[USD] Export one initialized deployment environment by hujc7 · Pull Request #7499 · isaac-sim/IsaacLab

hujc7 · 2026-09-02T20:56:19Z

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PR	Status	Depends on	Exact changes
#7499 — Environment export	Draft	--	--
#7857 — Deformables and solver settings	Draft	#7499	Child changes

Summary

Export one complete selected environment with its initialized physical properties and required scene resources. The training option writes environment zero before startup randomization, then training continues.

PXR_WORK_THREAD_LIMIT=1 uv run --frozen --extra rsl-rl isaaclab train \
  --rl_library rsl_rl --task Isaac-Cartpole \
  physics=newton_mjwarp env.scene.num_envs=1 \
  --headless --export_deployment_usd

Writes deployment.usda into the run log directory. Outside training, set env_cfg.scene.export_usd_path before construction. A standalone initialized scene can call scene.export_to_usd("environment.usda", env_id=0, preserve_source_contacts=True) before startup events or stepping.

Description

The scene selects registered articulations, rigid objects, collections and cables through ClonePlan queries, retains static/shared resources and dependencies, and removes other replicas. ClonePlan supplies replication layout, not runtime override history.
Data-property @usd_field(actuator_config="...") declarations now own configuration-to-data bindings alongside USD targets. The actuator framework discovers those inherited declarations for imported-default reads and fixed override selection, then records field/joint/environment identities after backend assignment succeeds. The parallel binding table is removed. No additional value snapshots are retained. None inheritance, partial-dictionary zero fill, explicit-drive disabling and required PhysX schema semantics are preserved. Export reads only selected values and skips equivalent effective opinions before changing schemas, bindings or instanceability.
The shared writer preserves source mass/inertia/COM, geometry, defaults and material bindings. Backend managers identify necessary contact overrides using source/import precedence; matching material overrides share resources. Public data declarations provide schema targets and two angular conversions; meter/kilogram stages are required. MuJoCo limit provenance retains native defaults. No dependency was added.
Automatic export remains after asset initialization/prestartup and before startup/reset/stepping. It keeps required root placement without baking articulation child poses, sampling joint state, or writing/clearing velocities. Arbitrary later setter/buffer changes are not tracked. The existing CLI and construction flow remain; there is no separate export workflow or nominal-value snapshot.
Fixed locomotion materials use shared spawn configuration (static friction 0.8, dynamic friction 0.6, multiply combine modes). Newton friction changes from 0.8 to 0.6; OVPhysX combine modes become multiply. Startup inertia corrections remain unchanged. Removing fixed event terms changes random-number consumption.
Native Newton import plus existing terrain/cable readers preserve supported geometry and contacts. Optional MJWarp settings remain manager-owned; additional solver settings and deformables are in dependent PR #7857.

See the export contract and loading recipes.

Support matrix

Historical results at bfbc42ef74a, before this cleanup. The full task sweep is deferred during cleanup; these numbers are not a revalidation of the current head. Current validation uses focused unit/round-trip tests and USD diff audits, not another task sweep.

Validation on 2026-09-16: 134/142 task–backend combinations passed across 45 task names; 8 combinations explicitly reject deformable export. These are export limitations, separate from cells where the task has no backend preset.

The full 146-job sweep took 12m 15s on 12 GPUs (eight-GPU and four-GPU nodes). A focused 12-job run took 1m 50s, validating all 10 Newton rough-terrain combinations plus Newton and shared/entrypoint suites after adding the terrain contact reader. The table consolidates both runs. The full sweep covered feature commit 6df8777d400; the focused run covered the subsequent dependency merge and terrain-readback follow-up published at bfbc42ef74a.

#	Backend / solver	Passed	Export unsupported
1	Newton MJWarp	38/38	0
2	Newton Kamino	18/18	0
3	Newton MJWarp/VBD proxy	2/6	4
4	OVPhysX	38/38	0
5	IsaacSim PhysX	38/42	4

Complete task × backend results

✅ Pass — fresh same-backend physical configuration passed.
❌ Unsupported (D) — deformable export is unsupported in this revision.
-- — the task declares no backend preset; excluded from tested counts.

#	Task	MJWarp	Kamino	MJWarp/VBD proxy	OVPhysX	IsaacSim PhysX
1	`Isaac-Ant`	✅ Pass	✅ Pass	--	✅ Pass	✅ Pass
2	`Isaac-Ant-Direct`	✅ Pass	✅ Pass	--	✅ Pass	✅ Pass
3	`Isaac-Cartpole`	✅ Pass	✅ Pass	--	✅ Pass	✅ Pass
4	`Isaac-Cartpole-Camera`	✅ Pass	✅ Pass	--	✅ Pass	✅ Pass
5	`Isaac-Cartpole-Camera-Direct`	✅ Pass	✅ Pass	--	✅ Pass	✅ Pass
6	`Isaac-Cartpole-Direct`	✅ Pass	✅ Pass	--	✅ Pass	✅ Pass
7	`Isaac-Fourbar-Pole-Swingup`	--	✅ Pass	--	--	--
8	`Isaac-Humanoid`	✅ Pass	--	--	✅ Pass	✅ Pass
9	`Isaac-Humanoid-Direct`	✅ Pass	--	--	✅ Pass	✅ Pass
10	`Isaac-Lift-Cable-Franka`	--	--	✅ Pass	--	--
11	`Isaac-Lift-Cable-Franka-Camera`	--	--	✅ Pass	--	--
12	`Isaac-Lift-Cloth-Franka`	--	--	❌ Unsupported (D)	--	❌ Unsupported (D)
13	`Isaac-Lift-Cloth-Franka-Camera`	--	--	❌ Unsupported (D)	--	❌ Unsupported (D)
14	`Isaac-Lift-Franka`	✅ Pass	--	--	✅ Pass	✅ Pass
15	`Isaac-Lift-KukaAllegro`	✅ Pass	--	--	✅ Pass	✅ Pass
16	`Isaac-Lift-KukaAllegro-Camera`	✅ Pass	--	--	✅ Pass	✅ Pass
17	`Isaac-Lift-Soft-Franka`	--	--	❌ Unsupported (D)	--	❌ Unsupported (D)
18	`Isaac-Lift-Soft-Franka-Camera`	--	--	❌ Unsupported (D)	--	❌ Unsupported (D)
19	`Isaac-Open-Drawer-Franka`	✅ Pass	--	--	✅ Pass	✅ Pass
20	`Isaac-Open-Drawer-Franka-Direct`	✅ Pass	--	--	✅ Pass	✅ Pass
21	`Isaac-Pendulum-MARL-Direct`	✅ Pass	✅ Pass	--	✅ Pass	✅ Pass
22	`Isaac-Reach-Franka`	✅ Pass	--	--	✅ Pass	✅ Pass
23	`Isaac-Reach-Franka-OSC`	✅ Pass	--	--	✅ Pass	✅ Pass
24	`Isaac-Reach-UR10`	✅ Pass	--	--	✅ Pass	✅ Pass
25	`Isaac-Reorient-Cube-Allegro`	✅ Pass	--	--	✅ Pass	✅ Pass
26	`Isaac-Reorient-Cube-Allegro-Direct`	✅ Pass	--	--	✅ Pass	✅ Pass
27	`Isaac-Reorient-Cube-Shadow`	✅ Pass	--	--	✅ Pass	✅ Pass
28	`Isaac-Reorient-Cube-Shadow-Camera`	✅ Pass	--	--	✅ Pass	✅ Pass
29	`Isaac-Reorient-Cube-Shadow-Camera-Direct`	✅ Pass	--	--	✅ Pass	✅ Pass
30	`Isaac-Reorient-Cube-Shadow-Direct`	✅ Pass	--	--	✅ Pass	✅ Pass
31	`Isaac-Reorient-Franka`	✅ Pass	--	--	✅ Pass	✅ Pass
32	`Isaac-Reorient-KukaAllegro`	✅ Pass	--	--	✅ Pass	✅ Pass
33	`Isaac-Reorient-KukaAllegro-Camera`	✅ Pass	--	--	✅ Pass	✅ Pass
34	`Isaac-Shadow-Handover`	✅ Pass	--	--	✅ Pass	✅ Pass
35	`Isaac-Shadow-Handover-Direct`	✅ Pass	--	--	✅ Pass	✅ Pass
36	`Isaac-Velocity-Flat-AnymalD`	✅ Pass	✅ Pass	--	✅ Pass	✅ Pass
37	`Isaac-Velocity-Flat-Cassie`	✅ Pass	✅ Pass	--	✅ Pass	✅ Pass
38	`Isaac-Velocity-Flat-G1`	✅ Pass	✅ Pass	--	✅ Pass	✅ Pass
39	`Isaac-Velocity-Flat-H1`	✅ Pass	✅ Pass	--	✅ Pass	✅ Pass
40	`Isaac-Velocity-Flat-UnitreeGo2`	✅ Pass	✅ Pass	--	✅ Pass	✅ Pass
41	`Isaac-Velocity-Rough-AnymalD`	✅ Pass	✅ Pass	--	✅ Pass	✅ Pass
42	`Isaac-Velocity-Rough-Cassie`	✅ Pass	✅ Pass	--	✅ Pass	✅ Pass
43	`Isaac-Velocity-Rough-G1`	✅ Pass	✅ Pass	--	✅ Pass	✅ Pass
44	`Isaac-Velocity-Rough-H1`	✅ Pass	✅ Pass	--	✅ Pass	✅ Pass
45	`Isaac-Velocity-Rough-UnitreeGo2`	✅ Pass	✅ Pass	--	✅ Pass	✅ Pass

Remaining export limitations

Deformable export was removed from this revision; normal simulation remains supported where its task preset exists. Export stops at the asset boundary instead of writing an incomplete scene. Restoring support requires data-owned physical declarations, the corresponding native/schema reader, and fresh-backend validation under the same pattern as rigid assets and cables.

#	Task	Backend preset	Exact export error
1	`Isaac-Lift-Cloth-Franka`	`isaacsim_physx`	`NotImplementedError: Fixed USD export is not supported for DeformableObject.`
2	`Isaac-Lift-Cloth-Franka`	`newton_mjwarp_vbd_proxy`	`NotImplementedError: Fixed USD export is not supported for DeformableObject.`
3	`Isaac-Lift-Cloth-Franka-Camera`	`isaacsim_physx`	`NotImplementedError: Fixed USD export is not supported for DeformableObject.`
4	`Isaac-Lift-Cloth-Franka-Camera`	`newton_mjwarp_vbd_proxy`	`NotImplementedError: Fixed USD export is not supported for DeformableObject.`
5	`Isaac-Lift-Soft-Franka`	`isaacsim_physx`	`NotImplementedError: Fixed USD export is not supported for DeformableObject.`
6	`Isaac-Lift-Soft-Franka`	`newton_mjwarp_vbd_proxy`	`NotImplementedError: Fixed USD export is not supported for DeformableObject.`
7	`Isaac-Lift-Soft-Franka-Camera`	`isaacsim_physx`	`NotImplementedError: Fixed USD export is not supported for DeformableObject.`
8	`Isaac-Lift-Soft-Franka-Camera`	`newton_mjwarp_vbd_proxy`	`NotImplementedError: Fixed USD export is not supported for DeformableObject.`

Validation coverage

Fresh backend loading compares stable entity identities, topology, mass/inertia/COM, joint properties, geometry, material values, collision relationships and gravity. Discrete relationships compare exactly; floats use property-appropriate tolerances. Task presets use one environment/env0 and seed 42; separate fixtures cover multiple objects, different per-environment values and selected-replica isolation.
Task diagnostics suppress startup only to capture the pre-startup reference. Ordinary construction/entrypoint tests separately verify automatic export, continued startup/training behavior and source nonmutation. Fresh loading replays no task overrides. The six Shadow regressions pass after preserving native limit provenance.
Newton rough-terrain loading reuses the existing heightfield adapter and declared contact reader. The artifact retains its source mesh; direct mesh-only loading is a different physical representation. Cable contact supplements use the asset owner's reader. Proxy-preset checks validate asset configuration; coupled solver reconstruction is outside this revision.
Experimental USD Exchange 3.0 validation: parent Newton 13 passed, OVPhysX 2 passed, and the actual Franka OVPhysX task passed a fresh native load. The child suite passed 16 Newton and 2 PhysX deformable cases. Final merged shared/actuator/metadata/builder checks: 76 passed, 2 skipped. The schema follow-up overlaps these counts. Required-schema and equal-import regressions fail without their fixes. OVPhysX selection includes 64 environments, not arbitrary heterogeneity.
Eight fresh input/output audits using the experimental USD Exchange 3.0 runtime trace 489 remaining property/relationship edits. Removed 143 redundant writes: 142 Newton aliases and the flat-cloth rest-angle array. The two OV finger-armature aliases are required: adding an axis API for a velocity override otherwise changes fresh-load armature from 0.1 to 0. Backend adapters therefore control imported-default reuse. No new pose, velocity, mass/inertia/COM or geometry-array opinions were found. These audits do not refresh task-support results.
The PR retains USD Exchange 2.3.0, its lockfile and parsing workarounds; the 3.0 experiment remains testing-only. Current decorator correction: 82 passed, 2 CUDA skips in the parent; 88 passed, 2 CUDA skips in the merged child, on local CPU. Tests cover inherited bindings driving actual initialization/selection, dictionary behavior and explicit-drive disabling. The new binding regression fails with the previous control implementation. The dependency test also fails before the resource-namespace collision fix and passes afterward. Formatting and changelog checks passed. Earlier native/backend and importer results belong to the 3.0 experiment; no new full sweep, support-matrix refresh or CI dispatch.

Components outside this export

Controllers and observations: policy/controller code, histories and observation processing require deployment integration.
Sensors: retained camera/sensor prims do not restore sensor sampling, rendering or observation execution.
Transient state: sampled positions/velocities, warm-start caches, active contacts and transient forces are excluded. Existing source state is preserved, including authored velocities; export does not zero it.
Unsupported objects: registered deformables and surface grippers fail explicitly. Cable support remains included.
Backend limits: later setter/buffer mutations, distinct per-cooked-piece PhysX runtime overrides and private geometry/topology changes are not reconstructed. Native Newton/USD alone does not read Isaac Lab's heightfield or cable supplements.
Simulation choices: VBD, XPBD, Kamino and coupled solver settings are not serialized. MJWarp settings are optional; loading ordinary assets does not require them. Cross-backend deployment and arbitrary heterogeneous layouts need separate validation.
External resources: flattening retains references and does not package textures, MDL or native neural-actuator checkpoints. ANYmal’s pre-startup actuator setup authors a temporary checkpoint path; deployment on another host must carry that checkpoint. The eight-file audit is not a self-contained deployment-bundle certification.

Type of change

New feature, bug fixes, task configuration migration and documentation update.

Release backport

Backport this pull request to the active release branch after it merges into develop

Screenshots

Not applicable: USD authoring and backend validation.

Checklist

Read the contribution guidelines; contributor already listed.
Added package changelog fragments and ran formatting/lint checks.
Added fresh-backend and initialization regression tests.
Updated public documentation.
Clean strict Sphinx HTML build with the dev extra.
No warnings: existing dependency deprecation and native importer warnings remain.

Isaac Lab applies most configuration directly to the solver rather than to the stage, so a scene that has been loaded and overridden no longer has a USD file describing what is actually being simulated. Add export_model_to_usd(), the inverse of ModelBuilder.add_usd(). Core physics is authored with standard UsdPhysics schemas and Newton-specific properties as newton:* attributes, at the prim paths the model was imported from, so a reimport reproduces the same model. The correctness contract is model idempotence rather than USD fidelity: the importer normalizes as it reads, so the exported stage differs from the source by construction, but reimporting it must change nothing. Known gaps are documented in the module and fail loudly rather than exporting something wrong: D6/ball/distance joints, planes, heightfields and SDF shapes, cloned multi-world scenes, and shape ordering, which follows USD stage traversal.

Comparing model arrays shows the numbers match but not that the export reproduces the same physics, and it reports spurious differences for rebuilt acceleration structures and for shape orderings that differ without changing behavior. Add a rollout check that steps the source and exported models under identical initial conditions and compares body trajectories, treating a quaternion and its negation as the same rotation. The fixture's joint carries an offset frame so the trajectory is sensitive to joint geometry; without it the check cannot distinguish a correct export from one that drops joint frames. The two layers are complementary. The rollout misses parameter drops that do not change this particular motion, such as mass in a pendulum under gravity, which the array comparison catches.

Every existing check starts from an unmodified load, so an exporter that re-derived its output from the source USD would pass all of them while reproducing the asset rather than what is being simulated. That is the property the feature exists for: Isaac Lab applies most configuration by writing into the model after the stage is parsed. Add a check that writes distinctive values into the model, as the asset classes do, and asserts the export carries them rather than the source file's values. Also document that free-joint degrees of freedom carry no exportable state: a floating body is expressed in USD by the absence of a joint, so per-DOF values written to a free joint have nowhere to be authored.

…usd-export

Isaac Lab's cloner builds one Newton world per environment, all sharing the source asset's prim paths. The exporter resolved indices as if the model held a single world, so a cloned scene exported only the first environment's entities under every environment's prim paths and reported success: a 3-world model of 6 bodies came back as 2. Select the world explicitly. Entities are chosen by their world membership plus the worldless global content, which is the same rule for an uncloned model, and the count of exportable entities is checked against the source's prim paths so a shortfall fails instead of shipping a partial file. Free joints and sites are exempt: a floating body is expressed in USD by the absence of a joint, and a site is a bare frame with no geometry. Every task's ground is a plane, which raised NotImplementedError; author it as a Z-axis UsdGeom.Plane, the form the importer reads back. Physics materials are authored for every shape, since Isaac Lab randomizes friction per shape regardless of whether it collides. Also export the entry point from isaaclab_newton.sim; the lazy-export stub had omitted it, so the documented import path raised AttributeError.

export_model_to_usd() needs the path maps that ModelBuilder.add_usd() returns, and every build path discarded them: the clone-plan session dropped the return of ctx.replicate(), and the per-prototype import result never left _build_source_builder. The exporter could not be called on a real environment at all. Keep the results and merge them into one environment's provenance. Global content is indexed against the model directly; each prototype's indices are lifted by the landing offset replicate_builder_mapping already computes before appending it, so a world with several prototypes (robot, object, table) resolves exactly. NewtonManager.get_stage_info() exposes the result in the shape add_usd() returns, so it feeds the exporter unchanged.

PhysX and OVPhysX keep the stage authoritative for structure, but every runtime write (drive gains, masses, armature, friction, limits) goes to the solver's buffers and never reaches a prim. Saving the stage of a running scene therefore emits a file that looks complete while carrying the spawn-time value of everything overridden since. Author those properties back onto the prims they came from, reading through BaseArticulationData so the same code serves any backend. Recovering prim paths is the one backend-specific step, so each backend supplies them through ArticulationPrimPaths. Values are joined to prims by name, because the view is in backend order and the data in public order. Angular drive gains are per degree on the stage and per radian in the simulation; converting on export matters for every driven revolute joint, and a task whose only revolute joint is passive cannot reveal it.

The PhysX tensor view records the prim each link and degree of freedom was built from, so the paths are read straight off it and handed to the shared exporter.

An OVPhysX binding reports names and the articulation prims it matched, not per-link paths, so they are resolved by indexing the articulation subtree by prim name. A body or joint with no prim fails the export rather than leaving it partial.

Both PhysX and OVPhysX populate the joint friction the solver applies from PhysxJointAxisAPI (static and dynamic friction effort, viscous coefficient), not from the legacy physxJoint:jointFriction scalar the exporter wrote, so randomized friction reimported as zero. The per-axis schema also shadows the joint-level armature on OVPhysX, and its viscous coefficient is per degree per second on angular axes: the exporter now writes the triple under the drive axis, armature in both places, and viscous scaled like drive gains. Applying a schema to a prim that is itself an articulation root invalidates every PhysX articulation view on the stage for the rest of the session. export_articulation_to_usd therefore authors onto a flattened snapshot; write_articulation_state_to_stage takes the target stage explicitly and applies schemas only where absent. Reads precede writes, prim paths on OVPhysX resolve from a typed index that walks up from the root prim, and each backend wrapper forwards the stage argument.

ModelBuilder.approximate_meshes(keep_visual_shapes=True), which the USD importer runs on visible meshes with a collision approximation, copies the mesh as a visual-only shape labelled <label>_visual that has no prim of its own, so the coverage guard refused every scene with such an asset. The resolution of a world's entities to prim paths moves into a public resolve_world_prim_paths returning WorldPrimPaths; twins resolve to a visual-only <prim>_visual sibling of their source and are authored as such. Coverage is checked entity by entity rather than by count, unsupported geometry is rejected by name, and joints outside the articulation are exported with physics:excludeFromArticulation.

Retaining import provenance made replicate_builder_mapping return the world-0 landing offsets as a third element against its declared two-tuple, which broke four develop cloner tests and every caller that unpacks two values. The offsets are recorded only on request by a private implementation; replicate_builder_mapping keeps its contract and the two provenance callers use replicate_builder_mapping_with_provenance.

…usd-export # Conflicts: # source/isaaclab_newton/isaaclab_newton/cloner/newton_clone_utils.py # source/isaaclab_newton/isaaclab_newton/cloner/replicate.py # source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py # source/isaaclab_newton/isaaclab_newton/physics/visualization_builder.py

Newton 1.6 keeps shape_color in sRGB and reads primvars:displayColor as linear, converting on import, so writing the model colour straight into the attribute re-applied the transfer curve on every round-trip and the export stopped being a fixed point. The exporter now authors the inverse. The test loader imports the way Isaac Lab does, aligning builder colours with the stage after add_usd, which is where the exported colour is read back.

hujc7 · 2026-09-10T20:25:12Z

run-ci

hujc7 · 2026-09-14T09:57:36Z

run-ci

Preserve authored scene content and declare initialized buffer mappings through a shared writer and thin source adapters. Export the actual task before events in an isolated rank-zero training worker, and preserve distinct Newton collider material bindings. Remove the PR-only runtime snapshot, model reconstruction, and clone provenance paths. Validate complete fresh-backend loads, failure atomicity, and unchanged seeded training behavior.

…usd-export

Exclude transient joint samples and zero inherited initial velocities. Preserve source PhysX contacts before startup and configure OVPhysX contact defaults with the simulation frequency.

…antics

…usd-export

hujc7 · 2026-09-17T06:57:15Z

run-ci

hujc7 added 9 commits July 29, 2026 13:34

Merge remote-tracking branch 'upstream/develop' into jichuanh/newton-…

e94d5db

…usd-export

Export a running PhysX articulation to USD

f8585ad

The PhysX tensor view records the prim each link and degree of freedom was built from, so the paths are read straight off it and handed to the shared exporter.

Export a running OVPhysX articulation to USD

0e69d77

An OVPhysX binding reports names and the articulation prims it matched, not per-link paths, so they are resolved by indexing the articulation subtree by prim name. A body or joint with no prim fails the export rather than leaving it partial.

github-actions Bot added the isaac-lab Related to Isaac Lab team label Sep 2, 2026

hujc7 added 8 commits September 3, 2026 21:04

Export selected environments with effective physical configuration

aae967a

Merge develop into environment USD export

c988994

Read collision group inversion from the USD schema

595fcd9

github-actions Bot added the documentation Improvements or additions to documentation label Sep 10, 2026

hujc7 changed the title ~~[USD] Export the simulated scene back to USD on Newton, PhysX and OVPhysX~~ [USD] Export selected environments with effective physics configuration Sep 10, 2026

isaaclab-bot Bot added ci:run-docker Trigger the on-demand Docker and GPU CI workflow and removed ci:run-docker Trigger the on-demand Docker and GPU CI workflow labels Sep 10, 2026

hujc7 added 2 commits September 14, 2026 02:54

Add fixed scene deployment export through shared asset contracts

2105caf

Merge develop into fixed scene deployment export

1a7acba

isaaclab-bot Bot added ci:run-docker Trigger the on-demand Docker and GPU CI workflow and removed ci:run-docker Trigger the on-demand Docker and GPU CI workflow labels Sep 14, 2026

hujc7 changed the title ~~[USD] Export selected environments with effective physics configuration~~ [USD] Export complete fixed deployment scenes before training Sep 14, 2026

hujc7 added 13 commits September 15, 2026 09:52

Preserve effective materials when clearing dangling export bindings

9e19694

Merge remote-tracking branch 'upstream/develop' into jichuanh/newton-…

9692d9d

…usd-export

Export initialized deployment properties before startup randomization

b663d7d

Fix deployment initial state and preserve source contacts

9786426

Exclude transient joint samples and zero inherited initial velocities. Preserve source PhysX contacts before startup and configure OVPhysX contact defaults with the simulation frequency.

Preserve terrain, deformable and multi-axis USD configuration

e6c61ae

Preserve resolved VBD solver settings

9e770fe

Simplify deployment export ownership and preserve effective rest angles

1b0ea54

Merge latest develop release metadata

8756502

Bind initialized USD export to physical data

1cc52b9

Merge current develop dependencies

1c71276

Reuse terrain construction for native USD readback

fab9145

Simplify deployment USD bindings and preserve initialization

3745408

Merge develop into deployment USD export

9314f54

hujc7 mentioned this pull request Sep 16, 2026

[USD] Export deformables and Newton solver settings #7857

Draft

6 tasks

hujc7 force-pushed the jichuanh/newton-usd-export branch from 01188b5 to 9314f54 Compare September 16, 2026 18:57

hujc7 added 7 commits September 16, 2026 15:25

Export only fixed configuration overrides and preserve source USD sem…

7a920b8

…antics

Merge remote-tracking branch 'upstream/develop' into jichuanh/newton-…

4b169ac

…usd-export

Apply required physics schemas before treating overrides as equivalent

fd4d058

Merge remote-tracking branch 'upstream/develop' into jichuanh/newton-…

9502978

…usd-export

Avoid redundant USD overrides and update USD Exchange

b9fbc9d

Preserve required extension schemas when USD values match

a884e6b

Retain PhysX overrides across joint schema changes

afb3828

github-actions Bot added the infrastructure label Sep 17, 2026

hujc7 added 4 commits September 16, 2026 17:40

Restore the supported USD dependency and parsing workarounds

85bb9c7

Centralize actuator initialization override provenance

38036d0

Declare actuator override bindings on data properties

271f335

Merge remote-tracking branch 'upstream/develop' into jichuanh/newton-…

4228597

…usd-export

isaaclab-bot Bot added ci:run-docker Trigger the on-demand Docker and GPU CI workflow and removed ci:run-docker Trigger the on-demand Docker and GPU CI workflow labels Sep 17, 2026

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[USD] Export one initialized deployment environment - #7499

[USD] Export one initialized deployment environment#7499
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Summary

Description

Support matrix

Complete task × backend results

Remaining export limitations

Validation coverage

Components outside this export

Type of change

Release backport

Screenshots

Checklist

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