Updates torch to version 2.4.0 (#92)

Updates torch to version 2.4.0

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- 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

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---------
Co-authored-by: Alexander <143108850+nv-apoddubny@users.noreply.github.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>

docs/source/setup/installation/pip_installation.rst

@@ -58,7 +58,7 @@ compatibility issues with some Linux distributions. If you encounter any issues,
                   isaaclab\Scripts\activate
 
 
--  Next, install a CUDA-enabled PyTorch 2.2.2 build based on the CUDA version available on your system.
+-  Next, install a CUDA-enabled PyTorch 2.4.0 build based on the CUDA version available on your system. This step is optional for Linux, but required for Windows to ensure a CUDA-compatible version of PyTorch is installed.
 
    .. tab-set::
 
@@ -66,13 +66,13 @@ compatibility issues with some Linux distributions. If you encounter any issues,
 
          .. code-block:: bash
 
-            pip install torch==2.2.2 --index-url https://download.pytorch.org/whl/cu118
+            pip install torch==2.4.0 --index-url https://download.pytorch.org/whl/cu118
 
       .. tab-item:: CUDA 12
 
          .. code-block:: bash
 
-            pip install torch==2.2.2 --index-url https://download.pytorch.org/whl/cu121
+            pip install torch==2.4.0 --index-url https://download.pytorch.org/whl/cu121
 
 
 -  Then, install the Isaac Sim packages necessary for running Isaac Lab:

source/extensions/omni.isaac.lab/docs/CHANGELOG.rst

@@ -115,7 +115,16 @@ Changed
 * Disabled default viewport in certain headless scenarios for better performance.
 
 
-0.23.0 (2024-08-17)
+0.23.1 (2024-08-17)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Updated torch to version 2.4.0.
+
+
+0.23.0 (2024-08-16)
 ~~~~~~~~~~~~~~~~~~~
 
 Added

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py

@@ -7,7 +7,6 @@ import builtins
 import enum
 import numpy as np
 import sys
-import torch
 import traceback
 import weakref
 from collections.abc import Iterator
@@ -206,12 +205,6 @@ class SimulationContext(_SimulationContext):
         # note: we do it once here because it reads the VERSION file from disk and is not expected to change.
         self._isaacsim_version = get_version()
 
-        # create a tensor for gravity
-        # note: this line is needed to create a "tensor" in the device to avoid issues with torch 2.1 onwards.
-        #   the issue is with some heap memory corruption when torch tensor is created inside the asset class.
-        #   you can reproduce the issue by commenting out this line and running the test `test_articulation.py`.
-        self._gravity_tensor = torch.tensor(self.cfg.gravity, dtype=torch.float32, device=self.cfg.device)
-
         # add callback to deal the simulation app when simulation is stopped.
         # this is needed because physics views go invalid once we stop the simulation
         if not builtins.ISAAC_LAUNCHED_FROM_TERMINAL:

source/extensions/omni.isaac.lab/setup.py

@@ -19,7 +19,7 @@ EXTENSION_TOML_DATA = toml.load(os.path.join(EXTENSION_PATH, "config", "extensio
 INSTALL_REQUIRES = [
     # generic
     "numpy<2",
-    "torch==2.2.2",
+    "torch==2.4.0",
     "prettytable==3.3.0",
     "tensordict",
     "toml",

source/extensions/omni.isaac.lab_tasks/setup.py

@@ -21,7 +21,7 @@ EXTENSION_TOML_DATA = toml.load(os.path.join(EXTENSION_PATH, "config", "extensio
 INSTALL_REQUIRES = [
     # generic
     "numpy",
-    "torch==2.2.2",
+    "torch==2.4.0",
     "torchvision>=0.14.1",  # ensure compatibility with torch 1.13.1
     # 5.26.0 introduced a breaking change, so we restricted it for now.
     # See issue https://github.com/tensorflow/tensorboard/issues/6808 for details.