Lab 3.0 (Newton) by alexmillane · Pull Request #464 · isaac-sim/IsaacLab-Arena

alexmillane · 2026-03-04T14:27:09Z

Summary

This is the working branch for upgrading Isaac Lab Arena to Lab 3.0 with Newton.

Detailed description

Upgrade to latest lab.

…tion.

…nce_objects, fix wp2torch in g1_wbv_embodiment

Pinocchio was previously imported before AppLauncher as a workaround to force version resolution at startup. Isaac Lab 3 / Newton no longer requires this workaround, so all early pinocchio imports and the --disable_pinocchio CLI flag are removed. Changes: - Remove --disable_pinocchio arg from isaaclab_arena_cli.py - Remove pre-AppLauncher pinocchio imports from all scripts (train, play, teleop, record_demos, replay_demos, annotate_demos, generate_dataset, notebooks) - Remove enable_pinocchio param from test subprocess helpers - Remove peg/hole skip decorators from assembly and asset registry tests - Unconditionally import pick_place and enable XR detection where previously gated on enable_pinocchio Signed-off-by: Clemens Volk <cvolk@nvidia.com>

The hf binary installed in Isaac Sim's Python couldn't find 'requests' because Isaac Sim bundles it in a zip only accessible via python.sh. Use pipx to install hf into an isolated venv so all deps are available, without touching system Python packages.

Support Quest3 for loco-manipulation teleop and record/replay - What was the reason for the change? Support Quest3 for loco-manipulation teleop for g1_pink example. This allows proper data recording for the locomanipulation. - What has been changed? Adds openxr + g1_pink teleop support Adds documention for locomanip data recording with Quest

## Summary To fix tests hang on CI ## Detailed description Split the CI test step into two separate pytest invocations: 1. Run subprocess-spawning tests (test_policy_runner.py, test_sequential_task_mimic_data_generation.py) — each subprocess gets exclusive GPU access, runs, and exits cleanly 2. Run all remaining in-process tests with --ignore flags — these share the persistent SimulationApp as intended

## Summary Try to fix CI stalls affecting the Lab 3.0 branch. ## Detailed description - Caused by `run_subprocess` being called when a persistent simulation app is open. --------- Signed-off-by: Xinjie Yao <xyao@nvidia.com> Co-authored-by: Xinjie Yao <xyao@nvidia.com>

## Summary The requirement of RigidBodyAP at root level of prim path has been relaxed. Fall back to the source object path.

## Summary The URL used in Sphinx's mapping (docs.scipy.org/doc/numpy/) is legacy. NumPy moved its documentation to its own domain. Updated conf.py.

alexmillane

Not too bad!

alexmillane · 2026-03-31T11:55:50Z

.github/workflows/ci.yml


    container:
-      image: nvcr.io/nvstaging/isaac-amr/isaaclab_arena:latest
+      image: nvcr.io/nvstaging/isaac-amr/isaaclab_arena:lab3


Remember to switch this back to latest post merge to main

alexmillane · 2026-03-31T11:56:05Z

.github/workflows/ci.yml


    container:
-      image: nvcr.io/nvstaging/isaac-amr/isaaclab_arena:cuda_gr00t_gn16
+      image: nvcr.io/nvstaging/isaac-amr/isaaclab_arena:lab3_cuda_gr00t_gn16


switch back

alexmillane · 2026-03-31T11:56:23Z

.github/workflows/gh-pages.yml

 on:
  push:
-    branches: [ "main" ]
+    branches: [ "main", "feature/isaac_lab_3_newton" ]


remove this post merge

alexmillane · 2026-03-31T11:59:19Z

docker/setup/install_gr00t_deps.sh

    "pyarrow>=14,<18" \
    "av==12.3.0" \
-    "aiortc==1.10.1"
+    "aiortc==1.10.1" && \


@xyao-nv What's the intention of having these trailing && \

I guess this chains all the commands together, but I've never seen that before. Is there a reason for doing this?

I'll clean up in later MR.

docker/Dockerfile.isaaclab_arena

isaaclab_arena/tests/test_relation_loss_strategies.py

isaaclab_arena_environments/gr1_put_and_close_door_environment.py

isaaclab_arena_examples/relations/dummy_object_placer_notebook.py

isaaclab_arena_gr00t/tests/conftest.py

pytest.ini

## Summary Address my self-review on the Isaac Lab 3.0 branch ## Detailed description - Small cleanups.

## Summary - Move g1 teleop pipeline into isaaclab_arena_g1/teleop folder per https://github.com/isaac-sim/IsaacLab-Arena/pull/464/changes#r3015546224 - Cleanup the logic for isaac_teleop_cfg / device_cfg resolution in arena_env_builder per https://github.com/isaac-sim/IsaacLab-Arena/pull/464/changes#r3015607024 and https://github.com/isaac-sim/IsaacLab-Arena/pull/464/changes#r3015632003 - Add typing for get_teleop_device_cfg from DeviceRegistry. This could be IsaacTeleopCfg for openxr devices, or native DeviceCfg for keyboard/spacemouse - Fix scripts not using device_cfg from the arena_env_builder properly

## Summary Doc changes only, refactor task concept page. ## Detailed description - Moved the Sequential Tasks section from concept_tasks_design.rst into a new standalone page concept_sequential_tasks_design.rst - Replaced the original section with a brief summary and cross-reference link to the new page - Registered the new page in the docs/index.rst toctree under the Concepts section

## Summary Deduplicate GR00T PYTHONPATH bootstrap logic ## Detailed description - Duplicate GR00T PYTHONPATH bootstrapping code existed in policy_runner.py and conftest.py, risking divergence. - Extracted into a shared ensure_groot_deps_in_path() in isaaclab_arena_gr00t/utils/groot_path.py with a reexec_argv parameter to support both script and pytest re-exec. Updated both call sites to use it. - Add TODO to remove it in v0.3 --------- Co-authored-by: Xinjie Yao <xyao@nvidia.com>

alexmillane force-pushed the feature/isaac_lab_3_newton branch 2 times, most recently from 71c6264 to 08b9633 Compare March 4, 2026 15:18

alexmillane and others added 28 commits March 13, 2026 11:51

Trying with Isaac Sim image.

b584e14

Fix Dockerfile pip usage and add SSL cert support for Lightwheel SDK

6b149b5

Got something running. Poses are all wrong.

7b4dcaf

Quaternion flip (a-la Claude)

cc6748f

Got the object_on_termination working.

9943d15

Progress. Down to 33 tests failing.

1a99f42

Progress.

aada941

Fix object set tests.

0464950

Fix policy runner test.

6827bc9

Pullup and fix a few issues.

f8adcf9

Mark rigid object references as broken and put back in metric calcula…

ff9ce74

…tion.

Revert launch.json

f49a545

Cleanup docker.

85033d6

Moar cleanup.

46092f1

update Lab to include fix for RigidobjCfg, revert skipped test_refere…

3245497

…nce_objects, fix wp2torch in g1_wbv_embodiment

remove uncommented broken marks

b9a1590

fix IL data gen script and test

dda5cf5

remove skillgen sections of generate_dataset.py script:

962db5e

rm torch3d from gr00t deps

4cd1089

uncomment

cab8e99

isolate gr00t pkgs into /opt/groot_deps

5adfad0

fix gr00t import path and test

dee3b56

fix quat order in WBC inputs

c8c7ba3

Pullup sim and lab.

0182399

update dataset and fix workflows

70d982e

xyao-nv added 3 commits March 23, 2026 13:01

update dataset hf cmds

c7a20be

update hf dataset download link to tag arena_v0.2_lab_v3.0

1ae721e

cleanup docker

7dfbaf8

alexmillane marked this pull request as ready for review March 24, 2026 09:38

alexmillane and others added 13 commits March 24, 2026 11:26

Disable RSL RL test while we wait for lab 3.0 interop to be merged.

cb36cd2

Merge branch 'main' into feature/isaac_lab_3_newton

e79f0ad

Add pre-commit to our docker.

cc82600

Lint.

64123fb

Merge branch 'main' into feature/isaac_lab_3_newton

e3207bd

Move NGC script and Docker to lab3 image tags.

e30d161

Skip the action chunking client due to intermittent stalls.

7f0e7c1

fix gr00t tests

533dd25

add visualizer kit into doc

6b908e5

fix CI for gr00t docker

dc9e4bb

increase timeout to 80 mins for base

6800e06

Fix missed test exit codes due to subprocess.

cd7d42a

alexmillane force-pushed the feature/isaac_lab_3_newton branch from fe70941 to cd7d42a Compare March 25, 2026 11:25

alexmillane and others added 4 commits March 25, 2026 12:42

Remove self hosted assets due to prim path not found (#513)

ecf3ba6

## Summary The requirement of RigidBodyAP at root level of prim path has been relaxed. Fall back to the source object path.

Fix sphinx numpy connection (#516)

00bd0b4

## Summary The URL used in Sphinx's mapping (docs.scipy.org/doc/numpy/) is legacy. NumPy moved its documentation to its own domain. Updated conf.py.

Merge branch 'main' into feature/isaac_lab_3_newton

90334f4

alexmillane commented Mar 31, 2026

View reviewed changes

alexmillane and others added 4 commits April 1, 2026 08:42

Self review (#520)

ea4cf56

## Summary Address my self-review on the Isaac Lab 3.0 branch ## Detailed description - Small cleanups.

xyao-nv approved these changes Apr 1, 2026

View reviewed changes

cvolkcvolk approved these changes Apr 1, 2026

View reviewed changes

alexmillane merged commit 7be7836 into main Apr 1, 2026
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Lab 3.0 (Newton)#464

Lab 3.0 (Newton)#464
alexmillane merged 77 commits intomainfrom
feature/isaac_lab_3_newton

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alexmillane commented Mar 4, 2026

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