Package demos and examples behind the Isaac Lab CLI by StafaH · Pull Request #7944 · isaac-sim/IsaacLab

StafaH · 2026-09-22T06:07:50Z

Description

Package curated Isaac Lab showcases and focused examples in the released wheel. Run them without a source checkout through uvx isaaclab demo <name> and uvx isaaclab example <name>.

This change:

keeps one repository-level examples/ tree: six showcases in examples/demos/, 24 focused programs in examples/ and topic folders such as examples/mpm/ and examples/sensors/, and shared data in examples/assets/;
adds the Zoo showcase, including --num_envs support, while classifying the Newton dominoes scene as an example;
packages that tree privately in the unified wheel and provides stable CLI catalogs with argument forwarding;
reuses the Isaac Lab terminal startup screen for demos and examples, and adds a Newton GL selector for compatible packaged programs;
keeps operational workflows and utilities under scripts/;
updates documentation, the interactive command builder, standalone tests, wheel checks, and migration notes; and
removes the temporary ppisp_camera_ovrtx.py QA script.

There is no linked issue.

Type of change

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

Release backport

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

Screenshots

Not applicable.

Validation

uv run isaaclab -f — passed.
uv run --extra test python -m pytest -q source/isaaclab/test/cli/test_installed_workflow_entrypoints.py source/isaaclab/test/app/test_loading_screen.py source/isaaclab/test/app/test_standalone_scripts.py source/isaaclab_visualizers/test/test_newton_visualizer_viewer_release.py — 109 passed; 334 simulator-launch cases skipped by the existing opt-in gate.
uv run --isolated --extra dev -- make -C docs current-docs — full HTML build succeeded without warnings.
Built the unified isaaclab-3.0.0 wheel, installed it in a clean environment, and resolved all six demos, 24 examples, and the domino asset from the installed package.
uv run isaaclab demo zoo --help and uv run isaaclab example newton-dominoes --help — passed.

The existing install-CI wheel smoke fixture could not run locally because its legacy isaaclab.sh -u setup did not create the expected environment; the direct wheel build and isolated install checks above passed.

Checklist

I have read and understood the contribution guidelines
I have run the pre-commit checks with uv run isaaclab -f
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 added a changelog fragment under source/<pkg>/changelog.d/ for every touched package (do not edit CHANGELOG.rst or bump extension.toml — CI handles that)
I have added my name to the CONTRIBUTORS.md or my name already exists there

maxkra15 · 2026-09-22T19:47:14Z

run-ci

maxkra15 · 2026-09-22T20:25:32Z

run-ci

maxkra15 · 2026-09-22T21:42:26Z

run-ci

maxkra15 · 2026-09-23T07:45:49Z

run-ci

maxkra15 · 2026-09-23T17:24:50Z

run-ci

Make the H1 locomotion demo Newton-first: launch through launch_simulation with the Newton GL viewer by default, drive robots with viewer keys (N/I/J/K/L/C), group robots in one view, and keep the task's tuned physics preset instead of letting --physics replace it with bare solver defaults, which made the policy fall on every step and overflowed heightfield contacts. Remove the launcher's reach into lower layers. SimulationContext gains class-level reset callbacks, NewtonGLVisualizer gains register_ui_callback and request_close, and run_program owns a ProgramBrowser and closes the loading screen from its own reset callback. SimulationContext no longer imports the loading screen and the Newton viewer no longer imports the program browser. Rename _programs and _program_browser to programs and program_browser, stage packaged examples as isaaclab/examples, and drop the unneeded __init__.py that the wheel stager created for them.

StafaH · 2026-09-24T01:35:16Z

run-ci

Packaged programs only run inference, so run_program now disables Warp backward code generation before any kernel module is imported. This also gives program kernels the same cache keys as the test suites, which already disable it, so the standalone demo jobs can restore the shared Warp kernel cache instead of compiling every kernel from scratch on each run.

Every packaged program now accepts --max_steps, and the launch matrix runs each one for a few steps and requires a clean exit, watching for fatal output through shutdown instead of killing it after a fixed soak and ignoring teardown errors. This also launches H1 locomotion, which no longer needs interactive input. Remove tests that restated script sources, argparse choices, or override values, and tests that only exercised mocks, keeping contract, selection, supervision, and launch tests.

Importing ManagerBasedRLEnv loads USD, so doing it at module import made PhysX runs load pxr before Kit and fail with duplicate USD bindings. Select Newton viewers by type instead of importing the visualizer classes for the same reason.

# Conflicts: # examples/bin_packing.py # examples/demos/snowball_smash.py # examples/demos/teapot_fill.py # examples/haply_teleoperation.py # examples/mpm/newton_mpm_granular.py # examples/mpm/newton_mpm_twoway_coupling.py # examples/multi_asset.py # examples/newton_viewer_dominoes.py # examples/sensors/contact_sensor.py # examples/sensors/frame_transformer_sensor.py # examples/sensors/multi_mesh_raycaster_camera.py # examples/sensors/ppisp_camera.py # examples/sensors/tacsl_sensor.py # scripts/demos/sensors/newton_raycast_heightfield.py # scripts/demos/sensors/newton_raycast_moving_geometry.py # scripts/demos/sensors/ppisp_camera_ovrtx.py

StafaH · 2026-09-24T04:34:18Z

run-ci

StafaH · 2026-09-24T16:37:35Z

run-ci

isaaclab-bot · 2026-09-24T20:04:28Z

Backported to release/3.0.0 as 8741c6c.

# Description Package curated Isaac Lab showcases and focused examples in the released wheel. Run them without a source checkout through `uvx isaaclab demo <name>` and `uvx isaaclab example <name>`. This change: - keeps one repository-level `examples/` tree: six showcases in `examples/demos/`, 24 focused programs in `examples/` and topic folders such as `examples/mpm/` and `examples/sensors/`, and shared data in `examples/assets/`; - adds the Zoo showcase, including `--num_envs` support, while classifying the Newton dominoes scene as an example; - packages that tree privately in the unified wheel and provides stable CLI catalogs with argument forwarding; - reuses the Isaac Lab terminal startup screen for demos and examples, and adds a Newton GL selector for compatible packaged programs; - keeps operational workflows and utilities under `scripts/`; - updates documentation, the interactive command builder, standalone tests, wheel checks, and migration notes; and - removes the temporary `ppisp_camera_ovrtx.py` QA script. There is no linked issue. ## Type of change - New feature (non-breaking change which adds functionality) - Breaking change (existing functionality will not work without user modification) - Documentation update ## Release backport - [x]  Backport this pull request to the active release branch after it merges into `develop` ## Screenshots Not applicable. ## Validation - `uv run isaaclab -f` — passed. - `uv run --extra test python -m pytest -q source/isaaclab/test/cli/test_installed_workflow_entrypoints.py source/isaaclab/test/app/test_loading_screen.py source/isaaclab/test/app/test_standalone_scripts.py source/isaaclab_visualizers/test/test_newton_visualizer_viewer_release.py` — 109 passed; 334 simulator-launch cases skipped by the existing opt-in gate. - `uv run --isolated --extra dev -- make -C docs current-docs` — full HTML build succeeded without warnings. - Built the unified `isaaclab-3.0.0` wheel, installed it in a clean environment, and resolved all six demos, 24 examples, and the domino asset from the installed package. - `uv run isaaclab demo zoo --help` and `uv run isaaclab example newton-dominoes --help` — passed. The existing install-CI wheel smoke fixture could not run locally because its legacy `isaaclab.sh -u` setup did not create the expected environment; the direct wheel build and isolated install checks above passed. ## 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 `uv run isaaclab -f` - [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 added a changelog fragment under `source/<pkg>/changelog.d/` for every touched package (do **not** edit `CHANGELOG.rst` or bump `extension.toml` — CI handles that) - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by: Maximilian Krause <maximiliank@nvidia.com> (cherry picked from commit 4d7e1db)

Package demos behind the Isaac Lab CLI

2c4513a

github-actions Bot added documentation Improvements or additions to documentation isaac-lab Related to Isaac Lab team infrastructure labels Sep 22, 2026

Refine packaged demos and examples

5e58122

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 22, 2026

Support multiple Zoo environments

b57ea97

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 22, 2026

Restore top-level demos directory

90fd6e3

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 22, 2026

Separate top-level examples from demos

2e37b64

maxkra15 changed the title ~~Package demos behind the Isaac Lab CLI~~ Package demos and examples behind the Isaac Lab CLI Sep 23, 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 23, 2026

maxkra15 marked this pull request as ready for review September 23, 2026 07:47

maxkra15 requested a review from a team September 23, 2026 07:47

maxkra15 requested review from AntoineRichard, fatimaanes, hujc7, kellyguo11, myurasov-nv, ooctipus and pbarejko as code owners September 23, 2026 07:47

isaaclab-bot Bot removed the ci:run-docker Trigger the on-demand Docker and GPU CI workflow label Sep 23, 2026

maxkra15 force-pushed the feat/package-demos branch from ee029ab to 8321c57 Compare September 23, 2026 13:48

Consolidate demos and add Newton GL program browsing

a7c07e3

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 23, 2026

StafaH and others added 2 commits September 23, 2026 18:31

Merge branch 'develop' into feat/package-demos

ac19067

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 24, 2026

StafaH added 8 commits September 23, 2026 18:50

Use relative imports in the program launcher modules

3ba2a72

Reject the old private examples path in the wheel layout test

bdd0e2e

Format the wheel layout assertion

00ba5d1

Import the H1 environment after Kit starts

758a8a1

Importing ManagerBasedRLEnv loads USD, so doing it at module import made PhysX runs load pxr before Kit and fail with duplicate USD bindings. Select Newton viewers by type instead of importing the visualizer classes for the same reason.

Skip OVPhysX launches when the OVPhysX runtime is missing

a8e5d2f

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 24, 2026

maxkra15 approved these changes Sep 24, 2026

View reviewed changes

Fix MPM demo import paths in Newton tests

de83939

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 24, 2026

StafaH merged commit 4d7e1db into isaac-sim:develop Sep 24, 2026
83 of 84 checks passed

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Package demos and examples behind the Isaac Lab CLI - #7944

Package demos and examples behind the Isaac Lab CLI#7944
StafaH merged 20 commits into
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StafaH:feat/package-demos

StafaH commented Sep 22, 2026 •

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Description

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StafaH commented Sep 22, 2026 •

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