Upgrade Isaac Lab to Beta 2 by alexmillane · Pull Request #903 · isaac-sim/IsaacLab-Arena

alexmillane · 2026-07-14T08:28:14Z

Summary

Update our Isaac Lab submodule to Isaac Lab 3.0 Beta 2.

Detailed description

Bump the submodules/IsaacLab pointer to Isaac Lab 3.0 Beta 2; the rest is downstream fallout.
Fix configclass imports repo-wide (from isaaclab.utils.configclass import configclass), required now that lazy_export makes the shallow import bind the submodule instead of the decorator.
Point Arena-hosted assets at the staging nucleus bucket via a new ARENA_NUCLEUS_DIR, since Beta 2 moved ISAACLAB_NUCLEUS_DIR to the production bucket where Arena assets aren't published yet.
Adapt to Newton/Warp API changes (MJWarpSolverCfg move, set_local_poses warp args).
Workaround: Add a carb-setting workaround for the contact-filter regression (IsaacLab #6424).
Workaround: AppLauncher minting a duplicate ArticulationCfg (which caused "Unknown asset config type for robot") by purging leaked isaaclab_assets presets after app launch in the interop callback; also defer cfg imports in tests to avoid the same class duplication (IsaacLab #6424).

alexmillane

Self review #1.

greptile-apps · 2026-07-14T10:06:10Z

Greptile Summary

This PR updates Arena for Isaac Lab 3.0 Beta 2. The main changes are:

Direct configclass imports across Arena configs.
New staging nucleus root for Arena-hosted assets.
Newton and Warp API updates.
Contact-filter and isaaclab_assets class-duplication workarounds.
Updated and added simulation tests for the migration.

Confidence Score: 4/5

The asset-root migration needs a fix for custom or mirrored nucleus deployments.

The staging root is built with a string replacement that can silently do nothing.
The import, Warp, Newton, and app-launch changes are targeted and covered by the updated tests.
No security issue was identified in the changed code.

isaaclab_arena/assets/nucleus.py

Important Files Changed

Filename	Overview
isaaclab_arena/assets/nucleus.py	Adds `ARENA_NUCLEUS_DIR` by rewriting the Isaac Lab nucleus URL, with a fragile no-op path for custom roots.
isaaclab_arena/environments/isaaclab_interop.py	Purges leaked `isaaclab_assets` modules after app launch so later Arena imports bind to restored Isaac Lab cfg classes.
isaaclab_arena/variations/camera_extrinsics_variation.py	Adapts camera pose reads and writes to Warp-backed Isaac Lab pose APIs.
isaaclab_arena/environments/isaaclab_arena_manager_based_env_cfg.py	Moves the MJWarp solver config import and adds the contact-filter carb setting workaround.

_{Reviews (1): Last reviewed commit: "Added note about import issues bug." | Re-trigger Greptile}

greptile-apps · 2026-07-14T10:06:13Z

+from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
+
+# TODO(2026.07.14, Point Arena assets to the production bucket before release)
+ARENA_NUCLEUS_DIR: str = ISAACLAB_NUCLEUS_DIR.replace("omniverse-content-production", "omniverse-content-staging")


Staging Root Can Stay Production

When ISAACLAB_NUCLEUS_DIR is a custom Omniverse root, local mirror, or any value that does not contain omniverse-content-production, this replacement is a no-op. All changed Arena asset paths then keep using the non-staging Isaac Lab root, so staging-only Arena USDs and textures fail to load at runtime.

arena-review-bot · 2026-07-14T10:08:14Z

+from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
+
+# TODO(2026.07.14, Point Arena assets to the production bucket before release)
+ARENA_NUCLEUS_DIR: str = ISAACLAB_NUCLEUS_DIR.replace("omniverse-content-production", "omniverse-content-staging")


🔵 .replace() silently no-ops if the substring isn't there

If ISAACLAB_NUCLEUS_DIR ever stops containing omniverse-content-production — a future URL change, or a user who overrides the asset root to an on-prem/custom Nucleus — this replace quietly returns the string unchanged, so ARENA_NUCLEUS_DIR points at a bucket that doesn't host Arena assets and every asset load fails with a confusing not-found. Since it's a temporary staging shim, could we at least log (or assert, if custom roots aren't a concern) when the substring isn't found, so the assumption fails loudly rather than pointing everything at the wrong bucket?

arena-review-bot · 2026-07-14T10:08:14Z

+    Tracked upstream at https://github.com/isaac-sim/IsaacLab/issues/6514.
+    TODO: remove this workaround once IsaacLab #6514 is resolved.
+    """
+    import sys


🔵 Hoist import sys to the top

sys is stdlib and doesn't need the sim running or break a cycle, so it can move to the module-level imports rather than sitting inside the function.

arena-review-bot · 2026-07-14T10:08:38Z

🤖 Isaac Lab-Arena Review Bot

Summary

This PR bumps the Isaac Lab submodule to 3.0 Beta 2 and threads through the downstream fallout: repo-wide configclass import fixes, a new ARENA_NUCLEUS_DIR that redirects Arena-hosted assets to the staging bucket, Newton/Warp API adjustments (MJWarpSolverCfg move, .torch/wp.from_torch on get_local_poses/set_local_poses), and two documented upstream workarounds. The mechanical parts are clean and thorough — I confirmed no stray ISAACLAB_NUCLEUS_DIR references were left behind and that ISAAC_NUCLEUS_DIR (production-hosted standard assets) was correctly left untouched. Only a couple of minor nits.

Findings

🔵 isaaclab_arena/assets/nucleus.py:14 — ISAACLAB_NUCLEUS_DIR.replace("omniverse-content-production", ...) silently no-ops if the substring is absent (URL change, or a custom/on-prem asset root), leaving Arena assets pointed at a bucket that does not host them. Worth logging when the replacement does not fire.

🔵 isaaclab_arena/environments/isaaclab_interop.py:107 — import sys sits inside _purge_leaked_isaaclab_assets_presets; it can be hoisted to module top (no sim/cycle reason to defer).

Test Coverage

The new test_object_on_microwave_tray.py is a solid regression test for the contact-filter workaround — it uses the inner/outer run_simulation_app_function pattern, reads Isaac Lab attributes via env.unwrapped, and asserts the success termination actually fires (not just "no exception"). test_physics_presets.py correctly moves the preset-lookup checks into the sim-app pattern now that importing the env cfg drags in the Newton/Warp cfg classes, and the live-endpoint test gains a sensible skipif. Markers are consistent with sibling tests (persistent in-process app → Phase 1).

Verdict

Minor fixes needed — nits only; the upgrade itself looks well-executed. (PR is still marked DRAFT / Greptile check pending.)

…ture/upgrade_lab_to_beta2

- Migrate the two remaining 'from isaaclab.utils import configclass' imports (light_color/light_direction variations) to the module path used by the rest of the upgrade; the package no longer re-exports the decorator, so these were failing collection with 'module object is not callable'. - Import MJWarpSolverCfg/NewtonCfg from the isaaclab_newton.physics package root so it resolves whether MJWarpSolverCfg lives in newton_manager_cfg (older) or mjwarp_manager_cfg (Beta 2). Signed-off-by: alex <amillane@nvidia.com>

The test handed ArenaEnvBuilder the raw argparse Namespace, which lacks the builder-cfg fields (language_instruction) after the typed-config migration; translate the CLI args with arena_env_builder_cfg_from_argparse like the other tests. Signed-off-by: alex <amillane@nvidia.com>

…2' into alex/feature/upgrade_lab_to_beta2

peterd-NV

Overall looks good to me, just left some questions regarding compatibility with the curobo features that were recently merged.

peterd-NV · 2026-07-15T16:08:56Z

    """Pytest entry point for Galbot arm reaching goal test."""
    result = run_simulation_app_function(
        _test_galbot_arm_reaches_goal,
-        headless=False,


This changes headless to True now (which I assume is what we want) but just flagging in case there's a particular reason this was set to false before.

I think this was a mistake. I just sort of noticed running tests on my machine that the GUI was popping up during testing 😓

peterd-NV · 2026-07-15T16:16:42Z

Does curobo related code/test image also need to bump up to Isaac Lab 3.0 Beta 2? Looks like it's still using the old Lab version right now.

@xyao-nv added some curobo features recently which I think would also need to have the registry path updated from ISAACLAB_NUCLEUS_DIR to ARENA_NUCLEUS_DIR (e.g. here)

peterd-NV · 2026-07-15T16:22:13Z


    container:
-      image: nvcr.io/nvstaging/isaac-amr/isaaclab_arena:latest
+      image: nvcr.io/nvstaging/isaac-amr/isaaclab_arena:lab_beta_2_testing


Note: after the upgrade we could push a new image with latest tag and restore this

ARENA_NUCLEUS_DIR is defined in isaaclab_arena.assets.nucleus, not in Isaac Lab's isaaclab.utils.assets, so the previous import failed at module load. Signed-off-by: alex <amillane@nvidia.com>

alexmillane added 6 commits July 7, 2026 10:28

Upgrade submodule to Isaac Lab 3.0 Beta 2

ac54604

Fix many tests from phase 1.

aeecd34

WIP.

507c69a

Move the nucleus dir to staging.

65f791a

Patch for isaaclab assets import issue.

896fa70

Add missing files.

eaebfdd

alexmillane commented Jul 14, 2026

View reviewed changes

alexmillane added 4 commits July 14, 2026 11:28

Make tests headless.

456c51c

Address self-review.

4784847

Restore beta 2 submodule branch.

127ff3c

Added note about import issues bug.

03f1d82

alexmillane marked this pull request as ready for review July 14, 2026 10:03

alexmillane requested review from cvolkcvolk, peterd-NV, qianl-nv, viiik-inside, xyao-nv and zhx06 as code owners July 14, 2026 10:03

greptile-apps Bot reviewed Jul 14, 2026

View reviewed changes

arena-review-bot Bot reviewed Jul 14, 2026

View reviewed changes

alexmillane added 5 commits July 14, 2026 12:09

Merge branch 'main' into alex/feature/upgrade_lab_to_beta2

33c54cb

Add missing CUDA install script causing image building to fail.

b48fc49

Merge branch 'alex/fix/add_missing_cuda_install_script' into alex/fea…

c6b33cd

…ture/upgrade_lab_to_beta2

Switch the CI to test image.

006ce4a

alexmillane changed the title ~~DRAFT: Upgrade Isaac Lab to Beta 2~~ Upgrade Isaac Lab to Beta 2 Jul 14, 2026

alexmillane added 2 commits July 14, 2026 16:29

Merge remote-tracking branch 'origin/alex/feature/upgrade_lab_to_beta…

8efdf32

…2' into alex/feature/upgrade_lab_to_beta2

Remove Arena install of isaacteleop.

6da0371

peterd-NV reviewed Jul 15, 2026

View reviewed changes

alexmillane added 4 commits July 16, 2026 16:35

Run curobo tests on test image.

03eead7

Merge branch 'main' into alex/feature/upgrade_lab_to_beta2

67e4081

Add Arena asset path to the curobo module.

32b5129

Import ARENA_NUCLEUS_DIR from its actual module in the curobo registry.

9a63994

ARENA_NUCLEUS_DIR is defined in isaaclab_arena.assets.nucleus, not in Isaac Lab's isaaclab.utils.assets, so the previous import failed at module load. Signed-off-by: alex <amillane@nvidia.com>

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greptile-apps Bot commented Jul 14, 2026

Greptile Summary

Confidence Score: 4/5

Important Files Changed

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arena-review-bot Bot commented Jul 14, 2026

🤖 Isaac Lab-Arena Review Bot

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alexmillane commented Jul 14, 2026 •

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