.pip_archive from our app files to avoid any version conflicts between our and Kit's python dependencies. ## 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 --> --------- Co-authored-by: Octi Zhang <zhengyuz@nvidia.com>
1 parent 8e2f38f commit 674fbd0

40 files changed

Lines changed: 896 additions & 247 deletions

‎.github/actions/run-tests/action.yml‎

Lines changed: 27 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -35,6 +35,14 @@ inputs:
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description: 'Run only cuRobo and SkillGen tests (requires the cuRobo Docker image)'
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default: 'false'
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required: false
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cuda-issue-only:
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description: 'Run only tests with known CUDA issues (isolated from general tests)'
40+
default: 'false'
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required: false
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include-files:
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description: 'Comma-separated list of specific test file paths to include (e.g., source/pkg/test/test_a.py,source/pkg/test/test_b.py)'
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default: ''
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required: false
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runs:
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using: composite
@@ -52,6 +60,8 @@ runs:
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local pytest_options="$6"
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local filter_pattern="$7"
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local curobo_only="$8"
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local cuda_issue_only="$9"
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local include_files="${10}"
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echo "Running tests in: $test_path"
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if [ -n "$pytest_options" ]; then
@@ -63,6 +73,12 @@ runs:
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if [ "$curobo_only" = "true" ]; then
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echo "cuRobo-only mode enabled: running only cuRobo and SkillGen tests"
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fi
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if [ "$cuda_issue_only" = "true" ]; then
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echo "cuda-issue-only mode enabled: running only CUDA issue tests"
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fi
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if [ -n "$include_files" ]; then
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echo "Include files: $include_files"
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fi
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# Create reports directory
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mkdir -p "$reports_dir"
@@ -86,6 +102,16 @@ runs:
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echo "Setting TEST_CUROBO_ONLY=true"
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fi
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if [ "$cuda_issue_only" = "true" ]; then
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docker_env_vars="$docker_env_vars -e TEST_CUDA_ISSUE_ONLY=true"
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echo "Setting TEST_CUDA_ISSUE_ONLY=true"
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fi
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if [ -n "$include_files" ]; then
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docker_env_vars="$docker_env_vars -e TEST_INCLUDE_FILES=$include_files"
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echo "Setting TEST_INCLUDE_FILES=$include_files"
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fi
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if [ -n "$filter_pattern" ]; then
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if [[ "$filter_pattern" == not* ]]; then
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# Handle "not pattern" case
@@ -167,4 +193,4 @@ runs:
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}
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# Call the function with provided parameters
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run_tests "${{ inputs.test-path }}" "${{ inputs.result-file }}" "${{ inputs.container-name }}" "${{ inputs.image-tag }}" "${{ inputs.reports-dir }}" "${{ inputs.pytest-options }}" "${{ inputs.filter-pattern }}" "${{ inputs.curobo-only }}"
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run_tests "${{ inputs.test-path }}" "${{ inputs.result-file }}" "${{ inputs.container-name }}" "${{ inputs.image-tag }}" "${{ inputs.reports-dir }}" "${{ inputs.pytest-options }}" "${{ inputs.filter-pattern }}" "${{ inputs.curobo-only }}" "${{ inputs.cuda-issue-only }}" "${{ inputs.include-files }}"

‎.github/workflows/build.yml‎

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@@ -59,6 +59,7 @@ jobs:
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image-tag: ${{ env.DOCKER_IMAGE_TAG }}
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pytest-options: ""
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filter-pattern: "isaaclab_tasks"
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include-files: "test_multi_agent_environments.py,test_pickplace_stack_environments.py,test_environments.py,test_factory_environments.py,test_environments_training.py,test_cartpole_showcase_environments.py,test_teleop_environments.py"
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- name: Copy Test Results from IsaacLab Tasks Container
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run: |
@@ -91,6 +92,67 @@ jobs:
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exit 1
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fi
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test-isaaclab-tasks-2:
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runs-on: [self-hosted, gpu]
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timeout-minutes: 180
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continue-on-error: true
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steps:
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- name: Checkout Code
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uses: actions/checkout@v4
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with:
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fetch-depth: 0
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lfs: true
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- name: Build Docker Image
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uses: ./.github/actions/docker-build
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with:
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image-tag: ${{ env.DOCKER_IMAGE_TAG }}
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isaacsim-base-image: ${{ env.ISAACSIM_BASE_IMAGE }}
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isaacsim-version: ${{ env.ISAACSIM_BASE_VERSION }}
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- name: Run IsaacLab Tasks Tests 2
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uses: ./.github/actions/run-tests
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with:
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test-path: "tools"
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result-file: "isaaclab-tasks-2-report.xml"
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container-name: "isaac-lab-tasks-2-test-$$"
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image-tag: ${{ env.DOCKER_IMAGE_TAG }}
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pytest-options: ""
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filter-pattern: "isaaclab_tasks"
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include-files: "test_teleop_environments_with_stage_in_memory.py,test_lift_teddy_bear.py,test_environment_determinism.py,test_hydra.py,test_env_cfg_no_forbidden_imports.py,test_rl_device_separation.py,test_cartpole_showcase_environments_with_stage_in_memory.py,test_environments_with_stage_in_memory.py"
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- name: Copy Test Results from IsaacLab Tasks 2 Container
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run: |
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CONTAINER_NAME="isaac-lab-tasks-2-test-$$"
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if docker ps -a | grep -q $CONTAINER_NAME; then
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echo "Copying test results from IsaacLab Tasks 2 container..."
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docker cp $CONTAINER_NAME:/workspace/isaaclab/tests/isaaclab-tasks-2-report.xml reports/ 2>/dev/null || echo "No test results to copy from IsaacLab Tasks 2 container"
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fi
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- name: Upload IsaacLab Tasks 2 Test Results
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uses: actions/upload-artifact@v4
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if: always()
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with:
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name: isaaclab-tasks-2-test-results
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path: reports/isaaclab-tasks-2-report.xml
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retention-days: 1
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compression-level: 9
141+
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- name: Check Test Results for Fork PRs
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if: github.event.pull_request.head.repo.full_name != github.repository
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run: |
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if [ -f "reports/isaaclab-tasks-2-report.xml" ]; then
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# Check if the test results contain any failures
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if grep -q 'failures="[1-9]' reports/isaaclab-tasks-2-report.xml || grep -q 'errors="[1-9]' reports/isaaclab-tasks-2-report.xml; then
148+
echo "Tests failed for PR from fork. The test report is in the logs. Failing the job."
149+
exit 1
150+
fi
151+
else
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echo "No test results file found. This might indicate test execution failed."
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exit 1
154+
fi
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test-general:
95157
runs-on: [self-hosted, gpu]
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timeout-minutes: 180
@@ -213,8 +275,69 @@ jobs:
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exit 1
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fi
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cuda-issue-tests:
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runs-on: [self-hosted, gpu]
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timeout-minutes: 120
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continue-on-error: true
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steps:
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- name: Checkout Code
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uses: actions/checkout@v4
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with:
287+
fetch-depth: 0
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lfs: true
289+
290+
- name: Build Docker Image
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uses: ./.github/actions/docker-build
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with:
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image-tag: ${{ env.DOCKER_IMAGE_TAG }}
294+
isaacsim-base-image: ${{ env.ISAACSIM_BASE_IMAGE }}
295+
isaacsim-version: ${{ env.ISAACSIM_BASE_VERSION }}
296+
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- name: Run CUDA Issue Tests
298+
uses: ./.github/actions/run-tests
299+
with:
300+
test-path: "tools"
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result-file: "cuda-issue-tests-report.xml"
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container-name: "isaac-lab-cuda-issue-test-$$"
303+
image-tag: ${{ env.DOCKER_IMAGE_TAG }}
304+
pytest-options: ""
305+
filter-pattern: ""
306+
cuda-issue-only: "true"
307+
308+
- name: Copy Test Results from CUDA Issue Tests Container
309+
run: |
310+
CONTAINER_NAME="isaac-lab-cuda-issue-test-$$"
311+
if docker ps -a | grep -q $CONTAINER_NAME; then
312+
echo "Copying test results from CUDA Issue Tests container..."
313+
docker cp $CONTAINER_NAME:/workspace/isaaclab/tests/cuda-issue-tests-report.xml reports/ 2>/dev/null || echo "No test results to copy from CUDA Issue Tests container"
314+
fi
315+
316+
- name: Upload CUDA Issue Test Results
317+
uses: actions/upload-artifact@v4
318+
if: always()
319+
with:
320+
name: cuda-issue-test-results
321+
path: reports/cuda-issue-tests-report.xml
322+
retention-days: 1
323+
compression-level: 9
324+
325+
- name: Check Test Results for Fork PRs
326+
if: github.event.pull_request.head.repo.full_name != github.repository
327+
run: |
328+
if [ -f "reports/cuda-issue-tests-report.xml" ]; then
329+
# Check if the test results contain any failures
330+
if grep -q 'failures="[1-9]' reports/cuda-issue-tests-report.xml || grep -q 'errors="[1-9]' reports/cuda-issue-tests-report.xml; then
331+
echo "Tests failed for PR from fork. The test report is in the logs. Failing the job."
332+
exit 1
333+
fi
334+
else
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echo "No test results file found. This might indicate test execution failed."
336+
exit 1
337+
fi
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216339
combine-results:
217-
needs: [test-isaaclab-tasks, test-general, test-curobo]
340+
needs: [test-isaaclab-tasks, test-isaaclab-tasks-2, test-general, test-curobo, cuda-issue-tests]
218341
runs-on: [self-hosted, gpu]
219342
if: always()
220343

@@ -236,6 +359,13 @@ jobs:
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path: reports/
237360
continue-on-error: true
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362+
- name: Download IsaacLab Tasks 2 Test Results
363+
uses: actions/download-artifact@v4
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with:
365+
name: isaaclab-tasks-2-test-results
366+
path: reports/
367+
continue-on-error: true
368+
239369
- name: Download General Test Results
240370
uses: actions/download-artifact@v4
241371
with:
@@ -249,6 +379,13 @@ jobs:
249379
path: reports/
250380
continue-on-error: true
251381

382+
- name: Download CUDA Issue Test Results
383+
uses: actions/download-artifact@v4
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with:
385+
name: cuda-issue-test-results
386+
path: reports/
387+
continue-on-error: true
388+
252389
- name: Combine All Test Results
253390
uses: ./.github/actions/combine-results
254391
with:

‎apps/isaaclab.python.headless.kit‎

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Original file line numberDiff line numberDiff line change
@@ -104,6 +104,9 @@ isaac.startup.ros_bridge_extension = ""
104104
# disable the metrics assembler change listener, we don't want to do any runtime changes
105105
metricsAssembler.changeListenerEnabled = false
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107+
# explicitly disable omni.kit.pip_archive to prevent conflicting dependencies
108+
app.extensions.excluded = ["omni.kit.pip_archive"]
109+
107110
# Extensions
108111
###############################
109112
[settings.exts."omni.kit.registry.nucleus"]

‎apps/isaaclab.python.headless.rendering.kit‎

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@@ -106,6 +106,9 @@ exts."omni.replicator.core".Orchestrator.enabled = false
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# disable the metrics assembler change listener, we don't want to do any runtime changes
107107
metricsAssembler.changeListenerEnabled = false
108108

109+
# explicitly disable omni.kit.pip_archive to prevent conflicting dependencies
110+
app.extensions.excluded = ["omni.kit.pip_archive"]
111+
109112
[settings.exts."omni.kit.registry.nucleus"]
110113
registries = [
111114
{ name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/${kit_version_short}/shared" },

‎apps/isaaclab.python.kit‎

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@@ -254,6 +254,9 @@ exts."omni.replicator.core".Orchestrator.enabled = false
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# NuRec
255255
omni.rtx.nre.compositing.rendererHints = 3
256256

257+
# explicitly disable omni.kit.pip_archive to prevent conflicting dependencies
258+
app.extensions.excluded = ["omni.kit.pip_archive"]
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257260
[settings.app.livestream]
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outDirectory = "${data}"
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‎apps/isaaclab.python.rendering.kit‎

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@@ -92,6 +92,9 @@ exts."omni.replicator.core".Orchestrator.enabled = false
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# disable the metrics assembler change listener, we don't want to do any runtime changes
9393
metricsAssembler.changeListenerEnabled = false
9494

95+
# explicitly disable omni.kit.pip_archive to prevent conflicting dependencies
96+
app.extensions.excluded = ["omni.kit.pip_archive"]
97+
9598
[settings.physics]
9699
updateToUsd = false
97100
updateParticlesToUsd = false

‎apps/isaaclab.python.xr.openxr.headless.kit‎

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[settings]
3737
xr.profile.ar.enabled = true
3838

39+
# explicitly disable omni.kit.pip_archive to prevent conflicting dependencies
40+
app.extensions.excluded = ["omni.kit.pip_archive"]
41+
3942
[settings.app.python]
4043
# These disable the kit app from also printing out python output, which gets confusing
4144
interceptSysStdOutput = false

‎apps/isaaclab.python.xr.openxr.kit‎

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@@ -62,6 +62,9 @@ xr.openxr.components."omni.kit.xr.openxr.ext.hand_tracking".enabled = true
6262
xr.openxr.components."isaacsim.xr.openxr.hand_tracking".enabled = true
6363
xr.openxr.components."isaacsim.kit.xr.teleop.bridge".enabled = true
6464

65+
# explicitly disable omni.kit.pip_archive to prevent conflicting dependencies
66+
app.extensions.excluded = ["omni.kit.pip_archive"]
67+
6568
[settings.app.python]
6669
# These disable the kit app from also printing out python output, which gets confusing
6770
interceptSysStdOutput = false

‎scripts/tutorials/00_sim/launch_app.py‎

Lines changed: 1 addition & 1 deletion
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@@ -70,7 +70,7 @@ def main():
7070
"""Main function."""
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7272
# Initialize the simulation context
73-
sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
73+
sim_cfg = sim_utils.SimulationCfg(device=args_cli.device, dt=0.01)
7474
sim = sim_utils.SimulationContext(sim_cfg)
7575
# Set main camera
7676
sim.set_camera_view([2.0, 0.0, 2.5], [-0.5, 0.0, 0.5])

‎source/isaaclab/isaaclab/cli/commands/install.py‎

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Original file line numberDiff line numberDiff line change
@@ -271,6 +271,11 @@ def command_install(install_type: str = "all") -> None:
271271
print_warning(f"Unknown sub-package '{name}'. Valid values: {', '.join(valid)}. Skipping.")
272272
framework_type = "none" # RL frameworks not applied in selective mode
273273

274+
# Configure extra package indexes for NVIDIA and MuJoCo wheels.
275+
os.environ.setdefault("UV_INDEX", "https://pypi.nvidia.com")
276+
os.environ.setdefault("PIP_EXTRA_INDEX_URL", "https://pypi.nvidia.com")
277+
os.environ.setdefault("PIP_FIND_LINKS", "https://py.mujoco.org/")
278+
274279
# if on ARM arch, temporarily clear LD_PRELOAD
275280
# LD_PRELOAD is restored below, after installation
276281
saved_ld_preload = None

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