Is Cusadi usable with IsaacLab ?

[vicltz]

I would like to know if Cusadi is usable with Isaac Lab (especially the 2.0 version).

More precisely, requirements.txt contains torch==2.1.2 while IsaacLab last version requires torch 2.5.1 pip install torch==2.5.1 --index-url https://download.pytorch.org/whl/cu121.

I would like to know if it is possible to run Cusadi with a more recent torch version.

If yes, is there any updated install instructions ?

Otherwise, is it possible to compile cuda kernels on a working cusadi environement and run the cuda kernels in a standalone environement without cusadi ?

Thanks

[vicltz]

I was able to run it with Isaac Lab. I just installed the requirements.txt dependencies without specifying a specific version (letting conda resolving it for me).

Then , I followed the instructions given in the issues (making a build directory and commenting the find_package(CUDAToolkit REQUIRED) in the CMakeLists.