Remove forward-loading of modules#427
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shi-eric merged 1 commit intoJul 16, 2025
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Newton will no longer technically support CUDA drivers older than 545, so we can get rid of these workarounds. Signed-off-by: Eric Shi <ershi@nvidia.com>
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📝 WalkthroughWalkthroughExplicit imports and manual module loading for CUDA graph compatibility have been removed from several example and test scripts. Code sections that previously set module options or loaded solver and kernel modules before CUDA graph capture have been deleted. The CUDA graph capture logic and simulation workflows remain unchanged, now relying on implicit or deferred module loading. Changes
Sequence Diagram(s)sequenceDiagram
participant User
participant ExampleScript
participant CUDA
participant WarpModuleLoader
User->>ExampleScript: Run simulation with CUDA graph capture enabled
ExampleScript->>CUDA: Begin CUDA graph capture
Note over ExampleScript,CUDA: (No explicit module loading)
CUDA->>WarpModuleLoader: Implicitly load required modules as needed
WarpModuleLoader-->>CUDA: Modules loaded on demand
CUDA->>ExampleScript: Complete CUDA graph capture
ExampleScript->>User: Proceed with simulation
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This was referenced Aug 22, 2025
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# Description Updated documentation for the teleop config changes. Includes documentation for: - Teleop device config inside the env config - How to add new devices - How to add new retargeters - Updates to script params for handtracking <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html --> Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context. List any dependencies that are required for this change. Fixes # (issue) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - This change requires a documentation update ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
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Description
Newton will no longer technically support CUDA drivers older than 545, so we can get rid of these workarounds.
Newton Migration Guide
Please ensure the migration guide for warp.sim users is up-to-date with the changes made in this MR.
docs/migration.rstis up-to dateBefore your PR is "Ready for review"
newton/tests/test_examples.py)pre-commit run -aSummary by CodeRabbit
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