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# Description This PR fixes an issue when exporting LSTM to ONNX. The normalizer was resetting to zero. This PR calls `eval()` during the `forward()`. Fixes # (issue) ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots Left: After, Right: Before  ## Checklist - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 -->
…terrain (#2695) # Description Allow to set platform height independent of the object height. <!-- 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 - New feature (non-breaking change which adds functionality) ## 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 - [ ] 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 Credit: @fjenelten-bdai --------- Signed-off-by: James Tigue <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
…ing (#2556) This PR pushes some changes from our internal RAI fork of Isaac Lab. The 2 main changes are: #### Adds a new `ray_alignment` parameter to replace the previous `yaw_only` arg. Now the ray alignment can be aligned to `world`, `yaw`, or `base. #### Improves drift height sampling At the moment, the `RayCasterCfg` hosts a parameter called `drift_range`. It allows to randomize the position of the sensor in world frame, which comes with a couple of downsides: * If the projection is done along the gravity vector, the z-component drift term cannot be visualized (it is implicitly given in the pose, and added to the height scan in the observation term). * The perturbation is applied in world frame, i.e., if the ray cast is yaw aligned, then the drift varies with the yaw angle * The drift is applied to all (x,y,z) components equally This PR adds a new parameter ray_cast_drift_range. It gives more freedom in choosing the drift ranges as x, y and z components can be treated separately. It also applies the drift after projecting and rotating the ray cast points, i.e. the drift is now invariant under the yaw angle and the drift in z is can be visualized I've added Fabian Jenelten and Jeonghwan Kim to this PR as they worked on these changes within RAI - I'm simply helping to push them up 😄 ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) - Breaking change (fix or feature that would cause existing functionality to not work as expected) ## 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 - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 --> --------- Signed-off-by: ooctipus <[email protected]> Co-authored-by: ooctipus <[email protected]>
…sb3 natively supported cnn creation pipeline (#2812) # Description This PR modifies the SB3 Wrapper so that it utilizes the SB3 natively supported encoder creation on properly defined composite observation space, SB3's automatic CNN encoding will apply when 1. if observation space of that term is of shape, GrayScale, RGB, or RGBD 2. if agent_cfg has normalized flag, expects data to have channel as the first dimension, and data pre_normalized 3. if agent doesn't has normalized flag, expects data to have space min=0, max=255, dtype=uint8 This PR makes sure the sb3 wrapper adjust environment image term to meet either condition 2 or condition 3 by looking at space's min and max, so sb3 creation pipeline will be applied automatically. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) ## 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` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] 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 --> Co-authored-by: Kelly Guo <[email protected]>
…ion and rigid_object_collection (#2867) # Description Changes remaining quat_rotate calls to quat_apply calls. Fixes #2859 <!-- 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. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 --> --------- Signed-off-by: Kelly Guo <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
) # Description this PR adds tests for: - scale_transform - unscale_transform - saturate - normalize - copysign - convert_quat - quat_conjugate - quat_from_euler_xyz - quat_from_matrix - euler_xyz_from_quat - matrix_from_euler - quat_from_angle_axis - axis_angle_from_quat - skew_symmetric_matrix - combine_transform - subtract_transform - compute_pose_error Fixes # (issue) ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) ## Checklist - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 --> --------- Signed-off-by: James Tigue <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
…o ObservationManager.compute (#2885) # Description When observation group has history length greater than zero, calling `ObservationManager.compute` modifies history state by appending current observation to history. This creates history corruption when non-`ManagerBasedEnv` classes invoke `ObservationManager.compute`. This PR introduces `update_history` flag (default to `False`) and only `ManagerBasedEnv` has the privilege to run `ObservationManager.compute` with `update_history=True`. If `update_history=False` and the history buffer is `None`, a copy of history is returned instead of the original. I have added test cases to verify this fix is effective. Fixes #2884 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] 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 --------- Signed-off-by: ooctipus <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: ooctipus <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
# Description Fixes missing `ray_cast_drift` in `RayCasterCamera` Fixes #2891 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## 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 --------- Signed-off-by: Kelly Guo <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
# Description @Toni-SM pointed out that Isaac Lab must match Isaac Sim/ Kit 107.3.1-206797 Pillow 11.2.1 this PR update pillow dependencies to match that of sim and kit ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## 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` - [] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] 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 -->
…t the joint_names specified in SceneEntityCfg (#2899) # Description Both reset_joints_by_offsets and reset_joints_by_scale ignores the joint_ids specified in SceneEntityCfg passed through asset_cfg and affects all joints. This bug is affecting all cartpole environments. After the fix the functions are restricted to only reset the joint specified through SceneEntityCfg, Cartpole environment runs and reset behaves correctly Fixes #2800 #980 #1742 ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] 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 --> Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
…arameters (#2777) # Description This PR created two curriculum mdp that can change any parameter in env instance. namely `modify_term_cfg` and `modify_env_param`. `modify_env_param` is a more general version that can override any value belongs to env, but requires user to know the full path to the value. `modify_term_cfg` only work with manager_term, but is a more user friendly version that simplify path specification, for example, instead of write "observation_manager.cfg.policy.joint_pos.noise", you instead write "observations.policy.joint_pos.noise", consistent with hydra overriding style Besides path to value is needed, modify_fn, modify_params is also needed for telling the term how to modify. Demo 1: difficulty-adaptive modification for all python native data type ``` # iv -> initial value, fv -> final value def initial_final_interpolate_fn(env: ManagerBasedRLEnv, env_id, data, iv, fv, get_fraction): iv_, fv_ = torch.tensor(iv, device=env.device), torch.tensor(fv, device=env.device) fraction = eval(get_fraction) new_val = fraction * (fv_ - iv_) + iv_ if isinstance(data, float): return new_val.item() elif isinstance(data, int): return int(new_val.item()) elif isinstance(data, (tuple, list)): raw = new_val.tolist() # assume iv is sequence of all ints or all floats: is_int = isinstance(iv[0], int) casted = [int(x) if is_int else float(x) for x in raw] return tuple(casted) if isinstance(data, tuple) else casted else: raise TypeError(f"Does not support the type {type(data)}") ``` (float) ``` joint_pos_unoise_min_adr = CurrTerm( func=mdp.modify_term_cfg, params={ "address": "observations.policy.joint_pos.noise.n_min", "modify_fn": initial_final_interpolate_fn, "modify_params": {"iv": 0., "fv": -.1, "get_fraction": "env.command_manager.get_command("difficulty")"} } ) ``` (tuple or list) ``` command_object_pose_xrange_adr = CurrTerm( func=mdp.modify_term_cfg, params={ "address": "commands.object_pose.ranges.pos_x", "modify_fn": initial_final_interpolate_fn, "modify_params": {"iv": (-.5, -.5), "fv": (-.75, -.25), "get_fraction": "env.command_manager.get_command("difficulty")"} } ) ``` Demo 3: overriding entire term on env_step counter rather than adaptive ``` def value_override(env: ManagerBasedRLEnv, env_id, data, new_val, num_steps): if env.common_step_counter > num_steps: return new_val return mdp.modify_term_cfg.NO_CHANGE object_pos_curriculum = CurrTerm( func=mdp.modify_term_cfg, params={ "address": "commands.object_pose", "modify_fn": value_override, "modify_params": {"new_val": <new_observation_term>, "num_step": 120000 } } ) ``` Demo 4: overriding Tensor field within some arbitary class not visible from term_cfg (you can see that 'address' is not as nice as mdp.modify_term_cfg) ``` def resample_bucket_range(env: ManagerBasedRLEnv, env_id, data, static_friction_range, dynamic_friction_range, restitution_range, num_steps): if env.common_step_counter > num_steps: range_list = [static_friction_range, dynamic_friction_range, restitution_range] ranges = torch.tensor(range_list, device="cpu") new_buckets = math_utils.sample_uniform(ranges[:, 0], ranges[:, 1], (len(data), 3), device="cpu") return new_buckets return mdp.modify_env_param.NO_CHANGE object_physics_material_curriculum = CurrTerm( func=mdp.modify_env_param, params={ "address": "event_manager.cfg.object_physics_material.func.material_buckets", "modify_fn": resample_bucket_range, "modify_params": {"static_friction_range": [.5, 1.], "dynamic_friction_range": [.3, 1.], "restitution_range": [0.0, 0.5], "num_step": 120000 } } ) ``` ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] 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 --> --------- Signed-off-by: ooctipus <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
# Description Changes the default setting for the enable stabilization flag from True to False. Fixes #2319 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots | Before | After | :-------------------------:|:-------------------------: |   |  ## 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 - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] 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 --------- Signed-off-by: Antoine RICHARD <[email protected]> Co-authored-by: Mayank Mittal <[email protected]>
# Description wandb logging function is provided in rl_games script. So we remove the wandb logging in task level. Also, we edit the task registration style to help startup perf. ## Type of change - Bug fix (non-breaking change which fixes an issue) - This change requires a documentation update ## 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 - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] 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 --------- Co-authored-by: Kelly Guo <[email protected]>
# Description This change updates the CloudXR runtime version to 5.0. <!-- 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. --> - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) + Breaking change (fix or feature that would cause existing functionality to not work as expected) CloudXR runtime 5.0 hasn't been published. This change updates to the future version. Users won't be able to run the runtime image until it's published. - 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 - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 -->
Changes required for updating to be compatible with Isaac Sim 5.0 and Kit 107.3. Notable changes include: - Python version updated to 3.11, which means we need special support for rl-games since it does not include python 3.11 support out of the box. Additionally, rl-games has not updated torch.load with weights_only flag required since torch 2.6. - Updates pytorch to 2.7 for Blackwell support. We now uninstall the torch build that comes with isaac sim as part of the isaacsim.sh/bat script and forces an install of torch 2.7 with torchvision - Removal of deprecated flags in kit that no longer exist - improve_path_friction and SETTING_BACKWARD_COMPATIBILITY - Some tests are still timing out / failing - there seems to be an issue with the first load of assets that's causing checks like `stage.ResolveIdentifierToEditTarget(usd_path)` and `is_prim_path_valid` to take up to a minute. <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) - Breaking change (fix or feature that would cause existing functionality to not work as expected) - This change requires a documentation update - [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 - [ ] 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 --> --------- Signed-off-by: rwiltz <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Signed-off-by: Ashwin Varghese Kuruttukulam <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Signed-off-by: Michael Gussert <[email protected]> Co-authored-by: jaczhangnv <[email protected]> Co-authored-by: rwiltz <[email protected]> Co-authored-by: Yanzi Zhu <[email protected]> Co-authored-by: nv-mhaselton <[email protected]> Co-authored-by: cosmith-nvidia <[email protected]> Co-authored-by: Michael Gussert <[email protected]> Co-authored-by: CY Chen <[email protected]> Co-authored-by: oahmednv <[email protected]> Co-authored-by: Ashwin Varghese Kuruttukulam <[email protected]> Co-authored-by: Rafael Wiltz <[email protected]> Co-authored-by: Peter Du <[email protected]> Co-authored-by: matthewtrepte <[email protected]> Co-authored-by: chengronglai <[email protected]> Co-authored-by: pulkitg01 <[email protected]> Co-authored-by: Connor Smith <[email protected]> Co-authored-by: Ashwin Varghese Kuruttukulam <[email protected]>
Remove xr rendering mode since balanced and quality work well for xr <!-- 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. --> <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) - Breaking change (fix or feature that would cause existing functionality to not work as expected) - This change requires a documentation update 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. --> - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 -->
<!-- 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 --> IsaacSim has deprecated isaacsim.xr.openxr extension for hand tracking in favor of omni.xr.kitxr, so this change will migrate the OpenXRDevice to omni.xr.kitxr. This also allows for additional features like XCR record and replay. 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. --> <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) 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. --> - [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 -->
- Adds omni.usd.metrics.assembler.ui as dependency for stage unit conversion - Increases timeout for tests - Adds check for correct torch version before uninstalling/installing <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - [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 - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 -->
<!-- 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 --> Changes: 1. Adds two new GR1 humanoid environments to isaaclab_tasks extension. A beaker pouring task (nut pouring) and an exhaust pipe pick/place task (exhaust pipe) 2. Adds the corresponding Mimic envs for the two new GR1 tasks to isaaclab_mimic extension. 3. Adds a processed action recorder term to record post step processed actions. 4. Update recorder script to remove cameras from envs if using XR handtracking device. <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 --> --------- Co-authored-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
<!-- 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 --> Update GR1 pick place env with the following: - Increase sim dt to 120 Hz for better physics stability during teleop - Fix z position of object initial position so that it is not penetrating table - Update documentation for pick place Mimic demo <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - This change requires a documentation update 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. --> - [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 -->
…ts ar profile "performance" (#401) - Remove dep on isaacsim.xr.openxr since it has been replaced by omni.kit.xr - Set AR profile rendering settings to "performance" for improved single GPU frame rate. <!-- 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. --> <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) 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. --> - [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 --> --------- Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
This change moves the configuration of the teleop device from the end
user scripts (record_demos.py, teleop_se3.py, etc) to the env config
itself. This allows the task to specify what teleop devices are
supported along with the per env configuration of supported teleop
device.
Example teleop config inside of the env config:
```
self.teleop_devices = DevicesCfg(
devices={
"handtracking": OpenXRDeviceCfg(
retargeters=[
Se3RelRetargeterCfg(
bound_hand=OpenXRDevice.TrackingTarget.HAND_RIGHT,
zero_out_xy_rotation=True,
use_wrist_rotation=False,
use_wrist_position=True,
delta_pos_scale_factor=10.0,
delta_rot_scale_factor=10.0,
sim_device=self.sim.device,
),
GripperRetargeterCfg(
bound_hand=OpenXRDevice.TrackingTarget.HAND_RIGHT, sim_device=self.sim.device
),
],
sim_device=self.sim.device,
xr_cfg=self.xr,
),
"keyboard": Se3KeyboardCfg(
pos_sensitivity=0.05,
rot_sensitivity=0.05,
sim_device=self.sim.device,
),
}
)
```
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`./isaaclab.sh --format`
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- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
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exists there
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---------
Signed-off-by: Kelly Guo <[email protected]>
Co-authored-by: Kelly Guo <[email protected]>
Co-authored-by: Kelly Guo <[email protected]>
<!-- 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 --> The new record/teleop_se3 agent scripts unifies the callback list for all devices. This change fixes an error that spacemouse throws when trying to add the additional (unused) callbacks. <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) 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. --> - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 -->
# Description Increases collision stack size for factory environments as they were exceeding the previous set values in some cases. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## 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 - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 -->
# Description <!-- 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 --> Update Isaac Lab Mimic docs: 1. Add new section on training visuomotor policy for humanoid 2. Add clarifications on how to collect/annotate human demos for humanoid 3. Add section on how to tune Mimic parameters 4. Minor command updates to bring in line with latest XR changes ## Type of change - This change requires a documentation update <!-- 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 - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 --> --------- Signed-off-by: rwiltz <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Signed-off-by: Ashwin Varghese Kuruttukulam <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Signed-off-by: Michael Gussert <[email protected]> Co-authored-by: lotusl-code <[email protected]> Co-authored-by: Kelly Guo <[email protected]> Co-authored-by: jaczhangnv <[email protected]> Co-authored-by: rwiltz <[email protected]> Co-authored-by: Yanzi Zhu <[email protected]> Co-authored-by: nv-mhaselton <[email protected]> Co-authored-by: cosmith-nvidia <[email protected]> Co-authored-by: Michael Gussert <[email protected]> Co-authored-by: CY Chen <[email protected]> Co-authored-by: oahmednv <[email protected]> Co-authored-by: Ashwin Varghese Kuruttukulam <[email protected]> Co-authored-by: Rafael Wiltz <[email protected]> Co-authored-by: matthewtrepte <[email protected]> Co-authored-by: chengronglai <[email protected]> Co-authored-by: pulkitg01 <[email protected]> Co-authored-by: Connor Smith <[email protected]> Co-authored-by: Ashwin Varghese Kuruttukulam <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
# 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 -->
This will refactor the remove_camera_cfg out of record_demos.py into xr_cfg.py so it can be used across end user scripts (record_demos.py, teleop_se3_agent.py, etc) <!-- 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. --> <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) 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. --> - [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 --> --------- Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
# Description Experimental branch to generate observations and actions descriptions from managed environments. ## Type of change - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## 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 - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] 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 --------- Signed-off-by: ooctipus <[email protected]> Co-authored-by: ooctipus <[email protected]>
# Description <!-- 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 --> For some simple cases, disabling rate limit in the runloop can help improve performance in headless mode. Follow PR to #3089, which only updated it for rendering headless app. However, this also impacts non-rendering workflows, so adding it to the default headless app as well. <!-- 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. --> - Bug fix (non-breaking change which fixes an issue) ## 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 - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 --> --------- Signed-off-by: matthewtrepte <[email protected]>
# Description A new dependency was picked up by the license checker that has an UNKNOWN license listed. This change adds the license to the exceptions list since it has a MIT license and adds an acknowledgement to the license header. ## Type of change - This change requires a documentation update ## 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 - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 -->
# Description We found that performance overhead varies depending on the profiler backend, even when profiling is not enabled. For optimization, we changed the default profiler backend to NVTX. Depending on the test case, we observed a performance improvement of about 1–12%. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there - [x] I have done this task
# Description Fix the logic in `joint_effort_out_of_limit()`; this function aims to detect effort limit violations by comparing the desired (computed) effort against the applied effort, noting that the simulator clips applied torque to the limit assign on creation. Originally, the logic was written such that if the applied and computed torques are equal, then a violation has occurred. However, this is wrong as shown by the below example: ```python from isaaclab.managers import SceneEntityCfg from isaaclab.envs.mdp.terminations import joint_effort_out_of_limit env = ... # any ManagerBasedRLEnv with an Articulation named "robot" cfg = SceneEntityCfg(name="robot", joint_ids=[0]) # single joint for clarity art = env.scene["robot"] # Case A: no clipping (should be False but returns True now) art.data.computed_torque[:] = 0.0 art.data.applied_torque[:] = 0.0 assert joint_effort_out_of_limit(env, cfg).item() is False # CURRENT: True (bug) # Case B: clipping (should be True but returns False now) art.data.computed_torque[:] = 100.0 art.data.applied_torque[:] = 50.0 # pretend actuator clipped to ±50 assert joint_effort_out_of_limit(env, cfg).item() is True # CURRENT: False (bug) ``` The solution is hence simply to flip the limit detection logic. Fixes #3155 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## 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 (N/A) - [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 (N/A) - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
…iffuse.enabled to false (#3240) # Description <!-- 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 --> Update render preset balanced and performance modes to rtx.indirrectDiffuse.enabled to false, the original value from Isaac Lab 2.1. <!-- 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. --> - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) - Breaking change (fix or feature that would cause existing functionality to not work as expected) - 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 - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 -->
# Description Adds tests for SensorBase ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) ## Checklist - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 --> --------- Signed-off-by: James Tigue <[email protected]> Signed-off-by: ooctipus <[email protected]> Co-authored-by: Kelly Guo <[email protected]> Co-authored-by: ooctipus <[email protected]>
…st term (#3134) # Description This PR fixes a bug in the observation space construction for non-concatenated groups in `ManagerBasedRLEnv._configure_gym_env_spaces` method. Previously, only the last term in each group was included in the Dict, causing loss of observation information. Now, all terms are correctly added to the group Dict. Fixes #3133 <!-- 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. --> - Bug fix (non-breaking change which fixes an issue) <!-- 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. -->
…rocess_sb3_cfg (#3110) # Description This PR adds stricter interpretation rules to value specified in sb3_ppo_cfg.yaml, disallowing eval on any dict, which my contain arbitrary code that makes program vulnerable. Now, `eval` is got rid of, only str that start with `nn.` can be used to only import the module from torch.nn. That seems to cover all usage for lab so far, I can make more accommodations if there are more cases but it seems like it is currently sufficient. 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. --> - Bug fix (non-breaking change which fixes an issue) ## 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` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] 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 --> --------- Signed-off-by: ooctipus <[email protected]> Co-authored-by: Mayank Mittal <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
# Description Fix MuJoCo link <img width="1726" height="1220" alt="image" src="https://github.com/user-attachments/assets/fed03af9-cc0c-4b94-8a8c-42ecd5992f6c" /> ## Type of change - This change requires a documentation update ## Checklist - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] 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 Co-authored-by: James Tigue <[email protected]>
# Description Replace the incorrect env ID `Isaac-Stack-Cube-Franka-Blueprint-v0` with the correct `Isaac-Stack-Cube-Franka-IK-Rel-Blueprint-v0` on the environments list page to match what’s registered in code and shown by `scripts/environments/list_envs.py`. Fixes #3207 ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - This change requires a documentation update ## 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 - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] 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 Co-authored-by: louislelay <[email protected]> Co-authored-by: ooctipus <[email protected]>
…asses (#3243) # Description Fixed setting friction coeffecients in the articulation classs 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 #3231 Fixed setting friction coeffecients in the articulation classs ## Type of change - Bug fix (non-breaking change which fixes an issue) ## 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 Signed-off-by: ooctipus <[email protected]> Co-authored-by: ooctipus <[email protected]>
# Description <!-- 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 --> In function `isaaclab.envs.mdp.events.randomize_rigid_body_com`, the random CoM values were sampled with respect to `env_ids`, but when added to the bodies' current CoMs, `env_ids` is omitted, resulting in potential shape mismatch error if `len(env_ids) <> env.scene.num_envs`. <!-- 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. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] 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 --------- Signed-off-by: Xinpeng Liu <[email protected]> Co-authored-by: ooctipus <[email protected]>
# Description <!-- 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 --> Add periodic logs when checking if a USD path exists on a Nucleus Server. Improves user experience when the check takes a while, usually because of no internet connection or the file doesn't exist. <!-- 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. --> - New feature (non-breaking change which adds functionality) ## 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` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] 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 - [ ] 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 --> --------- Signed-off-by: matthewtrepte <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
# Description In document, add a chart to direct the user which version to pull. ## Type of change - This change requires a documentation update ## Checklist - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description This change prepares the unit test framework to allow running CI within the Isaac Sim pipeline to catch issues earlier on in Isaac Sim changes. <!-- 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. --> - New feature (non-breaking change which adds functionality) ## 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 -->
…ications. (#3255) # Description Performance overhead varies based on the profiler backend even when profiling is not enabled. In limited testing with AR profile enabled, this yields about 5% improvement in framerate. Follow up of #3238 <!-- 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 --> <!-- 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. --> - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) - Breaking change (fix or feature that would cause existing functionality to not work as expected) - 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` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 -->
Adds a new section in the docs for experimental features. As the first experimental feature of Isaac Lab, we are also including instructions for running a feature branch of Isaac lab with Newton. This change adds in the initial set of documentation for early Newton support for Isaac lab. ## Checklist - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by: Gavriel State <[email protected]> Co-authored-by: Milad-Rakhsha <[email protected]> Co-authored-by: Milad Rakhsha <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
# Description Fixes a broken link in the docs to point to the feature/newton branch. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - This change requires a documentation update ## 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 - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 -->
…ia pip (#3225) # Description If Isaac Lab is installed through pip, tasks generated with the Internal template cannot be placed inside the site-packages directory of that installation. Since this setup would never work correctly, it makes no sense to offer the Internal template as an option. This PR therefore disables that option entirely whenever Isaac Lab is detected as running from a pip-installed path. Fixes # (issue) ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - This change requires a documentation update <!-- 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 - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] 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 -->
This PR fixes typo in isaaclab.bat Should be `!allArgs!` instead of `!allArgs1` ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] 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 -->
…v… (#3149) # Description <!-- 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 --> Enhance Pink IK Controller with Null Space Posture Control This PR improves the Pink IK controller integration for better humanoid robot control and more natural postures. **Note**: Original this PR was staged in the internal repo (#547). It has been moved here due to new Github workflow. ## Key Changes ### New Null Space Posture Task - Added NullSpacePostureTask to enforce postural constraints on shoulder/waist joints while prioritizing end-effector tasks - Maintains natural robot poses during manipulation ### Controller Improvements - Tuned low level PD controller gains - Support mixed task types (FrameTask + NullSpacePostureTask) ### Testing & Environment Updates - Redesigned pink controller test script to use JSON-based configurations to program test motions. - Updated all environments (PickPlace, NutPour, ExhaustPipe) with null space control, damping tasks, and improved tracking - Added `Isaac-PickPlace-GR1T2-WaistEnabled-Abs-v0` env that is identical to `Isaac-PickPlace-GR1T2-Abs-v0` but enables the Waist DOFs. - Added target_eef_link_names mapping for clearer link specification Fixes # (issue) These changes help fix the following problems from [VDR feedback](https://docs.google.com/document/d/1saB1QA5r_WlD1l17q7C04WWNltnBW-K0ydI2UB8jxAs/edit?tab=t.0) - [Enable Waist DOF](https://nvbugspro.nvidia.com/bug/5235527) - Discourage elbow flare - Make controller low-latency and low-jerk. **We improved the unit test for the pink controller and reduced our position and rotation accuracy tolerance from 30 mm, 10 degrees to 1 mm, 1 degree.** - Develop metric for controller performance - Added a flag to disable failure due to joint limits. Previously, any commanded pose that ended in joint limit violation would result in no solution and the controlled robot freezing in place. This change gets the solver to still provide a solution and instead issue a warning for joint limit violations. ## Screenshots These controller changes have been tested through the Mimic pipeline (teleop_se3_agent.py, record/replay_demos.py). Here are videos showing teleoperation of all three environments working. ### PickPlace-GR1T2-Abs  ### NutPour-GR1T2  ### ExhaustPipe-GR1T2  ### Successfully Trained Robomimic Model Rollout on PickPlace task For the two robomimic tasks: `Isaac-PickPlace-GR1T2-Abs-v0` and `Isaac-NutPour-GR1T2-Pink-IK-Abs-v0`, if we collect a new dataset, we achieve a success rate of 96 and 92% respectively.   ## 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 --> --------- Co-authored-by: Kelly Guo <[email protected]>
# Description Corrected the file path for the list_envs.py script in the documentation. Fixes # (issue) ## Type of change - Fix a typo ## 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 - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there Signed-off-by: Francisco Beltrao <[email protected]>
# Description We have been hunting down a strange issue in distributed training setups with rendering enabled, where often the process would hang midway through training and causes NCCL timeouts. A workaround was discovered to set `app.execution.debug.forceSerial = true`, which forces serialized scheduling of omni graph within the same thread. This appears to have resolved the hanging issue and did not cause performance regressions. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## 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 - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 -->
# Description The test priniting, sometimes gets super verbose and non-readable when isaacsim or kit are in bad state. since we only care about failure test cases and those printing, we can disable --verbose flag ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) - Breaking change (fix or feature that would cause existing functionality to not work as expected) - 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` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] 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 --> --------- Co-authored-by: Kelly Guo <[email protected]>
…port error (#3292) # Description Feature introduced in #3149 imports pink_ik for isaaclab.controller module. This is causing an error IsaacLab wide due to pinocchio import. This PR removes the import. Fixes # (issue) Fixed pinocchio import error due to isaaclab.controller module importing pink_ik by default. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Breaking change (fix or feature that would cause existing functionality to not work as expected) ## 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 -->
# Description
Fix terrain_out_of_bounds to return tensor instead of bool
Ensure the function always returns a PyTorch tensor (shape [num_envs])
rather than a Python boolean when terrain_type is "plane", preventing
AttributeError in termination_manager.
Before:
```bash
Error executing job with overrides: []
Traceback (most recent call last):
File "/home/ubuntu/workspaces/IsaacLab/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py", line 101, in hydra_main
func(env_cfg, agent_cfg, *args, **kwargs)
File "/home/ubuntu/workspaces/robot_lab/scripts/reinforcement_learning/rsl_rl/train.py", line 165, in main
runner.learn(num_learning_iterations=agent_cfg.max_iterations, init_at_random_ep_len=True)
File "/home/ubuntu/miniconda3/envs/lab/lib/python3.11/site-packages/rsl_rl/runners/on_policy_runner.py", line 206, in learn
obs, rewards, dones, infos = self.env.step(actions.to(self.env.device))
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/ubuntu/workspaces/IsaacLab/source/isaaclab_rl/isaaclab_rl/rsl_rl/vecenv_wrapper.py", line 176, in step
obs_dict, rew, terminated, truncated, extras = self.env.step(actions)
^^^^^^^^^^^^^^^^^^^^^^
File "/home/ubuntu/miniconda3/envs/lab/lib/python3.11/site-packages/gymnasium/wrappers/common.py", line 393, in step
return super().step(action)
^^^^^^^^^^^^^^^^^^^^
File "/home/ubuntu/miniconda3/envs/lab/lib/python3.11/site-packages/gymnasium/core.py", line 327, in step
return self.env.step(action)
^^^^^^^^^^^^^^^^^^^^^
File "/home/ubuntu/workspaces/IsaacLab/source/isaaclab/isaaclab/envs/manager_based_rl_env.py", line 204, in step
self.reset_buf = self.termination_manager.compute()
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/ubuntu/workspaces/IsaacLab/source/isaaclab/isaaclab/managers/termination_manager.py", line 172, in compute
rows = value.nonzero(as_tuple=True)[0] # indexing is cheaper than boolean advance indexing
^^^^^^^^^^^^^
AttributeError: 'bool' object has no attribute 'nonzero'
```
## Type of change
- Bug fix (non-breaking change which fixes an issue)
## Checklist
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] 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
---------
Co-authored-by: Mayank Mittal <[email protected]>
# Description Temporary disabled test reporting for PRs created from the forks.
# Description There have been two places where the template documentation has been placed (under Developers Guide and Workthrough), this PR unifies them into a new structure (see image below). Furthermore, the imitation learning examples were missing a grouping, this PR introduces a structure similar to the section about reinforcement learning Also some general docs fixes are included. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots <img width="588" height="1323" alt="image" src="https://github.com/user-attachments/assets/a17a6328-a9e3-44cd-a299-6aa62e0e422e" /> ## 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 - [ ] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description Updates version of the framework for 2.2.1 patch release. ## Type of change - This change requires a documentation update ## Checklist - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by: Kelly Guo <[email protected]>
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Description
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List any dependencies that are required for this change.
Fixes # (issue)
Type of change
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Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there