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KincoActuatorIsaacLab
Commit 18e45115 authored by lgulich's avatar lgulich Committed by Kelly Guo
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Fixes action plotting import (#258) 

Without this fix I get the following error when enabling the action plot
in the IsaacSim GUI:

```
2025-01-28 08:28:06 [594,911ms] [Error] [omni.ui.python] NameError: name 'isaacsim' is not defined

At:
  IsaacLab/source/isaaclab/isaaclab/ui/widgets/line_plot.py(501): _build_filter_frame
  IsaacLab/source/isaaclab/isaaclab/sim/simulation_context.py(508): render
  IsaacLab/source/isaaclab/isaaclab/envs/manager_based_rl_env.py(193): step
  venv/lib/python3.10/site-packages/gymnasium/core.py(322): step
  venv/lib/python3.10/site-packages/gymnasium/wrappers/common.py(393): step
  IsaacLab/scripts/environments/inference_agent.py(104): main
  IsaacLab/scripts/environments/inference_agent.py(110): <module>
```

- 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`
- [ ] 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
parent 552d6c28
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Showing with 31 additions and 44 deletions
source/isaaclab/config/extension.toml
View file @ 18e45115
[package]
# Note: Semantic Versioning is used: https://semver.org/
version = "0.33.12"
version = "0.33.13"
# Description
title = "Isaac Lab framework for Robot Learning"
......
source/isaaclab/docs/CHANGELOG.rst
View file @ 18e45115
Changelog
---------
0.33.12 (2025-01-30)
0.33.13 (2025-01-30)
~~~~~~~~~~~~~~~~~~~~
* Fixed resampling of interval time left for the next event in the :class:`~isaaclab.managers.EventManager`
class. Earlier, the time left for interval-based events was not being resampled on episodic resets. This led
to the event being triggered at the wrong time after the reset.
0.33.12 (2025-01-28)
~~~~~~~~~~~~~~~~~~~
Fixed
^^^^^
* Fixed resampling of interval time left for the next event in the :class:`~omni.isaac.lab.managers.EventManager`
class. Earlier, the time left for interval-based events was not being resampled on episodic resets. This led
to the event being triggered at the wrong time after the reset.
* Fixed missing import in ``line_plot.py``
0.33.11 (2025-01-25)
......@@ -50,52 +56,28 @@ Fixed
Fixed
^^^^^
<<<<<<< HEAD
* Removed deprecation of :attr:`omni.isaac.lab.assets.ArticulationData.root_state_w` and
:attr:`omni.isaac.lab.assets.ArticulationData.body_state_w` derived properties.
* Removed deprecation of :meth:`omni.isaac.lab.assets.Articulation.write_root_state_to_sim`.
* Replaced calls to :attr:`omni.isaac.lab.assets.ArticulationData.root_com_state_w` and
:attr:`omni.isaac.lab.assets.ArticulationData.root_link_state_w` with corresponding calls to
:attr:`omni.isaac.lab.assets.ArticulationData.root_state_w`.
* Replaced calls to :attr:`omni.isaac.lab.assets.ArticulationData.body_com_state_w` and
:attr:`omni.isaac.lab.assets.ArticulationData.body_link_state_w` properties with corresponding calls to
:attr:`omni.isaac.lab.assets.ArticulationData.body_state_w` properties.
* Removed deprecation of :attr:`omni.isaac.lab.assets.RigidObjectData.root_state_w` derived properties.
* Removed deprecation of :meth:`omni.isaac.lab.assets.RigidObject.write_root_state_to_sim`.
* Replaced calls to :attr:`omni.isaac.lab.assets.RigidObjectData.root_com_state_w` and
:attr:`omni.isaac.lab.assets.RigidObjectData.root_link_state_w` properties with corresponding calls to
:attr:`omni.isaac.lab.assets.RigidObjectData.root_state_w` properties.
* Removed deprecation of :attr:`omni.isaac.lab.assets.RigidObjectCollectionData.root_state_w` derived properties.
* Removed deprecation of :meth:`omni.isaac.lab.assets.RigidObjectCollection.write_root_state_to_sim`.
* Replaced calls to :attr:`omni.isaac.lab.assets.RigidObjectCollectionData.root_com_state_w` and
:attr:`omni.isaac.lab.assets.RigidObjectData.root_link_state_w` properties with corresponding calls to
:attr:`omni.isaac.lab.assets.RigidObjectData.root_state_w` properties.
* Fixed indexing issue in ``write_root_link_velocity_to_sim`` in :class:`omni.isaac.lab.assets.RigidObject`
* Fixed index broadcasting in ``write_object_link_velocity_to_sim`` and ``write_object_com_pose_to_sim`` in
the :class:`omni.isaac.lab.assets.RigidObjectCollection` class.
=======
* removed deprecation of :attr:`isaaclab.assets.ArticulationData.root_state_w` and
]* Removed deprecation of :attr:`isaaclab.assets.ArticulationData.root_state_w` and
:attr:`isaaclab.assets.ArticulationData.body_state_w` derived properties.
* removed deprecation of :meth:`isaaclab.assets.Articulation.write_root_state_to_sim`.
* replaced calls to :attr:`isaaclab.assets.ArticulationData.root_com_state_w` and
* Removed deprecation of :meth:`isaaclab.assets.Articulation.write_root_state_to_sim`.
* Replaced calls to :attr:`isaaclab.assets.ArticulationData.root_com_state_w` and
:attr:`isaaclab.assets.ArticulationData.root_link_state_w` with corresponding calls to
:attr:`isaaclab.assets.ArticulationData.root_state_w`.
* replaced calls to :attr:`isaaclab.assets.ArticulationData.body_com_state_w` and
* Replaced calls to :attr:`isaaclab.assets.ArticulationData.body_com_state_w` and
:attr:`isaaclab.assets.ArticulationData.body_link_state_w` properties with corresponding calls to
:attr:`isaaclab.assets.ArticulationData.body_state_w` properties.
* removed deprecation of :attr:`isaaclab.assets.RigidObjectData.root_state_w` derived properties .
* removed deprecation of :meth:`isaaclab.assets.RigidObject.write_root_state_to_sim`.
* replaced calls to :attr:`isaaclab.assets.RigidObjectData.root_com_state_w` and
* Removed deprecation of :attr:`isaaclab.assets.RigidObjectData.root_state_w` derived properties.
* Removed deprecation of :meth:`isaaclab.assets.RigidObject.write_root_state_to_sim`.
* Replaced calls to :attr:`isaaclab.assets.RigidObjectData.root_com_state_w` and
:attr:`isaaclab.assets.RigidObjectData.root_link_state_w` properties with corresponding calls to
:attr:`isaaclab.assets.RigidObjectData.root_state_w` properties.
* removed deprecation of :attr:`isaaclab.assets.RigidObjectCollectionData.root_state_w` derived properties.
* removed deprecation of :meth:`isaaclab.assets.RigidObjectCollection.write_root_state_to_sim`.
* replaced calls to :attr:`isaaclab.assets.RigidObjectCollectionData.root_com_state_w` and
* Removed deprecation of :attr:`isaaclab.assets.RigidObjectCollectionData.root_state_w` derived properties.
* Removed deprecation of :meth:`isaaclab.assets.RigidObjectCollection.write_root_state_to_sim`.
* Replaced calls to :attr:`isaaclab.assets.RigidObjectCollectionData.root_com_state_w` and
:attr:`isaaclab.assets.RigidObjectData.root_link_state_w` properties with corresponding calls to
:attr:`isaaclab.assets.RigidObjectData.root_state_w` properties.
* fixed indexing issue in ``write_root_link_velocity_to_sim`` in :class:`isaaclab.assets.RigidObject`
* fixed index broadcasting in ``write_object_link_velocity_to_sim`` and ``write_object_com_pose_to_sim`` in :class:`isaaclab.assets.RigidObjectCollection`
>>>>>>> e9a3c6c55 (Adds option to filter collisions and real-time playback (#253))
* Fixed indexing issue in ``write_root_link_velocity_to_sim`` in :class:`isaaclab.assets.RigidObject`
* Fixed index broadcasting in ``write_object_link_velocity_to_sim`` and ``write_object_com_pose_to_sim`` in
the :class:`isaaclab.assets.RigidObjectCollection` class.
0.33.7 (2025-01-14)
......@@ -207,7 +189,7 @@ Changed
Changed
^^^^^^^
* Previously, physx returns the rigid bodies and articulations velocities in the com of bodies rather than the link frame, while poses are in link frames. We now explicitly provide :attr:`body_link_state` and :attr:`body_com_state` APIs replacing the previous :attr:`body_state` API. Previous APIs are now marked as deprecated. Please update any code using the previous pose and velocity APIs to use the new ``*_link_*`` or ``*_com_*`` APIs in :attr:`omni.isaac_lab.assets.RigidBody`, :attr:`omni.isaac_lab.assets.RigidBodyCollection`, and :attr:`omni.isaac_lab.assets.Articulation`.
* Previously, physx returns the rigid bodies and articulations velocities in the com of bodies rather than the link frame, while poses are in link frames. We now explicitly provide :attr:`body_link_state` and :attr:`body_com_state` APIs replacing the previous :attr:`body_state` API. Previous APIs are now marked as deprecated. Please update any code using the previous pose and velocity APIs to use the new ``*_link_*`` or ``*_com_*`` APIs in :attr:`isaaclab.assets.RigidBody`, :attr:`isaaclab.assets.RigidBodyCollection`, and :attr:`isaaclab.assets.Articulation`.
0.31.0 (2024-12-16)
......@@ -388,7 +370,7 @@ Changed
^^^^^^^
* If a USD that contains an articulation root is loaded using a
:attr:`omni.isaac_lab.assets.RigidBody` we now fail unless the articulation root is explicitly
:attr:`isaaclab.assets.RigidBody` we now fail unless the articulation root is explicitly
disabled. Using an articulation root for rigid bodies is not needed and decreases overall performance.
......
source/isaaclab/isaaclab/ui/widgets/line_plot.py
View file @ 18e45115
......@@ -7,11 +7,16 @@ from __future__ import annotations
import colorsys
import numpy as np
from contextlib import suppress
from typing import TYPE_CHECKING
import omni
from isaacsim.core.api.simulation_context import SimulationContext
with suppress(ImportError):
# isaacsim.gui is not available when running in headless mode.
import isaacsim.gui.components.ui_utils
from .ui_widget_wrapper import UIWidgetWrapper
if TYPE_CHECKING:
......
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