Merge branch 'isaac-sim:main' into main

Author: swamy18

CONTRIBUTORS.md

@@ -88,6 +88,7 @@ Guidelines for modifications:
 * Jinghuan Shang
 * Jingzhou Liu
 * Jinqi Wei
+* Jinyeob Kim
 * Johnson Sun
 * Kaixi Bao
 * Kris Wilson

docs/source/_static/tasks/manipulation/openarm_bi_reach.jpg

@@ -38,8 +38,9 @@ until the framework has reached an official release. We appreciate your understa
   :titlesonly:
 
   installation
+  isaaclab_3-0
   training-environments
-  newton-visualizer
+  visualization
   limitations-and-known-bugs
   solver-transitioning
   sim-to-sim

docs/source/_static/tasks/manipulation/openarm_uni_lift.jpg

@@ -3,13 +3,13 @@ Installation
 
 Installing the Newton physics integration branch requires three things:
 
-1) Isaac sim 5.0
-2) The ``feature/newton`` branch of Isaac Lab
-3) Ubuntu 22.04 or 24.04 (Windows will be supported soon)
+1) The ``feature/newton`` branch of Isaac Lab
+2) Ubuntu 22.04 or 24.04 (Windows will be supported soon)
+3) [Optional] Isaac sim 5.1 (Isaac Sim is not required if the Omniverse visualizer is not used)
 
 To begin, verify the version of Isaac Sim by checking the title of the window created when launching the simulation app.  Alternatively, you can
 find more explicit version information under the ``Help -> About`` menu within the app.
-If your version is less than 5.0, you must first `update or reinstall Isaac Sim <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/quick-install.html>`_ before
+If your version is less than 5.1, you must first `update or reinstall Isaac Sim <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/quick-install.html>`_ before
 you can proceed further.
 
 Next, navigate to the root directory of your local copy of the Isaac Lab repository and open a terminal.
@@ -20,14 +20,18 @@ Make sure we are on the ``feature/newton`` branch by running the following comma
 
     git checkout feature/newton
 
-Below, we provide instructions for installing Isaac Sim through pip or binary.
+Below, we provide instructions for installing Isaac Sim through pip.
 
 
 Pip Installation
 ----------------
 
 We recommend using conda for managing your python environments. Conda can be downloaded and installed from `here <https://docs.conda.io/en/latest/miniconda.html>`_.
 
+If you previously already have a virtual environment for Isaac Lab, please ensure to start from a fresh environment to avoid any dependency conflicts.
+If you have installed earlier versions of mujoco, mujoco-warp, or newton packages through pip, we recommend first
+cleaning your pip cache with ``pip cache purge`` to remove any cache of earlier versions that may be conflicting with the latest.
+
 Create a new conda environment:
 
 .. code-block:: bash
@@ -46,35 +50,11 @@ Install the correct version of torch and torchvision:
 
     pip install -U torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
 
-Install Isaac Sim 5.0:
-
-.. code-block:: bash
-
-    pip install "isaacsim[all,extscache]==5.0.0" --extra-index-url https://pypi.nvidia.com
-
-Install Isaac Lab extensions and dependencies:
-
-.. code-block:: bash
-
-    ./isaaclab.sh -i
-
-
-Binary Installation
--------------------
-
-Follow the Isaac Sim `documentation <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_workstation.html>`_ to install Isaac Sim 5.0 binaries.
-
-Enter the Isaac Lab directory:
-
-.. code-block:: bash
-
-    cd IsaacLab
-
-Add a symbolic link to the Isaac Sim installation:
+[Optional] Install Isaac Sim 5.1:
 
 .. code-block:: bash
 
-    ln -s path_to_isaac_sim _isaac_sim
+    pip install "isaacsim[all,extscache]==5.1.0" --extra-index-url https://pypi.nvidia.com
 
 Install Isaac Lab extensions and dependencies:
 
@@ -91,3 +71,8 @@ To verify that the installation was successful, run the following command from t
 .. code-block:: bash
 
     ./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Cartpole-Direct-v0 --num_envs 128
+
+
+Note that since Newton requires a more recent version of Warp than Isaac Sim 5.1, there may be some incompatibility issues
+that could result in errors such as ``ModuleNotFoundError: No module named 'warp.sim'``. These are ok to ignore and should not
+impact usability.