update dependencies to isaaclab3.0.0.

README.md

@@ -22,7 +22,7 @@ Below is a typical setup workflow.
 > AutoDataGen uses `autosim` as a Python package to organize the code. `autosim` can be installed as a submodule within an environment that already includes Isaac Lab.
 
 ```bash
-conda create -n AutoDataGen python=3.11
+conda create -n AutoDataGen python=3.12
 
 conda activate AutoDataGen
 
@@ -35,19 +35,20 @@ git submodule update --init --recursive
 
 ### IsaacLab Installation
 
-`AutoDataGen` depends on Isaac Lab. You can follow the official installation guide [here](https://isaac-sim.github.io/IsaacLab/v2.2.1/source/setup/installation/pip_installation.html), or use the commands below. If you already have an environment with Isaac Lab installed, you can reuse it and skip this step.
+`AutoDataGen` depends on Isaac Lab. You can follow the official installation guide [here](https://isaac-sim.github.io/IsaacLab/v3.0.0-beta/source/setup/installation/pip_installation.html), or use the commands below. If you already have an environment with Isaac Lab installed, you can reuse it and skip this step.
 
 ```bash
+# Install uv
+pip install uv
+
 # Install CUDA toolkit
 conda install -c "nvidia/label/cuda-12.8.1" cuda-toolkit
 
 # Install PyTorch
-pip install -U torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
+uv pip install -U torch==2.10.0 torchvision==0.25.0 --index-url https://download.pytorch.org/whl/cu128
 
 # Install IsaacSim
-pip install --upgrade pip
-pip install "isaacsim[all,extscache]==5.1.0" --extra-index-url https://pypi.nvidia.com
-
+uv pip install "isaacsim[all,extscache]==6.0.0" --extra-index-url https://pypi.nvidia.com
 
 # Install IsaacLab
 sudo apt install cmake build-essential
@@ -65,15 +66,15 @@ Some skills in `autosim` depend on cuRobo. You can follow the official [document
 ```bash
 cd dependencies/curobo
 
-pip install -e . --no-build-isolation
+uv pip install -e . --no-build-isolation
 ```
 
 ### autosim Installation
 
 Finally, install `autosim` into your environment:
 
 ```bash
-pip install -e source/autosim
+uv pip install -e source/autosim
 ```
 
 ## Quick Start
@@ -85,7 +86,7 @@ After completing the installation and configuration steps above, you can directl
 First, install the `autosim_examples` package:
 
 ```bash
-pip install -e source/autosim_examples
+uv pip install -e source/autosim_examples
 ```
 
 Then launch the example with:
@@ -94,7 +95,8 @@ Then launch the example with:
 cd autosim
 
 python examples/run_autosim_example.py \
-  --pipeline_id AutoSimPipeline-FrankaCubeLift-v0
+  --pipeline_id AutoSimPipeline-FrankaCubeLift-v0 \
+  --viz kit
 ```
 
 After launching, you will see in the Isaac Sim UI that the manipulator automatically executes the Cube Lift task.
@@ -154,7 +156,7 @@ Then you can launch it with:
 ```bash
 cd lw_benchhub
 
-python scripts/autosim/run_autosim_example.py --pipeline_id=LWBenchhub-Autosim-CoffeeSetupMugPipeline-v0
+python scripts/autosim/run_autosim_example.py --pipeline_id=LWBenchhub-Autosim-CoffeeSetupMugPipeline-v0 --viz kit
 ```
 
 We also support tasks such as CheesyBread, CloseOven, OpenFridge, and KettleBoiling. You can find the corresponding [implementations](https://github.com/LightwheelAI/LW-BenchHub/tree/main/lw_benchhub/autosim) in LW-BenchHub.

examples/run_autosim_example.py

@@ -9,6 +9,7 @@
 parser.add_argument(
     "--pipeline_id", type=str, default="AutoSimPipeline-FrankaCubeLift-v0", help="Name of the autosim pipeline."
 )
+parser.add_argument("--num_runs", type=int, default=10, help="Number of times to run the pipeline.")
 
 # append AppLauncher cli args
 AppLauncher.add_app_launcher_args(parser)
@@ -28,7 +29,10 @@
 
 def main():
     pipeline = make_pipeline(args_cli.pipeline_id)
-    pipeline.run()
+
+    for i in range(args_cli.num_runs):
+        print(f"====== run {i + 1} times =======")
+        pipeline.run()
 
 
 if __name__ == "__main__":