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…sim#3552) # 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 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> Current manager-based workflow leveraged recorder_manager to store demo obs and actions to hdf5 file. - But it only outputs successful demos and accumulates the demo index - Not supporting customized demo index (the use case is like: replay an existing hdf5, and store successful demos while keeping its original demo index) The modification in this PR: - keeps original function, but extends to store demo with specific demo index <!-- 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) ## Screenshots | Before | After | | ------ | ----- | |<img width="100" height="150" alt="Screenshot from 2025-09-25 10-20-31" src="https://github.com/user-attachments/assets/b4af24df-2781-4ba2-8693-fd246875012b" />|<img width="100" height="150" alt="Screenshot from 2025-09-25 10-20-47" src="https://github.com/user-attachments/assets/e86d3210-e205-4d6b-b83e-cf69a585743b" /> | ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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: ooctipus <zhengyuz@nvidia.com>
…aac-sim#3869) # 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 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> Add docstring clarifications for joint modeling in 4.5 vs 5.0 Replaces this MR - isaac-sim#3461 <!-- 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 ## 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 - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
…enerator (isaac-sim#3197) # Description The [template generator](https://isaac-sim.github.io/IsaacLab/main/source/overview/developer-guide/template.html) is involved when project / task is created using ```./isaaclab.sh -n [Project Name]```. Inside the ```source``` directory in ```config/extension.toml``` file there is a provision to add custom apt or ros_ws dependency as mentioned [here](https://isaac-sim.github.io/IsaacLab/main/source/overview/developer-guide/development.html#custom-extension-dependency-management) which is current failing. The problem is result of a typo in the template generator extension config file which is current ```[isaaclab_settings]``` and should be ```[isaac_lab_settings]``` instead. The file is located at: ``` IsaacLab/tools/template/templates/extension/config/extension.toml ``` Fixes isaac-sim#3196 ## Type of change - Breaking change (fix or feature that would cause existing functionality to not work as expected) ## Screenshots | Before | After | | ------ | ----- | | <img width="591" height="201" alt="image" src="https://github.com/user-attachments/assets/57daa5a7-ba26-4f21-8749-14123470817e" /> | <img width="591" height="201" alt="image" src="https://github.com/user-attachments/assets/ddb129ad-cf84-474f-b87f-da5158981f56" />| ## 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 --------- Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
…saac-sim#3838) # Description This PR fixes an issue in recurrent policy evaluation where the recurrent state was not being reset after an episode termination. The missing reset caused residual memory to persist between episodes. The fix ensures that `reset()` is now called during evaluation in `play.py` for policy networks, including recurrent. Fixes isaac-sim#3837 <!-- replace with actual issue number --> ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots N/A ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation where necessary - [x] My changes generate no new warnings - [x] I have added tests verifying that recurrent states are correctly reset during evaluation - [x] I have updated the changelog and 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 pre-commit CI runs have been failing (see [example](https://github.com/isaac-sim/IsaacLab/actions/runs/19017065661/job/54306430424)) due to an incompatibility between our specified flake version and python 3.14, as python3.14 has started to be installed by the setup-python GHA. This PR pins python to 3.12 in order to fix these failures. ## 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)
…peed (isaac-sim#3904) # Description This PR optimizes the Pink IK controller solver by changing the qpsolver to use **daqp**, and also optimizing the matrix pseudo inverse in Null Space Posture Task. This achieves a **2x performance improvement** by reducing runtime from 1.23 ms to 0.52 ms. Perf experiments documented in third page here: https://docs.google.com/document/d/1E9UiYUU-oCOIetUkqAIva8oK0NvdNkMeqP2gxmeqxNA/edit?tab=t.0#heading=h.snu74q2v857w ## Key Changes 1. **Optimized Pseudoinverse Computation**: Replaced `np.linalg.pinv()` with a custom implementation using direct LAPACK/BLAS calls in the null space projector calculation. The new approach uses Cholesky factorization (`dpotrf`) and triangular solvers (`dpotrs`) for faster computation. 2. **QP Solver Update**: Changed the Pink IK solver from `osqp` to `daqp` for improved performance. 3. **New Dependency**: Added `daqp==0.7.2` to `setup.py` for Linux platforms. ## 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 read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 --> --------- Co-authored-by: Kelly Guo <kellyg@nvidia.com>
# Description One of the links in the docs didn't have the correct syntax to render correctly. A small fix to fix the syntax. ## Type of change - Documentation update ## Screenshots Before <img width="1895" height="265" alt="image" src="https://github.com/user-attachments/assets/f6db07a1-7302-4bbb-963e-d371c29259d5" /> After <img width="1942" height="270" alt="image" src="https://github.com/user-attachments/assets/c7f7fc40-64d8-4c9b-adaf-7c62736e65e3" /> ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 -->
…es some links (isaac-sim#3888) # Description Broken links often creep into the documentation without anyone noticing. This adds an automated job to check through links referenced in the docs and readmes to find any broken or outdated links. Additionally, fixes a few broken links that were discovered by the job. ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 -->
…saac-sim#3531) # Description Due to previous changes, the `rl_games` workflow's `log_root_path` is no longer the absolute path if the pbt option is not used, causing further issues. This PR fixes this by making it an absolute path again. Fixes isaac-sim#3530 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots Before: https://github.com/isaac-sim/IsaacLab/blob/3a0db9d761982dc65417e6c6d0714cec61ceadb3/scripts/reinforcement_learning/rl_games/train.py#L129-L135 After: ``` log_root_path = os.path.join("logs", "rl_games", config_name) if "pbt" in agent_cfg and agent_cfg["pbt"]["directory"] != ".": log_root_path = os.path.join(agent_cfg["pbt"]["directory"], log_root_path) else: log_root_path = os.path.abspath(log_root_path) ``` ## Note While this fixes the path to be absolute when pbt is not used, I am not sure if `log_root_path = os.path.join(agent_cfg["pbt"]["directory"], log_root_path)` is correct or absolute, as I do not use pbt. Should it not be something like the following? `log_root_path = os.path.abspath(os.path.join(log_root_path, agent_cfg["pbt"]["directory"])) ` I would appreciate any feedback on this. ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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: sbtc-sipbb <sbtc@sipbb.ch> Co-authored-by: garylvov <67614381+garylvov@users.noreply.github.com> Co-authored-by: garylvov <gary.lvov@gmail.com>
…-sim#3533) # Description When running Ray directly from tuner.py, Ray is not correctly initialized within `invoke_tuning_run()`. The two problems associated with this are discussed in isaac-sim#3532. To solve them, this PR: 1. Removes `ray_init()` from `util.get_gpu_node_resources()`. Now, ray needs to be initialized before calling `util.get_gpu_node_resources()`. This change actually reverses isaac-sim#3350, which was merged to add the missing initialization when using `tuner.py`, but it is safer to explicitly initialize Ray with the correct arguments outside of the `util.get_gpu_node_resources()`. 2. Moves Ray initialization within `invoke_tuning_run()` to be before `util.get_gpu_node_resources()` so we explicitly initialize it before and do not raise an exception later. 3. Adds a warning when calling `ray_init()` if Ray was already initialized. Fixes isaac-sim#3532 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots Change 1: <img width="901" height="62" alt="Screenshot 2025-09-23 at 16 52 55" src="https://github.com/user-attachments/assets/59fdb69d-fc29-41c4-980f-1af450ef5036" /> Change 2: <img width="520" height="339" alt="Screenshot 2025-09-23 at 16 52 33" src="https://github.com/user-attachments/assets/04f51cd6-9e76-485b-b162-ce4662aec417" /> Change 3: <img width="784" height="60" alt="Screenshot 2025-09-23 at 16 55 21" src="https://github.com/user-attachments/assets/6187b513-24ce-48cb-bac9-50cd665c185a" /> ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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: garylvov <67614381+garylvov@users.noreply.github.com>
…aac-sim#3803) # Description This PR ensures all imports follows the string import style. String import style avoid pulling of unnecessary packages that is related to other environments, this pr makes sure all environments are using this import. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
# Description Adds a brief section to Quickstart guide about the Isaac Launchable project on NVIDIA Brev. This is a low-friction way for users to try Isaac Lab without manual installation or local compute. This also adds a "Deploy now" button with a direct link to the current Launchable. ## Type of change - Documentation update ## Screenshots Section added: <img width="1203" height="678" alt="Screenshot 2025-11-05 at 7 15 22 PM" src="https://github.com/user-attachments/assets/0474ed2e-6d36-4da6-8b4d-9ea19d9c77cf" /> ## Checklist - [X] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 Support distributing environments in a grid when using a generated terrain. Fixes isaac-sim#3536 ## Type of change - New feature (non-breaking change which adds functionality) ## Screenshots ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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: Georg Wiedebach <georgwi@users.noreply.github.com> Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
…#3867) # Description Updating rsl_rl to 3.1.2 release to support use these two changes in IsaacLab sim-to-real deployed [policies](https://github.com/isaac-sim/IsaacLab/tree/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy). Main commits of interest: leggedrobotics/rsl_rl@530f71a leggedrobotics/rsl_rl@a4d108a ## Type of change - New feature (non-breaking change which adds functionality) - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 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: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com> Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…ng (isaac-sim#3745) # Description This PR fixes the issue where get_done_term returned last episode value rather than current step value. This PR realizes values used for get_term should be different from that used for logging, and mixed useage leads to non-intuitive behavior. using per-step value for logging leads to overcounting and undercounting reported in isaac-sim#2977 using last-episode value for get_term leads to misalignment with expectation reported in isaac-sim#3720 Fixes isaac-sim#2977 isaac-sim#3720 --- The logging behavior remains *mostly* the same as isaac-sim#3107, and and also got rid of the weird overwriting behavior(yay). I get exactly the same termination curve as isaac-sim#3107 when run on `Isaac-Velocity-Rough-Anymal-C-v0` Here is a benchmark summary with 1000 steps running `Isaac-Velocity-Rough-Anymal-C-v0 ` with 4096 envs Before isaac-sim#3107: `| termination.compute | 0.229 ms|` `| termination.reset | 0.007 ms|` PR isaac-sim#3107: `| termination.compute | 0.274 ms|` `| termination.reset | 0.004 ms|` This PR: `| termination.compute | 0.258 ms|` `| termination.reset | 0.004 ms|` We actually see improvement, this is due to the fact that expensive maintenance of last_episode_value is only computed once per compute(isaac-sim#3107 computes last_episode_value for every term) ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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>
…isaac-sim#3818) # 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 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> Adds a new parameter to ManagerBasedEnv and DirectRLEnv to give users better control over rerender on reset behaviour. The new parameter `num_rerenders_on_reset` allows users to explicitly define the number of re-render steps after an env reset. When using DLSS, this allows for the elimination of artifacts/ghosting that are present after a single rendering step. Add a deprecation warning for the old parameter `rerender_on_reset`. Functionality of old parameter is preserved. Updates the existing visuomotor envs to use new rerendering API together with DLAA for high quality rendering. Fixes # (issue) Non-DLSS denoising is not supported on aarch64. There are also future plans from the rendering team to disable use of non-DLSS antialiasing for all platforms in the future. This causes an issue for visuomotor envs which suffer from image ghosting/artifacts when using DLSS. The new rerendering API allows for users of visuomotor envs to enable DLSS/DLAA while preserving image integrity. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - 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 read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…sim#3522) # 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 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> This PR fixes a bug in actuator initialization where effort limits specified in USD assets were being incorrectly overridden with a very large default value (1.0e9) for explicit actuator models. Fixes # (issue) Previously, the ActuatorBase initialization logic would unconditionally fall back to _DEFAULT_MAX_EFFORT_SIM (1.0e9) for explicit actuator models when effort_limit_sim was not explicitly set in the configuration, even when the USD asset contained finite, meaningful effort limit values. ## 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 read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 <!-- 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: Juana <yvetted@nvidia.com> Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…saac-sim#3254) # Description The rail mesh terrain created terrains from hardest to easiest due to a bug in how difficulty was used. This PR fixes that bug. Before: `rail_height = cfg.rail_height_range[1] - difficulty * (cfg.rail_height_range[1] - cfg.rail_height_range[0])` After: `rail_height = cfg.rail_height_range[0] + difficulty * (cfg.rail_height_range[1] - cfg.rail_height_range[0])` ## 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 Signed-off-by: Kyle Morgenstein <34984693+KyleM73@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
# Description We were incorrectly passing in the activate contact sensor boolean as the threshold when setting up the contact sensor API, which caused the sensor threshold to always be 1 when the sensor is activated. The desired behavior should be defaulting to 0 threshold. ## Type of change - Bug fix (non-breaking change which fixes an issue) - Breaking change (existing functionality will not work without user modification) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [ ] 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: 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>
# Description The comment over the test case justifies why the testcase needs to be commented out for now. It requires handling of scaling of the prims to correctly compute the groundtruth quaternion. This MR comments the test case to respect the TODO note assigned to it. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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
…commands (isaac-sim#3949) # 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 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> Since the latest update in `isaaclab.sh` breaks installation with uv, I modified `ensure_cuda_torch` to maintain compatiability with uv installation method. Tested on my machine and it works Fixes isaac-sim#3524 <!-- 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 read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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: Kelly Guo <kellyg@nvidia.com>
# Description Changes from `omni.log` to an own python logger for IsaacLab. The logging information are formatted as follows: ``` 14:09:39 [manager_based_env.py] WARNING: The render interval (1) is smaller than the decimation (2). Multiple render calls will happen for each environment step. If this is not intended, set the render interval to be equal to the decimation. ``` All logs are saved to a temp file. Carb initialized a logging handler: ``` <_CarbLogHandler <stderr> (NOTSET)> ``` which is removed when configuring our handler. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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: ooctipus <zhengyuz@nvidia.com> Co-authored-by: ooctipus <zhengyuz@nvidia.com>
# Description This PR introduces support for early stopping in Ray integration through the `Stopper` class. It enables trials to end sooner when they are unlikely to yield useful results, reducing wasted compute time and speeding up experimentation. Previously, when running hyperparameter tuning with Ray integration, all trials would continue until the training configuration’s maximum iterations were reached, even if a trial was clearly underperforming. This wasn’t always efficient, since poor-performing trials could often be identified early on. With this PR, an optional early stopping mechanism is introduced, allowing Ray to terminate unpromising trials sooner and improve the overall efficiency of hyperparameter tuning. The PR also includes a `CartpoleEarlyStopper` example in `vision_cartpole_cfg.py`. This serves as a reference implementation that halts a trial if the `out_of_bounds` metric doesn’t reduce after a set number of iterations. It’s meant as a usage example: users are encouraged to create their own custom stoppers tailored to their specific use cases. Fixes isaac-sim#3270. ## 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 - [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: garylvov <67614381+garylvov@users.noreply.github.com> Co-authored-by: garylvov <gary.lvov@gmail.com> Co-authored-by: sbtc-sipbb <sbtc@sipbb.ch> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…aac-sim#3977) # Description To help track questions and proposals better by matching them to their corresponding versions, we are adding the version information to the question and proposal templates. Users should provide these when raising a question or proposal so that we can have a better understanding during which period the questions/proposals are being raised for. ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 -->
# Description Adds a couple of robots that were missing from the __init__.py imports Fixes isaac-sim#3881 ## 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 read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 -->
…#3978) # Description Removes rendezvous backend for multi-node training since it doesn't seem to be necessary and prevents multi-node setup on the DGX Spark. ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 <kellyg@nvidia.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
# Description Updates link in docs for launchable. ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 <!-- 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: Sheikh Dawood <7774242+sheikh-nv@users.noreply.github.com>
…saac-sim#4008) Adds greptile.json file for specifying triggers for Greptile on PRs This should avoid Greptile from getting triggered on every commit for a PR. It should still be able to get triggered manually by @ the bot. Signed-off-by: Ammar <43151630+AmmarYAhmed@users.noreply.github.com>
…ac-sim#3873) # Description Add Haply haptic device teleoperation support for robotic manipulation with force feedback. ## Type of change - New feature (non-breaking change which adds functionality) 1. Add haply devices API for teleoperation with force feedback 2. Real-time teleoperation with force feedback demo via Haply Inverse3 handle [Haply device documentation](https://docs.haply.co/docs/quick-start) and [usage](https://docs.haply.co/inverseSDK/) **Usage (make sure your Haply device is connected):** ```bash ./isaaclab.sh -p scripts/demos/haply_teleoperation.py --websocket_uri ws://localhost:10001 --pos_sensitivity 1.65 ``` ## Screenshots  ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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: mingxueg-nv <mingxueg@nvidia.com> Signed-off-by: mingxueg <mingxueg@nvidia.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…alls (isaac-sim#3922) # Description Removes dependency on ``` from isaacsim.core.utils.carb import get_carb_setting, set_carb_setting ``` Replaces `set_carb_setting(carb_settings, <setting-name>, <setting-value>` with direct carb call `carb_settings.set_string(<setting-name>, <setting-value>)`, `...set_int...`, `...set_bool...`, `...set_float...`. And replaces `get_carb_setting` with `carb_settings.get()` ## Type of change - Dependency removal ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by: Octi Zhang <zhengyuz@nvidia.com>
# Description Fixes isaac-sim#4372 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 This MR moves pytest configuration to pyproject.toml to avoid many project infrastructure files. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 Ruff can handle linting, formatting, and type-checking (where applicable), streamlining our development workflow and improving code quality. This PR replaces our current linting setup with Ruff. Subsequent MRs will look into using Ruff for formatting and import ordering. ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 --------- Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
# Description Fixes isaac-sim#4336 ## Type of change - Breaking change (existing functionality will not work without user modification) - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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
…on script (isaac-sim#4388) Remove the extra dot before `pyproject.toml` in the template generation script # Description Extra dots cannot be recognized 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) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> Signed-off-by: Ziqi Fan <fanziqi614@gmail.com>
…m#4364) # Description The teleoperation script crashes with `AttributeError: 'ForgeTaskGearMeshCfg' object has no attribute 'terminations'` when used with DirectRL environments like Forge tasks. This happens because the script unconditionally accesses `env_cfg.terminations` which only exists in `ManagerBasedRLEnvCfg`, not in `DirectRLEnvCfg`. This fix adds an `isinstance(env_cfg, ManagerBasedRLEnvCfg)` check before accessing manager-specific attributes, following the same pattern used in the RL training scripts (like `rsl_rl/train.py, sb3/train.py, skrl/train.py`). Fixes isaac-sim#4263 <!-- 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 ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 <!-- 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: Emmanuel Ferdman <emmanuelferdman@gmail.com>
… ARL drone task (isaac-sim#3760) ## Description This PR introduces multirotor and thruster support and adds a manager-based example/task for the ARL drone. The change contains a new low-level thruster actuator model, a new `Multirotor` articulation asset class + configs, new thrust actions, and a manager-based drone task (ARL drone) with MDP configs and RL agent configs. ### Motivation and context - Provides a reusable multirotor abstraction and a parameterized thruster actuator model so we can simulate multirotor vehicles (quad/hex/other). - Adds a manager-based ARL drone task and configuration files to enable repro and training workflows for the ARL drone platform. - Consolidates drone-specific code and prepares the repo for future control/sensor improvements. ## Type of change - New feature (non-breaking addition of new functionality) - Documentation update (added docs/comments where applicable) ### Files changed (high-level summary) - New/major files added: - source/isaaclab/isaaclab/actuators/thruster.py (new thruster actuator model) - source/isaaclab/isaaclab/assets/articulation/multirotor.py (new multirotor articulation) - source/isaaclab/isaaclab/assets/articulation/multirotor_cfg.py - source/isaaclab/isaaclab/assets/articulation/multirotor_data.py - source/isaaclab/isaaclab/envs/mdp/actions/thrust_actions.py - source/isaaclab_assets/isaaclab_assets/robots/arl_robot_1.py and ARL drone URDF + asset files as a submodule - source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_ntnu/* (new task code, commands, observations, rewards, state-based control configs and agent configs) - Modified: - source/isaaclab/isaaclab/actuators/actuator_cfg.py (register thruster config) - source/isaaclab/isaaclab/envs/mdp/actions/actions_cfg.py (register thrust actions) - small edits to various utils and types, and docs/make.bat - Total diff (branch vs main when I checked): 33 files changed, ~2225 insertions, 65 deletions ### Dependencies - No new external top-level dependencies introduced. The branch adds assets (binary `.zip`) — ensure Git LFS is used if you want large assets tracked by LFS. - The new drone task references standard repo-internal packages and Isaac Sim; no external pip packages required beyond the repo standard. Checklist (status) - [x] I have read and understood the contribution guidelines - [x] I have run the `pre-commit` checks 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 --------- Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com> Signed-off-by: Grzegorz Malczyk <44407007+grzemal@users.noreply.github.com> Signed-off-by: Welf Rehberg <65718465+Zwoelf12@users.noreply.github.com> Co-authored-by: Octi Zhang <zhengyuz@nvidia.com> Co-authored-by: Zwoelf12 <rehberg.welf@gmail.com> Co-authored-by: Mihir Kulkarni <mihirk284@gmail.com> Co-authored-by: Etor <etorarza@gmail.com> Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: Pascal Roth <roth.pascal@outlook.de> Co-authored-by: Welf Rehberg <65718465+Zwoelf12@users.noreply.github.com> Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
# Description Using Ruff for everything. ## Type of change - Breaking change (existing functionality will not work without user modification) ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] 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 --------- Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
# Description Previously, we were using black formatter which only checked that the code followed the desired number of characters. However, this skipped the docstrings. This MR now enables this feature for ruff and fixes the docs wherever applicable. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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>
…#3287) # Description Adds the ability to compose forces onto rigid bodies, rigid body collections and articulations. This should help implement drones, boats, and satellites into the framework. ## Usage ```python # Permanent forces can now be composed: # Adding two forces in a single step on the same body asset.permanent_wrench_composer.set_forces_and_torques(forces=torch.ones(1, 1, 3), env_ids=[0], object_ids=[0]) # Compose local and global forces together asset.permanent_wrench_composer.add_forces_and_torques(forces=torch.ones(1, 1, 3), env_ids=[0], object_ids=[1], is_global=True) # Adding torques to the same body asset.permanent_wrench_composer.add_forces_and_torques(torques=torch.ones(1, 1, 3), env_ids=[0], object_ids=[0]) #Adding forces and torques to the same body asset.permanent_wrench_composer.add_forces_and_torques(forces=torch.ones(1, 1, 3), torques=torch.ones(1, 1, 3), env_ids=[0], object_ids=[0]) # Adding forces and torques to the same body with different positions asset.permanent_wrench_composer.add_forces_and_torques(forces=torch.ones(1, 1, 3), torques=torch.ones(1, 1, 3), env_ids=[0], object_ids=[0], positions=torch.ones(1, 1, 3)) # Adding forces and torques to the same body with different positions in the global frame. Note, it composes local and global wrenches seamlessly. asset.permanent_wrench_composer.add_forces_and_torques(forces=torch.ones(1, 1, 3), torques=torch.ones(1, 1, 3), env_ids=[0], object_ids=[0], positions=torch.ones(1, 1, 3), is_global=True) # We can now apply instantaneous wrenches that are only applied for a single simulation step: asset.instantaneous_wrench_composer.add_forces_and_torques(forces=torch.ones(1, 1, 3), env_ids=[0], object_ids=[0]) asset.instantaneous_wrench_composer.add_forces_and_torques(forces=torch.ones(1, 1, 3), env_ids=[0], object_ids=[0]) asset.instantaneous_wrench_composer.add_forces_and_torques(forces=torch.ones(1, 1, 3), env_ids=[0], object_ids=[0]) # The instantaneous wrenches and the permanent wrenches are composed automatically when the wrenches are written to the simulation. The instantaneous wrenches are reseted after being written to the sim. ``` Fixes isaac-sim#3286 ## 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: Antoine RICHARD <antoiner@nvidia.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>
….py` demo (isaac-sim#4415) # Description This fix addresses an issue where robot ID 0 was not receiving keyboard controls due to the condition `if self._selected_id:` which evaluates 0 as False. This ensures that all robot IDs, including 0, can properly receive keyboard commands. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 documentation for PVD and OVD comparison to help with simulation consistency when migrating from Isaac Gym to Isaac Lab. This guide highlights how to set up PVD and OVD for both Isaac Gym and Isaac Lab, and the key parameters to review when observing simulation discrepancies. ## 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 read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 -->
…#4425) # Description The Ray setup currently uses eval to parse number of cpu/gpu and memory from config files, which introduces potential security risks. The fix aims to reduce the risk by constraining the allowed values to be specified for these attributes in the configuration. ## 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 read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [ ] 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 Since UV is a relatively new installation method that has not yet gone through rigorous testing, this PR marks it as an experimental approach until we have fully tested the various installation methods. ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 -->
# Description This MR adds more documentation to the multi-rotor classes to help users understand the features in more detail. ## Type of change - Documentation update ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
…aac-sim#4374) # Description This PR adds fabric backend support to xform_prim *Benefits:* > Much faster get/set_world_poses > Fixes the staling camera pose reading issue reported in isaac-sim#3177 *Drawback:* > Fabric is quite difficult to work with, and is only issacsim - concept *What could be improved in this PR :* > Get and Set local poses are not optimized and uses default USD path, could be better optimized potentially but not super clear how > The fabric support code is not in cleanest form, could be refactored better Perf: ``` 100 prims: ==================================================================================================== BENCHMARK RESULTS: 100 prims, 50 iterations ==================================================================================================== Operation Isaaclab Usd (ms) Isaaclab Fabric (ms) Isaacsim Usd (ms) Isaacsim Fabric (ms) Isaacsim Exp (ms) ---------------------------------------------------------------------------------------------------- Initialization 0.6943 0.3666 26.8021 16.0271 1.2048 Get World Poses 0.7097 0.0631 21.9179 21.7589 1.9342 Set World Poses 1.6010 0.1569 21.1555 19.4228 4.3816 Get Local Poses 0.4979 0.4973 4.5533 27.3162 1.8351 Set Local Poses 0.7120 0.7043 1.5524 1.5772 1.6714 Get Both (World+Local) 1.2319 0.5981 26.6506 49.8138 3.7306 Interleaved World Set→Get 2.2760 0.2106 41.7324 42.3750 6.2146 ==================================================================================================== Total Time 7.7228 2.5970 144.3642 178.2911 20.9722 ==================================================================================================== SPEEDUP vs Isaac Lab USD (Baseline) ==================================================================================================== Operation Isaaclab Fabric Isaacsim Usd Isaacsim Fabric Isaacsim Exp ---------------------------------------------------------------------------------------------------- Initialization 1.89x 0.03x 0.04x 0.58x Get World Poses 11.24x 0.03x 0.03x 0.37x Set World Poses 10.20x 0.08x 0.08x 0.37x Get Local Poses 1.00x 0.11x 0.02x 0.27x Set Local Poses 1.01x 0.46x 0.45x 0.43x Get Both (World+Local) 2.06x 0.05x 0.02x 0.33x Interleaved World Set→Get 10.81x 0.05x 0.05x 0.37x ==================================================================================================== Overall Speedup 2.97x 0.05x 0.04x 0.37x ==================================================================================================== ``` ``` 1000 prims: ==================================================================================================== SPEEDUP vs Isaac Lab USD (Baseline) ==================================================================================================== Operation Isaaclab Fabric Isaacsim Usd Isaacsim Fabric Isaacsim Exp ---------------------------------------------------------------------------------------------------- Initialization 1.06x 0.01x 0.04x 0.37x Get World Poses 107.18x 0.03x 0.03x 0.38x Set World Poses 76.65x 0.08x 0.08x 0.38x Get Local Poses 0.98x 0.10x 0.02x 0.27x Set Local Poses 1.01x 0.44x 0.44x 0.48x Get Both (World+Local) 2.40x 0.04x 0.02x 0.31x Interleaved World Set→Get 100.77x 0.05x 0.05x 0.37x ==================================================================================================== Overall Speedup 3.60x 0.05x 0.04x 0.36x ==================================================================================================== ``` Fixes isaac-sim#3177 <!-- 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 read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 <!-- 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 This MR ensures we stay consistent with the code structure in the contribution guidelines. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] 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 curobo dockerfile recently stopped working and somehow messes with the python/pip builds in the docker image when trying to perform any downstream commands. There could also be some conflicts with the curobo installation and the pytorch build that comes with Isaac Sim. This change adds in some hacks to the dockerfile to get it working so that we can run the CI tests again. We should look into fixing this dockerfile properly. ## 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 read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 -->
# Description This PR fixes a bug in the lidar pattern horizontal angle calculation and enhances the test suite for ray caster patterns. **Bug Fix**: The lidar pattern was generating incorrect number of horizontal angles, causing the actual angular resolution to differ from the requested resolution. For example, requesting 90° resolution for a 360° FOV produced only 3 rays (120° spacing) instead of 4 rays (90° spacing) **Test Enhancements**: - Added comprehensive parameterized tests to verify the fix - Parameterized all tests over both CUDA and CPU devices - Consolidated redundant tests (reduced from 24 to 18 test functions while maintaining coverage) - Improved test efficiency with batched operations Fixes isaac-sim#4430 ## Type of change - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality - enhanced test suite) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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>
# Description A small typo in the tutorials. ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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: Mahdi Chalaki <66170251+mahdichalaki@users.noreply.github.com>
…#4045) Cleans up new util functions - Bug fix (non-breaking change which fixes an issue) - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] 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 --------- Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
…c-sim#4484) # Description Recent transformers 5.0 package had some breaking changes in the meta devices checking. We are fixing the transformers package to 4.57.6 to avoid hitting this issue, which appeared when running the Theia vision example. ## 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 read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 -->
…gs (isaac-sim#4482) # Description Previously, this was being decided based on the device which did not make sense. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 --------- Co-authored-by: Kelly Guo <kellyg@nvidia.com>
# Description As per our internal discussions, we are moving the tactile sensor implementation to the `isaaclab_contrib` module. We will move it back to the core module once the sensor receives sufficient testing, validation, and API stabilization. ## Type of change - Breaking change (existing functionality will not work without user modification) - Documentation update ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] 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 --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
# Description Updates documentation to prepare for v2.3.2 release. ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 <kellyg@nvidia.com> Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
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Description
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