[Isaac Sim 6.0] Relaxes numpy dependency to >2 #4081

kellyguo11 · 2025-11-24T23:07:32Z

Description

Kit 109 now comes with numpy 2.3.1 so we can relax our previous restriction of numpy < 2. This also requires an update to dex-retargeting to 0.5.0.

Type of change

Bug fix (non-breaking change which fixes an issue)
New feature (non-breaking change which adds functionality)
Breaking change (existing functionality will not work without user modification)
Documentation update

Checklist

I have read and understood the contribution guidelines
I have run the pre-commit checks with ./isaaclab.sh --format
I have made corresponding changes to the documentation
My changes generate no new warnings
I have added tests that prove my fix is effective or that my feature works
I have updated the changelog and the corresponding version in the extension's config/extension.toml file
I have added my name to the CONTRIBUTORS.md or my name already exists there

…orts (isaac-sim#3994) # Description This PR breaks the actuator config into separate files in order to avoid a circular import which arises once the configuration is imported into the actuator base class for more than type hinting. ## Type of change - Possible breaking change! The actuator configs have moved `.py` files and thus modules. They can still be imported directly from the `isaaclab.actuators` package. External references to these classes through the `actuator_cfg` module will not longer work. Instead, import directly from the `isaaclab.actuators` package. ## 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 --------- Signed-off-by: Brian McCann <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: Kelly Guo <[email protected]>

…m#3923) # Description Remove dependency on IsaacSim `stage_utils` for integration of new simulation engines like `newton`. ## Type of change - Dependency removal ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Pascal Roth <[email protected]> Signed-off-by: ooctipus <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: ooctipus <[email protected]> Co-authored-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]>

# Description Currently, `.dockerignore` does not include `env_isaaclab` nor `**/wandb/*` in the files to be ignored, which should be ignored for cluster deployment since a) all Python packages are already part of the docker image (if `env_isaaclab` is not included in `.dockerignore`, it rsyncs over a 24GB dir), and b) local wandb logs should be ignored. This PR adds `env_isaaclab` and `**/wandb/*` to `.dockerignore`. Fixes isaac-sim#4026 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. Before: <img width="692" height="199" alt="Screenshot from 2025-11-16 15-27-52" src="https://github.com/user-attachments/assets/a53d2224-13ca-43df-9732-618b9adc0ac9" /> After: <img width="692" height="182" alt="Screenshot from 2025-11-16 15-29-33" src="https://github.com/user-attachments/assets/e2a9e7e3-5b8a-4566-8b5a-f1ee7ec57d3a" /> ## 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` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] 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

…im#3941) Tendon imports in from_files_cfg had a typo that prevented importing. This is resolved in this commit. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## 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` - [ ] I have made corresponding changes to the documentation - [X] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] 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 Signed-off-by: Kyle Morgenstein <[email protected]>

# Description In the [Local Installation / Installation using Isaac Lab Pip Packages page](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/isaaclab_pip_installation.html#installing-dependencies) of the documentation, the “Installing dependencies” section is broken. I removed duplicate content and corrected the ordering. Fixes isaac-sim#3967 ## Type of change - Documentation update ## Screenshots | Before | After | | ------ | ----- | | <img width="823" height="999" alt="スクリーンショット 2025-11-08 012827" src="https://github.com/user-attachments/assets/6f022810-cff5-44c6-a835-75bc780433ce" /> | <img width="822" height="651" alt="スクリーンショット 2025-11-08 014930" src="https://github.com/user-attachments/assets/c06eacf1-bd4a-4210-8a79-c64fc923c622" /> | ## 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` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] 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

isaac-sim#4045) # Description Frees up more space at the start of the licence checker job so that we have enough disk space to install all the dependencies needed to avoid the out of space errors. ## Type of change  - Bug fix (non-breaking change which fixes an issue) ## 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 - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there  --------- Signed-off-by: ooctipus <[email protected]> Co-authored-by: ooctipus <[email protected]> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>

greptile-apps · 2025-11-24T23:11:13Z

Greptile Overview

Greptile Summary

This PR relaxes the numpy dependency constraint from numpy<2 to numpy (allowing numpy 2.x) to align with Kit 109's numpy 2.3.1, and updates dex-retargeting from 0.4.6 to 0.5.0 for numpy 2.0+ compatibility.

Key Changes:

Removed numpy<2 constraint from all three setup.py files (isaaclab, isaaclab_rl, isaaclab_tasks)
Updated dex-retargeting dependency from 0.4.6 to 0.5.0 in source/isaaclab/setup.py:59

Critical Issue:

The CI workflow at .github/workflows/license-check.yaml:47 still uses cu130, which is inconsistent with the revert commit (44a72dd) that changed all other references back to cu128. This will cause the CI environment to use a different CUDA version than production environments.

Confidence Score: 3/5

This PR has a critical CUDA version inconsistency in the CI workflow that must be fixed before merging
The numpy changes are straightforward and safe, but the CI workflow uses cu130 while all other files were reverted to cu128, creating environment inconsistency that could cause CI failures or testing against the wrong CUDA version
.github/workflows/license-check.yaml - must update cu130 to cu128 to match the reverted CUDA version

Important Files Changed

File Analysis

Filename	Score	Overview
.github/workflows/license-check.yaml	2/5	Updated PyTorch installation to use cu130, but this is inconsistent with the revert commit that changed everything back to cu128

Sequence Diagram

sequenceDiagram
    participant Dev as Developer
    participant PR as Pull Request
    participant Setup as setup.py files
    participant CI as CI Workflow
    participant PyPI as PyPI/PyTorch Index
    
    Dev->>PR: Relax numpy constraint
    Note over Dev,PR: Remove "numpy<2" restriction
    
    Dev->>Setup: Update isaaclab/setup.py
    Setup->>Setup: Change "numpy<2" to "numpy"
    Setup->>Setup: Update dex-retargeting 0.4.6→0.5.0
    
    Dev->>Setup: Update isaaclab_rl/setup.py
    Setup->>Setup: Change "numpy<2" to "numpy"
    
    Dev->>Setup: Update isaaclab_tasks/setup.py
    Setup->>Setup: Change "numpy<2" to "numpy"
    
    Dev->>PR: Revert CUDA 13 changes
    Note over Dev,PR: Commit 44a72dd reverts cu130→cu128
    
    Dev->>CI: Update license-check.yaml
    CI->>PyPI: Install torch with cu130
    Note over CI,PyPI: ⚠️ Inconsistent: Should be cu128
    
    Setup->>PyPI: Install dependencies
    PyPI->>Setup: numpy 2.3.1 (from Kit 109)
    PyPI->>Setup: dex-retargeting 0.5.0

greptile-apps

_{10 files reviewed, 1 comment}

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greptile-apps · 2025-11-24T23:11:13Z

isaaclab.bat

 set "TORCH_VER=2.9.0"
 set "TV_VER=0.24.0"
-set "CUDA_TAG=cu128"
+set "CUDA_TAG=cu130"


logic: The Windows script (isaaclab.bat) was updated to use cu130, but the Linux script (isaaclab.sh) at line 121 still uses cu128 for x86_64 systems (only ARM uses cu130 at line 119). This creates an inconsistency where x86_64 Linux users will get CUDA 12.8 while Windows and ARM users get CUDA 13.0, which contradicts the PR's goal of updating torch to cuda13 by default.

Check that isaaclab.sh:121 is also updated to cuda_ver="130" for x86_64.

kellyguo11 · 2025-11-24T23:21:30Z

@greptile-apps

greptile-apps

_{5 files reviewed, 1 comment}

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greptile-apps · 2025-11-24T23:23:52Z

.github/workflows/license-check.yaml

        chmod +x ./isaaclab.sh  # Make sure the script is executable
        # Install torch
-        pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu128
+        pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu130


logic: The CUDA version here is cu130, but the revert commit (44a72dd) changed everything else back to cu128. This should also be reverted.

Suggested change

pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu130

pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu128

…13_numpy2

bmccann-bdai and others added 6 commits November 14, 2025 10:32

Updates to numpy 2 and cuda 13 torch

3163c6c

kellyguo11 requested review from Mayankm96, hhansen-bdai and jtigue-bdai as code owners November 24, 2025 23:07

github-actions bot added documentation Improvements or additions to documentation isaac-lab Related to Isaac Lab team infrastructure labels Nov 24, 2025

greptile-apps bot reviewed Nov 24, 2025

View reviewed changes

revert cuda13 change

44a72dd

kellyguo11 changed the title ~~[Isaac Sim 6.0] Relaxes numpy dependency to >2 and updates torch to cuda 13~~ [Isaac Sim 6.0] Relaxes numpy dependency to >2 Nov 24, 2025

greptile-apps bot reviewed Nov 24, 2025

View reviewed changes

Merge branch 'main' of github.com:isaac-sim/IsaacLab into update_cuda…

4aed36b

…13_numpy2

kellyguo11 requested review from matthewtrepte, ooctipus, ossamaAhmed and pascal-roth as code owners November 24, 2025 23:44

github-actions bot added the asset New asset feature or request label Nov 24, 2025

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[Isaac Sim 6.0] Relaxes numpy dependency to >2 #4081

[Isaac Sim 6.0] Relaxes numpy dependency to >2 #4081

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	pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu130
	pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu128

[Isaac Sim 6.0] Relaxes numpy dependency to >2 #4081

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Confidence Score: 3/5

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