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Merge remote-tracking branch 'fork/jichuanh/fix-newton-shape-margin' into jichuanh/rough-terrain-clean
2 parents 07265de + 5a20ed3 commit 2c9b667

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Lines changed: 127 additions & 76 deletions

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‎.github/workflows/license-check.yaml‎

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@@ -52,7 +52,7 @@ jobs:
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- name: Set up Python
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uses: actions/setup-python@v5
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with:
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python-version: '3.11' # Adjust as needed
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python-version: '3.12'
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- name: Install dependencies using ./isaaclab.sh -i
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env:
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run: |
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# first install isaac sim
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pip install --upgrade pip
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pip install 'isaacsim[all,extscache]==${{ vars.ISAACSIM_BASE_VERSION || '5.1.0' }}' --extra-index-url https://pypi.nvidia.com
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pip install 'isaacsim[all,extscache]==${{ vars.ISAACSIM_BASE_VERSION || '6.0.0' }}' --extra-index-url https://pypi.nvidia.com
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chmod +x ./isaaclab.sh # Make sure the script is executable
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# install all lab dependencies
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./isaaclab.sh -i

‎.github/workflows/license-exceptions.json‎

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"package": "isaaclab_tasks",
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"license": null
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},
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{
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"package": "isaaclab_tasks_experimental",
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"license": null
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},
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{
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"package": "isaaclab_teleop",
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"license": null
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"package": "omniverse-kit",
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"license": null
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},
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{
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"package": "osqp",
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"license": "UNKNOWN",
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"comment": "Apache 2.0"
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},
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{
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"package": "warp-lang",
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"license": null
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},
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{
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"package": "usd-core",
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"license": "Other/Proprietary License",
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"license": "LicenseRef-TOST-1.0",
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"comment": "TOST / OSRB"
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},
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{
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},
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{
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"package": "aiohappyeyeballs",
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"license": "Other/Proprietary License; Python Software Foundation License",
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"license": "Python Software Foundation License",
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"comment": "PSFL / OSRB"
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},
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{
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},
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{
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"package": "typing_extensions",
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"license": "Python Software Foundation License",
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"license": "PSF-2.0",
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"comment": "PSF-2.0 / OSRB"
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},
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{

‎docker/Dockerfile.base‎

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@@ -109,9 +109,13 @@ RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip uninstall -y quadprog
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ENV PYTHONPATH="${ISAACSIM_ROOT_PATH}/exts/isaacsim.robot_motion.pink/pip_prebundle:${ISAACSIM_ROOT_PATH}/exts/isaacsim.robot_motion.pink/pip_prebundle/cmeel.prefix/lib/python3.12/site-packages:${PYTHONPATH}"
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ENV LD_LIBRARY_PATH="${ISAACSIM_ROOT_PATH}/exts/isaacsim.robot_motion.pink/pip_prebundle/cmeel.prefix/lib:${LD_LIBRARY_PATH}"
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# HACK: Expose nvidia.srl from Kit python into the ml_archive nvidia namespace
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RUN ln -s ${ISAACSIM_ROOT_PATH}/kit/python/lib/python3.12/site-packages/nvidia/srl \
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${ISAACSIM_ROOT_PATH}/exts/omni.isaac.ml_archive/pip_prebundle/nvidia/srl
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# HACK: nvidia-srl-usd-to-urdf was previously bundled in the Isaac Sim image but has
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# been removed. Install with --no-deps to avoid lxml<5 conflict with dex-retargeting.
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# Then symlink nvidia.srl into the ml_archive nvidia namespace so Python can find it
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# (the deprecated ml_archive prebundle shadows site-packages for the nvidia namespace).
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RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install --no-deps nvidia-srl-usd-to-urdf \
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&& ln -s ${ISAACSIM_ROOT_PATH}/kit/python/lib/python3.12/site-packages/nvidia/srl \
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${ISAACSIM_ROOT_PATH}/extsDeprecated/omni.isaac.ml_archive/pip_prebundle/nvidia/srl
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# aliasing isaaclab.sh and python for convenience
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RUN echo "export ISAACLAB_PATH=${ISAACLAB_PATH}" >> ${HOME}/.bashrc && \

‎docker/Dockerfile.curobo‎

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@@ -157,9 +157,13 @@ RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip uninstall -y quadprog
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ENV PYTHONPATH="${ISAACSIM_ROOT_PATH}/exts/isaacsim.robot_motion.pink/pip_prebundle:${ISAACSIM_ROOT_PATH}/exts/isaacsim.robot_motion.pink/pip_prebundle/cmeel.prefix/lib/python3.12/site-packages:${PYTHONPATH}"
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ENV LD_LIBRARY_PATH="${ISAACSIM_ROOT_PATH}/exts/isaacsim.robot_motion.pink/pip_prebundle/cmeel.prefix/lib:${LD_LIBRARY_PATH}"
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# HACK: Expose nvidia.srl from Kit python into the ml_archive nvidia namespace
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RUN ln -s ${ISAACSIM_ROOT_PATH}/kit/python/lib/python3.12/site-packages/nvidia/srl \
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${ISAACSIM_ROOT_PATH}/exts/omni.isaac.ml_archive/pip_prebundle/nvidia/srl
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# HACK: nvidia-srl-usd-to-urdf was previously bundled in the Isaac Sim image but has
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# been removed. Install with --no-deps to avoid lxml<5 conflict with dex-retargeting.
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# Then symlink nvidia.srl into the ml_archive nvidia namespace so Python can find it
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# (the deprecated ml_archive prebundle shadows site-packages for the nvidia namespace).
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RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install --no-deps nvidia-srl-usd-to-urdf \
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&& ln -s ${ISAACSIM_ROOT_PATH}/kit/python/lib/python3.12/site-packages/nvidia/srl \
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${ISAACSIM_ROOT_PATH}/extsDeprecated/omni.isaac.ml_archive/pip_prebundle/nvidia/srl
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# Install cuRobo from source (pinned commit); needs CUDA env and Torch
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RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install --no-build-isolation \

‎docs/source/how-to/haply_teleoperation.rst‎

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* Isaac Lab (follow the :ref:`installation guide <isaaclab-installation-root>`)
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* Haply SDK (provided by Haply Robotics)
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* Python 3.10+
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* Python 3.12+
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* ``websockets`` Python package (automatically installed with Isaac Lab)
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‎source/isaaclab/config/extension.toml‎

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[package]
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# Note: Semantic Versioning is used: https://semver.org/
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version = "4.6.0"
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version = "4.6.1"
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# Description
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title = "Isaac Lab framework for Robot Learning"

‎source/isaaclab/docs/CHANGELOG.rst‎

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Changelog
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---------
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4.6.1 (2026-04-14)
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~~~~~~~~~~~~~~~~~~
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Added
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^^^^^
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* Added :attr:`~isaaclab.sim.schemas.JointDrivePropertiesCfg.ensure_drives_exist`
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flag to :class:`~isaaclab.sim.schemas.JointDrivePropertiesCfg`. When enabled,
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joints with zero stiffness and damping receive a minimal stiffness so that
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backends like Newton recognise the drive as active.
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4.6.0 (2026-04-13)
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~~~~~~~~~~~~~~~~~~
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‎source/isaaclab/isaaclab/sim/schemas/schemas.py‎

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# convert to dict
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cfg = cfg.to_dict()
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# ensure_drives_exist: if both stiffness and damping are zero on the authored drive,
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# set a minimal stiffness so that backends like Newton recognise the drive as active.
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ensure_drives = cfg.pop("ensure_drives_exist", False)
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if ensure_drives and cfg["stiffness"] is None and cfg["damping"] is None:
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# read the current values from the drive
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cur_stiffness = usd_drive_api.GetStiffnessAttr().Get()
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cur_damping = usd_drive_api.GetDampingAttr().Get()
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if (cur_stiffness is None or cur_stiffness == 0.0) and (cur_damping is None or cur_damping == 0.0):
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cfg["stiffness"] = 1e-3
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# check if linear drive
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is_linear_drive = prim.IsA(UsdPhysics.PrismaticJoint)
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# convert values for angular drives from radians to degrees units

‎source/isaaclab/isaaclab/sim/schemas/schemas_cfg.py‎

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* For angular joints, the unit is kg-m^2/s/rad (N-m-s/rad).
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"""
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ensure_drives_exist: bool = False
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"""If True, ensure every joint has a non-zero drive so that physics backends
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(e.g. Newton) create proper actuators for it.
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When a USD asset defines ``PhysicsDriveAPI`` with ``stiffness=0`` and
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``damping=0``, some backends treat the joint as passive (no PD control).
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Enabling this flag writes a minimal stiffness (``1e-3``) to any drive whose
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stiffness *and* damping are both zero, guaranteeing that the backend
242+
recognises the drive as active. The actual gains are expected to be
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overridden later by the actuator model.
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"""
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@configclass
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class FixedTendonPropertiesCfg:

‎source/isaaclab/setup.py‎

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license="BSD-3-Clause",
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include_package_data=True,
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package_data={"": ["*.pyi"]},
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python_requires=">=3.10",
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python_requires=">=3.12",
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install_requires=INSTALL_REQUIRES,
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extras_require=EXTRAS_REQUIRE,
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dependency_links=PYTORCH_INDEX_URL,
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packages=["isaaclab"],
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classifiers=[
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"Programming Language :: Python :: 3.11",
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"Programming Language :: Python :: 3.12",
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"Isaac Sim :: 5.0.0",
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"Isaac Sim :: 5.1.0",
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"Isaac Sim :: 6.0.0",
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],
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zip_safe=False,

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