- 31 Jan, 2025 13 commits
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Kelly Guo authoredThis change fixes various issues with the unit tests due to updates in Isaac Sim and Kit builds. Notably, some extensions were renamed for the URDF and MJCF importers, including minor modifications of available parameters for the importers. The SimulationContext context will also now terminate the process on exit due to the simulation stop callback being triggered. We now bypass the callback for the unit tests. <!-- 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) - [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 -->
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Kelly Guo authored
This change applies a new `create_new_stage` setting in Isaac Sim's SimulationApp to avoid creating a default new stage on startup, which introduces additional performance overhead. Also fixes an error in hydra code when rebasing. - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by:
peterd-NV <peterd@nvidia.com>
Co-authored-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com> -
peterd-NV authored
<!-- 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/source/refs/contributing.html --> Update robomimic training and play scripts. <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) - This change requires a documentation update Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] 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:
peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com> -
rwiltz authored
- Added the SE3_HandTracking input device which allows for XR teleop via the SE3 interface. - Updated the teleop_se3_agent to support hand tracking via the `--teleop_device handtracking` flag - Created a new .kit file `isaaclab.python.xr.openxr.kit` for supporting teleop experiances - New feature (non-breaking change which adds functionality) - [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:
peterd-NV <peterd@nvidia.com>
Co-authored-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com> -
Kelly Guo authored
# Description Updates the benchmark scripts with new additional output format that can be used for tracking results on a dashboard. ## 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 -->
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Kelly Guo authored
# Description Fixes errors related to import of omni.isaac.ui and debug_draw extensions due to Isaac Sim 4.5 renaming/restructuring. ## 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 -->
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Kelly Guo authored
<!-- 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/source/refs/contributing.html --> Update the Franka Stacking Env to align with Robosuite stacking task used in MimicGen. <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] 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:
peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com> -
Kelly Guo authored
This change updates the benchmarking utilities to follow new module naming for Isaac Sim 4.5. In addition, hydra support is added for the benchmark scripts to allow modifications of config parameters via command line. Hydra config parsing utilities are updated to allow for missing agent configurations when benchmarking non-RL workflows. <!-- 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) - [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 -->
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Toni-SM authored
# Description This PR fix the `ModuleNotFoundError: No module named 'omni.isaac.version'` for Isaac Sim 4.5 When running `./isaaclab.sh -p source/standalone/workflows/rsl_rl/train.py --task Isaac-Cartpole-Direct-v0 --headless --max_iteration 5` ``` Traceback (most recent call last): File "/home/toni/Documents/RL/IsaacLab-Internal/source/standalone/workflows/rsl_rl/train.py", line 54, in <module> from omni.isaac.lab.envs import ( File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/__init__.py", line 45, in <module> from . import mdp, ui File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/__init__.py", line 18, in <module> from .actions import * # noqa: F401, F403 File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/__init__.py", line 8, in <module> from .actions_cfg import * File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py", line 9, in <module> from omni.isaac.lab.managers.action_manager import ActionTerm, ActionTermCfg File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/__init__.py", line 13, in <module> from .action_manager import ActionManager, ActionTerm File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py", line 20, in <module> from omni.isaac.lab.assets import AssetBase File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/__init__.py", line 41, in <module> from .articulation import Articulation, ArticulationCfg, ArticulationData File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/__init__.py", line 8, in <module> from .articulation import Articulation File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py", line 22, in <module> import omni.isaac.lab.sim as sim_utils File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/__init__.py", line 29, in <module> from .converters import * # noqa: F401, F403 File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/__init__.py", line 25, in <module> from .urdf_converter import UrdfConverter File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py", line 13, in <module> from omni.isaac.version import get_version ModuleNotFoundError: No module named 'omni.isaac.version' ``` ## 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 --> -
oahmednv authored
Adds the deprecated extension folder to the app files for the extensions to be discoverable. - 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
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peterd-NV authored
Adding a manager based RL env for Franka cube stacking task. This environment will be used for initial testing of MimicGen pipeline. The environment consists of a Franka arm with three blocks on a table top. Environment source is added to `omni/isaac/lab_tasks/manager_based/manipulation/stack` --------- Signed-off-by:
peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com> -
Mayank Mittal authored
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Mayank Mittal authored
# Description Previously on episodic resets, the "time left" for the interval events were not getting resampled. This means that if the user expects the event to happen in the range 6-8s of an episode, it could be that in a new episode, the push happens at a time outside this range as the time left variable keeps its old value. This MR fixes this issue by resampling the time left inside the manager's reset call. Note: This only matters for the case when "is_global_time" is False (which is the default). The reason is that when there is global time, the events are triggered through simulation time and not episode time. ## 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 - [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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- 27 Jan, 2025 1 commit
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garylvov authored
# Description This PR cleans up the Ray documentation to be more clear, and fixes some small issues in the code. - Moved local set up to be an easier Docker-based thing - Added Wget to docker container to fix issue where Ray head would fail health check on GKE where the workers wouldn't start - Removed redundant information from Documentation - Added a local quickstart - (investigated whether https mlflow was possible, added flag to jinja env)@kellyguo11 - Added better compatibility with other workflows to address #1703 - Avoided early exit due to buffer overflow to address #1703 (thank you @giulioturrisi for helping find this) <!-- 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) - 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 <!-- 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: Gary Lvov <glvov@theaiinstitute.com>
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- 23 Jan, 2025 1 commit
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robotsfan authored
# Description Corrected calculation of target height adjustment based on sensor data. Fixes #1546 and #1698 Thanks to @ClemensSchwarke and @shendredm for the modification suggestions. To use this `base_height_l2` reward function, users need to make the following changes: 1. Customize a new sensor ```python class MySceneCfg(InteractiveSceneCfg): height_scanner_base = RayCasterCfg( prim_path="{ENV_REGEX_NS}/Robot/base", offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, 20.0)), attach_yaw_only=True, pattern_cfg=patterns.GridPatternCfg(resolution=0.05, size=(0.1, 0.1)), debug_vis=False, mesh_prim_paths=["/World/ground"], ) ``` 2. Pass this new sensor to the reward function ```python class RewardsCfg: base_height_l2 = RewTerm( func=mdp.base_height_l2, weight=0.0, params={ "asset_cfg": SceneEntityCfg("robot", body_names=""), "sensor_cfg": SceneEntityCfg("height_scanner_base"), "target_height": 0.0, }, ) ``` This will create a 10 by 10 cm patch consisting of 9 rays and should provide a good estimate of the ground height at the robot's position. ## 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
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- 21 Jan, 2025 2 commits
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James Tigue authored
…ection root and base states # 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 removes the deprecation of root_state_w setters and properties due to significant regression in training speed. It leaves it the root_link_* and root_com_* properties and setters but does not force them on examples and tests. Fixes #1699 <!-- 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 - [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:
James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com> -
Nicola Loi authored
# Description Currently, the [`repeated_objects_terrain`](https://github.com/isaac-sim/IsaacLab/blob/v1.4.0/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py#L721) function attempts to respawn all *N* required objects if even a single object lies within the central platform. However, the probability of successfully spawning *all objects* outside the central platform depends on the object density (i.e., the number of required objects relative to the terrain size) and the size of the central platform. For high object densities, this probability quickly approaches zero, causing the function to enter an infinite respawn loop. This PR addresses the issue by respawning only the objects that lie within the central platform during each loop, while leaving objects outside the platform untouched. This leads to faster terrain generation and prevents the worst-case scenario of getting stuck in an infinite respawn loop when object density is high. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by:
Nicola Loi <nicolaloi@outlook.com>
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- 18 Jan, 2025 2 commits
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Michael Gussert authored
# Description Adds a new documentation page and demo script for explaining the IMU sensor. Also replace previous .png images with .jpg files for better storage efficiency. ## 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 - [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:
Michael Gussert <michael@gussert.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> -
Michael Gussert authored
# Description This change replaces some of the hardcoded python snippets in the sensor documentation to reference directly from the demo scripts. This avoids inconsistencies when changes in the scripts or documentations are made. ## 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 - [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 -->
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- 16 Jan, 2025 2 commits
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ori-gadot authored
# Description The rigid body data properties root_com_vel_w, root_com_pos_w, and root_com_ang_vel_w currently check the private state field's timestamp before updating their state. However, the issue lies in the fact that these COM state properties are incorrectly checking the link state field's timestamp instead of the COM's own state. Fixes # (issue) Replacing root link state with root com state at these properties. ## 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
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-T.K.- authored
# Description This PR fixes a small typo in the code, where "undesired" is accidentally typed as "undersired". ## Type of change - [x] 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 N/A ## 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
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- 14 Jan, 2025 5 commits
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Kelly Guo authored
# Description A few scripts in the tools and tutorials folder had outdated APIs that caused errors when run. This scripts fixes issues with 2 scripts: - check_instanceable.py used an old `enable_flatcache` API that no longer exists. this has been replaced with the new `enable_fabric` API - run_usd_camera.py was indexing camera data outputs with incorrect keys/indices, which is now fixed ## 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 - [ ] 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 -->
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Antoine RICHARD authored
# Description This PR fixes an issue in articulation object from omni.isaac.lab. The functions `write_root_com_pose_to_sim` and `write_root_link_to_sim` both result in an error where a variable is called before being assigned. I checked and there is a test for this, but I'm not sure why they don't catch it... The two functions have been changed to match the behaviors of `write_root_link_pose_to_sim` and `write_root_com_velocity_to_sim`. Fixes #1659 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by:
Kelly Guo <kellyg@nvidia.com> -
Kelly Guo authored
# Description There was a mismatch in the implementation of the IdealPDActuator code and the equation provided in the actuators docs. This change fixes the ordering of parameters in the docs to match the implementation in code. Fixes #1643 ## 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 -->
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Octi Zhang authored
# Description Fixes docstring in Articulation data, where rigid body properties should be of dimension (num_instances, num_bodies, x) instead of (num_instances, 1, x). Fixes #1651 <!-- 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 docstring fix. - Bug fix (non-breaking change which fixes an issue) **Before Change** for the data ''' body_link_pos_w body_link_quat_w body_link_vel_w body_link_lin_vel_w body_link_ang_vel_w body_com_pos_w body_com_quat_w body_com_vel_w body_com_lin_vel_w body_com_ang_vel_w ''' The actual dimension are (num_instances, num_bodies, x), but the docstring says (num_instances, 1, x) **After Change** docstring says (num_instances, num_bodies, x) ## 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 - [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 <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com> -
Manuel Schweiger authored
# 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/source/refs/contributing.html --> A recent PR (https://github.com/isaac-sim/IsaacLab/pull/1530#issuecomment-2558120594) causes issues with joint_parameter_lookup attributes of Articulation Configs. The `class_to_dict` utility function needs to return a primitive dict. Returning a torch.Tensor conflicts with OmegaConf. This PR adds a unittest for the dict conversion as requested by @lgulich so that the issue can be fixed. The test case fails on main branch as expected according to my understanding. Passes on v1.3.0. <!-- 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. --> - Breaking change (fix or feature that would cause existing functionality to not work as expected) <!-- 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 -->
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- 08 Jan, 2025 3 commits
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Nicola Loi authored
# Description Currently, the [PreTrainedPolicyAction](https://github.com/isaac-sim/IsaacLab/blob/v1.4.0/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/navigation/mdp/pre_trained_policy_action.py#L24) class does not reset the actions in the low-level observations when a new episode starts. In my custom legged robot navigation task, the behavior was correct only during the first training episode but failed from the second episode onward. At the start of a new episode, the action observations are not reset and retain the last actions from the previous episode. This can impact training, as in my case, where the actions at the end of an episode differ significantly from those required at the beginning of an episode. This PR resolves the issue by resetting the low-level action observations at the beginning of each new episode. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
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Stephan Pleines authored
# Description - As a first time user, I skipped over the sim part at first because I wanted lab - clarify that sim is required. - Rename anchors from sim to lab. - Move the notes about miniconda to where conda is actually used. - Clarify that there are two options for installation. Otherwise, a user progressing in order will run the full installation, and then discover that a minimal installation would have been an option. - Use separate attention boxes for the two separate items. Note: I was able to follow the pip instructions on Ubuntu24 with a minimal hack to force python3.10 instead of the default 3.12. I have not tried the binary installation instructions. ## Type of change Documentation only. ## Checklist I have built the documentation locally. - [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 - _n/a_ - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - _Does not affect an extension._ - [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 -->
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robotsfan authored
# Description Bug description: When I run `python source/standalone/workflows/rsl_rl/train.py --task Isaac-Velocity-Flat-Spot-v0 --headless` ```bash (isaaclab) ubuntu@ubuntu-4090:~/workspaces/IsaacLab$ python source/standalone/workflows/rsl_rl/train.py --task Isaac-Velocity-Flat-Spot-v0 --headless [INFO][AppLauncher]: Loading experience file: /home/ubuntu/workspaces/IsaacLab/source/apps/isaaclab.python.headless.kit [Warning] [omni.isaac.kit.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly. [Warning] [omni.isaac.kit.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...) Loading user config located at: '/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omni/data/Kit/Isaac-Sim/4.2/user.config.json' [Info] [carb] Logging to file: /home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omni/logs/Kit/Isaac-Sim/4.2/kit_20250104_162107.log 2025-01-04 08:21:07 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available. |---------------------------------------------------------------------------------------------| | Driver Version: 550.100 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24564 MB | 10de | 0 | | | | | | | 2684 | 16760a40.. | | | | | | | 1 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-126-generic | XServer Vendor: The X.Org Foundation, XServer Version: 12013000 (1.20.13.0) | Processor: Intel(R) Core(TM) i9-14900KF | Cores: 24 | Logical: 32 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 64106 | Free Memory: 39407 | Total Page/Swap (MB): 2047 | Free Page/Swap: 2046 |---------------------------------------------------------------------------------------------| [INFO]: Parsing configuration from: omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.spot.flat_env_cfg:SpotFlatEnvCfg [INFO]: Parsing configuration from: omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.spot.agents.rsl_rl_ppo_cfg:SpotFlatPPORunnerCfg Traceback (most recent call last): File "/home/ubuntu/workspaces/IsaacLab/source/standalone/workflows/rsl_rl/train.py", line 151, in <module> main() File "/home/ubuntu/workspaces/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py", line 79, in wrapper env_cfg, agent_cfg = register_task_to_hydra(task_name, agent_cfg_entry_point) File "/home/ubuntu/workspaces/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py", line 57, in register_task_to_hydra ConfigStore.instance().store(name=task_name, node=cfg_dict) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/hydra/core/config_store.py", line 85, in store cfg = OmegaConf.structured(node) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 125, in structured return OmegaConf.create(obj, parent, flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 178, in create return OmegaConf._create_impl( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 900, in _create_impl format_and_raise(node=None, key=None, value=None, msg=str(e), cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 861, in _create_impl return DictConfig( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__ format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex)) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__ self._set_value(content, flags=flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value raise e File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value self._set_value_impl(value, flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl self.__setitem__(k, v) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__ self._format_and_raise(key=key, value=value, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__ self.__set_impl(key=key, value=value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl self._set_item_impl(key, value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl self._wrap_value_and_set(key, value, target_type_hint) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set self._format_and_raise(key=key, value=val, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set wrapped = _maybe_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap return _node_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap node = DictConfig( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__ format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex)) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__ self._set_value(content, flags=flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value raise e File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value self._set_value_impl(value, flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl self.__setitem__(k, v) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__ self._format_and_raise(key=key, value=value, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__ self.__set_impl(key=key, value=value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl self._set_item_impl(key, value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl self._wrap_value_and_set(key, value, target_type_hint) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set self._format_and_raise(key=key, value=val, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set wrapped = _maybe_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap return _node_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap node = DictConfig( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__ format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex)) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__ self._set_value(content, flags=flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value raise e File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value self._set_value_impl(value, flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl self.__setitem__(k, v) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__ self._format_and_raise(key=key, value=value, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__ self.__set_impl(key=key, value=value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl self._set_item_impl(key, value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl self._wrap_value_and_set(key, value, target_type_hint) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set self._format_and_raise(key=key, value=val, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set wrapped = _maybe_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap return _node_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap node = DictConfig( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__ format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex)) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__ self._set_value(content, flags=flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value raise e File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value self._set_value_impl(value, flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl self.__setitem__(k, v) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__ self._format_and_raise(key=key, value=value, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__ self.__set_impl(key=key, value=value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl self._set_item_impl(key, value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl self._wrap_value_and_set(key, value, target_type_hint) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set self._format_and_raise(key=key, value=val, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set wrapped = _maybe_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap return _node_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap node = DictConfig( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__ format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex)) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__ self._set_value(content, flags=flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value raise e File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value self._set_value_impl(value, flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl self.__setitem__(k, v) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__ self._format_and_raise(key=key, value=value, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__ self.__set_impl(key=key, value=value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl self._set_item_impl(key, value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl self._wrap_value_and_set(key, value, target_type_hint) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set self._format_and_raise(key=key, value=val, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set wrapped = _maybe_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap return _node_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap node = DictConfig( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__ format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex)) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__ self._set_value(content, flags=flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value raise e File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value self._set_value_impl(value, flags) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl self.__setitem__(k, v) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__ self._format_and_raise(key=key, value=value, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__ self.__set_impl(key=key, value=value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl self._set_item_impl(key, value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl self._wrap_value_and_set(key, value, target_type_hint) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set self._format_and_raise(key=key, value=val, cause=e) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise format_and_raise( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 899, in format_and_raise _raise(ex, cause) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise raise ex.with_traceback(sys.exc_info()[2]) # set env var OC_CAUSE=1 for full trace File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set wrapped = _maybe_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap return _node_wrap( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1045, in _node_wrap node = AnyNode(value=value, key=key, parent=parent) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 135, in __init__ super().__init__( File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 29, in __init__ self._set_value(value) # lgtm [py/init-calls-subclass] File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 46, in _set_value self._val = self.validate_and_convert(value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 76, in validate_and_convert return self._validate_and_convert_impl(value) File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 154, in _validate_and_convert_impl raise UnsupportedValueType( omegaconf.errors.UnsupportedValueType: Value 'Tensor' is not a supported primitive type full_key: env.scene.robot.actuators.spot_knee.joint_parameter_lookup object_type=dict ``` ## Type of change - Bug fix (non-breaking change which fixes an issue) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] 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
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- 07 Jan, 2025 1 commit
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Kelly Guo authored
# Description This change updates the version of scripts to 1.4.0 following the 1.4 release a couple of weeks ago.
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- 03 Jan, 2025 3 commits
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Kyle Morgenstein authored
# Description Resolves Issue #1534 by adding non-root body tracking as an option in the ViewerCfg. See the issue for justification/discussion. API as follows: - Adds origin_type "asset_body" - Adds field "body_name" When origin_type = "asset_body" and "body_name" matches a body in the asset specified in "asset_name", the viewport is configured to track the link frame of the body in world coordinates. By using the existing eye and lookat fields in ViewerCfg the additional features are enabled: - Tracking the end effector of an arm during manipulation (see below) - Tracking a fixed offset from the end effector of an arm (e.g. mimicking the view of a wrist-mounted camera) - Tracking a mobile base using the currently-supported workaround for lack of wheel physics by defining a virtual arm to mimic the motion of the robot ## Type of change - New feature (non-breaking change which adds functionality) ## Training Video from "Isaac-Lift-Cube-Franka-v0" after 1000 iterations. Viewer defined as follows: viewer = ViewerCfg(eye=(0.5, 0.5, 0.0), origin_type="asset_body", env_index=0, asset_name="robot", body_name="panda_hand") No other changes were made from the default environment definition. https://github.com/user-attachments/assets/fff24b50-c9d0-48dd-b4c2-3641a11f0d4d ## 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 <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com> -
Rishi Veerapaneni authored
# Description Fixing bug so that using training workflow on MARL workflow populates videos/train. See #1595 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots  The first run was without the changes where we see videos/train empty. The second run is after the changes with videos/train successfully populated. ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [N/A] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [Sort of] I have added tests that prove my fix is effective or that my feature works; I have verified that it works on train.py for skrl and rl_games. I have not verified rsl_rl or sb3 as well have not verified play.py on any of the four. However I have implemented the changes on all of them as they all seem to follow the exact same structure. - [ ] 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; Unsure if this fix is worth being labelled as a contributor, if so would be happy to be added to the contributors.md (full name is Rishi Veerapaneni).
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Octi Zhang authored
Fixes error in Articulation where default_joint_stiffness and default_joint_damping is not correctly set if actuator is instance of ImplicitActuator (#1580) # Description Before the fix, the field, default_joint_stiffness, and default_joint_damping in omni.isaac.lab.assets.Articulation will be the default value configured Joint Drive property in usd file, and defining a new value with actuator config will not have effect if the actuator is type ImplicitActuator after the fix, all actuator types will be able to override default_joint_stiffness and default_joint_damping Fixes #1552 <!-- 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 - [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 <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
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- 02 Jan, 2025 3 commits
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Mayank Mittal authored
# Description Previously, the event term set the current root velocity to the sampled values. However, this isn't the same as "pushing" the root. This MR fixes this issue by changing the operation inside. ## 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 - [ ] 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
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steple authored
# Description Adds a missing word in an error message. Also fixes a broken link in the pull request template. (I did not enter an issue since it seems like a tiny change, but will if you'd like me to.) ## 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 - _I don't think any are necessary._ - [ ] My changes generate no new warnings - _I doubt it, but I have not been able to install everything, I discovered this issue on my first attempt to build._ - [ ] I have added tests that prove my fix is effective or that my feature works - _Not a feature._ - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - _Not sure which file that is in this case, please let me know if this is applicable._ - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by:
Kelly Guo <kellyg@nvidia.com> -
steple authored
# Description Updates all copyright notices to 2025. This should make pre-commit checks happy. My local system is still in 2024, but apparently github is in 2025. Happy New Year! (I did not enter an issue, but happy to do so if you like me to.) ## 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 - _I don't think it's needed._ - [x] My changes generate no new warnings - _As far as I can tell._ - [ ] I have added tests that prove my fix is effective or that my feature works - _Not a feature._ - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - _n/a?_ - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
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- 27 Dec, 2024 1 commit
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-T.K.- authored
# Description This PR fixes #1586. An additional condition is added to the `JointAction._joint_ids` logic where if user specifies to preserve the joint order, the `_joint_ids` field will not be cleared even if the speficied list contains all the joints. ## 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 - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there Signed-off-by:
-T.K.- <t_k_233@outlook.com>
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- 20 Dec, 2024 1 commit
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Kelly Guo authored
# Description SKRL provides examples using JAX, which by default only installs the CPU version. To be compatible with CUDA, it is required to install JAX prior to installing SKRL. This PR updates the installation instructions for SKRL to note this requirement. ## 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 -->
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- 18 Dec, 2024 2 commits
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Kelly Guo authored
# Description In https://github.com/isaac-sim/IsaacLab/pull/891, the `depth_clipping_behavior` parameter was added with the default mode set to `"zero"`. This introduced a breaking behavior in the depth cameras as previously, values returned by the cameras were not clipped. This PR sets the default behavior to `"none"`, which should bring us back to the original camera behavior. ## 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 - [ ] 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 -->
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Özhan Özen authored
# Description This PR adds an option to enable null-space control within `OperationSpaceController` (following the discussions in #913). ## Details Currently, `OperationSpaceController` controls only the task space, which results in joint movements within the null-space of redundant robotic manipulators. In general, it is desirable to have some control over the robot null-space, e.g., to prevent the joints from going near their limits. Hence, the PR adds the following: - An optional nullspace (position) control integrated into `OperationSpaceController`. This controller attracts the robot joints to provided targets whereas possible, in parallel to the task-space target. - Test cases for `OperationSpaceController` that use null-space control. - Updates to the related tutorial script and documentation to use and describe null-space control. - Integration of (optional) null-space control to `OperationSpaceControllerAction` with predefined joint targets, e.g., default joint positions, joint centers, zero joint position. - Integration of null-space control to `"Isaac-Reach-Franka-OSC-v0"` manager-based environment. Null-space control utilizes either the dynamically consistent Jacobian inverse or the Moore–Penrose inverse, depending on whether the full inertia matrix is available. ## 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:
Özhan Özen <41010165+ozhanozen@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
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