Update upstream #6
Open
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Mayankm96
force-pushed
the
main
branch
3 times, most recently
from
9e160e0 to
82f3613
Compare
# Description Fix the link ## 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 - [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: robotsfan <[email protected]>
Fixes link to python script in walkthrough tutorial Fixes #2740 ## 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
# Description Add more information in the print out message, when generating disassembly paths. ## Type of change - Bug fix (non-breaking change which fixes an issue) - 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 - [ x ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# 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. Implement part of #1769 (optimization) This is a breaking change because the fast variant is now enabled by default. I also improve sb3 training script, fixed loading of normalization and fixed the humanoid hyperparameters to be similar to rsl-rl, so we can compare apples to apples in terms of training speed. I will probably open another PR for the rest of the proposals. <!-- 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) - Breaking change (fix or feature that would cause existing functionality to not work as expected) - This change requires a documentation update With respect to testing, how do you run a single test? and is there anything I should add? ## 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 <!-- 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: Antonin RAFFIN <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
# Description This PR adds `NoiseModel` support for manager-based workflows. To achieve this, I have: - Added `NoiseModel` lifecycle management to `ObservationManager`. - Added a `Callable` field, `func`, to `NoiseModelCfg`, which `ObservationManager` uses to assign the class instance within, similar to how it is done for `ModifierBase`. - Renamed `apply()` to be `__call()__`, to be consistent with function-based noises and `ModifierBase`. Fixes #2715 and #1864. Note: I left the changelog with the entry [Unreleased] until the PR is given the green light. ## 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 - [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
…igidObjectCollection and Articulation (#2736) # Description When WriteState, WriteLink, WriteCOM, WriteJoint are invoked, there is a inconsistency when reading values of ReadState, ReadLink, ReadCOM. The Source of the bug is because of missing timestamp invalidation of relative data or missing update to the related data within the write function. Below I list the all functions that is problematics RigitObject: write_root_link_pose_to_sim write_root_com_velocity_to_sim RigitObjectCollection: write_object_link_pose_to_sim write_object_com_velocity_to_sim Articulation: write_joint_state_to_sim The bug if fixed by invalidating the relevant data timestamps in write_joint_state_to_sim function for articulation, and added direct update to the dependent data in write_(state|link|com)_to_sim of RigitObject and RigitObjectCollection. I have added the tests cases that checks the consistency among ReadState, ReadLink, ReadCOM when either WriteState, WriteLink, WriteCOM, WriteJoint is called and passed all tests. Fixes #2534 #2702 <!-- 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 - [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 Various minor updates to documentation to clarify a few concepts: - Adds note about source conda environment if installing from binaries using conda, but not using `./isaaclab.sh -c` option - Adds note that Fabric should be enabled for GPU simulation and that rendering will not update if Fabric is not enabled - Adds note about using the inference task names if available when running inferencing - Removes unneeded physics cudaDevice flag for distributed training ## 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 -->
…2692) Fix bug of reset joint initial state of articulation in event function `reset_scene_to_default` ref to: #2663, where the targets were not previously reset together with the joint positions. # Description ref: #2663 Signed-off-by: Wenguo Hou <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
# Description The body_com event term added to the base velocity cfg caused errors in some locomotion environments if the body was not named "base". This PR disables the event term for these environments. Fixes #2574 ## 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 This PR logs env_cfg and agent_cfg to wandb in accordance how rl_games handles env_cfg and agent_cfg. Before env_cfg and agent_cfg is not observable from wandb run. ## Type of change - 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 -->
# Description Add an example to train a locomotion and loco-manipulation controller for digit. This also serves as an example on how to train a robot with closed loops. ## Type of change - New feature (non-breaking change which adds functionality) ## Screenshots ## 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 --------- Signed-off-by: lgulich <[email protected]> Co-authored-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
# Description Fixes typo in reset_scene_to_default that was recently added where joint position was incorrectly set to velocity targets. ## 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 -->
…ng (#2760) # Description This PR updates the `NoiseModelWithAdditiveBias` to apply per-feature bias sampling. Previously, the model sampled a single scalar bias per episode and applied it uniformly across all feature dimensions (i.e., axis 1 of a (`num_env`, `feature_dim`) tensor). This PR changes the behavior to instead sample a separate bias value for each feature dimension, making the model more suitable for structured inputs such as positions, velocities, or multi-DOF actions. ### Notes Structured inputs typically contain semantically distinct components, like [x, y, z] coordinates, where applying the same bias across all components introduces unrealistic, fully correlated noise. Independent per-dimension bias sampling leads to more realistic and robust policy training, especially for sim-to-real transfer. I’ve replaced the previous behavior with this new default, as I believe the original implementation could be misleading and not well-suited for many practical scenarios. However, if desired, I can make both behaviors available via a configuration flag (e.g., `per_feature_bias=True`), to retain backward compatibility. Fixes #2759. ## Type of change - Bug fix (non-breaking change which fixes an issue) - 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 - [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 <[email protected]>
…1748) # Description In the `H1RoughEnvCfg` class, the `body_names` assignment for contact termination was initialized twice, which was redundant. This PR removes the duplicate assignment. ``` # Terminations self.terminations.base_contact.params["sensor_cfg"].body_names = [".*torso_link"] # Rewards self.rewards.undesired_contacts = None self.rewards.flat_orientation_l2.weight = -1.0 self.rewards.dof_torques_l2.weight = 0.0 self.rewards.action_rate_l2.weight = -0.005 self.rewards.dof_acc_l2.weight = -1.25e-7 # Commands self.commands.base_velocity.ranges.lin_vel_x = (0.0, 1.0) self.commands.base_velocity.ranges.lin_vel_y = (0.0, 0.0) self.commands.base_velocity.ranges.ang_vel_z = (-1.0, 1.0) # terminations self.terminations.base_contact.params["sensor_cfg"].body_names = ".*torso_link" ``` ## 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 - [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 Previously, `euler_xyz_from_quat` returned Euler angles in the [0, 2π) range, which is uncommon in robotics applications. As a result, several users implemented their own workarounds to adjust the angle range to (−π, π]. Examples include: - **Isaac-RL-Two-wheel-Legged-Bot**: Custom unwrapping implemented in [`rewards.py#L17`](https://github.com/jaykorea/Isaac-RL-Two-wheel-Legged-Bot/blob/057f81ed3aa4aff91551fce5c54256e47cece29a/lab/flamingo/tasks/constraint_based/locomotion/velocity/mdp/rewards.py#L17). - **lorenzo-bianchi/IsaacLab**: Manual angle shifting in [`quadcopter_env_v1.py#L219`](https://github.com/lorenzo-bianchi/IsaacLab/blob/247f66db3691046ecdfecb311268eccc729048ec/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/quadcopter/quadcopter_env_v1.py#L219). - **kscalelabs/klab**: Custom angle normalization in [`imu.py#L17`](https://github.com/kscalelabs/klab/blob/edf749f5177ba296a076d13380cd0fb1e5846e3f/exts/zbot2/zbot2/tasks/locomotion/velocity/mdp/imu.py#L17). To address this issue, we have updated the default angle range from [0, 2π) to (−π, π] by removing the `% (2 * torch.pi)` operation at the return statement, since the [atan2 function](https://en.wikipedia.org/wiki/Atan2) naturally outputs angles within the (−π, π] range. We also introduced a new parameter, `wrap_to_2pi: bool = False`. Setting this parameter to `True` will maintain the previous behavior: - **Default (`wrap_to_2pi=False`)**: Angles returned in the range (−π, π]. - **Optional (`wrap_to_2pi=True`)**: Angles wrapped in the original [0, 2π) range. Additionally, multiple test samples have been added to evaluate and ensure performance and accuracy across different scenarios. ### What’s Changed - **Default behavior** updated to (−π, π] (non-breaking). - **New argument** `wrap_to_2pi` for optional wrapping. - **Unit tests** added for both wrapped and unwrapped outputs. --- Fixes #2364 ## Type of Change - **Enhancement** (non-breaking addition of functionality) --- ## Checklist - [x] Ran `./isaaclab.sh --format` and all pre-commit checks pass - [x] Updated docstrings to describe `wrap_to_2pi` parameter - [x] Added tests covering both wrapped and unwrapped outputs - [x] No new warnings introduced - [ ] Updated changelog and bumped version in `config/extension.toml` - [x] Confirmed my name is listed in `CONTRIBUTORS.md` --------- Co-authored-by: Kelly Guo <[email protected]>
# Description Fix the small stylistic mistake in the documentation. ## Type of change - Bug fix (non-breaking change which fixes an issue) (docs fix) ## 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: Norbert Cygiert <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
# Description Thanks to Matteo Grimaldi, Saleh Nabi and Wonju Lee for identifying the source of this memory leak. <!-- 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 garbage collector calls since warp doesn't handle well the free memory. Fixes #2679 <!-- 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 ## Screenshots Before this change - the experiment hasn't been completed on 64GB RAM machines. After this change it requires less than 12GB RAM. <!-- Example: | Before | 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: David <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
…es (#2511) # Description Currently, `update_class_from_dict()` does not allow updating the configclass Iterable elements with Hydra, when the provided Iterable length differs from the default value. Such a feature is nevertheless needed when changing the network layer depth on the go, e.g., while using learning libraries that utilize configclass (see #2456 for details). This PR modifies `update_class_from_dict()` such that if an element is a flat Iterable (e.g., flat list), it is replaced wholesale, without checking the lengths. Moreover, the PR modifies the robustness of the function against a few edge cases that might break the execution, and adds comments to make it easier to follow the logic flow. Note: I left the changelog entry as `[Unreleased]` until a green light is given. Fixes #2456. ## 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 - [ ] 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 --------- 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 relaxes the upper range of allowed protobuf versions so that IsaacLab can be installed in a modern python environment without downgrading or conflicting with modern protobuf versions. The original reason for pinning this to <5 was apparently due to transitive breakage in tensorboard, which also had this pinned to <5 - so pinning this in IsaacLab itself would not be necessary if both deps were composed together. Tensorboard has since (in Aug 2024) unpinned this here: tensorflow/tensorboard#6888 So, the original concern should, afaict, be obviated now. # Fixes This should repair any case where someone wants to install IsaacLab into a modern python environment that uses any of the Google ecosystem (gRPC/protobuf et al) without conflict or forced down-rev'ing to older versions (current version of protobuf is 6.31.1). ## 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 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 Minor fixes for SB3 play script to accommodate for inference task names and updates profiling numbers for the RL library comparison. ## 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 -->
# Description This is a small change to the Walkthrough documentation to make it explicit to change the observation space dimension in the second half of the Exploring the RL problem tutorial. Fixes #2787 ## Type of change - This change is exclusively documentation --------- Signed-off-by: Brian Bingham <[email protected]> Signed-off-by: Michael Gussert <[email protected]> Co-authored-by: Michael Gussert <[email protected]>
# Description Corrects `quat_inv()` in utils/math.py: the inverse is now computed as: `quat_conjugate(q) / q.pow(2).sum(dim=-1, keepdim=True).clamp(min=eps)` ensuring correct results for **non-unit** quaternions. Fixes #1263 (see discussion for details). Also updated `CHANGELOG.rst` and corrected a few minor typos within. ## 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 - [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 <[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 --> This MR fixes compatibility issues with robomimic by setting its installation version to v0.4.0. <!-- 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. --> ## Checklist - [ ] 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 -->
# Description replace_slices_with_strings() and replace_strings_with_slices() in [IsaacLab/source/isaaclab/isaaclab/utils/dict.py](https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab/isaaclab/utils/dict.py) are changed to allow slices being process if a list of dicts is passed in as input. Cherry picks changes from #2571 by @LinghengMeng Fixes #2481 ## 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 This PR fixes the numpy version get upgraded to >2 when installing rl_packages dependencies ## 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 - [x] I have not done this task -->
# Description Updates gymnasium to 1.2.0, which includes a fix for memory leak when recording videos during training with `--video`. Fixes #1996 ## 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 ## 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 -->
…2512) # 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 projected_gravity_b data stream as well as speeding up computation by during batch rotating of all data streams to base frame in one computation rather than each data stream separately. This PR is dependant on [PR 2129](#2129) and should not be merged until that PR is merged. 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. --> - New feature (non-breaking change which adds functionality) <!-- 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 --> --------- Co-authored-by: Kelly Guo <[email protected]>
…IsaacLab (#2968) This MR adds new tasks which extend the `Factory` tasks to include: 1. Force sensing: Add observations for force experienced by the end-effector. 2. Excessive force penalty: Add an option to penalize the agent for excessive contact forces. 3. Dynamics randomization: Randomize controller gains, asset properties (friction, mass), and dead-zone. 4. Success prediction: Add an extra action that predicts task success. The new tasks are: `Isaac-Forge-PegInsert-Direct-v0`, `Isaac-Forge-GearMesh-Direct-v0`, and `Isaac-Forge-NutThread-Direct-v0` - New feature (non-breaking change which adds functionality) - 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 --------- Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: Octi Zhang <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
# Description Some tests are now taking longer to run, especially the environment ones. Increasing some timeouts here to allow tests to complete. ## 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: Kelly Guo <[email protected]>
# Description Updates ordering to first update pip then install torch in pip installation workflows, as some users are running into issues when installing torch on older pip versions. ## 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 -->
Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
# Description Restructures the environment test to include new Forge environments as part of the Factory tests. Also fixes some timeouts for tests to make sure they can complete. ## 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 Adds the flaky module to allow for marking some non-deterministic tests as flaky. This allows us to specify number of retries for specific test cases and how many passes are needed to determine the test is marked as pass or fail. ## 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 As reported in #3071, we have some issues with the isaaclab.bat script when multiple calls to `!python_exe!` are called, resulting in ` '!python_exe!' is not recognized as an internal or external command` error messages. This fix uses `call` command to expand `!python_exe!` to and correctly execute the commands. ## 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 Several changes to prepare for the Isaac Lab 2.2 release: - updating staging server to production - removing mentions of feature/isaacsim_5_0 branch as those will now be part of `main` - updates version to 2.2.0 from 2.1.1 ## 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 Fixes warnings when building docs for IsaacLab Mimic by using `from __future__ import annotations` to allow Sphinx autodoc import. ## 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 - [ ] 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 `anyio` license checking. Current return is UNKNOWN, actual license is MIT. ## 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
# Description Updates onnx and protobuf versions as previous dependency versions had security vulnerabilities. To avoid onnx 1.16.1, we are updating onnx to 1.18.0 To avoid protobuf 3.20.3, we are updating protobuf to 6.31.1 Also included some minor updates to add one more flaky test annotation for test failure, and adding random_state to GaussianProcessRegressor to resolve another security risk for non-reproducible results. ## 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 -->
Fixes warnings when building docs for IsaacLab Mimic by using `from __future__ import annotations` to allow Sphinx autodoc import. - 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 - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
Fixes `anyio` license checking. Current return is UNKNOWN, actual license is MIT. - 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 - [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
# Description It appears that `isaaclab` transitively depends on `hf-xet`, (a `huggingface`-developed data storage paradigm) via the following dependency chain: ``` Collecting hf-xet<2.0.0,>=1.1.3 (from huggingface-hub<1.0,>=0.34.0->transformers->isaaclab==0.41.5) ``` This results in a failing license check. This PR adds the relevant license from this [repo](https://github.com/huggingface/xet-core) **UPDATE:** I have also added the initialization of `FAILED_PACKAGES=0` in `license-check.yaml` in order to avoid the error I was encountering when no packages were failing: <img width="1461" height="210" alt="image" src="https://github.com/user-attachments/assets/5845626e-2e5c-493f-8356-ae00667ab9ea" /> ## 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 <!-- 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 1. Changed test reporter for compatibility pipeline to generate HTML report 2. Increased the number of reported logs for failed test cases to 50 (max) 3. Set execute permissions in the Dockerfile on the isaaclab.sh - sometimes the post-merge pipeline fails due to permissions 4. Updated the default Isaac SIM version
# Description Updates the release notes docs with the latest release notes for 2.2 and some other minor documentation updates. Also fixes new issues with the license checker to add additional exceptions. Also using this change to trigger the documentation update for 2.2. ## 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 This adds improved readout from the subprocesses in `install_deps.py`. It will now print the output instead of printing everything at once when the process is finished. It also has improved error handling. This will help users to have a better understanding of their build process and more easily resolve issues. ## 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 - [ ] 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: Hunter Hansen <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: Copilot <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
# Bugfix Previously, self._data.joint_dynamic_friction_coeff was being set for all environments, regardless of the intended targets. This behavior is incorrect — the friction coefficient should only be set for the specified physx_env_ids. Co-authored-by: ooctipus <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
…3139) # Description Current is_isaacsim_version_4_5() sometimes mis-detects 5.0 when running 4.5 (e.g., Docker/symlinked installs), causing the conda bootstrap to pick Python 3.11 instead of 3.10. This pr ensures determining the isaacsim version following below steps 1. Read ${ISAACLAB_PATH}/_isaac_sim/VERSION (symlink/binary install). 2. If unknown, import isaacsim and read ../../VERSION next to the package. (pip installation) 3. If still unknown, fall back to importlib.metadata.version("isaacsim"). I tested locally to work with 4.5 pip or binary install. <!-- 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 -->
…environments done due to each term. (#3107) # Description Currently Termination Manager write current step's done count for each term if reset is detected. This leads to two problem. 1. User sees different counts just by varying num_envs 2. the count can be over-count or under-count depending on when reset happens, as pointed out in #2977 (Thanks, @Kyu3224) The cause of the bug is because we are reporting current step status into a buffer that suppose to record episodic done. So instead of write the entire buffer base on current value, we ask the update to respect the non-reseting environment's old value, and instead of reporting count, we report percentage of environment that was done due to the particular term. Test on Isaac-Velocity-Rough-Anymal-C-v0 Before fix: <img width="786" height="323" alt="Screenshot from 2025-08-06 22-16-20" src="https://github.com/user-attachments/assets/4838d612-7f0e-4232-a07e-688b547e91db" /> Red: num_envs = 4096, Orange: num_envs = 1024 After fix: <img width="786" height="323" alt="Screenshot from 2025-08-06 22-16-12" src="https://github.com/user-attachments/assets/e6e55c21-17ed-42ca-8d94-a19d08611f86" /> Red: num_envs = 4096, Orange: num_envs = 1024 Note that curve of the same color ran on same seed, and curves matched exactly, the only difference is the data gets reported in termination. The percentage version is a lot more clear in conveying how agent currently fails, and how much percentage of agent fails, and shows that increasing num_envs to 4096 helps improve agent avoiding termination by `base_contact` much quicker than num_envs=1024. Such message is a bit hard to tell in first image. <!-- 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 - [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 <!-- 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 rendering preset mode pathing to be compatible when an experience file is set. <!-- 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 - [ ] 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]>
…2949) # Description Fixes the IndexError caused by simultaneously indexing env_ids and joint_ids in `reset_joints_by_scale` and `reset_joints_by_offset`. Fixes # [2948](#2948) ## 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 --------- Signed-off-by: Kelly Guo <[email protected]> Signed-off-by: Emily Sturman <[email protected]> Signed-off-by: ooctipus <[email protected]> Co-authored-by: Kelly Guo <[email protected]> Co-authored-by: Mayank Mittal <[email protected]> Co-authored-by: ooctipus <[email protected]>
# Description This PR: - Adds ContactSensorCfg.track_contact_points to toggle tracking of contact point locations between sensor bodies and filtered bodies. - Adds ContactSensorCfg.max_contact_data_per_prim to configure the maximum amount of contacts per sensor body. - Adds ContactSensorData.contact_pos_w data field for tracking contact point locations. 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. --> - 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 --------- Signed-off-by: James Tigue <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Signed-off-by: ooctipus <[email protected]> Co-authored-by: Ashwin Khadke <[email protected]> Co-authored-by: Kelly Guo <[email protected]> Co-authored-by: ooctipus <[email protected]>
…h in documentation to avoid ambiguity (#3151) # Description If the user directly enters model_xxx.pt, an error will be reported. The user should be guided to enter a path ## 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 Co-authored-by: ooctipus <[email protected]>
# Description This MR introduces the following: * An `agent` argument to all scripts to allow selecting different entry points (each then get resolved to their respective settings file). * Symmetry function for ANYmal robot for the locomotion task and cartpole balancing task * Documentation on how to configure RL training agent using gym resgistry Fixes #2835 ## Type of change - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## Screenshots ### Cartpole ```bash # without symmetry ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Cartpole-v0 --headless --agent rsl_rl_with_symmetry_cfg_entry_point --run_name ppo_with_no_symmetry agent.algorithm.symmetry_cfg.use_data_augmentation=false # with symmetry ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Cartpole-v0--headless --agent rsl_rl_with_symmetry_cfg_entry_point --run_name ppo_with_symmetry_data_augmentation agent.algorithm.symmetry_cfg.use_data_augmentation=true ``` | Isaac-Cartpole-v0 (pink w/o symmetry, blue w/ symmetry) | | ------ | | <img width="823" height="421" alt="image" src="https://github.com/user-attachments/assets/9c33db99-0d79-4c1d-b437-e01275d613b5" /> | ### Locomotion ```bash # without symmetry ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Velocity-Rough-Anymal-D-v0 --headless --agent rsl_rl_with_symmetry_cfg_entry_point --run_name ppo_with_no_symmetry agent.algorithm.symmetry_cfg.use_data_augmentation=false # with symmetry ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Velocity-Rough-Anymal-D-v0 --headless --agent rsl_rl_with_symmetry_cfg_entry_point --run_name ppo_with_symmetry_data_augmentation agent.algorithm.symmetry_cfg.use_data_augmentation=true ``` | Isaac-Velocity-Rough-Anymal-D-v0 (green w/o symmetry, purple w/ symmetry) | | ------ | | <img width="1241" height="414" alt="image" src="https://github.com/user-attachments/assets/625c125d-db9f-4006-9a62-0d55701a9407" /> | ## 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]> Co-authored-by: ooctipus <[email protected]>
# Description Some of the information in FAQ is now outdated since Isaac Sim is open-sourced. This MR removes that part but also adds more explaination on the goals of Isaac Lab. ## 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 --------- Signed-off-by: Mayank Mittal <[email protected]> Co-authored-by: Copilot <[email protected]> Co-authored-by: ooctipus <[email protected]>
# Description Updates CodeOwners to be more fine-grained ## Type of change - 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 --------- Co-authored-by: ooctipus <[email protected]>
# Description While working on a task I made a tiny typo in the scale randomization range for the stiffness-gain parameter. The robot still spawned, but its behaviour was utterly bizarre. It only took a minute to spot the mistake, yet it made me realize we have no guard-rails for this sort of edge case. This PR introduces a lightweight check that verifies, when operation=="scale", the lower bound is non-negative and the upper bound is not smaller than the lower one. Right now I cover the most common parameters (stiffness, damping, mass, tendon gains, etc.), basically anything that must stay positive to make physical sense. If you’d like the same safeguard applied to other parameter types just let me know and I’ll happily extend the patch. ## Type of change - Bug fix (non-breaking change which fixes an issue) - 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 - [ ] 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: Louis LE LAY <[email protected]> Signed-off-by: ooctipus <[email protected]> Co-authored-by: louislelay <[email protected]> Co-authored-by: ooctipus <[email protected]>
# Description For some simple cases, disabling rate limit in the runloop can help improve performance for rendering. Nevertheless, we should not need to enable rate limit in headless 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) - 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 - [ ] 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: ooctipus <[email protected]>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
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)
Type of change
Screenshots
Please attach before and after screenshots of the change if applicable.
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there