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Merges release 2.3 changes into main with Isaac Sim 5.1 support (#3857)
# Description Merging in updates for the Isaac Lab 2.3 release, moving to support for Isaac Sim 5.1. This change includes many features for teleoperation, disjoint navigation, whole-body control for teleoperation, and IK updates from @rwiltz, @michaellin6, @jaybdub, @huihuaNvidia2023, @hougantc-nvda, @lotusl-code, @yami007007, @cathyliyuanchen, @tifchen-nvda. Additionally, support for DGX Spark is added by @ooctipus and @matthewtrepte. For details of the changes and updates, refer to the release notes. ## Type of change - New feature (non-breaking change which adds functionality) - Breaking change (existing functionality will not work without user modification) - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Harsh Patel <[email protected]> Signed-off-by: rebeccazhang0707 <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Signed-off-by: yami007007 <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Signed-off-by: Louis LE LAY <[email protected]> Signed-off-by: Mayank Mittal <[email protected]> Signed-off-by: Javier Felix-Rendon <[email protected]> Signed-off-by: Doug Fulop <[email protected]> Signed-off-by: Milad Rakhsha <[email protected]> Signed-off-by: Giulio Romualdi <[email protected]> Signed-off-by: zehao-wang <[email protected]> Signed-off-by: Michael Gussert <[email protected]> Signed-off-by: ooctipus <[email protected]> Signed-off-by: shauryadNv <[email protected]> Co-authored-by: Philipp Reist <[email protected]> Co-authored-by: Harsh Patel <[email protected]> Co-authored-by: James Tigue <[email protected]> Co-authored-by: James Tigue <[email protected]> Co-authored-by: ooctipus <[email protected]> Co-authored-by: rebeccazhang0707 <[email protected]> Co-authored-by: michaellin6 <[email protected]> Co-authored-by: Huihua Zhao <[email protected]> Co-authored-by: Rafael Wiltz <[email protected]> Co-authored-by: Sergey Grizan <[email protected]> Co-authored-by: Alexander Poddubny <[email protected]> Co-authored-by: John <[email protected]> Co-authored-by: yami007007 <[email protected]> Co-authored-by: Weihua Zhang <[email protected]> Co-authored-by: PeterL-NV <[email protected]> Co-authored-by: Mayank Mittal <[email protected]> Co-authored-by: hougantc-nvda <[email protected]> Co-authored-by: peterd-NV <[email protected]> Co-authored-by: njawale42 <[email protected]> Co-authored-by: Cathy Li <[email protected]> Co-authored-by: Louis LE LAY <[email protected]> Co-authored-by: Javier Felix-Rendon <[email protected]> Co-authored-by: Doug Fulop <[email protected]> Co-authored-by: Robin Vishen <[email protected]> Co-authored-by: -T.K.- <[email protected]> Co-authored-by: Mayank Mittal <[email protected]> Co-authored-by: Rebecca Zhang <[email protected]> Co-authored-by: Lorenz Wellhausen <[email protected]> Co-authored-by: Lorenz Wellhausen <[email protected]> Co-authored-by: Michael Gussert <[email protected]> Co-authored-by: Antoine RICHARD <[email protected]> Co-authored-by: tifchen-nvda <[email protected]> Co-authored-by: Cathy Li <[email protected]> Co-authored-by: rwiltz <[email protected]> Co-authored-by: Milad-Rakhsha-NV <[email protected]> Co-authored-by: Milad-Rakhsha <[email protected]> Co-authored-by: Giulio Romualdi <[email protected]> Co-authored-by: Xinjie Yao <[email protected]> Co-authored-by: shauryadNv <[email protected]> Co-authored-by: Toni-SM <[email protected]> Co-authored-by: zehao-wang <[email protected]> Co-authored-by: yijieg <[email protected]> Co-authored-by: ndahile-nvidia <[email protected]> Co-authored-by: matthewtrepte <[email protected]> Co-authored-by: yanziz-nvidia <[email protected]> Co-authored-by: lotusl-code <[email protected]>
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‎.github/workflows/build.yml‎

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env:
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NGC_API_KEY: ${{ secrets.NGC_API_KEY }}
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ISAACSIM_BASE_IMAGE: ${{ vars.ISAACSIM_BASE_IMAGE || 'nvcr.io/nvidia/isaac-sim' }}
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ISAACSIM_BASE_VERSION: ${{ vars.ISAACSIM_BASE_VERSION || '5.0.0' }}
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ISAACSIM_BASE_VERSION: ${{ vars.ISAACSIM_BASE_VERSION || '5.1.0' }}
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DOCKER_IMAGE_TAG: isaac-lab-dev:${{ github.event_name == 'pull_request' && format('pr-{0}', github.event.pull_request.number) || github.ref_name }}-${{ github.sha }}
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‎.github/workflows/license-exceptions.json‎

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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": "onnx-ir",
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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": "matplotlib-inline",
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"license": "UNKNOWN",

‎.github/workflows/postmerge-ci.yml‎

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env:
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NGC_API_KEY: ${{ secrets.NGC_API_KEY }}
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ISAACSIM_BASE_IMAGE: ${{ vars.ISAACSIM_BASE_IMAGE || 'nvcr.io/nvidia/isaac-sim' }}
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ISAACSIM_BASE_VERSIONS_STRING: ${{ vars.ISAACSIM_BASE_VERSIONS_STRING || 'latest-base-5.0' }}
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ISAACSIM_BASE_VERSIONS_STRING: ${{ vars.ISAACSIM_BASE_VERSIONS_STRING || '5.1.0' }}
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ISAACLAB_IMAGE_NAME: ${{ vars.ISAACLAB_IMAGE_NAME || 'isaac-lab-base' }}
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‎CITATION.cff‎

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cff-version: 1.2.0
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message: "If you use this software, please cite both the Isaac Lab repository and the Orbit paper."
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title: Isaac Lab
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version: 2.2.1
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version: 2.3.0
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repository-code: https://github.com/NVIDIA-Omniverse/IsaacLab
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type: software
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authors:

‎CONTRIBUTORS.md‎

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* Miguel Alonso Jr
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* Mingyu Lee
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* Muhong Guo
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* Narendra Dahile
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* Neel Anand Jawale
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* Nicola Loi
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* Norbert Cygiert
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* Ritvik Singh
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* Rosario Scalise
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* Ryley McCarroll
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* Sergey Grizan
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* Shafeef Omar
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* Shaoshu Su
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* Shaurya Dewan
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* Sixiang Chen
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* Shundo Kishi
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* Stefan Van de Mosselaer
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* Stephan Pleines
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* Tiffany Chen
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* Tyler Lum
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* Victor Khaustov
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* Virgilio Gómez Lambo

‎README.md‎

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# Isaac Lab
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[![IsaacSim](https://img.shields.io/badge/IsaacSim-5.0.0-silver.svg)](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html)
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[![IsaacSim](https://img.shields.io/badge/IsaacSim-5.1.0-silver.svg)](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html)
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[![Python](https://img.shields.io/badge/python-3.11-blue.svg)](https://docs.python.org/3/whatsnew/3.11.html)
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[![Linux platform](https://img.shields.io/badge/platform-linux--64-orange.svg)](https://releases.ubuntu.com/22.04/)
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[![Windows platform](https://img.shields.io/badge/platform-windows--64-orange.svg)](https://www.microsoft.com/en-us/)
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release of Isaac Lab. Below, we outline the recent Isaac Lab releases and GitHub branches and their corresponding
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dependency versions for Isaac Sim.
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| Isaac Lab Version | Isaac Sim Version |
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| ----------------------------- | ------------------- |
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| `main` branch | Isaac Sim 4.5 / 5.0 |
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| `v2.2.X` | Isaac Sim 4.5 / 5.0 |
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| `v2.1.X` | Isaac Sim 4.5 |
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| `v2.0.X` | Isaac Sim 4.5 |
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| Isaac Lab Version | Isaac Sim Version |
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| ----------------------------- | ------------------------- |
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| `main` branch | Isaac Sim 4.5 / 5.0 |
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| `v2.3.X` | Isaac Sim 4.5 / 5.0 / 5.1 |
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| `v2.2.X` | Isaac Sim 4.5 / 5.0 |
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| `v2.1.X` | Isaac Sim 4.5 |
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| `v2.0.X` | Isaac Sim 4.5 |
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## Contributing to Isaac Lab

‎VERSION‎

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2.2.1
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2.3.0

‎apps/isaaclab.python.headless.kit‎

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[package]
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title = "Isaac Lab Python Headless"
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description = "An app for running Isaac Lab headlessly"
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version = "2.2.1"
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version = "2.3.0"
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keywords = ["experience", "app", "isaaclab", "python", "headless"]
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app.versionFile = "${exe-path}/VERSION"
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app.folder = "${exe-path}/"
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app.version = "5.1.0"
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##################################
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# Omniverse related dependencies #
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###############################
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[settings.exts."omni.kit.registry.nucleus"]
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{ name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/106/shared" },
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{ name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/107/shared" },
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{ name = "kit/sdk", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/sdk/${kit_version_short}/${kit_git_hash}" },
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{ name = "kit/community", url = "https://dw290v42wisod.cloudfront.net/exts/kit/community" },
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]
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# set the S3 directory manually to the latest published S3
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# note: this is done to ensure prior versions of Isaac Sim still use the latest assets
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[settings]
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persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
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persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
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persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
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persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
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persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
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persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"

‎apps/isaaclab.python.headless.rendering.kit‎

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[package]
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title = "Isaac Lab Python Headless Camera"
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description = "An app for running Isaac Lab headlessly with rendering enabled"
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version = "2.2.1"
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version = "2.3.0"
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app.version = "5.1.0"
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[settings.exts."omni.kit.registry.nucleus"]
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{ name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/107/shared" },
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{ name = "kit/sdk", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/sdk/${kit_version_short}/${kit_git_hash}" },
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# note: this is done to ensure prior versions of Isaac Sim still use the latest assets
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[settings]
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persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
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persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
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persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
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persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
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persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
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persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"

‎apps/isaaclab.python.kit‎

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[package]
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title = "Isaac Lab Python"
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description = "An app for running Isaac Lab"
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version = "2.3.0"
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[settings.app]
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version = "5.1.0"
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content.emptyStageOnStart = true
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fastShutdown = true
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{ name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/107/shared" },
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{ name = "kit/sdk", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/sdk/${kit_version_short}/${kit_git_hash}" },
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# note: this is done to ensure prior versions of Isaac Sim still use the latest assets
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[settings]
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persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
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persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
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persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
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persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
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persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
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persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"

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