- 14 Jan, 2025 4 commits
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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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- 17 Dec, 2024 6 commits
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Kelly Guo authored
# Description Fixes docstring for UsdFileCfg Signed-off-by:Kelly Guo <kellyg@nvidia.com> -
James Tigue authored
# Description Currently the root_physx_views of the rigid bodies and articulations output linear and angular velocities of the com of bodies rather than the link frame. This PR transforms the velocities and accelerations to the link frame of the body. Fixes #942 ## Type of change - Breaking change (fix or feature that would cause existing functionality to not work as expected) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [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 --> --------- Signed-off-by:
jtigue-bdai <166445701+jtigue-bdai@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com> -
robotsfan authored
# Description Fixes broken image link of `stack-cube` in document ## Type of change - Bug fix (non-breaking change which fixes an issue) - This change requires a documentation update ## Screenshots  ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] 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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Michael Noseworthy authored
# Description This MR adds new tasks for contact-rich manipulation based on the Factory line of work. Tasks include peg insertion, gear meshing, and nut threading. ## Type of change - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## Screenshots <img src="https://github.com/user-attachments/assets/c8c32592-8972-4b1e-be7c-51b0313393bf" alt="peg_insertion" height="200"/> <img src="https://github.com/user-attachments/assets/437baf31-f9cb-4a27-94ac-5f21e2309089" alt="gear_meshing" height="200"/> <img src="https://github.com/user-attachments/assets/bccdf71b-cd5f-45f7-b4ca-71616885ef48" alt="nut_threading" height="200"/> ## 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:
Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Iretiayo Akinola <iakinola@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com> -
Mayank Mittal authored
# Description In the command manager, we were logging the metrics after resampling the commands. This leads to incorrect logging of metrics when inside the `resample` call, the metrics tensors get reset. This MR fixes the order to make sure the bug doesn't happen. ## 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 --------- Signed-off-by:
Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com> -
Özhan Özen authored
Adds `OperationSpaceController` to docs and tests and implement corresponding action/action_cfg classes (#913) # Description This PR adds the `OperationalSpaceController` to the docs and provides some tests for its parametric features. Moreover, it implements the corresponding `OperationalSpaceControllerAction` and `OperationalSpaceControllerActionCfg` classes so they can be used with manager-based environments. Fixes #873 ## Type of change - Bug fix (non-breaking change which fixes an issue) - 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: James Tigue <jtigue@theaiinstitute.com>
Co-authored-by: jtigue-bdai <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
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- 16 Dec, 2024 4 commits
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Kelly Guo authored
# Description This change adds a call to `update_articulations_kinematic()` after performing reset in an environment to ensure that non-render sensors are updated after performing reset. ## 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 - [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 - [ ] 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>
Signed-off-by: Kelly Guo <kellyg@nvidia.com> -
Pascal Roth authored
# Description This adds a UI interface to the Managers in the `ManagerBasedEnv` and The `MangerBasedRLEnv`. Additions include: - UI widgets for `LiveLinePlot` and `ImagePlot` - `ManagerLiveVisualizer/Cfg`: Given a `ManagerBase` (i.e. action_manager, observation_manager, etc) and a config file this class creates the the interface between managers and the UI. - `EnvLiveVisualizer`: A 'manager' of `ManagerLiveVisualizer`. This is added to the `ManagerBasedEnv` but is only called during the initialization of the managers in `load_managers` - Adds `get_active_iterable_terms` implementation methods to ActionManager, ObservationManager, CommandsManager, CurriculumManager, RewardManager, and TerminationManager. This method exports the active term data and labels for each manager and is called by ManagerLiveVisualizer. - Additions to `BaseEnvWindow` and `RLEnvWindow` to register `ManagerLiveVisualizer` UI interfaces for the chosen managers. ## Screenshots [Screencast from 09-06-2024 01:20:18 PM.webm](https://github.com/user-attachments/assets/3ef0191d-5446-41bd-b274-43d886fb2d70) ## Implementation  ## 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 - [ ] 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:
jtigue-bdai <166445701+jtigue-bdai@users.noreply.github.com>
Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Signed-off-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: zrene <zrene@ethz.ch>
Co-authored-by: James Tigue <jtigue@theaiinstitute.com>
Co-authored-by: jtigue-bdai <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: Aravind EV <aravindev@live.in>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com> -
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/source/refs/contributing.html --> This PR adds observation history by adding configuration parameters to ObservationTerms and having the ObservationManager handling the collection and storage of the histories via CircularBuffers. Fixes #1208 <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) ## Checklist - [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:
Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Fangzhou Yu <156015326+fyu-bdai@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com> -
robotsfan authored
# Description This PR adds support for action clip to all mdp/actions. Clip ranges can be specified as a dictionary of joint names and tuple for the lower and upper bounds of the clip in the ActionTermCfg. ## 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` - [ ] 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>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
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- 15 Dec, 2024 2 commits
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Kelly Guo authored
# Description Adds a position threshold check, resolving 3 TODO error comments, to ensure the robot's end effector is within a specified distance from the target position before transitioning between states in the pick and lift state machine. Improves the precision of state transitions and helps prevent premature actions during object manipulation. I.e, the threshold ensures the robot is "close enough" to the target position before proceeding, reducing the likelihood of failed grasps or incorrect movements. PR adapted from https://github.com/isaac-sim/IsaacLab/pull/1273/ by @DorsaRoh. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] 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:
Kelly Guo <kellyg@nvidia.com>
Co-authored-by: DorsaRoh <dorsa.rohani@gmail.com> -
Kyle Morgenstein authored
# Description After indexing the size of `quad_w` in the `apply_actions` method is (N,B,4) where B will always equal 1, since it is enforced in the `__init__` that only one body name is passed to the action term config. However, the `euler_xyz_from_quat` method requires inputs to be size (N,4), and so an error is thrown for input size (N,1,4). This PR just creates a (N,4) view of quat_w to be passed to `euler_xyz_from_quat`. This simple change does not introduce any new warnings and works with a simple non holonomic robot, like the Clearpath Husky. ## 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 - [ ] 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: 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>
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- 14 Dec, 2024 2 commits
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glvov-bdai 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 --> This adds the correct whitespace to load the code block correctly in the dependency install section of the experimental ray functionality. <!-- 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  <!-- 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 -->
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glvov-bdai authored
Adds Ray Workflow: Multiple Run Support, Distributed Hyperparameter Tuning, and Consistent Setup Across Local/Cloud (#1301) This PR adds Ray support, which enables a lot of really cool stuff by leveraging the existing Hydra support, including but not limited to: - Several training runs at once in parallel or consecutively with minimal interaction - Using the same training setup everywhere (on cloud and local) with minimal overhead - Tuning hyperparameters - Tuning hyperparameters in parallel on multiple GPUs and/or multiple GPU Nodes - Simultaneously tuning model hyperparameters for different environments/agents - Resource Isolation
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- 13 Dec, 2024 3 commits
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Hongwei Xiong authored
# Description Enhance `base_height_l2` function to support rough terrain adjustments: - Added an optional `sensor_cfg` parameter to allow dynamic target height adjustments based on sensor readings (e.g., RayCaster). - Updated the function to calculate the L2 squared penalty using adjusted height values for rough terrain scenarios. - Preserved existing behavior for flat terrain by using the fixed `target_height`. - Improved compatibility for applications involving uneven terrain. Fixes #1524 ## 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 - [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:
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> -
lgulich authored
# Description Fix configclass dict conversion for torch tensors Up to v1.2.0 if a configclass would contain a list/tuple of torch tensors it would be left as is. \#1227 changed the behavior of converting lists/tuples in a dict, which means that currently torch tensors are converted to an empty dict, effectively losing all contained data. The underlying issue is that `torch.tensor.__dict__` returns an empty dict, which was (luckily) ignored previously because we did not convert the contents of lists. This MR fixes this by treating torch tensors specially. I don't like having a special case for a non-builtin class but given that IsaacLab is heavily married with torch tensors I think it's ok in this case. Since currently the behavior is different between 1.2 and 1.3: can we cherry pick this change to the 1.3 branch? ## 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 - [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 Co-authored-by:
Kelly Guo <kellyg@nvidia.com> -
clear sky mio~ 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 --> Currently, ray-saster does not apply transform to the mesh that is cast against by ray. As a result, no matter where the mesh is, the ray caster get data as same as when the mesh is in the pos (0,0,0) with quat (1,0,0,0). <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots I use a red cube to mark the position of ray caster sensor, and use LidarPattern to generate ray for more intuitive visual effects. Before fixed, when the mesh is in the center with pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0), the result will be right.  However, if pos=(1.0, -2.0, 0.0), rot=(0.816, 0.577, 0.0, 0.0), it causes bug as:  After fixed, the result will be right:  <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 <kellyg@nvidia.com>
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- 12 Dec, 2024 1 commit
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Octi Zhang authored
# Description This pull request fix the bug where jacobian returned by DifferentialInverseKinematicsAction._compute_fame_jacobian are not truly in robot base frame because it did not consider robot's base rotation. After the change, _compute_fame_jacobian returns the correct local frame jacobian. In addition, properties get_jacobian_w and get_jacobian_b is added to differentiate frame differences Fixes #911 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots <img width="1109" alt="image" src="https://github.com/user-attachments/assets/5d47dfb3-8c44-4115-b5a0-28c671e99459"> ## 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:
Octi Zhang <127588710+zoctipus@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
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- 11 Dec, 2024 1 commit
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CY Chen authored
# Description This PR updates the initial state recorder term to support multi-env use cases by returning only the states of the specified environment IDs, which allows the recorder to correctly retrieve and record the correct initial state for the given environment IDs. ## 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:
Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
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- 08 Dec, 2024 3 commits
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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/source/refs/contributing.html --> Previously the velocity limits of the the ActuatorBaseCfg do not get used in most actuators. Only the DCMotor actuator uses it but it only uses it for torque-speed limitations. This PR propagates the velocity_limits of the ActuatorBaseCfg to the articulation root_physx_view. 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) ## 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 - [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 <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com> -
lgulich authored
# Description If a USD contains an articulation root but we load it with a `RigidObjectCfg` this would also load the articulation. This is confusing as a user only expects a rigid body. This PR adds a fix to ignore the articulation if a rigid body is spawned. <!-- 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 --> Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context. List any dependencies that are required for this change. Fixes # (issue) <!-- 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 - [ ] 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:
lgulich <22480644+lgulich@users.noreply.github.com>
Signed-off-by: David Hoeller <dhoeller@nvidia.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com> -
Yujian Zhang authored
# Description This MR fixes the support of fish-eye projection type. Actually, I don't find the proper fisheye type on [Replicator camera](https://docs.omniverse.nvidia.com/py/replicator/1.9.8/source/extensions/omni.replicator.core/docs/API.html#omni.replicator.core.create.camera) website (maybe it's out of style).  I only check the `cameraProjectionType` in `Raw USD Properties` in Isaacsim GUI.  Fixes #1331 ## Type of change - Breaking change (fix or feature that would cause existing functionality to not work as expected) - This change requires a documentation update ## Screenshots | Before | After | | ------ | ----- | | | | ## 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>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
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