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# 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 <fbeltrao@windowslive.com>
# 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 <kellyguo123@hotmail.com>
…port error (isaac-sim#3292) # Description Feature introduced in isaac-sim#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 -->
…-sim#3180) # 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 <12863862+Mayankm96@users.noreply.github.com>
# Description Temporary disabled test reporting for PRs created from the forks.
…m#3283) # 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 <kellyg@nvidia.com>
# Description `GroundPlaneCfg` allows for specifying `visible` parameter, but this would not being parsed in `spawn_ground_plane`, resulting in the parameter being a no-op when specified. This change adds a fix to parse the `visible` parameter from the cfg and sets the visibility attribute for the ground plane cfg appropriately. Fixes isaac-sim#3263 <!-- 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 - [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 -->
# Description This PR adds the necessary changes to work with the new version of RSL RL. ## 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` - [ ] 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 --------- Signed-off-by: Clemens Schwarke <96480707+ClemensSchwarke@users.noreply.github.com> Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Octi Zhang <zhengyuz@nvidia.com>
# 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 --> This PR: - Add task_runner.py to support specifying resources, py_modules, and pip. Fixes [# (issue)](isaac-sim#2632) <!-- 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 --> --------- Signed-off-by: garylvov <67614381+garylvov@users.noreply.github.com> Co-authored-by: 松翊 <songyi.wb@alibaba-inc.com> Co-authored-by: garylvov <67614381+garylvov@users.noreply.github.com>
# Description This PR 1. makes sure(skip if already satisfy, else install) the right torch is installed before and after pip installing isaaclab packages as sometime(rare case) due to flaky setup.py and unknown library dependencies changes pytorch version gets overriden. 2. only install pink and retargeters in linux x86 or amd64 machines ## 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 --> --------- Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
…pper (isaac-sim#3327) Fixes the reach task regression with teleop devices returning the gripper term # Description Fixes the reach task regression with teleop devices returning the gripper. The reach task expects just the se3 term and not the gripper term. We add a configuration parameter to the teleop devices which do not use retargeters to conditional return the gripper term, and update the reach env cfg to properly configure the teleop devices. <!-- 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 isaac-sim#3264 <!-- 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` - [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: rwiltz <165190220+rwiltz@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…ration (isaac-sim#3316) # Description This PR fixes a bug where the platform_height parameter was incorrectly placed in the MeshPyramidStairsTerrainCfg class instead of the appropriate base configuration class for mesh terrain objects. - Removes the misplaced `platform_height` parameter from `MeshPyramidStairsTerrainCfg` - Adds the `platform_height` parameter to the correct location in the `MeshRepeatedObjectsTerrainCfg` class - Includes various formatting improvements with additional blank lines for consistency Fixes isaac-sim#3162 Regression was introduced in MR isaac-sim#2695 ## 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
# Description Update locomanip task name and link in docs ## 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 - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
…isaac-sim#3302) # 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 --> This PR adds fixes from LightWheel Labs and additional functionality to the IsaacLab recorder. Fixes # (issue) - Fixes performance issue when recording long episode data by replacing the use of torch.cat at every timestep with list append. - Fixes configclass validation when key is not a string Adds Functionality - Adds optional episode meta data to HDF5 recorder - Adds option to record data pre-physics step - Adds joint target data to episode data. Joint target data can be optionally recorded by users and replayed to bypass action term controllers and improve replay determinism. ## 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) ## 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: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…m#3147) # Initial Implementation of UR10e Reach Environment for IsaacLab <!-- 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 --> This PR introduces a UR10e robot reach environment for IsaacLab, enabling reinforcement learning-based end-effector pose control using keypoint-based rewards and domain randomization. ## Summary Adds a new UR10e reach environment that trains RL agents to control the robot's end-effector to reach target poses. Uses manager-based RL framework with 6D keypoint alignment rewards. ### Key Features: - **UR10e Robot Configuration**: Asset definition for UE10e - **Keypoint-based Rewards**: 6D pose alignment using multiple keypoints for precise control - **Domain Randomization**: Joint position, stiffness, damping, and friction randomization ## Type of change - [x] New feature (non-breaking change which adds functionality) - [x] This change requires a documentation update ## Implementation Details ### Environment Configuration: - **Observations**: Joint positions, velocities, target pose commands (19-dim) - **Actions**: Relative joint position control with 0.0625 scale factor (6-dim) - **Rewards**: Keypoint tracking with exponential reward functions - **Domain Randomization**: Joint offsets (±0.125 rad), stiffness (0.9-1.1x), damping (0.75-1.5x), friction (0.0-0.1 N⋅m) ### Target Workspace: - **Position**: Center (0.8875, -0.225, 0.2) ± (0.25, 0.125, 0.1) meters - **Orientation**: (π, 0, -π/2) ± (π/6, π/6, 2π/3) radians ## 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 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 ## Usage Example ```python ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Reach-UR10e-v0 --num_envs 1024 --headless ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/play.py --task Isaac-Reach-UR10e-v0 --num_envs 1 --checkpoint <path_to_checkpoint> ``` Co-authored-by: Kelly Guo <kellyg@nvidia.com>
# Description This PR opens the possibility to use dictionary observation for rl-games application. This benefits: 1. combination of high + low dim observations percolate into actor and critic in rl-games 2. avoid double computation if actor and critic share the same observation ## 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 - [ ] 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 -->
…sim#3100) # Description This PR adds a configuration class to distill a walking policy for ANYmal D as an example. The training is run almost the same way as a normal PPO training. The only difference is that a policy checkpoint needs to be passed via the `--load_run` CLI argument, to serve as the teacher. Additionally, the `RslRlDistillationRunnerCfg` got moved to the correct file. ## 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` - [ ] 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 --------- Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…saac-sim#3338) # Description In some teleoperation scripts, we restart the simulation to ensure determinism across captured trajectories. However, stopping the simulation invalidates callbacks used for updating debug visualization, which do not get re-initialized after simulation is restarted. Adds a fix for re-initializing the callbacks when we re-initialize the simulation for sensors and deformable objects. ## 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 -->
Updated GLIBC version requirement for pip installation. # 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 --> 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 the documentation by taking the info from https://docs.isaacsim.omniverse.nvidia.com/5.0.0/installation/install_python.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. --> - A small fix in the documentation ## 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` - [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 --> Signed-off-by: Giulio Romualdi <giulio.romualdi@gmail.com>
# 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 --> We only have a surface gripper sample with direct workflow, whereas in manager-based workflow it is not supported yet. - Add surface gripper as an asset instance to the scene (CPU only) - Add SurfaceGripperAction and SurfaceGripperActionCfg - Add two TaskEnvs for testing: 1. Isaac-Stack-Cube-UR10-Long-Suction-IK-Rel-v0 2. Isaac-Stack-Cube-UR10-Short-Suction-IK-Rel-v0 You can test recording demos by: `./isaaclab.sh -p scripts/tools/record_demos.py --task Isaac-Stack-Cube-UR10-Long-Suction-IK-Rel-v0 --teleop_device keyboard --device cpu` <!-- 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) ## Screenshot <img width="1386" height="273" alt="environments_surface_gripper" src="https://github.com/user-attachments/assets/4c1cb5a4-4325-4861-b20c-9204e98e7dff" /> ## 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 --> --------- Signed-off-by: rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com> Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
# Description Recent changes introduced a minor bug: now, Ray is not initialized when `tuner.py` is called. This PR fixes this by adding back the removed initialization. Fixes isaac-sim#3349 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots <img width="1637" height="34" alt="pr_changes" src="https://github.com/user-attachments/assets/820c55ce-9951-405a-ac7b-005dfeab877c" /> ## 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
# Description Since suction gripper requires CPU simulation currently, we disable GPU environment testing for them for now and explicitly sets the device for these environments to CPU. ## 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 Another time of manually fixing errors seen in the docs. We should have CI strictly enforce doc build warnings so they get removed before MR is merged. ## 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 - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
) # Description Earlier, the function `check_usd_path_with_timeout` was in `sim/utils.py` while all file related operations live in `utils/asset.py`. This MR moves the function to the right location. Fixes # (issue) ## Type of change - Breaking change (fix or feature that would cause existing functionality to not work as expected) - This change requires a documentation update ## 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 - [ ] 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 <kellyg@nvidia.com>
# Description Deleted the `utils` folder which should not exist ## 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
# Description Support getting hand tracking data from manus gloves (joint poses relative to wrists) and vive trackers (wrist poses, calibrated with AVP wrist poses). ## 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 - [ ] 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 <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
# Description Updates Isaac Sim license to the latest Apache 2.0 license and fixes broken link in the docs. ## Type of change - This change requires a documentation update
# 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 --> Adds two new robots with grippers: - franka + robotiq_2f_85 gripper, with a new usd asset - ur10e + robotiq_2f_140 gripper, with IsaacSim UR10E asset with variants Test the two new arms with gripper with this script: [test_new_arms.py](https://github.com/user-attachments/files/22200295/test_new_arms.py) `./isaaclab.sh -p test_new_arms.py` <!-- 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  <!-- 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 --> --------- Signed-off-by: rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com> Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
# Description Fix path in Gear Assembly Docs
# Description This MR introduces a simplified version of the `ChangePrimProperty` command. The original command is designed to handle complex USD layer compositions, but most of our applications do not require this level of functionality. In practice, we either do not support multiple composition layers at all, or only support limited mechanisms such as references or variants. Using the Kit-provided command also introduces unnecessary side effects, such as early stage attachment, due to its reliance on layer-resolving APIs. To avoid this extra coupling and complexity, this MR replaces the command with a lightweight implementation tailored to our actual use cases. ## Type of change - Breaking change (existing functionality will not work without user modification) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [ ] 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 Another small step towards switching over to ruff. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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
# Description Previously the stage in memory test did not check if material binding worked correctly. During my debugging, I saw that the `bind_visual_material` command was failing. This MR adds a fix for it and makes the test check for mateiral binding as well. Requires merging: isaac-sim#4337 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [ ] 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
# Description Fixes isaac-sim#4372 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [ ] 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
# Description This MR moves pytest configuration to pyproject.toml to avoid many project infrastructure files. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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
# Description Ruff can handle linting, formatting, and type-checking (where applicable), streamlining our development workflow and improving code quality. This PR replaces our current linting setup with Ruff. Subsequent MRs will look into using Ruff for formatting and import ordering. ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [ ] 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: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
# Description Fixes isaac-sim#4336 ## Type of change - Breaking change (existing functionality will not work without user modification) - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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
…on script (isaac-sim#4388) Remove the extra dot before `pyproject.toml` in the template generation script # Description Extra dots cannot be recognized 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) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 --> Signed-off-by: Ziqi Fan <fanziqi614@gmail.com>
…m#4364) # Description The teleoperation script crashes with `AttributeError: 'ForgeTaskGearMeshCfg' object has no attribute 'terminations'` when used with DirectRL environments like Forge tasks. This happens because the script unconditionally accesses `env_cfg.terminations` which only exists in `ManagerBasedRLEnvCfg`, not in `DirectRLEnvCfg`. This fix adds an `isinstance(env_cfg, ManagerBasedRLEnvCfg)` check before accessing manager-specific attributes, following the same pattern used in the RL training scripts (like `rsl_rl/train.py, sb3/train.py, skrl/train.py`). Fixes isaac-sim#4263 <!-- 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 ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 --> --------- Signed-off-by: Emmanuel Ferdman <emmanuelferdman@gmail.com>
… ARL drone task (isaac-sim#3760) ## Description This PR introduces multirotor and thruster support and adds a manager-based example/task for the ARL drone. The change contains a new low-level thruster actuator model, a new `Multirotor` articulation asset class + configs, new thrust actions, and a manager-based drone task (ARL drone) with MDP configs and RL agent configs. ### Motivation and context - Provides a reusable multirotor abstraction and a parameterized thruster actuator model so we can simulate multirotor vehicles (quad/hex/other). - Adds a manager-based ARL drone task and configuration files to enable repro and training workflows for the ARL drone platform. - Consolidates drone-specific code and prepares the repo for future control/sensor improvements. ## Type of change - New feature (non-breaking addition of new functionality) - Documentation update (added docs/comments where applicable) ### Files changed (high-level summary) - New/major files added: - source/isaaclab/isaaclab/actuators/thruster.py (new thruster actuator model) - source/isaaclab/isaaclab/assets/articulation/multirotor.py (new multirotor articulation) - source/isaaclab/isaaclab/assets/articulation/multirotor_cfg.py - source/isaaclab/isaaclab/assets/articulation/multirotor_data.py - source/isaaclab/isaaclab/envs/mdp/actions/thrust_actions.py - source/isaaclab_assets/isaaclab_assets/robots/arl_robot_1.py and ARL drone URDF + asset files as a submodule - source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_ntnu/* (new task code, commands, observations, rewards, state-based control configs and agent configs) - Modified: - source/isaaclab/isaaclab/actuators/actuator_cfg.py (register thruster config) - source/isaaclab/isaaclab/envs/mdp/actions/actions_cfg.py (register thrust actions) - small edits to various utils and types, and docs/make.bat - Total diff (branch vs main when I checked): 33 files changed, ~2225 insertions, 65 deletions ### Dependencies - No new external top-level dependencies introduced. The branch adds assets (binary `.zip`) — ensure Git LFS is used if you want large assets tracked by LFS. - The new drone task references standard repo-internal packages and Isaac Sim; no external pip packages required beyond the repo standard. Checklist (status) - [x] I have read and understood the contribution guidelines - [x] I have run the `pre-commit` checks 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 - [ ] 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: Mihir Kulkarni <mihirk284@gmail.com> Signed-off-by: Grzegorz Malczyk <44407007+grzemal@users.noreply.github.com> Signed-off-by: Welf Rehberg <65718465+Zwoelf12@users.noreply.github.com> Co-authored-by: Octi Zhang <zhengyuz@nvidia.com> Co-authored-by: Zwoelf12 <rehberg.welf@gmail.com> Co-authored-by: Mihir Kulkarni <mihirk284@gmail.com> Co-authored-by: Etor <etorarza@gmail.com> Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: Pascal Roth <roth.pascal@outlook.de> Co-authored-by: Welf Rehberg <65718465+Zwoelf12@users.noreply.github.com> Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
# Description Using Ruff for everything. ## Type of change - Breaking change (existing functionality will not work without user modification) ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] 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 --------- Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
# Description Previously, we were using black formatter which only checked that the code followed the desired number of characters. However, this skipped the docstrings. This MR now enables this feature for ruff and fixes the docs wherever applicable. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…#3287) # Description Adds the ability to compose forces onto rigid bodies, rigid body collections and articulations. This should help implement drones, boats, and satellites into the framework. ## Usage ```python # Permanent forces can now be composed: # Adding two forces in a single step on the same body asset.permanent_wrench_composer.set_forces_and_torques(forces=torch.ones(1, 1, 3), env_ids=[0], object_ids=[0]) # Compose local and global forces together asset.permanent_wrench_composer.add_forces_and_torques(forces=torch.ones(1, 1, 3), env_ids=[0], object_ids=[1], is_global=True) # Adding torques to the same body asset.permanent_wrench_composer.add_forces_and_torques(torques=torch.ones(1, 1, 3), env_ids=[0], object_ids=[0]) #Adding forces and torques to the same body asset.permanent_wrench_composer.add_forces_and_torques(forces=torch.ones(1, 1, 3), torques=torch.ones(1, 1, 3), env_ids=[0], object_ids=[0]) # Adding forces and torques to the same body with different positions asset.permanent_wrench_composer.add_forces_and_torques(forces=torch.ones(1, 1, 3), torques=torch.ones(1, 1, 3), env_ids=[0], object_ids=[0], positions=torch.ones(1, 1, 3)) # Adding forces and torques to the same body with different positions in the global frame. Note, it composes local and global wrenches seamlessly. asset.permanent_wrench_composer.add_forces_and_torques(forces=torch.ones(1, 1, 3), torques=torch.ones(1, 1, 3), env_ids=[0], object_ids=[0], positions=torch.ones(1, 1, 3), is_global=True) # We can now apply instantaneous wrenches that are only applied for a single simulation step: asset.instantaneous_wrench_composer.add_forces_and_torques(forces=torch.ones(1, 1, 3), env_ids=[0], object_ids=[0]) asset.instantaneous_wrench_composer.add_forces_and_torques(forces=torch.ones(1, 1, 3), env_ids=[0], object_ids=[0]) asset.instantaneous_wrench_composer.add_forces_and_torques(forces=torch.ones(1, 1, 3), env_ids=[0], object_ids=[0]) # The instantaneous wrenches and the permanent wrenches are composed automatically when the wrenches are written to the simulation. The instantaneous wrenches are reseted after being written to the sim. ``` Fixes isaac-sim#3286 ## 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 - [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: Antoine RICHARD <antoiner@nvidia.com> Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
….py` demo (isaac-sim#4415) # Description This fix addresses an issue where robot ID 0 was not receiving keyboard controls due to the condition `if self._selected_id:` which evaluates 0 as False. This ensures that all robot IDs, including 0, can properly receive keyboard commands. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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
# Description Adds documentation for PVD and OVD comparison to help with simulation consistency when migrating from Isaac Gym to Isaac Lab. This guide highlights how to set up PVD and OVD for both Isaac Gym and Isaac Lab, and the key parameters to review when observing simulation discrepancies. ## 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 read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 -->
…#4425) # Description The Ray setup currently uses eval to parse number of cpu/gpu and memory from config files, which introduces potential security risks. The fix aims to reduce the risk by constraining the allowed values to be specified for these attributes in the configuration. ## 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 read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [ ] 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 Since UV is a relatively new installation method that has not yet gone through rigorous testing, this PR marks it as an experimental approach until we have fully tested the various installation methods. ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 This MR adds more documentation to the multi-rotor classes to help users understand the features in more detail. ## Type of change - Documentation update ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] 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: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
…aac-sim#4374) # Description This PR adds fabric backend support to xform_prim *Benefits:* > Much faster get/set_world_poses > Fixes the staling camera pose reading issue reported in isaac-sim#3177 *Drawback:* > Fabric is quite difficult to work with, and is only issacsim - concept *What could be improved in this PR :* > Get and Set local poses are not optimized and uses default USD path, could be better optimized potentially but not super clear how > The fabric support code is not in cleanest form, could be refactored better Perf: ``` 100 prims: ==================================================================================================== BENCHMARK RESULTS: 100 prims, 50 iterations ==================================================================================================== Operation Isaaclab Usd (ms) Isaaclab Fabric (ms) Isaacsim Usd (ms) Isaacsim Fabric (ms) Isaacsim Exp (ms) ---------------------------------------------------------------------------------------------------- Initialization 0.6943 0.3666 26.8021 16.0271 1.2048 Get World Poses 0.7097 0.0631 21.9179 21.7589 1.9342 Set World Poses 1.6010 0.1569 21.1555 19.4228 4.3816 Get Local Poses 0.4979 0.4973 4.5533 27.3162 1.8351 Set Local Poses 0.7120 0.7043 1.5524 1.5772 1.6714 Get Both (World+Local) 1.2319 0.5981 26.6506 49.8138 3.7306 Interleaved World Set→Get 2.2760 0.2106 41.7324 42.3750 6.2146 ==================================================================================================== Total Time 7.7228 2.5970 144.3642 178.2911 20.9722 ==================================================================================================== SPEEDUP vs Isaac Lab USD (Baseline) ==================================================================================================== Operation Isaaclab Fabric Isaacsim Usd Isaacsim Fabric Isaacsim Exp ---------------------------------------------------------------------------------------------------- Initialization 1.89x 0.03x 0.04x 0.58x Get World Poses 11.24x 0.03x 0.03x 0.37x Set World Poses 10.20x 0.08x 0.08x 0.37x Get Local Poses 1.00x 0.11x 0.02x 0.27x Set Local Poses 1.01x 0.46x 0.45x 0.43x Get Both (World+Local) 2.06x 0.05x 0.02x 0.33x Interleaved World Set→Get 10.81x 0.05x 0.05x 0.37x ==================================================================================================== Overall Speedup 2.97x 0.05x 0.04x 0.37x ==================================================================================================== ``` ``` 1000 prims: ==================================================================================================== SPEEDUP vs Isaac Lab USD (Baseline) ==================================================================================================== Operation Isaaclab Fabric Isaacsim Usd Isaacsim Fabric Isaacsim Exp ---------------------------------------------------------------------------------------------------- Initialization 1.06x 0.01x 0.04x 0.37x Get World Poses 107.18x 0.03x 0.03x 0.38x Set World Poses 76.65x 0.08x 0.08x 0.38x Get Local Poses 0.98x 0.10x 0.02x 0.27x Set Local Poses 1.01x 0.44x 0.44x 0.48x Get Both (World+Local) 2.40x 0.04x 0.02x 0.31x Interleaved World Set→Get 100.77x 0.05x 0.05x 0.37x ==================================================================================================== Overall Speedup 3.60x 0.05x 0.04x 0.36x ==================================================================================================== ``` Fixes isaac-sim#3177 <!-- 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) ## 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 read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 -->
# Description This MR ensures we stay consistent with the code structure in the contribution guidelines. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] 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 The curobo dockerfile recently stopped working and somehow messes with the python/pip builds in the docker image when trying to perform any downstream commands. There could also be some conflicts with the curobo installation and the pytorch build that comes with Isaac Sim. This change adds in some hacks to the dockerfile to get it working so that we can run the CI tests again. We should look into fixing this dockerfile properly. ## 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 read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 This PR fixes a bug in the lidar pattern horizontal angle calculation and enhances the test suite for ray caster patterns. **Bug Fix**: The lidar pattern was generating incorrect number of horizontal angles, causing the actual angular resolution to differ from the requested resolution. For example, requesting 90° resolution for a 360° FOV produced only 3 rays (120° spacing) instead of 4 rays (90° spacing) **Test Enhancements**: - Added comprehensive parameterized tests to verify the fix - Parameterized all tests over both CUDA and CPU devices - Consolidated redundant tests (reduced from 24 to 18 test functions while maintaining coverage) - Improved test efficiency with batched operations Fixes isaac-sim#4430 ## Type of change - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality - enhanced test suite) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 --------- Co-authored-by: Kelly Guo <kellyg@nvidia.com>
# Description A small typo in the tutorials. ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 Signed-off-by: Mahdi Chalaki <66170251+mahdichalaki@users.noreply.github.com>
…#4045) Cleans up new util functions - Bug fix (non-breaking change which fixes an issue) - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] 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 --------- Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
…c-sim#4484) # Description Recent transformers 5.0 package had some breaking changes in the meta devices checking. We are fixing the transformers package to 4.57.6 to avoid hitting this issue, which appeared when running the Theia vision example. ## 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 read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 -->
…gs (isaac-sim#4482) # Description Previously, this was being decided based on the device which did not make sense. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [ ] 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 <kellyg@nvidia.com>
# Description As per our internal discussions, we are moving the tactile sensor implementation to the `isaaclab_contrib` module. We will move it back to the core module once the sensor receives sufficient testing, validation, and API stabilization. ## Type of change - Breaking change (existing functionality will not work without user modification) - Documentation update ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] 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 --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
# Description Updates documentation to prepare for v2.3.2 release. ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
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Isaac 5.1 miigration, removing vnc viewer and using turboVNC