Lab 3.0 (Newton)#464

Draft

alexmillane wants to merge 55 commits intomainfrom

feature/isaac_lab_3_newton

Commits on Mar 13, 2026

Trying with Isaac Sim image.

alexmillane
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xyao-nv
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Fix Dockerfile pip usage and add SSL cert support for Lightwheel SDK

Zehao Wang (TME)
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Got something running. Poses are all wrong.

alexmillane
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Quaternion flip (a-la Claude)

alexmillane
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Got the object_on_termination working.

alexmillane
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Progress. Down to 33 tests failing.

alexmillane
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Progress.

alexmillane
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Fix object set tests.

alexmillane
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xyao-nv
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Fix policy runner test.

alexmillane
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Pullup and fix a few issues.

alexmillane
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Mark rigid object references as broken and put back in metric calculation.

alexmillane
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Revert launch.json

alexmillane
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Cleanup docker.

alexmillane
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Moar cleanup.

alexmillane
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update Lab to include fix for RigidobjCfg, revert skipped test_reference_objects, fix wp2torch in g1_wbv_embodiment
xyao-nv
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remove uncommented broken marks
xyao-nv
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Remove pinocchio imports from Arena scripts and tests

cvolkcvolk
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fix IL data gen script and test

peterd-NV
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remove skillgen sections of generate_dataset.py script:

peterd-NV
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rm torch3d from gr00t deps
xyao-nv
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uncomment
xyao-nv
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isolate gr00t pkgs into /opt/groot_deps
xyao-nv
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fix gr00t import path and test
xyao-nv
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fix quat order in WBC inputs
xyao-nv
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Pullup sim and lab.

alexmillane
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fix hf CLI install using pipx instead of --break-system-packages

cvolkcvolk
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update dataset and fix workflows

peterd-NV
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Support Quest teleop for G1 locomanipulation example (#350)

qianl-nv
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Fix teleop test quaternion/wrap

qianl-nv
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xyao-nv
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Docker install isaaclab_visualizers for teleop GUI

qianl-nv
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xyao-nv
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Update G1 locomanip example teleop docs

qianl-nv
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xyao-nv
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modify fov to be visually same as the dataset
xyao-nv
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fix tests after rebasing on main
xyao-nv
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fix rmpflow in galbot and agibot
xyao-nv
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Commits on Mar 16, 2026

Commits on Mar 17, 2026

Minor fixes for teleop docs
qianl-nv
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Commits on Mar 18, 2026

Add Quest instruction for handtracking teleop
qianl-nv
committed