Merge remote-tracking branch 'origin/develop' into jichuanh/windows-spark-ci-cartpole

Author: hujc7

.github/workflows/config.yaml

@@ -6,5 +6,5 @@
 # Shared image config for CI workflows. Loaded by the `config` job in each
 # workflow via yq and exposed as job outputs (see e.g. .github/workflows/build.yaml).
 isaacsim_image_name: nvcr.io/nvidian/isaac-sim
-isaacsim_image_tag: latest-develop@sha256:0dd49a1121b297dc85eee7777a9c528318683dbe03b29fd01f2059ac1b099301
+isaacsim_image_tag: latest-develop
 isaaclab_image_name: nvcr.io/nvidian/isaac-lab

.github/workflows/docs.yaml

@@ -96,8 +96,9 @@ jobs:
         # "deploy" branches build the full set of versions so every page
         # has a complete version dropdown: main, develop, tags >= v2.0.0
         # (including pre-release suffixes like -beta or -rc1). v1.x tags and
-        # release/ branches are excluded.
-        SMV_BRANCH_WHITELIST: '^(main|develop)$'
+        # most release/ branches are excluded; release/3.0.0-beta2 is included
+        # explicitly to surface it in the version switcher.
+        SMV_BRANCH_WHITELIST: '^(main|develop|release/3\.0\.0-beta2)$'
         SMV_TAG_WHITELIST: '^v[2-9]\d*\.\d+\.\d+(-[A-Za-z0-9.]+)?$'
       run: |
         git fetch --prune --unshallow --tags

.github/workflows/license-exceptions.json

@@ -502,5 +502,10 @@
     "package": "decorator",
     "license": "UNKNOWN",
     "comment": "BSD-2"
+  },
+  {
+    "package": "pytetwild",
+    "license": "Mozilla Public License 2.0 (MPL 2.0)",
+    "comment": "MPL-2.0 / OSRB"
   }
 ]

.github/workflows/test-fabric-multi-gpu.yaml

@@ -0,0 +1,69 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+# FabricFrameView multi-GPU unit tests
+#
+# Runs the cuda:1-parameterized unit tests in
+# source/isaaclab_physx/test/sim/test_views_xform_prim_fabric.py on the
+# dedicated multi-GPU runner.  Kept separate from test-multi-gpu.yaml so
+# changes to FabricFrameView do not gate distributed-training validation and
+# vice versa.  Runner preconditions (label, install step, GPU pre-flight) are
+# identical to the training workflow.
+
+name: FabricFrameView Multi-GPU Tests
+
+# DISABLED: No self-hosted runner with the 'multi-gpu' label is currently
+# registered.  All runs queue indefinitely.  Re-enable once infra provisions
+# a multi-GPU runner (see also .github/workflows/test-multi-gpu.yaml which
+# has the same issue).
+#
+# on:
+#   pull_request:
+#     paths:
+#       - "source/isaaclab_physx/isaaclab_physx/sim/views/fabric_frame_view.py"
+#       - "source/isaaclab_physx/test/sim/test_views_xform_prim_fabric.py"
+#       - ".github/workflows/test-fabric-multi-gpu.yaml"
+#   workflow_dispatch:
+on:
+  workflow_dispatch:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  test-fabric-multi-gpu:
+    name: FabricFrameView multi-GPU unit tests
+    runs-on: [self-hosted, linux, x64, gpu, multi-gpu]
+    timeout-minutes: 30
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Install Isaac Lab
+        run: ./isaaclab.sh --install
+
+      - name: Verify multi-GPU availability
+        # Fail loud if the runner regressed to a single GPU.  Without this, the
+        # test helper's ``_skip_if_unavailable`` would skip every ``cuda:1`` case
+        # and the job would go green with no real coverage.
+        run: |
+          echo "=== GPU Info ==="
+          nvidia-smi --query-gpu=index,name,memory.total --format=csv
+
+          GPU_COUNT=$(./isaaclab.sh -p -c "import torch; print(torch.cuda.device_count())")
+          echo "Detected $GPU_COUNT GPU(s)"
+
+          if [ "$GPU_COUNT" -lt 2 ]; then
+            echo "::error::At least 2 GPUs required for Fabric multi-GPU tests, found $GPU_COUNT"
+            exit 1
+          fi
+
+      - name: Run FabricFrameView multi-GPU unit tests
+        env:
+          ISAACLAB_TEST_MULTI_GPU: "1"
+        run: |
+          ./isaaclab.sh -p -m pytest \
+            source/isaaclab_physx/test/sim/test_views_xform_prim_fabric.py -v

CONTRIBUTORS.md

@@ -138,6 +138,7 @@ Guidelines for modifications:
 * Neel Anand Jawale
 * Nicola Loi
 * Nicholas Blauch
+* Nicolas Moenne-Loccoz
 * Norbert Cygiert
 * Nuoyan Chen (Alvin)
 * Nuralem Abizov

README.md

@@ -78,6 +78,7 @@ dependency versions for Isaac Sim.
 | ----------------------------- | ------------------------- |
 | `develop` branch              | Isaac Sim 6.0             |
 | `main` branch                 | Isaac Sim 4.5 / 5.0 / 5.1 |
+| `v3.0.0*`                     | Isaac Sim 6.0             |
 | `v2.3.X`                      | Isaac Sim 4.5 / 5.0 / 5.1 |
 | `v2.2.X`                      | Isaac Sim 4.5 / 5.0       |
 | `v2.1.X`                      | Isaac Sim 4.5             |

docs/conf.py

@@ -224,6 +224,7 @@
     "hydra.core",
     "hydra.core.config_store",
     "omegaconf",
+    "newton",
 ]
 
 # List of zero or more Sphinx-specific warning categories to be squelched (i.e.,

docs/source/_static/css/custom.css

@@ -110,3 +110,10 @@ a {
     text-align: center;
     vertical-align: middle;
 }
+
+.square-crop-figure img {
+    aspect-ratio: 1 / 1;
+    object-fit: cover;
+    object-position: center;
+    width: min(100%, 480px);
+}

docs/source/_static/newton/franka-mjwarp-vbd-coupling.png

@@ -25,6 +25,7 @@ The following modules are available in the ``isaaclab`` extension:
    physics
    renderers
    scene
+   scene_data
    sensors
    sim
    terrains
@@ -83,6 +84,7 @@ The following modules are available in the ``isaaclab_contrib`` extension:
    actuators
    assets
    controllers
+   deformable
    mdp
    rl
    sensors
@@ -129,17 +131,10 @@ The following modules are available in the ``isaaclab_physx`` extension:
    physics
    renderers
    sensors
-   sim.schemas
-   sim.spawners
 
 .. toctree::
    :hidden:
 
-   lab_physx/isaaclab_physx.assets
-   lab_physx/isaaclab_physx.cloner
-   lab_physx/isaaclab_physx.physics
-   lab_physx/isaaclab_physx.renderers
-   lab_physx/isaaclab_physx.sensors
    lab_physx/isaaclab_physx.sim.schemas
    lab_physx/isaaclab_physx.sim.spawners
 
@@ -163,12 +158,7 @@ The following modules are available in the ``isaaclab_newton`` extension:
 .. toctree::
    :hidden:
 
-   lab_newton/isaaclab_newton.assets
-   lab_newton/isaaclab_newton.cloner
-   lab_newton/isaaclab_newton.physics
-   lab_newton/isaaclab_newton.renderers
-   lab_newton/isaaclab_newton.sensors
-   lab_newton/isaaclab_newton.sim.schemas
+   lab_newton/isaaclab_newton.sim.spawners
 
 isaaclab_ov extension
 ---------------------
@@ -182,11 +172,6 @@ The following modules are available in the ``isaaclab_ov`` extension:
 
    renderers
 
-.. toctree::
-   :hidden:
-
-   lab_ov/isaaclab_ov.renderers
-
 isaaclab_assets extension
 -------------------------
 
@@ -200,12 +185,6 @@ The following modules are available in the ``isaaclab_assets`` extension:
    robots
    sensors
 
-.. toctree::
-   :hidden:
-
-   lab_assets/isaaclab_assets.robots
-   lab_assets/isaaclab_assets.sensors
-
 isaaclab_visualizers extension
 ------------------------------
 
@@ -221,14 +200,6 @@ The following modules are available in the ``isaaclab_visualizers`` extension:
    rerun
    viser
 
-.. toctree::
-   :hidden:
-
-   lab_visualizers/isaaclab_visualizers.kit
-   lab_visualizers/isaaclab_visualizers.newton
-   lab_visualizers/isaaclab_visualizers.rerun
-   lab_visualizers/isaaclab_visualizers.viser
-
 
 isaaclab_ovphysx extension
 ---------------------------
@@ -244,13 +215,6 @@ The following modules are available in the ``isaaclab_ovphysx`` extension:
    cloner
    physics
 
-.. toctree::
-   :hidden:
-
-   lab_ovphysx/isaaclab_ovphysx.assets
-   lab_ovphysx/isaaclab_ovphysx.cloner
-   lab_ovphysx/isaaclab_ovphysx.physics
-
 
 isaaclab_experimental extension
 --------------------------------
@@ -266,13 +230,6 @@ The following modules are available in the ``isaaclab_experimental`` extension:
    managers
    utils
 
-.. toctree::
-   :hidden:
-
-   lab_experimental/isaaclab_experimental.envs
-   lab_experimental/isaaclab_experimental.managers
-   lab_experimental/isaaclab_experimental.utils
-
 
 isaaclab_tasks_experimental extension
 --------------------------------------