Update IsaacLab to latest main (#336)

## Summary
Update IsaacLab/IsaacSim for Quest teleop

## Detailed description
- What was the reason for the change?
Pull in IsaacLab support for Meta Quest3 for locomanipulation teleop

- What has been changed?
Update isaaclab submodule commit to
[5528d986](isaac-sim/IsaacLab@5528d98)
(branch `arena/arena_2_on_lab_23`)
This includes a fix for deferred `isaaclab.utils` imports to after
`AppLauncher` starts, required because a recent merge from main added
`pxr` (OpenUSD) as a transitive import in `utils/__init__.py`.
Update the base isaac sim image version from 5.0 to 5.1
IsaacSim 5.1 switch to default non-root user, need to configure the
Docker file with root user for app install

- What is the impact of this change?
No change expected.
Loco manip example data generation & replay is verified to work.
Open microwave example Gr00t policy eval is verified to work.
AVP teleop has not been verified.

---------

Signed-off-by: Clemens Volk <cvolk@nvidia.com>
Co-authored-by: Clemens Volk <cvolk@nvidia.com>
Co-authored-by: alex <amillane@nvidia.com>

Author: 3 people

docker/Dockerfile.isaaclab_arena

@@ -1,7 +1,10 @@
-ARG BASE_IMAGE=nvcr.io/nvidia/isaac-sim:5.0.0
+ARG BASE_IMAGE=nvcr.io/nvidia/isaac-sim:5.1.0
 
 FROM ${BASE_IMAGE}
 
+# Set user to root (Isaac Sim base image defaults to non-root user)
+USER root
+
 # GR00T Policy Build Arguments, these are only used if INSTALL_GROOT is true
 ARG INSTALL_GROOT=false
 
@@ -22,9 +25,6 @@ RUN apt-get update && apt-get install -y \
   sudo \
   python3-pip
 
-# Update pip to the latest version
-RUN pip3 install --upgrade pip
-
 ################################
 # Install Isaac Lab
 ################################
@@ -37,9 +37,12 @@ ENV TERM=xterm
 # Symlink isaac sim to IsaacLab
 RUN ln -s /isaac-sim/ ${WORKDIR}/submodules/IsaacLab/_isaac_sim
 # Install IsaacLab dependencies
-RUN for DIR in ${WORKDIR}/submodules/IsaacLab/source/isaaclab*/; do pip install --no-deps -e "$DIR"; done
+RUN for DIR in ${WORKDIR}/submodules/IsaacLab/source/isaaclab*/; do /isaac-sim/python.sh -m pip install --no-deps -e "$DIR"; done
 # Logs and other stuff appear under dist-packages per default, so this dir has to be writeable.
 RUN chmod 777 -R /isaac-sim/kit/
+# Make /isaac-sim directory traversable and readable by all users
+# This is needed when entrypoint switches to non-root user
+RUN chmod a+x /isaac-sim
 # NOTE(alexmillane, 2026-02-10): We started having issues with flatdict 4.0.1 installation
 # during IsaacLab install. We install here with build isolation which seems to fix the issue.
 RUN /isaac-sim/python.sh -m pip install flatdict==4.0.1 --no-build-isolation
@@ -49,7 +52,7 @@ RUN ${ISAACLAB_PATH}/isaaclab.sh -i
 # Patch for osqp in IsaacLab. Downgrade qpsolvers
 # TODO(alexmillane): Watch the thread here: https://nvidia.slack.com/archives/C06HLQ6CB41/p1764680205807019
 #                    and remove this thread when IsaacLab has a fix.
-RUN if python -c "import qpsolvers; print(qpsolvers.available_solvers)" | grep -q "osqp"; then \
+RUN if /isaac-sim/python.sh -c "import qpsolvers; print(qpsolvers.available_solvers)" | grep -q "osqp"; then \
         echo "OSQP is installed. You can remove this clause from the Arena dockerfile."; \
     else \
         echo "OSQP missing, installing... This is a patch for an Isaac Lab bug."; \
@@ -79,7 +82,7 @@ ENV LW_API_ENDPOINT="https://api-dev.lightwheel.net"
 
 # HuggingFace for downloading datasets and models.
 # NOTE(alexmillane, 2025-10-28): For some reason the CLI has issues when installed in the IsaacSim version of python.
-RUN pip install huggingface-hub[cli]
+RUN pip install --break-system-packages huggingface-hub[cli]
 # Create alias for hf command to use the system-installed version
 RUN echo "alias hf='/usr/local/bin/hf'" >> /etc/bash.bashrc
 
@@ -136,7 +139,7 @@ RUN echo "alias pytest='/isaac-sim/python.sh -m pytest'" >> /etc/bash.bashrc
 #    It will pause waiting for the debugger to attach.
 # 3) Attach to the running container with VSCode using the "Attach to debugpy session"
 #    configuration from the Run and Debug panel.
-RUN pip3 install debugpy
+RUN /isaac-sim/python.sh -m pip install debugpy
 RUN echo "alias debugpy='python -Xfrozen_modules=off -m debugpy --listen localhost:5678 --wait-for-client'" >> /etc/bash.bashrc
 
 # Change prompt so it's obvious we're inside the arena container

docker/setup/entrypoint.sh

@@ -21,7 +21,7 @@ userdel ubuntu || true
 useradd --no-log-init \
         --uid "$DOCKER_RUN_USER_ID" \
         --gid "$DOCKER_RUN_GROUP_NAME" \
-        --groups sudo \
+        --groups sudo,isaac-sim \
         --shell /bin/bash \
         $DOCKER_RUN_USER_NAME
 chown $DOCKER_RUN_USER_NAME:$DOCKER_RUN_GROUP_NAME /home/$DOCKER_RUN_USER_NAME

isaaclab_arena/scripts/imitation_learning/generate_dataset.py

@@ -70,13 +70,13 @@
 import asyncio
 import gymnasium as gym
 import inspect
+import logging
 import numpy as np
 import os
 import random
 import torch
 
 import isaaclab_mimic.envs  # noqa: F401
-import omni
 from isaaclab.envs import ManagerBasedRLMimicEnv
 from isaaclab.envs.mdp.recorders.recorders_cfg import ActionStateRecorderManagerCfg
 from isaaclab.managers import DatasetExportMode, RecorderTerm, RecorderTermCfg
@@ -91,6 +91,8 @@
 from isaaclab_mimic.datagen.generation import env_loop, setup_async_generation
 from isaaclab_mimic.datagen.utils import setup_output_paths
 
+logger = logging.getLogger(__name__)
+
 
 class PreStepFlatCameraObservationsRecorder(RecorderTerm):
     """Recorder term that records the camera observations in each step."""
@@ -199,7 +201,7 @@ def main():
 
     # check if the mimic API from this environment contains decprecated signatures
     if "action_noise_dict" not in inspect.signature(env.target_eef_pose_to_action).parameters:
-        omni.log.warn(
+        logger.warning(
             f'The "noise" parameter in the "{env_name}" environment\'s mimic API "target_eef_pose_to_action", '
             "is deprecated. Please update the API to take action_noise_dict instead."
         )

isaaclab_arena/scripts/imitation_learning/record_demos.py

@@ -86,18 +86,18 @@
 
 # Third-party imports
 import gymnasium as gym
+import logging
 import os
 import time
 import torch
 
 import isaaclab_mimic.envs  # noqa: F401
-
-# Omniverse logger
-import omni.log
 import omni.ui as ui
 from isaaclab.devices import Se3Keyboard, Se3KeyboardCfg, Se3SpaceMouse, Se3SpaceMouseCfg
 from isaaclab.devices.openxr import remove_camera_configs
 from isaaclab.devices.teleop_device_factory import create_teleop_device
+
+logger = logging.getLogger(__name__)
 from isaaclab_mimic.ui.instruction_display import InstructionDisplay, show_subtask_instructions
 
 # Imports have to follow simulation startup.
@@ -196,7 +196,7 @@ def create_environment_config(
         env_name, env_cfg = arena_builder.build_registered()
 
     except Exception as e:
-        omni.log.error(f"Failed to parse environment configuration: {e}")
+        logger.error(f"Failed to parse environment configuration: {e}")
         exit(1)
 
     # extract success checking function to invoke in the main loop
@@ -205,7 +205,7 @@ def create_environment_config(
         success_term = env_cfg.terminations.success
         env_cfg.terminations.success = None
     else:
-        omni.log.warn(
+        logger.warning(
             "No success termination term was found in the environment."
             " Will not be able to mark recorded demos as successful."
         )
@@ -246,7 +246,7 @@ def create_environment(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg, env_name:
         env = gym.make(env_name, cfg=env_cfg).unwrapped
         return env
     except Exception as e:
-        omni.log.error(f"Failed to create environment: {e}")
+        logger.error(f"Failed to create environment: {e}")
         exit(1)
 
 
@@ -271,26 +271,28 @@ def setup_teleop_device(callbacks: dict[str, Callable]) -> object:
         if hasattr(env_cfg, "teleop_devices") and args_cli.teleop_device in env_cfg.teleop_devices.devices:
             teleop_interface = create_teleop_device(args_cli.teleop_device, env_cfg.teleop_devices.devices, callbacks)
         else:
-            omni.log.warn(f"No teleop device '{args_cli.teleop_device}' found in environment config. Creating default.")
+            logger.warning(
+                f"No teleop device '{args_cli.teleop_device}' found in environment config. Creating default."
+            )
             # Create fallback teleop device
             if args_cli.teleop_device.lower() == "keyboard":
                 teleop_interface = Se3Keyboard(Se3KeyboardCfg(pos_sensitivity=0.2, rot_sensitivity=0.5))
             elif args_cli.teleop_device.lower() == "spacemouse":
                 teleop_interface = Se3SpaceMouse(Se3SpaceMouseCfg(pos_sensitivity=0.2, rot_sensitivity=0.5))
             else:
-                omni.log.error(f"Unsupported teleop device: {args_cli.teleop_device}")
-                omni.log.error("Supported devices: keyboard, spacemouse, avp_handtracking")
+                logger.error(f"Unsupported teleop device: {args_cli.teleop_device}")
+                logger.error("Supported devices: keyboard, spacemouse, avp_handtracking")
                 exit(1)
 
             # Add callbacks to fallback device
             for key, callback in callbacks.items():
                 teleop_interface.add_callback(key, callback)
     except Exception as e:
-        omni.log.error(f"Failed to create teleop device: {e}")
+        logger.error(f"Failed to create teleop device: {e}")
         exit(1)
 
     if teleop_interface is None:
-        omni.log.error("Failed to create teleop interface")
+        logger.error("Failed to create teleop interface")
         exit(1)
 
     return teleop_interface

isaaclab_arena/scripts/imitation_learning/teleop.py

@@ -57,10 +57,10 @@
 """Rest everything follows."""
 
 
+import logging
 import torch
 
 import isaaclab_tasks  # noqa: F401
-import omni.log
 from isaaclab.devices import Se3Gamepad, Se3GamepadCfg, Se3Keyboard, Se3KeyboardCfg, Se3SpaceMouse, Se3SpaceMouseCfg
 from isaaclab.devices.openxr import remove_camera_configs
 from isaaclab.devices.teleop_device_factory import create_teleop_device
@@ -70,6 +70,8 @@
 if args_cli.enable_pinocchio:
     import isaaclab_tasks.manager_based.manipulation.pick_place  # noqa: F401
 
+logger = logging.getLogger(__name__)
+
 
 def main() -> None:
     """
@@ -103,12 +105,12 @@ def main() -> None:
         env = gym.make(env_name, cfg=env_cfg).unwrapped
         # check environment name (for reach , we don't allow the gripper)
         if "Reach" in args_cli.task:
-            omni.log.warn(
+            logger.warning(
                 f"The environment '{args_cli.task}' does not support gripper control. The device command will be"
                 " ignored."
             )
     except Exception as e:
-        omni.log.error(f"Failed to create environment: {e}")
+        logger.error(f"Failed to create environment: {e}")
         simulation_app.close()
         return
 
@@ -180,7 +182,9 @@ def stop_teleoperation() -> None:
                 args_cli.teleop_device, env_cfg.teleop_devices.devices, teleoperation_callbacks
             )
         else:
-            omni.log.warn(f"No teleop device '{args_cli.teleop_device}' found in environment config. Creating default.")
+            logger.warning(
+                f"No teleop device '{args_cli.teleop_device}' found in environment config. Creating default."
+            )
             # Create fallback teleop device
             sensitivity = args_cli.sensitivity
             if args_cli.teleop_device.lower() == "keyboard":
@@ -196,8 +200,8 @@ def stop_teleoperation() -> None:
                     Se3GamepadCfg(pos_sensitivity=0.1 * sensitivity, rot_sensitivity=0.1 * sensitivity)
                 )
             else:
-                omni.log.error(f"Unsupported teleop device: {args_cli.teleop_device}")
-                omni.log.error("Supported devices: keyboard, spacemouse, gamepad, avp_handtracking")
+                logger.error(f"Unsupported teleop device: {args_cli.teleop_device}")
+                logger.error("Supported devices: keyboard, spacemouse, gamepad, avp_handtracking")
                 env.close()
                 simulation_app.close()
                 return
@@ -207,15 +211,15 @@ def stop_teleoperation() -> None:
                 try:
                     teleop_interface.add_callback(key, callback)
                 except (ValueError, TypeError) as e:
-                    omni.log.warn(f"Failed to add callback for key {key}: {e}")
+                    logger.warning(f"Failed to add callback for key {key}: {e}")
     except Exception as e:
-        omni.log.error(f"Failed to create teleop device: {e}")
+        logger.error(f"Failed to create teleop device: {e}")
         env.close()
         simulation_app.close()
         return
 
     if teleop_interface is None:
-        omni.log.error("Failed to create teleop interface")
+        logger.error("Failed to create teleop interface")
         env.close()
         simulation_app.close()
         return
@@ -250,7 +254,7 @@ def stop_teleoperation() -> None:
                     should_reset_recording_instance = False
                     print("Environment reset complete")
         except Exception as e:
-            omni.log.error(f"Error during simulation step: {e}")
+            logger.error(f"Error during simulation step: {e}")
             break
 
     # close the simulator

isaaclab_arena/scripts/reinforcement_learning/play.py

@@ -53,12 +53,12 @@
 """Rest everything follows."""
 
 import gymnasium as gym
+import logging
 import os
 import time
 import torch
 
 import isaaclab_tasks  # noqa: F401
-import omni.log
 from isaaclab.envs import DirectMARLEnv, multi_agent_to_single_agent
 from isaaclab.utils.assets import retrieve_file_path
 from isaaclab.utils.dict import print_dict
@@ -71,6 +71,8 @@
 
 # PLACEHOLDER: Extension template (do not remove this comment)
 
+logger = logging.getLogger(__name__)
+
 
 def main():
     """Play with RSL-RL agent."""
@@ -81,7 +83,7 @@ def main():
         env_name, env_cfg = arena_builder.build_registered()
 
     except Exception as e:
-        omni.log.error(f"Failed to parse environment configuration: {e}")
+        logger.error(f"Failed to parse environment configuration: {e}")
         exit(1)
 
     agent_cfg = get_agent_cfg(args_cli)

isaaclab_arena/scripts/reinforcement_learning/train.py

@@ -84,12 +84,12 @@
 """Rest everything follows."""
 
 import gymnasium as gym
+import logging
 import os
 import torch
 from datetime import datetime
 
 import isaaclab_tasks  # noqa: F401
-import omni.log
 from isaaclab.envs import DirectMARLEnv, ManagerBasedRLEnvCfg, multi_agent_to_single_agent
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.io import dump_yaml
@@ -102,6 +102,8 @@
 
 # PLACEHOLDER: Extension template (do not remove this comment)
 
+logger = logging.getLogger(__name__)
+
 torch.backends.cuda.matmul.allow_tf32 = True
 torch.backends.cudnn.allow_tf32 = True
 torch.backends.cudnn.deterministic = False
@@ -116,7 +118,7 @@ def main():
         env_name, env_cfg = arena_builder.build_registered()
 
     except Exception as e:
-        omni.log.error(f"Failed to parse environment configuration: {e}")
+        logger.error(f"Failed to parse environment configuration: {e}")
         exit(1)
 
     agent_cfg = get_agent_cfg(args_cli)
@@ -158,7 +160,7 @@ def main():
     if isinstance(env_cfg, ManagerBasedRLEnvCfg):
         env_cfg.export_io_descriptors = args_cli.export_io_descriptors
     else:
-        omni.log.warn(
+        logger.warning(
             "IO descriptors are only supported for manager based RL environments. No IO descriptors will be exported."
         )