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# Description - Improving CI code formatting and readability - Updated AMI: nvidia-container-toolkit vulnerability fix - Making Isaac SIM base image an argument in Dockerfile --------- Co-authored-by: Alexander Poddubny <apoddubny@apoddubny-mlt.client.nvidia.com> Co-authored-by: David Hoeller <dhoeller@nvidia.com>
# Description Adding a buildspec for repo mirroring job: - Mirrors a branch - Uses personal github token - Target repo and branch names are coming from env variables - Pushing code with force
…#1176) # Description Name of Cartpole Manager-based Vision-Based was incorrect in docs, changed to match the exact argument that should be passed as task to workflows ## 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 - [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
# Description This PR fix #831 by taking into account the Isaac Sim installation using PIP - 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
# Description The current friction randomization event only selects a single random number in the given range and does not vary them. With the given PR, this is getting fixed, and there is a sampling of the entire given range. ## Type of change - 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` - [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 --------- Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>
#1164) # Description This MR adds configuration classes that allow spawning different assets at the resolved prim paths. For instance, for the prim path expression "/World/envs/env_.*/Object", these configuration instances allow spawning a different type of prim at individual path locations. Fixes #186 ## 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: David Hoeller <dhoeller@nvidia.com>
# Description Moving codebuild pipelines out of github folder to avoid github actions being triggered on them.
There was a minor error in the `run_ray_caster_camera.py` tutorial script that prevented it from saving images. - [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
…ot defined (#1163) # Description This PR attempts to fix #1162 by adding the possibility to do not pass the `DISPLAY` env to the docker exec command if the variable is not defined Fixes #1162 ## 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
# Description When setting joint limits, the existing default joint positions can fall outside of the bounds of the new joint limits. This change clips the default joint positions to ensure they are within the bounds of the new limits. ## 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 - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description This MR makes a minimal script to measure how long it takes to load different robots. ## Type of change - New feature (non-breaking change which adds functionality) ## Screenshots For loading 2048 robots headless: | **Metric** | **H1** | **G1** | **Anymal_D** | |-------------------|-------------------|-------------------|-------------------| | App start time | 3791.73 ms | 3660.98 ms | 3597.30 ms | | Imports time | 1116.61 ms | 1132.87 ms | 1142.27 ms | | Scene creation time | 1584.14 ms | 1674.18 ms | 2000.40 ms | | Sim start time | 1451.94 ms | 2647.43 ms | 1778.49 ms | | Per step time | 2.31 ms | 4.71 ms | 3.67 ms | Computer specs: * OS: Ubuntu 20.04.6 LTS x86_64 * CPU: 12th Gen Intel i9-12900K (24) @ 5.100GHz * GPU: NVIDIA 4090 RTX ## 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
# Description This PR adds in logic to fix errors when noise config parameters are tensor based and do not have the correct device setting. This adds a check at the beginning of each noise function to correct the config parameters device if they are torch.tensors. In addition this PR adds tests for noise models. ## 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 - [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
# Description This MR disables terminal spamming when launching the app. With the flag `/app/enableStdoutOutput` disabled, we no longer have the app output when the kit extensions are startup. Fixes #1097, #196 ## Type of change - Breaking change (fix or feature that would cause existing functionality to not work as expected) ## Screenshots ``` ./isaaclab.sh -p source/standalone/environments/zero_agent.py --task Isaac-Velocity-Rough-Anymal-C-v0 --num_envs 32 ``` Output: ``` [INFO] Using python from: /home/mayank/mambaforge/envs/isaaclab-rsl/bin/python [INFO][AppLauncher]: Loading experience file: /home/mayank/git_nv/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/app/../../../../../../apps/isaaclab.python.kit Loading user config located at: '/media/vulcan/packman-repo/chk/kit-kernel/106.1.0+release.140981.10a4b5c0.gl.linux-x86_64.release/data/Kit/Isaac-Sim/4.2/user.config.json' [Info] [carb] Logging to file: /media/vulcan/packman-repo/chk/kit-kernel/106.1.0+release.140981.10a4b5c0.gl.linux-x86_64.release/logs/Kit/Isaac-Sim/4.2/kit_20241011_180901.log 2024-10-11 16:09:01 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available. |---------------------------------------------------------------------------------------------| | Driver Version: 535.183.01 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA RTX A6000 | Yes: 0 | | 49386 MB | 10de | 0 | | | | | | | 2230 | bffafd0e.. | | | | | | | 68 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-122-generic | XServer Vendor: The X.Org Foundation, XServer Version: 12013000 (1.20.13.0) | Processor: Intel(R) Core(TM) i9-9820X CPU @ 3.30GHz | Cores: 10 | Logical: 20 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 63970 | Free Memory: 41524 | Total Page/Swap (MB): 2047 | Free Page/Swap: 2047 |---------------------------------------------------------------------------------------------| 2024-10-11 16:09:07 [6,565ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template 2024-10-11 16:09:08 [7,613ms] [Warning] [omni.kit.widget.cache_indicator.cache_state_menu] Unable to detect Omniverse Cache Server. Consider installing it for better IO performance. [INFO]: Parsing configuration from: <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.anymal_c.rough_env_cfg.AnymalCRoughEnvCfg'> 2024-10-11 16:09:17 [16,685ms] [Warning] [omni.isaac.lab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic. [INFO]: Base environment: Environment device : cuda:0 Environment seed : None Physics step-size : 0.005 Rendering step-size : 0.02 Environment step-size : 0.02 [INFO] Generating terrains based on curriculum took : 1.881988 seconds [INFO]: Time taken for scene creation : 4.564743 seconds [INFO]: Scene manager: <class InteractiveScene> Number of environments: 32 Environment spacing : 2.5 Source prim name : /World/envs/env_0 Global prim paths : ['/World/ground'] Replicate physics : True [INFO]: Starting the simulation. This may take a few seconds. Please wait... 2024-10-11 16:09:29 [27,861ms] [Warning] [omni.hydra.scene_delegate.plugin] Calling getBypassRenderSkelMeshProcessing for prim /World/envs/env_0/Robot/LF_THIGH/visuals.proto_mesh_1_id1 that has not been populated 2024-10-11 16:09:29 [27,880ms] [Warning] [omni.hydra] Mesh '/World/envs/env_0/Robot/base/visuals.proto_mesh_0_id0' has corrupted data in primvar 'st': buffer size 702 doesn't match expected size 12828 in faceVarying primvars [INFO]: Time taken for simulation start : 7.193578 seconds [INFO] Command Manager: <CommandManager> contains 1 active terms. +------------------------------------------------+ | Active Command Terms | +-------+---------------+------------------------+ | Index | Name | Type | +-------+---------------+------------------------+ | 0 | base_velocity | UniformVelocityCommand | +-------+---------------+------------------------+ [INFO] Action Manager: <ActionManager> contains 1 active terms. +------------------------------------+ | Active Action Terms (shape: 12) | +--------+-------------+-------------+ | Index | Name | Dimension | +--------+-------------+-------------+ | 0 | joint_pos | 12 | +--------+-------------+-------------+ Module omni.isaac.lab.utils.warp.kernels 6cb40f6 load on device 'cuda:0' took 0.44 ms [INFO] Observation Manager: <ObservationManager> contains 1 groups. +----------------------------------------------------------+ | Active Observation Terms in Group: 'policy' (shape: (235,)) | +-----------+--------------------------------+-------------+ | Index | Name | Shape | +-----------+--------------------------------+-------------+ | 0 | base_lin_vel | (3,) | | 1 | base_ang_vel | (3,) | | 2 | projected_gravity | (3,) | | 3 | velocity_commands | (3,) | | 4 | joint_pos | (12,) | | 5 | joint_vel | (12,) | | 6 | actions | (12,) | | 7 | height_scan | (187,) | +-----------+--------------------------------+-------------+ [INFO] Event Manager: <EventManager> contains 3 active terms. +--------------------------------------+ | Active Event Terms in Mode: 'startup' | +----------+---------------------------+ | Index | Name | +----------+---------------------------+ | 0 | physics_material | | 1 | add_base_mass | +----------+---------------------------+ +---------------------------------------+ | Active Event Terms in Mode: 'reset' | +--------+------------------------------+ | Index | Name | +--------+------------------------------+ | 0 | base_external_force_torque | | 1 | reset_base | | 2 | reset_robot_joints | +--------+------------------------------+ +----------------------------------------------+ | Active Event Terms in Mode: 'interval' | +-------+------------+-------------------------+ | Index | Name | Interval time range (s) | +-------+------------+-------------------------+ | 0 | push_robot | (10.0, 15.0) | +-------+------------+-------------------------+ [INFO] Termination Manager: <TerminationManager> contains 2 active terms. +---------------------------------+ | Active Termination Terms | +-------+--------------+----------+ | Index | Name | Time Out | +-------+--------------+----------+ | 0 | time_out | True | | 1 | base_contact | False | +-------+--------------+----------+ [INFO] Reward Manager: <RewardManager> contains 11 active terms. +-----------------------------------------+ | Active Reward Terms | +-------+----------------------+----------+ | Index | Name | Weight | +-------+----------------------+----------+ | 0 | track_lin_vel_xy_exp | 1.0 | | 1 | track_ang_vel_z_exp | 0.5 | | 2 | lin_vel_z_l2 | -2.0 | | 3 | ang_vel_xy_l2 | -0.05 | | 4 | dof_torques_l2 | -1e-05 | | 5 | dof_acc_l2 | -2.5e-07 | | 6 | action_rate_l2 | -0.01 | | 7 | feet_air_time | 0.125 | | 8 | undesired_contacts | -1.0 | | 9 | flat_orientation_l2 | 0.0 | | 10 | dof_pos_limits | 0.0 | +-------+----------------------+----------+ [INFO] Curriculum Manager: <CurriculumManager> contains 1 active terms. +---------------------------+ | Active Curriculum Terms | +--------+------------------+ | Index | Name | +--------+------------------+ | 0 | terrain_levels | +--------+------------------+ Creating window for environment. [INFO]: Completed setting up the environment... [INFO]: Gym observation space: Dict('policy': Box(-inf, inf, (32, 235), float32)) [INFO]: Gym action space: Box(-inf, inf, (32, 12), float32) ``` ## 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
…ment (#1229) # Description In the slum workflow, currently, there was an unnecessary `sbatch` command; this PR removes it. In addition, the profile argument was marked as optional, but when a job was submitted, and job arguments were passed, it became necessary. This PR fixes this behavior. ## 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
# Description An error of `No checkpoints in the directory` will throw when resume from a previous training with `--video` set. This is because a new log folder will be created before the check. This MR fixes this issue by loading the checkpoint before. Fixes #1209 ## 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
…e image version (#1211) # Description Making the base image version a parameter so the pipelines can use different versions without the need to hardcode that.
# Description Many of the warp kernels don't need backward pass compilation. This MR disables the computation of the backward passes within the kernels. This should reduce the kernel compile times. Reference: https://nvidia.github.io/warp/configuration.html#kernel-settings ## 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
# Description Earlier, we used [`Carbonite SDK`](https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/api/dir_carb_logging.html) to log directly. However, this has limited functionalities compared to [`omni.log`](https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/api/namespace_omni__log.html) in Omniverse. Using `omni.log`, you can fine-grain the channels and print levels better. Link to omni.log documentation: https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/omni.log/Logging.html This MR migrates all `carb` references to the new API. ## 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) ## Screenshot Checking the performance: ``` ./isaaclab.sh -p source/standalone/benchmarks/benchmark_load_robot.py --num_envs 2048 --robot g1 --headless ``` **Before (carb logging)** [INFO]: App start time: 4676.57 ms [INFO]: Imports time: 2008.77 ms [INFO]: Scene creation time: 2966.36 ms [INFO]: Sim start time: 5782.76 ms [INFO]: Per step time: 15.80 ms **After (omni.log logging)** [INFO]: App start time: 4833.56 ms [INFO]: Imports time: 1983.67 ms [INFO]: Scene creation time: 2792.97 ms [INFO]: Sim start time: 5805.97 ms [INFO]: Per step time: 15.86 ms ## 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
Small quality of life change that excludes cache files from VSCode File Explorer when attached to sim container.
# Description * Adds doc building on push so it can be checked that the docs build correctly on any branch * Adds `omni.log` to the sphinx import mock list ## Type of change - 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 - [ ] 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
# Description Adds better error message for invalid values. - 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 - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description The docs were not deployed properly. ## 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
# Description Fixes typos in render interval warning messages ## 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
…1230) # Description The cluster workflow succeeded with a newer version of apptainer and docker. This PR removes the error when not the specific old versions are used and instead prints a warning once non-tested versions are deployed. ## 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
# Description This PR add supports for different Gymnasium spaces (`Box`, `Discrete`, `MultiDiscrete`, `Tuple` and `Dict`) to define observation, action and state spaces in the direct workflow. See #864 (comment) ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## 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 -->
# Description Adds versioning to the docs. Users can now choose a specific tag from version v1.0.0 onwards. ## 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 - [ ] 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
# Description - Fixes the condition for a test to report success in the `run_all_tests.py` script. Before, the test could crash and the script would still report a success. Now we have an explicit check to verify the test reports success. - Improved the tests involving environments. Before they could crash during initialization without any error message and interrupting the test. This is now caught and reported, the subtest failed, and the running the other subtests is resumed properly. ## 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
# Description Add `IMU` sensor with cfg class `IMUCfg` and data class `IMUData`. Compared to the Isaac Sim implementation of the IMU Sensor, this sensor directly accesses the PhysX view buffers for speed acceleration. This PR also moves and renames a utility used for cameras to a general utility location. Fixes #440 ## Type of change - New feature (non-breaking change which adds functionality) - Breaking change ( ## 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
…1207) # Fix the pytorch broadcasting error when joint_ids are not None This PR fixes the broadcasting error in `EMAJointPositionToLimitsAction` when `joint_ids` are not None. Fixes #1082 ## 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
Without this fix I get the following error when enabling the action plot in the IsaacSim GUI: ``` 2025-01-28 08:28:06 [594,911ms] [Error] [omni.ui.python] NameError: name 'isaacsim' is not defined At: IsaacLab/source/isaaclab/isaaclab/ui/widgets/line_plot.py(501): _build_filter_frame IsaacLab/source/isaaclab/isaaclab/sim/simulation_context.py(508): render IsaacLab/source/isaaclab/isaaclab/envs/manager_based_rl_env.py(193): step venv/lib/python3.10/site-packages/gymnasium/core.py(322): step venv/lib/python3.10/site-packages/gymnasium/wrappers/common.py(393): step IsaacLab/scripts/environments/inference_agent.py(104): main IsaacLab/scripts/environments/inference_agent.py(110): <module> ``` - Bug fix (non-breaking change which fixes an issue) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
forgot to change the actual code for the user that loads the ant example after isnstallation ## 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 -->
# Description Documentation only change for installation and Hub pages.
# Description Isaac Sim 4.5 documentation moved to a new URL, updating links for the Isaac Sim docs to new URLs. Additionally, we will be updating VERSION for every commit to the repo, so this change updates the documentation parsing to use only the major, minor, and patch versions from VERSION.
# Description Update the script path in the document Fixes #1762 ## 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
# Description Due to limitations from PyPI, all dependency packages have to be published pip packages. Unfortunately, RSL RL currently does not have a pip package, so we could not include it into the Isaac Lab package. This PR adds the instructions to install RSL RL separately from pip when using pip installed Isaac Lab. ## 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 -->
…e to sim (#1765) # Description This PR is linked to #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 999c1e9 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>
# Description Documentation only change to change spelling of Nvidia to NVIDIA and update the EULA link.
…1776) # 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
# 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>
# 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)](leggedrobotics/rsl_rl#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>
# 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>
## 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
# 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>
…lel envs (#1839) # 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 -->
# 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 -->
# 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 -->
# 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>
…1809) # 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>
# 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](#1384) and [PR 1509](#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>
# Description This adds scene update to MARL Direct Envs mirroring the changes in [PR 1809](#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
# 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
…ckage rename (#1890) # Description Partially addresses issue: #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>
# 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
# 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>
# 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
# 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>
…from_terrain` (#1884) # 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
# 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>
…#1972) ## Description Implement deterministic evaluation for skrl's multi-agent algorithms in `play.py` script (fix #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
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Description
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pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there