- 05 Mar, 2025 4 commits
-
-
Pascal Roth authored# Description Reverts to old render settings. Fixes #1844 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots Before:  After:  ## Checklist - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by:
Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> -
Hongyu Li authored
# Description I find the rendered motion_vectors (or optical flow) are not aligned with other modalities (such as RGB, depth, segmentation, etc.). This commit is a workaround to fix this misalignment issue. Fixes #2003 <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots Before:  After:  ## 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:
Hongyu Li <lihongyu0807@icloud.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com> -
Pascal Roth authored
# Description Fixes the rendering error when trying to have debug visualization enabled for a raycaster whose data points contain inf values. Observed error message ``` 2025-03-04 09:56:31 [39,045ms] [Error] [carb.graphics-vulkan.plugin] GPU crash is detected. Trying to write crash dump into: /home/pascal/isaacsim/v4.5/kit/logs/Kit/Isaac-Sim/4.5/kit_20250304_105552-0.nv-gpudmp 2025-03-04 09:56:31 [39,045ms] [Error] [carb.graphics-vulkan.plugin] GPU crash dump is successfully written ``` ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] 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
-
Mayank Mittal authored
# Description Previously in the Articulation class, there was a single method for setting joint state. However, it is desirable at times to only set joint position or velocity. For instance, for randomization events that pushes a joint by adding a random velocity to it. This MR separates the `write_joint_state_to_sim` into separate setters for joint positions and joint velocities. This goes inline with the method to set root pose, root velocity or the root state. ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [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:
Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
-
- 04 Mar, 2025 1 commit
-
-
Mayank Mittal authored
# Description This MR fixes the propagation of the `activate_contact_sensors` attribute to the `MultiAssetSpawnerCfg` class. Previously, this value is always set to `False`, leading to incorrect contact sensor settings for spawned assets. Fixes #1956 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
-
- 03 Mar, 2025 4 commits
-
-
Mayank Mittal authored
# Description Since we have a more dedicated Isaac Lab Ecosystem page in the documentation, this MR removes the FAQ page and puts all its information to Isaac Lab Ecosystem. ## Type of change - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by:
Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> -
Johnson Sun authored
# Description - Update suggested Isaac Sim binary installation path Follows the paths (`~/isaacsim` on Linux, `C:\isaacsim` on Windows) suggested by Isaac Sim docs: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_workstation.html - Update docs to emphasize that only Isaac Sim binary installation supports vscode integration - Fix minor typos Fixes: https://github.com/isaac-sim/IsaacLab/issues/1951
-
Mayank Mittal authored
# Description This MR does the following: * Simplifies the names of sensor overview images by simply putting them into a directory * Moves sensors to core-concepts in the documentation * Fixes script headers in tutorials/demos to be consistent ## 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` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
-
Mayank Mittal authored
# Description Previously, the `pyproject.toml` was not including the newly added `isaaclab_rl` and `isaaclab_mimic` extensions. This affected the import ordering. This MR adds all of them under known extras. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
-
- 02 Mar, 2025 5 commits
-
-
Mayank Mittal authored
This MR adds an event term for randomizing the collider's rest and contact offsets. - 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 - [ ] 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
-
Kyle Morgenstein authored
The default plane configuration supports setting the plane color, but this option is not currently exposed via the terrain importer. This PR adds a ``color'' field to the terrain importer that is only used for configuring a plane. - New feature (non-breaking change which adds functionality) <img width="912" alt="image" src="https://github.com/user-attachments/assets/4e509270-a953-49e8-88e7-b67bc1a92d2c" /> <img width="909" alt="image" src="https://github.com/user-attachments/assets/0aa77530-befe-4c30-991d-e668561b9793" /> Configuration: ```python terrain = TerrainImporterCfg( prim_path="/World/ground", terrain_type="plane", terrain_generator=None, max_init_terrain_level=None, collision_group=-1, physics_material=sim_utils.RigidBodyMaterialCfg( friction_combine_mode="multiply", restitution_combine_mode="multiply", static_friction=1.0, dynamic_friction=1.0, ), color=(1.0, 0.0, 0.0), # Red debug_vis=False, ) ``` - [ ] 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 --------- Signed-off-by:
Kyle Morgenstein <34984693+KyleM73@users.noreply.github.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> -
Mayank Mittal authored
-
Mayank Mittal authored
# Description The `disable_contact_processing` flag inside the SimulationContext causes confusion, as we were setting it to True in many environments, but it should be False since we want PhysX to report the contacts. This MR changes the default behavior now. It is always disabled (i.e. no contact reporting), until a contact sensor is created. It makes sure that the performance isn't hampered in situations where the user doesn't want to create any contact sensors. ## Type of Change - Bug fix (non-breaking change which fixes an issue) - Breaking change (fix or feature that would cause existing functionality to not work as expected) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [ ] 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
-
Mayank Mittal authored
# Description The previous fix in #1654 was checking if `effort_limits_sim` is None instead of checking `cfg.effort_limits_sim` for explicit actuators. This did NOT work as effort limits sim is a tensor that gets assigned the value on initialization. The new fix now adds an implicit/explicit model attribute to the actuator model to ensure the right defaults are getting set. It moves all the implicit actuator warning code to its class to keep the articulation class cleaner. We also revert the behavior of setting velocity limits for implicit actuators to the state before #1509. Before that change, the parameter `velocity_limit` was set in the configurations but not getting passed through. The MR #1509 allowed these values to be set which caused many of the assets to not train anymore or behave differently between IsaacLab versions. We now revert this behavior with a warning. If users want to set the limits, they should use the `effort_limit_sim` and `velocity_limit_sim` quantities. Fixes #1837 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshot The training of Allegro hand environment: * Green: The current main at 6a415df2 * Black: This MR * Orange: Commenting out the setting of `write_joint_velocity_to_sim` which was introduced in #1509.  ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] 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:
Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
-
- 01 Mar, 2025 4 commits
-
-
Mayank Mittal authored
# Description This MR adds a script to run training over a subset of environments. I have mostly checked this for rsl-rl library. The script adds the commit tag as a run name allowing us to compare different versions of code nicely. ## Type of change - New feature (non-breaking change which adds functionality) ## Screenshots Example tensorboard log: ```bash ./isaaclab.sh -p tools/run_train_envs.py --lib-name rsl_rl ```  ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by:
Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> -
Gonglitian authored
# Description Simply updated code comments in tutorial scripts, after update, users can directly copy and run tutorial scripts in terminal ## 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
-
Toni-SM authored
## Description Implement deterministic evaluation for skrl's multi-agent algorithms in `play.py` script (fix https://github.com/isaac-sim/IsaacLab/issues/1935). The current application only takes into account single-agent algorithms. ## 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
-
Sheikh Dawood 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/main/source/refs/contributing.html --> Currently, the WebRTC livestream is limited to connections within the same local network. This change introduces the ability to set a public IP address as an environment variable to allow connecting over the Internet and allows for livestreaming remotely when using the pre-built Isaac Lab container. Note: This may not fix the livestreaming issue when using pip or native install of Isaac Lab, as it requires an updated version of the livestream extension, which is only available through the docker image at the moment. This will be fully fixed in the next version of Isaac Sim. Example: Run with `PUBLIC_IP=$(curl -s ifconfig.me) LIVESTREAM=2 ./isaaclab.sh -p scripts/demos/quadrupeds.py` then connect using the [Isaac Sim WebRTC Streaming Client](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/manual_livestream_clients.html#isaac-sim-short-webrtc-streaming-client). `PUBLIC_IP` can also be set to a private IP address if connecting within the same local network. <!-- 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 ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Co-authored-by:
Kelly Guo <kellyguo123@hotmail.com>
-
- 25 Feb, 2025 1 commit
-
-
Shundo Kishi authored
# Description When reset_root_state_from_terrain is called from an EventTerm, we cannot predict which env_ids will be targeted. To prevent program crashes due to tensor size mismatches, this MR modifies the velocity calculation to use only the specified env_ids instead of referencing all environments. Changes: - Updated velocity calculation to use env_ids indexing for default_root_state - This ensures tensor dimensions match between default_root_state and rand_samples Fixes #1882 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
-
- 21 Feb, 2025 2 commits
-
-
Mayank Mittal authored
# Description I hope the new examples help new contributors understand our style guide and principles. ## 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 - [ ] 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:
Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com> -
Mayank Mittal authored
# Description Previously, the ANYmal URDF importer example was setting the stiffness and damping to new defaults (100.0 and 0.1 respectively). However, this is undesirable as we want to import the asset with no stiffness and damping (as we do effort control). This MR corrects the instructions to convert ANYmal asset. ## 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` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
-
- 20 Feb, 2025 2 commits
-
-
samibouziri authored
# Description The pip command: ``` pip install isaacsim[all,extscache]==4.5.0 --extra-index-url https://pypi.nvidia.com ``` does not work because of the brackets and would give the following error: ``` no matches found: isaacsim[all,extscache]==4.5.0 ``` There exist two ways to fix this either by quoting: ``` pip install 'isaacsim[all,extscache]==4.5.0' --extra-index-url https://pypi.nvidia.com ``` or by escaping the brackets: ``` pip install isaacsim\[all,extscache\]==4.5.0 --extra-index-url https://pypi.nvidia.com ``` Fixes # (issue) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> -Documentation update ## Checklist - [x] I have made corresponding changes to the documentation - [ ] 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:
samibouziri <79418773+samibouziri@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> -
Mayank Mittal authored
# Description Previous release notes were missing release 1.4.1. Also fixes building of the `release_notes.rst`. There were many warnings that weren't getting caught. ## 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` - [ ] 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
-
- 18 Feb, 2025 2 commits
-
-
Johnson Sun authored
# Description Partially addresses issue: https://github.com/isaac-sim/IsaacLab/issues/1840 The [v2.0.0 release notes](https://github.com/isaac-sim/IsaacLab/releases/tag/v2.0.0) on GitHub should also be modified accordingly. Although this PR doesn't fix the RSL-RL package name change for Isaac Lab v1.4.1 and earlier versions, listing this change in the release notes would be better. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by:
Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> -
Mayank Mittal authored
# Description Previously, the actuator networks were loaded using `torch.jit.load`, however, they weren't set to eval mode. This meant that gradient computation occurred in the background which is not desired. This MR fixes this issue. ## 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
-
- 15 Feb, 2025 2 commits
-
-
James Tigue authored
# Description This adds scene update to MARL Direct Envs mirroring the changes in [PR 1809](https://github.com/isaac-sim/IsaacLab/pull/1809) for ManagerBasedEnv and DirectRLEnv. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
-
James Tigue 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/main/source/refs/contributing.html --> This PR follows up on [Issue 1384](https://github.com/isaac-sim/IsaacLab/issues/1384) and [PR 1509](https://github.com/isaac-sim/IsaacLab/pull/1509) by seperating actuator limits for calculating computed torques from physics solver limits. Fixes # (#1384) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [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: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
-
- 14 Feb, 2025 6 commits
-
-
James Tigue 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/main/source/refs/contributing.html --> This PR fixes execution of imu (and other sensor) based observation by updating the scene at the initialization of ManagerBasedEnv and DirectRLEnv. This ensures the Imu._dt (and any other scene buffers) are set before extracting Imu.data. Fixes #1423 <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [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:
James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com> -
Kelly Guo authored
# Description Adds a security page for indicating process on reporting security issues. Also adds a note in readme to point users to the Show & Tell section of the discussion board to share projects and tutorials. ## 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 --> --------- Signed-off-by:
Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> -
peterd-NV 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/main/source/refs/contributing.html --> This change removes the custom sim parameters used for the `Isaac-Stack-Cube-Franka-IK-Rel-v0` env, setting it to use the same sim parameters as the base environment config class and aligning it with the other Franka stacking environments. This change increases simulation stability and performance. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Performance enhancement (non-breaking change which improves an existing feature) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
-
James Tigue 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/main/source/refs/contributing.html --> This PR removes a hanging deprecation warning from RigidObject.data.body_state_w. Fixes # (issue) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] 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 -->
-
peterd-NV 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/main/source/refs/contributing.html --> The "object" obs group in the Franka stacking environment contains the absolute position of each of the cubes. At the moment they are being returned as world positions which include the env offset if running multiple envs in parallel, causing inconsistent position values. Fixes: Eliminates the environment offset from the cube positions in the "object" obs group of the Franka stacking environment by subtracting out the environment origin. <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [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 -->
-
Kelly Guo authored
# Description Earlier, we bumped the version to 2.0.1 to include an update for installing the RSL RL library from pip. This PR updates the documentation for installation instructions using pre-built Isaac Lab docker container and pre-built Isaac Lab pip package. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - 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 --> --------- Co-authored-by:
Mayank Mittal <mittalma@leggedrobotics.com>
-
- 13 Feb, 2025 2 commits
-
-
Octi Zhang authored
## Description The drift in raycaster didn't update when reset. This MR now updates it correctly: before: ```python self.drift[env_ids].uniform_(*self.cfg.drift_range) ``` now: ```python self.drift[env_ids] = self.drift[env_ids].uniform_(*self.cfg.drift_range) ``` Fixes #1820 ## 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
-
Kelly Guo authored
# Description Since extensions are now added to the app files, they get automatically reloaded when changes happen in the extension scripts. This feature is most likely not useful for Isaac Lab development workflows. This change disables the hot reload feature as it causes confusion and unnecessary reloading of the modules. Fixes #1779 <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] 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 --> Co-authored-by:
Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
-
- 09 Feb, 2025 1 commit
-
-
Mayank Mittal authored
# Description Since we now publish PyPI package for rsl-rl with its 2.1.1 release, this MR modifies the installation to use the PyPI package instead of the GitHub repository. Fixes [# (issue)](https://github.com/leggedrobotics/rsl_rl/issues/57) ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by:
Kelly Guo <kellyguo123@hotmail.com>
-
- 08 Feb, 2025 1 commit
-
-
samibouziri authored
# Description Fixing the `No matching distribution found for rsl-rl (unavailable)` Error Fixes #1807 <!-- 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 - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have made corresponding changes to the documentation (not needed) - [x] My changes generate no new warnings - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by:
samibouziri <79418773+samibouziri@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
-
- 07 Feb, 2025 1 commit
-
-
Louis LE LAY authored
# Description This PR fixes the `xdg-open` command in the documentation that instructs users on how to preview the documentation locally. Previously, the command pointed to `docs/_build/html/index.html`, which is incorrect. The correct path is now `docs/_build/current/index.html`. ## 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` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
-
- 06 Feb, 2025 1 commit
-
-
Kelly Guo authored
# Description Documentation only change to change spelling of Nvidia to NVIDIA and update the EULA link.
-
- 02 Feb, 2025 1 commit
-
-
Jack Zeng authored
# Description This PR is linked to https://github.com/isaac-sim/IsaacLab/issues/1756. In short, with the recent deprecation of the `body_state_w` variable, and then the removal of the deprecation, there are now 3 ways to get the states from the `ArticulationData` class: `body_state_w`, `body_com_state_w` and `body_link_state_w`. Commit 999c1e9a removed the deprecation, removing any `write_root_com.*` and `write_root_link.*` calls and therefore not updating the `body_com_state_w` and `body_link_state_w` until the next physics step. This caused any use of the `body_com_state_w` and `body_link_state_w` buffers to be 1 step behind after an environment is reset. Fixes #1762 This PR updates the timestep of the `body_com_state_w` and `body_link_state_w` buffers to -1 in the `write_root_pose_to_sim` function in the `Articulation` class so that they update correctly. It allows for use of all 3 buffers instead of only `body_state_w`. ## Type of change - Breaking change (fix or feature that would cause existing functionality to not work as expected) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] 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:
Jack Zeng <92033060+Jackkert@users.noreply.github.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>
-