[pull] develop from isaac-sim:develop

.github/actions/run-package-tests/action.yml

@@ -47,6 +47,13 @@ inputs:
       spawned by tools/conftest.py (combined with device-split selectors).
     default: ''
     required: false
+  test-jobs:
+    description: >-
+      Number of test-file slots tools/conftest.py runs at once. Each file still runs in
+      its own pytest process; files listed in tools/test_settings.py PYTEST_WORKERS split
+      across several slots with pytest-xdist. Empty or 1 runs files one by one.
+    default: ''
+    required: false
   shard-index:
     description: 'Zero-based shard index'
     default: ''
@@ -333,6 +340,7 @@ runs:
         filter-pattern: ${{ inputs.filter-pattern }}
         exclude-pattern: ${{ inputs.exclude-pattern }}
         test-k-expr: ${{ inputs.test-k-expr }}
+        test-jobs: ${{ inputs.test-jobs }}
         shard-index: ${{ inputs.shard-index }}
         shard-count: ${{ inputs.shard-count }}
         curobo-only: ${{ inputs.curobo-only }}

.github/actions/run-tests/action.yml

@@ -49,6 +49,13 @@ inputs:
       can deselect parametrized cases (e.g. "not ovphysx").
     default: ''
     required: false
+  test-jobs:
+    description: >-
+      Number of test-file slots tools/conftest.py runs at once. Each file still runs in
+      its own pytest process; files listed in tools/test_settings.py PYTEST_WORKERS split
+      across several slots with pytest-xdist. Empty or 1 runs files one by one.
+    default: ''
+    required: false
   curobo-only:
     description: 'Run only cuRobo and SkillGen tests (requires the cuRobo Docker image)'
     default: 'false'
@@ -155,13 +162,14 @@ runs:
         TEST_NODE_IDS_KEY: ${{ inputs.test-node-ids-key }}
         TEST_PATH: ${{ inputs.test-path }}
         TEST_K_EXPR_INPUT: ${{ inputs.test-k-expr }}
+        TEST_JOBS_INPUT: ${{ inputs.test-jobs }}
         CI_MARKER_INPUT: ${{ inputs.ci-marker }}
         VOLUME_MOUNT_SOURCE: ${{ inputs.volume-mount-source }}
         WARP_CACHE_HOST_DIR: ${{ inputs.warp-cache-host-dir }}
         WHEELHOUSE_HOST_DIR: ${{ inputs.wheelhouse-host-dir }}
         WHEELHOUSE_PACKAGES: ${{ inputs.wheelhouse-packages }}
       run: |
-        bash .github/actions/run-tests/run_tests.sh "$TEST_PATH" "$RESULT_FILE" "$CONTAINER_NAME" "$IMAGE_TAG" "$REPORTS_DIR" "$PYTEST_OPTIONS" "$FILTER_PATTERN" "$EXCLUDE_PATTERN" "$CUROBO_ONLY" "$INCLUDE_FILES" "$QUARANTINED_ONLY" "$SHARD_INDEX" "$SHARD_COUNT" "$VOLUME_MOUNT_SOURCE" "$EXTRA_PIP_PACKAGES" "$TEST_NODE_IDS_FILE" "$TEST_NODE_IDS_KEY" "$WHEELHOUSE_HOST_DIR" "$WHEELHOUSE_PACKAGES" "$TEST_K_EXPR_INPUT" "$CI_MARKER_INPUT" "$STANDALONE_SCRIPT_SCOPE" "$STANDALONE_SCRIPT_VISUALIZER" "$STANDALONE_SCRIPT_RUNTIME_GROUP" "$WARP_CACHE_HOST_DIR" "$EXTRA_UV_PACKAGES" "$OVRTX_SHADER_CACHE_HOST_DIR"
+        bash .github/actions/run-tests/run_tests.sh "$TEST_PATH" "$RESULT_FILE" "$CONTAINER_NAME" "$IMAGE_TAG" "$REPORTS_DIR" "$PYTEST_OPTIONS" "$FILTER_PATTERN" "$EXCLUDE_PATTERN" "$CUROBO_ONLY" "$INCLUDE_FILES" "$QUARANTINED_ONLY" "$SHARD_INDEX" "$SHARD_COUNT" "$VOLUME_MOUNT_SOURCE" "$EXTRA_PIP_PACKAGES" "$TEST_NODE_IDS_FILE" "$TEST_NODE_IDS_KEY" "$WHEELHOUSE_HOST_DIR" "$WHEELHOUSE_PACKAGES" "$TEST_K_EXPR_INPUT" "$CI_MARKER_INPUT" "$STANDALONE_SCRIPT_SCOPE" "$STANDALONE_SCRIPT_VISUALIZER" "$STANDALONE_SCRIPT_RUNTIME_GROUP" "$WARP_CACHE_HOST_DIR" "$EXTRA_UV_PACKAGES" "$OVRTX_SHADER_CACHE_HOST_DIR" "$TEST_JOBS_INPUT"
     - name: Kill container on cancellation
       if: cancelled()
       shell: bash

.github/actions/run-tests/run_tests.sh

@@ -38,6 +38,7 @@ run_tests() {
   local warp_cache_host_dir="${25}"
   local extra_uv_packages="${26}"
   local ovrtx_shader_cache_host_dir="${27}"
+  local test_jobs="${28}"
   local logs_pid=""
   local wait_pid=""
   local docker_wait_file="/tmp/.docker_exit_${container_name}"
@@ -194,6 +195,11 @@ run_tests() {
     echo "Setting per-file pytest -k expression: $test_k_expr"
   fi
 
+  if [ -n "$test_jobs" ]; then
+    docker_env_args+=(-e "TEST_JOBS=$test_jobs")
+    echo "Setting TEST_JOBS=$test_jobs"
+  fi
+
   if [ -n "$ci_marker" ]; then
     docker_env_args+=(-e "CI_MARKER=$ci_marker")
     echo "Setting CI_MARKER=$ci_marker"

.github/workflows/build.yaml

@@ -275,6 +275,8 @@ jobs:
         shard-index: "0"
         shard-count: "3"
         warp-cache: restore
+        ovrtx-shader-cache: restore
+        test-jobs: "4"
         container-name: isaac-lab-tasks-1-test
 
   test-isaaclab-tasks-2:
@@ -301,6 +303,8 @@ jobs:
         shard-index: "1"
         shard-count: "3"
         warp-cache: restore
+        ovrtx-shader-cache: restore
+        test-jobs: "4"
         container-name: isaac-lab-tasks-2-test
 
   test-isaaclab-tasks-3:
@@ -327,6 +331,8 @@ jobs:
         shard-index: "2"
         shard-count: "3"
         warp-cache: restore
+        ovrtx-shader-cache: restore
+        test-jobs: "4"
         container-name: isaac-lab-tasks-3-test
 
   test-isaaclab-core:
@@ -352,6 +358,8 @@ jobs:
         shard-index: "0"
         shard-count: "3"
         warp-cache: restore
+        ovrtx-shader-cache: restore
+        test-jobs: "4"
         container-name: isaac-lab-core-1-test
 
   test-isaaclab-core-2:
@@ -377,6 +385,8 @@ jobs:
         shard-index: "1"
         shard-count: "3"
         warp-cache: restore
+        ovrtx-shader-cache: restore
+        test-jobs: "4"
         container-name: isaac-lab-core-2-test
 
   test-isaaclab-core-3:
@@ -402,6 +412,8 @@ jobs:
         shard-index: "2"
         shard-count: "3"
         warp-cache: restore
+        ovrtx-shader-cache: restore
+        test-jobs: "4"
         container-name: isaac-lab-core-3-test
 
   # Kit and non-Kit are written out rather than expressed as a matrix: these job
@@ -486,6 +498,8 @@ jobs:
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_rl"
         extra-pip-packages: "leapp==0.6.1 torchrl>=0.13"
+        warp-cache: restore
+        test-jobs: "4"
         container-name: isaac-lab-rl-test
 
   test-isaaclab-mimic:
@@ -507,6 +521,8 @@ jobs:
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_mimic"
+        warp-cache: restore
+        test-jobs: "4"
         container-name: isaac-lab-mimic-test
 
   test-isaaclab-contrib:
@@ -528,6 +544,9 @@ jobs:
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_contrib"
+        warp-cache: restore
+        ovrtx-shader-cache: restore
+        test-jobs: "4"
         container-name: isaac-lab-contrib-test
 
   test-isaaclab-teleop:
@@ -549,6 +568,9 @@ jobs:
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_teleop"
+        warp-cache: restore
+        ovrtx-shader-cache: restore
+        test-jobs: "4"
         container-name: isaac-lab-teleop-test
 
   test-isaaclab-visualizers:
@@ -570,6 +592,9 @@ jobs:
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_visualizers"
+        warp-cache: restore
+        ovrtx-shader-cache: restore
+        test-jobs: "4"
         container-name: isaac-lab-visualizers-test
 
   test-isaaclab-assets:
@@ -591,6 +616,8 @@ jobs:
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_assets"
+        warp-cache: restore
+        test-jobs: "4"
         container-name: isaac-lab-assets-test
 
   test-isaaclab-experimental:
@@ -612,6 +639,8 @@ jobs:
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_experimental"
+        warp-cache: restore
+        test-jobs: "4"
         container-name: isaac-lab-experimental-test
 
   test-isaaclab-newton:
@@ -634,6 +663,8 @@ jobs:
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_newton"
         warp-cache: restore
+        ovrtx-shader-cache: restore
+        test-jobs: "4"
         container-name: isaac-lab-newton-test
 
   test-isaaclab-physx:
@@ -655,6 +686,9 @@ jobs:
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_physx"
+        warp-cache: restore
+        ovrtx-shader-cache: restore
+        test-jobs: "4"
         container-name: isaac-lab-physx-test
 
   test-isaaclab-ov:
@@ -684,6 +718,9 @@ jobs:
         extra-pip-packages: ${{ env.USE_OVPHYSX_WHEELHOUSE == 'true' && steps.ov_pins.outputs.ovrtx || format('{0} {1}', steps.ov_pins.outputs.ovrtx, steps.ov_pins.outputs.ovphysx) }}
         wheelhouse-image: ${{ env.USE_OVPHYSX_WHEELHOUSE == 'true' && needs.config.outputs.ovphysx_wheelhouse_image || '' }}
         wheelhouse-packages: ${{ env.USE_OVPHYSX_WHEELHOUSE == 'true' && 'ovphysx' || '' }}
+        warp-cache: restore
+        ovrtx-shader-cache: restore
+        test-jobs: "4"
         container-name: isaac-lab-ov-test
 
     # Folded from the former standalone verify-base-non-root job: reuses the

.github/workflows/tools-tests.yml

@@ -52,8 +52,9 @@ jobs:
       # flaky, so they run without an Isaac Sim install or a full project sync. flaky drives the
       # rerun in test_crash_during_a_flaky_retry_is_blamed_on_the_retried_test; without it
       # installed that test skips itself rather than failing, so keep it in this list.
+      # pytest-xdist likewise drives test_an_xdist_run_journals_each_event_once.
       - name: Install test dependencies
-        run: bash "$GITHUB_WORKSPACE/.github/actions/_lib/with-python-package-retries.sh" python3 -m pip install pytest junitparser flaky pyyaml
+        run: bash "$GITHUB_WORKSPACE/.github/actions/_lib/with-python-package-retries.sh" python3 -m pip install pytest pytest-xdist junitparser flaky pyyaml
 
       - name: Run tools tests
         env:
@@ -65,5 +66,5 @@ jobs:
         # --noconftest keeps tools/conftest.py out of the session. That file is the CI test
         # orchestrator - its pytest_sessionstart scans source/ and scripts/ and runs the whole
         # suite, so loading it here would ignore the files named below.
-        run: python3 -m pytest tools/test_crash_journal.py tools/test_device_split.py
+        run: python3 -m pytest tools/test_crash_journal.py tools/test_device_split.py tools/test_file_scheduler.py
           .github/actions/_lib/test_registry_credential_fallback.py -v --noconftest

AGENTS.md

@@ -10,6 +10,8 @@
 - Use modern Python type hints, including `X | None` instead of `Optional[X]`.
 - Use `snake_case` for methods, functions, and CLI arguments.
 - Keep related public symbols discoverable through consistent prefixes.
+- Keep Newton solver schema registration in the active manager's builder factory; the cloner must not depend on solver modules.
+- Resolve Newton raycast BVH requirements before builder finalization; sensor task registration must not add a late BVH fallback.
 - Keep joint-wrench sensor coverage separate from articulation control-joint selection. Reuse cached
   body bindings without changing the shared view's joint filters or creating a second view for sensing.
 - Keep articulation ordering maps on articulation data; do not mirror maps or add cached ordering flags.

conftest.py

@@ -51,10 +51,19 @@ def _journal_write(record: dict) -> None:
     The per-record flush is the whole point: it puts the data in the OS page cache before the
     next test starts, so a process killed by a signal cannot take down verdicts it had already
     reported. Journaling failures are swallowed — losing debug context must never fail a run.
+
+    Under ``pytest-xdist`` the controller receives every worker's start, report and finish, so only
+    it journals those; each worker journaling too would record every event twice and leave a
+    worker crash that xdist recovered from looking like an in-flight test. The controller never
+    collects, so the ``collected`` record comes from the first worker instead (every worker
+    collects the same items).
     """
     path = os.environ.get(JOURNAL_ENV_VAR)
     if not path:
         return
+    worker = os.environ.get("PYTEST_XDIST_WORKER")
+    if worker and (record["event"] != "collected" or worker != "gw0"):
+        return
     try:
         with open(path, "a", encoding="utf-8") as handle:
             handle.write(json.dumps(record, separators=(",", ":")) + "\n")

pyproject.toml

@@ -126,6 +126,8 @@ importers = [
 test = [
     "pytest",
     "pytest-mock",
+    # Splits a test file across worker processes; see TEST_PYTEST_WORKERS in tools/conftest.py.
+    "pytest-xdist",
     "junitparser",
     "flaky",
     # numba subclasses coverage.types.Tracer at import; >=7.6.1 restores that shim

scripts/tutorials/04_sensors/run_frame_transformer.py

@@ -64,7 +64,7 @@ def define_sensor() -> FrameTransformer:
     """Defines the FrameTransformer sensor to add to the scene."""
     # define offset
     rot_offset = math_utils.quat_from_euler_xyz(torch.zeros(1), torch.zeros(1), torch.tensor(-math.pi / 2))
-    pos_offset = math_utils.quat_apply(rot_offset, torch.tensor([0.08795, 0.01305, -0.33797]))
+    pos_offset = math_utils.quat_apply(rot_offset[0], torch.tensor([0.08795, 0.01305, -0.33797]))
 
     # Example using .* to get full body + LF_FOOT
     frame_transformer_cfg = FrameTransformerCfg(

source/isaaclab/changelog.d/core-cleanup-benchmark-fixes.rst

@@ -0,0 +1,9 @@
+Fixed
+^^^^^
+
+* Fixed :meth:`~isaaclab.benchmark.measurements.TestPhase.from_json` raising ``TypeError`` for phases
+  serialized with :class:`~isaaclab.benchmark.measurements.TestPhaseEncoder` that have measurements, and
+  dropping the metadata of phases without measurements. This also affected
+  :meth:`~isaaclab.benchmark.measurements.TestPhase.aggregate_json_files`.
+* Fixed :meth:`~isaaclab.benchmark.recorders.record_cpu_info.CPUInfoRecorder.get_data` raising ``KeyError``
+  when called before the first :meth:`~isaaclab.benchmark.recorders.record_cpu_info.CPUInfoRecorder.update`.

source/isaaclab/changelog.d/fix-actuator-net-lstm-velocity-clipping.rst

@@ -0,0 +1,8 @@
+Fixed
+^^^^^
+
+* Fixed :class:`~isaaclab.actuators.ActuatorNetLSTM` clipping its output with a zero joint velocity. The DC-motor
+  torque-speed limits now use the current joint velocity, as :class:`~isaaclab.actuators.ActuatorNetMLP` does.
+* Passed measured joint velocity directly into DC-motor clipping, removing the cached velocity and its redundant
+  copies. The base ``_clip_effort`` accepts ``(effort, *args, **kwargs)``; custom overrides used by explicit PD and
+  neural-network actuators must accept ``(effort, joint_vel)``. Implicit actuator clipping still takes only effort.

source/isaaclab/changelog.d/fix-body-projected-gravity-multi-body.rst

@@ -0,0 +1,10 @@
+Fixed
+^^^^^
+
+* Fixed :func:`~isaaclab.utils.math.quat_apply` and :func:`~isaaclab.utils.math.quat_apply_inverse` to broadcast
+  leading dimensions following NumPy rules. This fixed :func:`~isaaclab.envs.mdp.observations.body_projected_gravity_b`
+  for multiple selected bodies. **Breaking change:** results retain the broadcast batch shape, including singleton
+  dimensions. Use a quaternion of shape ``(4,)`` for an unbatched vector result of shape ``(3,)``. Incompatible batch
+  shapes now raise an error even when their element counts match; callers relying on flattened pairing must explicitly
+  reshape their inputs to matching batch shapes. Outputs may be noncontiguous for transposed inputs; use ``reshape``
+  instead of ``view`` when flattening these results.

source/isaaclab/changelog.d/ground-plane-walking-margin.rst

@@ -0,0 +1,6 @@
+Fixed
+^^^^^
+
+* Extended the default visual ground plane 50 m beyond the outermost environment
+  origins so locomotion robots did not immediately leave the visible floor in
+  large batches. Preserved metric texture tiling and the infinite collision plane.

source/isaaclab/changelog.d/performance-test-scheduling.skip

@@ -0,0 +1 @@
+Regression coverage for performance test isolation and updated test fixtures for the parallel runner.

source/isaaclab/changelog.d/pink-ik-concurrent-conversion.rst

@@ -0,0 +1,5 @@
+Fixed
+^^^^^
+
+* Fixed concurrent Pink IK controller initialization corrupting shared USD-to-URDF exports by locking
+  the output directory through conversion and model loading.

source/isaaclab/changelog.d/resolve-local-usd-remote-dependencies.rst

@@ -0,0 +1,4 @@
+Fixed
+^^^^^
+
+* Followed USD dependencies through both local layers and remote assets before adding references, resolving nested remote references in working copies without editing authored layers or raw downloads. Preserved renderer-provided MDL identifiers and self-contained USDZ packages. Completed local trees skipped repeated traversal until their files changed or disappeared.

source/isaaclab/changelog.d/test-audit-newton-tests.rst

@@ -0,0 +1,5 @@
+Fixed
+^^^^^
+
+* Fixed :func:`~isaaclab.utils.warp.math_ops.transform_to_vec_quat` raising a Warp ``RuntimeError`` instead of its
+  documented ``ValueError`` for 4D transform arrays.

source/isaaclab/isaaclab/actuators/actuator_base.py

@@ -310,11 +310,15 @@ def compute(
     Helper functions.
     """
 
-    def _clip_effort(self, effort: torch.Tensor) -> torch.Tensor:
-        """Clip the desired torques based on the motor limits.
+    def _clip_effort(self, effort: torch.Tensor, *args, **kwargs) -> torch.Tensor:
+        """Clip the desired effort using actuator effort limits.
+
+        Model-specific inputs are handled by subclasses.
 
         Args:
             effort: The effort to clip [N or N·m, depending on joint type].
+            *args: Model-specific positional inputs. Unused by the base implementation.
+            **kwargs: Model-specific keyword inputs. Unused by the base implementation.
 
         Returns:
             The clipped effort [N or N·m, depending on joint type].

source/isaaclab/isaaclab/actuators/actuator_net.py

@@ -88,7 +88,7 @@ def compute(
         self.computed_effort = torques.reshape(self._num_envs, self.num_joints)
 
         # clip the computed effort based on the motor limits
-        self.applied_effort = self._clip_effort(self.computed_effort)
+        self.applied_effort = self._clip_effort(self.computed_effort, joint_vel)
 
         # return torques
         control_action.joint_efforts = self.applied_effort
@@ -152,9 +152,6 @@ def compute(
         # -- velocity
         self._joint_vel_history = self._joint_vel_history.roll(1, 1)
         self._joint_vel_history[:, 0] = joint_vel
-        # save current joint vel for dc-motor clipping
-        self._joint_vel[:] = joint_vel
-
         # compute network inputs
         # -- positions
         pos_input = torch.cat([self._joint_pos_error_history[:, i].unsqueeze(2) for i in self.cfg.input_idx], dim=2)
@@ -178,7 +175,7 @@ def compute(
         self.computed_effort = torques.view(self._num_envs, self.num_joints) * self.cfg.torque_scale
 
         # clip the computed effort based on the motor limits
-        self.applied_effort = self._clip_effort(self.computed_effort)
+        self.applied_effort = self._clip_effort(self.computed_effort, joint_vel)
 
         # return torques
         control_action.joint_efforts = self.applied_effort