Recent Releases of isaaclab

👀 Overview

This is a minor patch release with some improvements and bug fixes.

Full Changelog: https://github.com/isaac-sim/IsaacLab/compare/v2.2.0...v2.2.1

✨ New Features

Adds contact point location reporting to ContactSensor by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/2842
Adds environments actions/observations descriptors for export by @AntoineRichard in https://github.com/isaac-sim/IsaacLab/pull/2730
Adds RSL-RL symmetry example for cartpole and ANYmal locomotion by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/3057

🔧 Improvements

Core API

Enhances Pink IK controller with null-space posture control and improv… by @michaellin6 in https://github.com/isaac-sim/IsaacLab/pull/3149
Adds periodic logging when checking USD path on Nucleus server by @matthewtrepte in https://github.com/isaac-sim/IsaacLab/pull/3221
Disallows string value written in sb3ppocfg.yaml get evaluated in processsb3cfg by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/3110

Infrastructure

Application Settings
- Disables rate limit for headless and headless rendering app by @matthewtrepte, @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/3219, https://github.com/isaac-sim/IsaacLab/pull/3089
- Disables rtx.indirrectDiffuse.enabled in render preset balanced and performance modes by @matthewtrepte in https://github.com/isaac-sim/IsaacLab/pull/3240
- Sets profiler backend to NVTX by default by @soowanpNV, @rwiltz in https://github.com/isaac-sim/IsaacLab/pull/3238, https://github.com/isaac-sim/IsaacLab/pull/3255
Dependencies
- Adds hf-xet license by @hhansen-bdai in https://github.com/isaac-sim/IsaacLab/pull/3116
- Fixes new typing-inspection dependency license by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/3237
Testing & Benchmarking
- Adds basic validation tests for scale-based randomization ranges by @louislelay in https://github.com/isaac-sim/IsaacLab/pull/3058
- Adds SensorBase tests by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/3160
Repository Utilities
- Adds improved readout from install_deps.py by @hhansen-bdai in https://github.com/isaac-sim/IsaacLab/pull/3104
- Fixs isaaclab.sh to detect isaacsim_version accurately 4.5 or >= 5.0 by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/3139
- Disables verbose printing in conftest.py by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/3291
- Updates pytest flags to add for isaacsim integration testsing by @ben-johnston-nv in https://github.com/isaac-sim/IsaacLab/pull/3247
- Updates CodeOwners to be more fine-grained by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/3090
- Fixes minor issues in CI by @nv-apoddubny in https://github.com/isaac-sim/IsaacLab/pull/3120

🐛 Bug Fixes

Core API

Asset Interfaces
- Fixes setting friction coefficients into physx in the articulation classes by @ossamaAhmed in https://github.com/isaac-sim/IsaacLab/pull/3243
- Sets jointfrictioncoeff only for selected physxenvids by @ashwinvkNV in https://github.com/isaac-sim/IsaacLab/pull/3119
Manager Interfaces
- Fixes observation space Dict for non-concatenated groups only keeps last term by @CSCSX in https://github.com/isaac-sim/IsaacLab/pull/3134
MDP Terms
- Fixes termination term effort limit check logic by @moribots in https://github.com/isaac-sim/IsaacLab/pull/3163
- Broadcasts environment ids inside mdp.randomize_rigid_body_com by @Foruck in https://github.com/isaac-sim/IsaacLab/pull/3164
- Fixes IndexError in resetjointsbyscale and resetjointsbyoffset by @Creampelt in https://github.com/isaac-sim/IsaacLab/pull/2949
- Fixes terrain_out_of_bounds to return tensor instead of bool by @fan-ziqi in https://github.com/isaac-sim/IsaacLab/pull/3180

Infrastructure

Fixes distributed training hanging issue by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/3273
Disables generate internal template when detecting isaaclab install via pip by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/3225
Fixes typo in isaaclab.bat by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/3272
Updates app pathing for user-provided rendering preset mode by @matthewtrepte in https://github.com/isaac-sim/IsaacLab/pull/3148

📜 Documentation

Adds documentation for Newton integration by @mpgussert in https://github.com/isaac-sim/IsaacLab/pull/3271
Adapts FAQ section in docs with Isaac Sim open-sourcing by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/3105
Changes checkpoint path in rsl-rl to an absolute path in documentation by @fan-ziqi in https://github.com/isaac-sim/IsaacLab/pull/3151
Fix MuJoCo link in docs by @fan-ziqi in https://github.com/isaac-sim/IsaacLab/pull/3181
Adds client version direction to XR document by @lotusl-code in https://github.com/isaac-sim/IsaacLab/pull/3246
Fixes broken link in doc by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/3274
Fix typo in list_envs.py script path by @fbeltrao in https://github.com/isaac-sim/IsaacLab/pull/3282
Fixes Franka blueprint env ID in docs by @louislelay in https://github.com/isaac-sim/IsaacLab/pull/3213
Fixes template docs and restructure imitation learning docs by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/3283

💔 Breaking Changes

Improves termination manager logging to report aggregated percentage of environments done due to each term by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/3107

🤗 New Contributors

@hhansen-bdai made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3116
@ashwinvkNV made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3119
@Creampelt made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2949
@soowanpNV made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3238
@moribots made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3163
@CSCSX made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3134
@ossamaAhmed made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3243
@Foruck made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3164
@lotusl-code made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3246
@ben-johnston-nv made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3247
@rwiltz made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3255
@michaellin6 made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3149
@fbeltrao made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3282

- Python
Published by Mayankm96 9 months ago

👀 Overview

Isaac Lab 2.2 brings major upgrades across simulation capabilities, tooling, and developer experience. It expands support for advanced physics features, new environments, and improved testing and documentation workflows. This release includes full compatibility with Isaac Sim 5.0 as well as backwards compatibility with Isaac Sim 4.5.

Key highlights of this release include:

Enhanced Physics Support: Updated joint friction modeling using the latest PhysX APIs, added support for spatial tendons, and improved surface gripper interactions.
New Environments for Imitation Learning: Introduction of two new GR1 mimic environments, with domain randomization and visual robustness evaluation, and improved pick-and-place tasks.
New Contact-Rich Manipulation Tasks: Integration of FORGE and AutoMate tasks for learning fine-grained contact interactions in simulation.
Teleoperation Improvements: Teleoperation tools have been enhanced with configurable parameters and CloudXR runtime updates, including head tracking and hand tracking.
Performance & Usability Improvements: Includes support for Stage in Memory and Cloning in Fabric for faster scene creation, new OVD recorder for large-scene GPU-based animation recording, and FSD (Fabric Scene Delegate) for improved rendering speed.
Improved Documentation: The documentation has been extended and updated to cover new features, resolve common issues, and streamline setup, including updates to teleop system requirements, VS Code integration, and Python environment management.

Full Changelog: https://github.com/isaac-sim/IsaacLab/compare/v2.1.1...v2.2.0

🔆 Highlighted Features

FORGE environments

As introduced in the FORGE paper, these environments focus on multi-stage assembly tasks that require force-aware manipulation. For more details, please check the PR #2968.

https://github.com/user-attachments/assets/0f307974-d0e8-40c4-a5b0-2f5c5d292668

AutoMate environments

The Automate effort creates a large assembly dataset for training policies over a wide range of assemblies. All 100 assembly parts and their respective environments are now a part of the environment suite. For more information, please check the PR #2507

https://github.com/user-attachments/assets/50bd0d4c-e281-405f-bdb2-6b77854ed0bb

Isaac Lab Evaluation Tasks

To simulate and evaluate manipulation policies (such as the Isaac GR00T N1 model), new industrial manipulation tasks using a humanoid robot are now available as a part of the IsaacLabEvalTasks effort. For more information, please check the repository: https://github.com/isaac-sim/IsaacLabEvalTasks

https://github.com/user-attachments/assets/dc58594a-8654-49ad-8bc9-db636f156330

💡Isaac Sim 5.0 Updates

Fixes rendering issues on Blackwell GPUs that previously resulted in overly noisy renders
Updates Python version from 3.10 to 3.11
Updates PyTorch version to torch 2.7.0+cu128, which will include Blackwell support
Drops official support for Ubuntu 20.04, we now officially support Ubuntu 22.04 and 24.04 Linux platforms
Isaac Sim 5.0 no longer sets /app/player/useFixedTimeStepping=False by default. We now do this in Isaac Lab.
isaaclab.sim.spawners.PhysicsMaterialCfg.improve_patch_friction is now removed. The simulation will always behave as if this attribute is set to true.
Native Livestreaming support has been removed. LIVESTREAM=1 can now be used for WebRTC streaming over public networks and LIVESTREAM=2 for private and local networks with WebRTC streaming.
Some assets in Isaac Sim have been reworked and restructured. Notably, the following asset paths were updated:
- Robots/Ant/ant_instanceable.usd --> Robots/IsaacSim/Ant/ant_instanceable.usd
- Robots/Humanoid/humanoid_instanceable.usd --> Robots/IsaacSim/Humanoid/humanoid_instanceable.usd
- Robots/ANYbotics/anymal_instanceable.usd --> Robots/ANYbotics/anymal_c/anymal_c.usd
- Robots/ANYbotics/anymal_c.usd --> Robots/ANYbotics/anymal_c/anymal_c.usd
- Robots/Franka/franka.usd --> Robots/FrankaRobotics/FrankaPanda/franka.usd
- Robots/AllegroHand/allegro_hand_instanceable.usd --> Robots/WonikRobotics/AllegroHand/allegro_hand_instanceable.usd
- Robots/Crazyflie/cf2x.usd --> Robots/Bitcraze/Crazyflie/cf2x.usd
- Robots/RethinkRobotics/sawyer_instanceable.usd --> Robots/RethinkRobotics/Sawyer/sawyer_instanceable.usd
- Robots/ShadowHand/shadow_hand_instanceable.usd --> Robots/ShadowRobot/ShadowHand/shadow_hand_instanceable.usd

✨ New Features

Adds FORGE tasks for contact-rich manipulation with force sensing to IsaacLab by @noseworm in #2968
Adds two new GR1 environments for IsaacLab Mimic by @peterd-NV
Adds stack environment, scripts for Cosmos, and visual robustness evaluation by @shauryadNv
Updates Joint Friction Parameters to Isaac Sim 5.0 PhysX APIs by @ossamaAhmed in 87130f23a11b84851133685b234dfa4e0991cfcd
Adds support for spatial tendons by @ossamaAhmed in 7a176fa984dfac022d7f99544037565e78354067
Adds support and example for SurfaceGrippers by @AntoineRichard in 14a3a7afc835754da7a275209a95ea21b40c0d7a
Adds support for stage in memory by @matthewtrepte in 33bcf6605bcd908c10dfb485a4432fa1110d2e73
Adds OVD animation recording feature by @matthewtrepte

🔧 Improvements

Enables FSD for faster rendering by @nv-mm
Sets rtx.indirectDiffuse.enabled to True for performance & balanced rendering presets by @matthewtrepte
Changes runner for post-merge pipeline on self-hosted runners by @nv-apoddubny
Fixes and improvements for CI pipeline by @nv-apoddubny
Adds flaky annotation for tests by @kellyguo11
Updates Mimic test cases to pytest format by @peterd-NV
Updates cosmos test files to use pytest by @shauryadNv
Updates onnx and protobuf version due to vulnerabilities by @kellyguo11
Updates minimum skrl version to 1.4.3 by @Toni-SM in https://github.com/isaac-sim/IsaacLab/pull/3053
Updates to Isaac Sim 5.0 by @kellyguo11
Updates docker CloudXR runtime version by @lotusl-code
Removes xr rendering mode by @rwiltz
Migrates OpenXRDevice from isaacsim.xr.openxr to omni.xr.kitxr by @rwiltz
Implements teleop config parameters and device factory by @rwiltz
Updates pick place env to use steering wheel asset by @peterd-NV
Adds a CLI argument to set epochs for Robomimic training script by @peterd-NV

🐛 Bug Fixes

Fixes operational space unit test to avoid pi rotation error by @ooctipus
Fixes GLIBC errors with importing torch before AppLauncher by @kellyguo11 in c80e2afb596372923dbab1090d4d0707423882f0
Fixes rendering preset by @matthewtrepte in cc0dab6cd50778507efc3c9c2d74a28919ab2092
Fixes callbacks with stage in memory and organize environment tests by @matthewtrepte in 4dd6a1e804395561965ed242b3d3d80b8a8f72b9
Fixes XR and external camera bug with async rendering by @rwiltz in c80e2afb596372923dbab1090d4d0707423882f0
Disables selection for rl_games when marl is selected for template generator by @ooctipus
Adds check for .gitignore when generating template by @kellyguo11
Fixes camera obs errors in stack instance randomize envs by @peterd-NV
Fixes parsing for play envs by @matthewtrepte
Fixes issues with consecutive python exe calls in isaaclab.bat by @kellyguo11
Fixes spacemouse add callback function by @peterd-NV in 72f05a29ad12d02ec9585dad0fbb2299d70a929c
Fixes humanoid training with new velocitylimitsim by @AntoineRichard

📄 Documentation

Adds note to mimic cosmos pipeline doc for eval by @shauryadNv
Updates teleop docs for 2.2 release by @rwiltz
Fixes outdated dofbot path in tutorial scripts by @mpgussert
Updates docs for VS Code IntelliSense setup and JAX installation by @Toni-SM
Updates Jax doc to overwrite version < 0.6.0 for torch by @kellyguo11
Adds docs for fabric cloning & stage in memory by @matthewtrepte
Updates driver requirements to point to our official technical docs by @mpgussert
Adds warning for ovd recording warning logs spam by @matthewtrepte
Adds documentation to specify HOVER version and known GLIBCXX error by @kellyguo11
Updates teleop system requirements doc by @lotusl-code
Add network requirements to cloudxr teleop doc by @lotusl-code

- Python
Published by kellyguo11 10 months ago

isaaclab - v2.1.1

👀 Overview

This release has been in development over the past few months and includes a significant number of updates, enhancements, and new features across the entire codebase. Given the volume of changes, we've grouped them into relevant categories to improve readability. This version is compatible with NVIDIA Isaac Sim 4.5.

We appreciate the community’s patience and contributions in ensuring quality and stability throughout. We're aiming for more frequent patch releases moving forward to improve the developer experience.

Note: This minor release does not include a Docker image or pip package.

Full Changelog: https://github.com/isaac-sim/IsaacLab/compare/v2.1.0...v2.1.1

✨ New Features

Asset Interfaces
- Adds position argument to set external forces and torques at different locations on the rigid body by @AntoineRichard in https://github.com/isaac-sim/IsaacLab/pull/1680
- Adds body_incoming_joint_wrench_b to ArticulationData field by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/2128
- Allows selecting articulation root prim explicitly by @lgulich in https://github.com/isaac-sim/IsaacLab/pull/2228
Sensor Interfaces
- Draws connection lines for FrameTransformer visualization by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1754
- Uses visualization marker for connecting lines inside FrameTransformer by @bikcrum in https://github.com/isaac-sim/IsaacLab/pull/2526
MDP Terms
- Adds body_pose_w and body_projected_gravity_b observations by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/2212
- Adds joint effort observation by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/2211
- Adds CoM randomization term to manager-based events by @shendredm in https://github.com/isaac-sim/IsaacLab/pull/1714
- Adds time-based mdp (observation) functions by @TheIndoorDad in https://github.com/isaac-sim/IsaacLab/pull/2332
- Adds curriculum mdp term to modify any environment parameters by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/2777
New Example Tasks
- Adds assembly tasks from the Automate project by @yijieg in https://github.com/isaac-sim/IsaacLab/pull/2507
- Adds digit locomotion examples by @lgulich in https://github.com/isaac-sim/IsaacLab/pull/1892

🔧 Improvements

Core API

Actuator Interfaces
- Fixes implicit actuator limits configs for assets by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/2952
- Updates actuator configs for Franka arm by @reeceomahoney in https://github.com/isaac-sim/IsaacLab/pull/2492
Asset Interfaces
- Optimizes getters of data inside asset classes by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/2118
- Adds method to set the visibility of the Asset's prims by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1752
Sensor Interfaces
- Updates to ray caster ray alignment and more customizable drift sampling by @jsmith-bdai in https://github.com/isaac-sim/IsaacLab/pull/2556
- Extends ContactSensorData by force_matrix_w_history attribute by @bikcrum in https://github.com/isaac-sim/IsaacLab/pull/2916
- Adds IMU projectedgravityb and IMU computation speed optimizations by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/2512
Manager Interfaces
- Adds serialization to observation and action managers by @jsmith-bdai in https://github.com/isaac-sim/IsaacLab/pull/2234
- Adds option to define the concatenation dimension in the ObservationManager by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/2393
- Supports composite observation space with proper min max in manager based env by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/2811
- Changes counter update in CommandManager by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/2393
- Integrates NoiseModel to manager-based workflows by @ozhanozen in https://github.com/isaac-sim/IsaacLab/pull/2755
- Updates NoiseModelWithAdditiveBias to apply per-feature bias sampling by @ozhanozen in https://github.com/isaac-sim/IsaacLab/pull/2760
- Fixes isaaclab.scene.reset_to to properly accept None as valid argument by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/2970
- Resets step reward buffer properly when weight is zero by @bikcrum in https://github.com/isaac-sim/IsaacLab/pull/2392
Terrain Generation
- Allows for custom TerrainGenerator without modifications of the TerrainImporter by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/2487
- Adds option for terrain border to above or below the ground by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/2394
- Adds ability to set platform height independent of object height for terrain by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/2695
- Adds absolute and relative noise to MeshRepeatedObjectsTerrain by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/2830
Simulation
- Raises exceptions from initialization callbacks inside SimContext in https://github.com/isaac-sim/IsaacLab/pull/2166
- Applies semantic_tags to ground by @KumoLiu in https://github.com/isaac-sim/IsaacLab/pull/2410
- Sets enable_stabilization to false by default by @AntoineRichard in https://github.com/isaac-sim/IsaacLab/pull/2628
- Fixes deprecation warning for pxr.Semantics by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/2721
Math Utilities
- Improves the implementation of euler_xyz_from_quat by @ShaoshuSu in https://github.com/isaac-sim/IsaacLab/pull/2365
- Optimizes yaw_quat implementation by @hapatel-bdai in https://github.com/isaac-sim/IsaacLab/pull/2247
- Changes to quat_apply and quat_apply_inverse for speed by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/2129
- Changes quat_box_minus implementation by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/2217
- Adds quat_box_plus and rigid_body_twist_transform by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/2217
- Adds math tests for transforms, rotations, and conversions by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/2801
General Utilities
- Simplifies buffer validation check for CircularBuffer by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/2617
- Modifies update_class_from_dict() to wholesale replace flat Iterables by @ozhanozen in https://github.com/isaac-sim/IsaacLab/pull/2511
- Allows slicing to be processed from lists inside dictionary by @LinghengMeng @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/2853

Tasks API

Adds support for module:task and updates gymnasium to >=1.0 by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/2467
Adds available RL library configs on error message if entry point is invalid by @Toni-SM in https://github.com/isaac-sim/IsaacLab/pull/2713
Enables hydra for all play.py scripts by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/2995
Fixes ray lazy metric reporting and hanging processes by @ozhanozen in https://github.com/isaac-sim/IsaacLab/pull/2346
Adds gradient clipping parameter for distillation using RSL-RL by @alessandroassirelli98 in https://github.com/isaac-sim/IsaacLab/pull/2454
Makes GRU-based RNNs exportable in RSL RL by @WT-MM in https://github.com/isaac-sim/IsaacLab/pull/3009
Adds wandb native support in rl_games by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/2650
Optimizes Stable-Baselines3 wrapper and additional training configs by @araffin in https://github.com/isaac-sim/IsaacLab/pull/2022
Enables sb3 to load checkpoint to continue training by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/2954
Supports sb3 wrapper to pre-process env's image obs-space to trigger sb3 natively supported cnn creation pipeline by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/2812

Infrastructure

Dependencies
- Updates torch to 2.7.0 with cuda 12.8 blackwell support by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/2998
- Updates gymnasium to v1.2.0 by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/2852
- Fixes numpy ver to <2 for isaaclabrl and isaaclabtasks by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/2866
- Adds license file for 3rd party OSS dependencies by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/2577
- Sets robomimic version to v0.4.0 by @masoudmoghani in https://github.com/isaac-sim/IsaacLab/pull/2814
- Upgrades pillow dependencies for upcoming Kit 107.3.1 by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/2908
- Removes protobuf upper version pin by @kwlzn in https://github.com/isaac-sim/IsaacLab/pull/2726
Docker
- Uses --gpus instead of nvidia runtime for docker by @yanziz-nvidia in https://github.com/isaac-sim/IsaacLab/pull/2411
- Adds optional suffix parameter for docker name by @zoemcc in https://github.com/isaac-sim/IsaacLab/pull/2172
- Adds support for bash history in docker by @AntoineRichard in https://github.com/isaac-sim/IsaacLab/pull/2659
Testing & Benchmarking
- Switches unittest to pytest for testing by @kellyguo11 @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/2459
- Adds training benchmark unit tests with input config by @matthewtrepte in https://github.com/isaac-sim/IsaacLab/pull/2503
- Fixes failing environment and IK tests by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/2372
Repository Utilities
- Adds script to convert urdfs/meshes to instanceable USD in batches by @hapatel-bdai in https://github.com/isaac-sim/IsaacLab/pull/2248
- Adds citation link for the repository by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/2935
- Adds Internal template generator warning for case when user pip installed isaaclab by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/3027

🐛 Bug Fixes

Core API

Actuator Interfaces
- Fixes DCMotor clipping for negative power and adds actuator tests by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/2300
Asset Interfaces
- Fixes inconsistent data reading in body, link, com for RigidObject, RigidObjectCollection and Articulation by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/2736
Sensor Interfaces
- Fixes pose update in Camera and TiledCamera by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/2316
- Fixes moving to cpu if needed in camera.py by @renaudponcelet in https://github.com/isaac-sim/IsaacLab/pull/2176
- Fixes how camera intrinsics are used for creation and update by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/1624
Manager Interfaces
- Fixes ObservationManager history buffer corrupted by external calls to ObservationManager.compute by @patrickhaoy in https://github.com/isaac-sim/IsaacLab/pull/2885
- Fixes check for manager term class inside event manager by @miguelalonsojr in https://github.com/isaac-sim/IsaacLab/pull/2357
- Fixes the issue of using Modifiers and history buffer together by @ZiwenZhuang in https://github.com/isaac-sim/IsaacLab/pull/2461
- Fixes check for re-initializing terms in ManagerBase by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/2612
- Fixes collision filtering logic on CPU by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/2553
- Fixes import inside InteractiveScene and LiveVisualizer by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/2611
- Fixes broken import in Live Visualizer image plot by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/2486
MDP Terms
- Fixes shape mismatch in body COM randomization by @shendredm in https://github.com/isaac-sim/IsaacLab/pull/2561
- Fixes visual prims handling during texture randomization by @KumoLiu in https://github.com/isaac-sim/IsaacLab/pull/2476
- Resets joint position/velocity targets in reset_scene_to_default by @wghou in https://github.com/isaac-sim/IsaacLab/pull/2692
- Fixes joint out of position limits terminations by @GiulioRomualdi in https://github.com/isaac-sim/IsaacLab/pull/2442
- Fixes reset_joints_by_scale and reset_joints_by_offsets to only affect the joint_names specified in SceneEntityCfg by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/2899
Math Utilities
- Fixes the implementation of quat_inv() by @ozhanozen in https://github.com/isaac-sim/IsaacLab/pull/2797

Tasks API

Fixes export LSTM to onnx file by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/2821

Example Tasks

Removes redundant contact termination assignment in H1RoughEnvCfg by @louislelay in https://github.com/isaac-sim/IsaacLab/pull/1748
Fixes memory leak in SDF calculation by @leondavi in https://github.com/isaac-sim/IsaacLab/pull/2680
Fixes randomization to events in Digit envs by @fan-ziqi in https://github.com/isaac-sim/IsaacLab/pull/3033

📜 Documentation

Adds section on isaac sim version in README by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/2698
Adds physics performance how-to guide by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/2468
Adds walkthrough section in documentation with jetbot tutorial by @mpgussert in https://github.com/isaac-sim/IsaacLab/pull/2368
Changes quickstart installation to use conda by @mpgussert in https://github.com/isaac-sim/IsaacLab/pull/2686
Fixes typo in the docs for adding your own library by @norbertcygiert in https://github.com/isaac-sim/IsaacLab/pull/2520
Updates documentation for conda, fabric, and inferencing by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/2772
Updates license headers and contributing with DCO by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/2629
Updates help text and docs to reflect pytest usage by @louislelay in https://github.com/isaac-sim/IsaacLab/pull/2638
Updates doc on actuators to include some references by @AntoineRichard in https://github.com/isaac-sim/IsaacLab/pull/2656
Update documentation on pytorch multi gpu setup by @Alex-Omar-Nvidia in https://github.com/isaac-sim/IsaacLab/pull/2687
Remove deprecated env variable in docs by @Kyu3224 in https://github.com/isaac-sim/IsaacLab/pull/2936

💔 Breaking Changes

While this release mainly focuses around various improvements and bug fixes, there are some noticeable behavior changes that are worth highlighting. These are summarized below.

Disabling of additional stabilization pass in PhysX settings

Previously, we were setting the PhysxCfg.enable_stabilization to True by default. This flag enabled additional stabilization processing by the underlying physics engine to improve the stability of complex interactions between large number of bodies.

As discussed in the PR #2628, enabling this flag led to incorrect contact forces report. Under the hood, PhysX introduces various non-physical heuristics to perform stabilization of large number of contacts. However, since the solver has improved, these heuristics are no longer applicable or needed for robotics applications. Hence, we have changed the flag enable_stabilization to False by default.

Clipping of torques inside the DC Motor

Previously, the clipping of torques inside the DC Motor did not account for the negative power regions properly. With the changes introduced in PR #2300, this should be handled properly.

🤗 New Contributors

@miguelalonsojr made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2357
@renaudponcelet made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2176
@yanziz-nvidia made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2411
@KumoLiu made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2410
@bikcrum made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2392
@zoemcc made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2172
@virgilio96upm made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1716
@ZiwenZhuang made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2461
@reeceomahoney made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2492
@shendredm made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1714
@matthewtrepte made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2503
@yijieg made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2507
@alessandroassirelli98 made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2454
@TheIndoorDad made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2332
@ooctipus made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2650
@araffin made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2022
@wghou made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2692
@ShaoshuSu made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2365
@norbertcygiert made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2520
@leondavi made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2680
@kwlzn made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2726
@bsb808 made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2788
@patrickhaoy made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2885
@Kyu3224 made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2936
@Alex-Omar-Nvidia made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2687
@WT-MM made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3009

- Python
Published by Mayankm96 10 months ago

isaaclab - v2.1.0

👀 Overview

This release introduces the official support for teleoperation using the Apple Vision Pro for collecting high-quality and dexterous hand data, including the addition of bi-manual teleoperation and imitation learning workflows through Isaac Lab Mimic.

We have also introduced new randomization methods for USD attributes, including the randomization of scale, color, and textures. In this release, we updated RSL RL to v2.3.1, which introduces many additional features including distributed training, student-teacher distillation, and recurrent student-teacher distillation.

Additionally, we revamped the Extension Template to include an automatic template generator tool from within the Isaac Lab repo. The extension template is a powerful method for users to develop new projects in user-hosted repos, allowing for isolation from the core Isaac Lab repo and changes. The previous IsaacLabExtensionTemplate repo showed a limited example pertaining only to the Manager-based workflow and RSL RL. In the new template generator, users can choose from any supported workflow and RL library, along with the desired RL algorithm. We will be deprecating the standalone IsaacLabExtensionTemplate in the near future.

NVIDIA has also released HOVER as an independent repo, hosting a neural whole body controller for humanoids built on top of Isaac Lab. HOVER includes sim-to-real workflows for deployment on the Unitree H1 robot, which we have also added a tutorial guide for the deployment process in the Isaac Lab documentation.

Full Changelog: https://github.com/isaac-sim/IsaacLab/compare/v2.0.2...v2.1.0

🔆 Highlighted Features

gr-1_pick_place

https://github.com/user-attachments/assets/4f281236-fffd-491d-a04f-1df5b3123f0d

TextureRandomization.webm

✨ New Features

Adds new external project / internal task template generator by @Toni-SM in https://github.com/isaac-sim/IsaacLab/pull/2039
Adds dummy agents to the external task template generator by @louislelay in https://github.com/isaac-sim/IsaacLab/pull/2221
Adds USD-level randomization mode to event manager by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/2040
Adds texture and scale randomization event terms by @hapatel-bdai in https://github.com/isaac-sim/IsaacLab/pull/2121
Adds replicator event for randomizing colors by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/2153
Adds interactive demo script for H1 locomotion by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/2041
Adds blueprint environment for Franka stacking mimic by @chengronglai in https://github.com/isaac-sim/IsaacLab/pull/1944
Adds action clipping to rsl-rl wrapper by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/2019
Adds Gymnasium spaces showcase tasks by @Toni-SM in https://github.com/isaac-sim/IsaacLab/pull/2109
Add configs and adapt exporter for RSL-RL distillation by @ClemensSchwarke in https://github.com/isaac-sim/IsaacLab/pull/2182
Adds support for head pose for Open XR device by @rwiltz
Adds handtracking joints and retargetting pipeline by @rwiltz
Adds documentation for openxr device and retargeters by @rwiltz
Adds tutorial for training & validating HOVER policy using Isaac Lab by @pulkitg01
Adds rendering mode presets by @matthewtrepte
Adds GR1 scene with Pink IK + Groot Mimic data generation and training by @ashwinvkNV
Adds absolute pose franka cube stacking environment for mimic by @rwiltz
Enables CloudXR OpenXR runtime container by @jaczhangnv
Adds a quick start guide for quick installation and introduction by @mpgussert

🔧 Improvements

Clarifies the default parameters in ArticulationData by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1875
Removes storage of meshes inside the TerrainImporter class by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1987
Adds more details about state in InteractiveScene by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/2119
Mounts scripts to docker container by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/2152
Initializes manager term classes only when sim starts by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/2117
Updates to latest RSL-RL v2.3.0 release by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/2154
Skips dependency installation for directories with no extension.toml by @jsmith-bdai in https://github.com/isaac-sim/IsaacLab/pull/2216
Clarifies layer instructions in animation docs by @tylerlum in https://github.com/isaac-sim/IsaacLab/pull/2240
Lowers the default number of environments for camera envs by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/2287
Updates Rendering Mode guide in documentation by @matthewtrepte
Adds task instruction UI support for mimic by @chengronglai
Adds ExplicitAction class to track argument usage in AppLauncher by @nv-mhaselton
Allows physics reset during simulation by @oahmednv
Updates mimic to support multi-eef (DexMimicGen) data generation by @nvcyc

🐛 Bug Fixes

Fixes default effort limit behavior for implicit actuators by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/2098
Fixes docstrings inconsistencies the code by @Bardreamaster in https://github.com/isaac-sim/IsaacLab/pull/2112
Fixes missing stage recorder extension for animation recorder by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/2125
Fixes ground height in factory environment by @louislelay in https://github.com/isaac-sim/IsaacLab/pull/2071
Removes double definition of render settings by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/2083
Fixes device settings in env tutorials by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/2151
Changes default ground color back to dark grey by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/2164
Initializes extras dict before loading managers by @kousheekc in https://github.com/isaac-sim/IsaacLab/pull/2178
Fixes typos in development.rst by @vi3itor in https://github.com/isaac-sim/IsaacLab/pull/2181
Fixes SE gamepad omniverse subscription API by @PinkPanther-ny in https://github.com/isaac-sim/IsaacLab/pull/2173
Fixes modifyactionspace in RslRlVecEnvWrapper by @felipemohr in https://github.com/isaac-sim/IsaacLab/pull/2185
Fixes distributed setup in benchmarking scripts by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/2194
Fixes typo RF_FOOT to RH_FOOT in tutorials by @likecanyon in https://github.com/isaac-sim/IsaacLab/pull/2200
Checks if success term exists before recording in RecorderManager by @peterd-NV in https://github.com/isaac-sim/IsaacLab/pull/2218
Unsubscribes from debug vis handle when timeline is stopped by @jsmith-bdai in https://github.com/isaac-sim/IsaacLab/pull/2214
Fixes wait time in play.py by using env.step_dt by @tylerlum in https://github.com/isaac-sim/IsaacLab/pull/2239
Fixes 50 series installation instruction to include torchvision by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/2258
Fixes importing MotionViewer from external scripts by @T-K-233 in https://github.com/isaac-sim/IsaacLab/pull/2195
Resets cuda device after each app.update call by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/2283
Fixes resume flag in rsl-rl cli args by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/2299

🤗 New Contributors

@chengronglai made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1944
@Bardreamaster made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2112
@hapatel-bdai made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2121
@kousheekc made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2178
@vi3itor made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2181
@PinkPanther-ny made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2173
@felipemohr made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2185
@likecanyon made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2200
@tylerlum made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2239
@ClemensSchwarke made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2182

- Python
Published by kellyguo11 about 1 year ago

isaaclab - v2.0.2

👀 Overview

This patch release focuses on improving actuator configuration and fixing key bugs while reverting unintended behavioral changes from v2.0.1. We strongly recommend switching to this new version if you're migrating from a pre-2.0 release of Isaac Lab.

Key Changes:

Actuator limit handling: Introduced velocity_limit_sim and effort_limit_sim to clearly distinguish simulation solver limits from actuator model constraints. Reverted implicit actuator velocity limits to pre-v2.0 behavior
Simulation configuration update: Removed disable_contact_processing flag to simplify behavior
Rendering configuration update: Reverted to pre-2.0 configuration to improve the quality of the render product
Tiled camera fixes: Fixed motion vector processing and added a hotfix for retrieving semantic images from the TiledCamera
WebRTC support: Added IP specification for live-streaming

Full Changelog: https://github.com/isaac-sim/IsaacLab/compare/v2.0.1...v2.0.2

✨ New Features

Adds velocity_limit_sim and effort_limit_sim to actuator by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/1654
Adds WebRTC livestreaming support with IP specification by @sheikh-nv in https://github.com/isaac-sim/IsaacLab/pull/1967

🔧 Improvements

Adds guidelines and examples for code contribution by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1876
Separates joint state setters inside Articulation class by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1751
Implements deterministic evaluation for skrl's multi-agent algorithms by @Toni-SM in https://github.com/isaac-sim/IsaacLab/pull/1972
Adds new extensions to pyproject.toml by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1988
Updates docs on Isaac Sim binary installation path and VSCode integration by @j3soon in https://github.com/isaac-sim/IsaacLab/pull/1970
Removes remaining deprecation warning in RigidObject deprecation by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/1851
Adds security and show&tell notes to documentation by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/1830
Updates docs for segmentation and 50 series GPUs issues by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/1943
Adds workaround for semantic segmentation issue with tiled camera by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/1947

🐛 Bug Fixes

Fixes offset from object obs for Franka stacking env when using parallel envs by @peterd-NV in https://github.com/isaac-sim/IsaacLab/pull/1839
Adds scene update to ManagerBasedEnv, DirectRLEnv and MARL envs initialization by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/1809, https://github.com/isaac-sim/IsaacLab/pull/1865
Loads actuator networks in eval() mode to prevent gradients by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1862
Fixes instructions on importing ANYmal URDF in docs by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1915
Fixes setting of root velocities in the event term reset_root_state_from_terrain by @syundo0730 in https://github.com/isaac-sim/IsaacLab/pull/1884
Fixes activate_contact_sensors when using spawner.MultiUsdFileCfg by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1990
Fixes misalignment in motion vectors from TiledCamera by @lhy0807 in https://github.com/isaac-sim/IsaacLab/pull/2012
Sets default tensor device to CPU for Camera rot buffer by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/2002

💔 Breaking Changes

Reverts the setting of joint velocity limits for implicit actuators by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1873
Removes disable_contact_processing flag from SimulationContext by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1861
Reverts to old render settings in kit experience files by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/1855

✈️ Migration Guide

[!WARNING]
We strongly recommend reviewing the details to fully understand the change in behavior, as it may impact the deployment of learned policies. Please open an issue on GitHub if you face any problems.

Introduction of simulation's effort and velocity limits parameters in ActuatorBaseCfg

Related MRs: https://github.com/isaac-sim/IsaacLab/pull/1654, https://github.com/isaac-sim/IsaacLab/pull/1873

Details

We have introduced the configuration variables `velocity_limit_sim` and `effort_limit_sim` to the `isaaclab.actuators.ActuatorBaseCfg` to allow users to set the **simulation** joint velocity and effort limits through the actuator configuration class. Previously, we were overusing the attributes `velocity_limit` and `effort_limit` inside the actuator configuration. A series of changes in-between led to a regression from v1.4.0 to v2.0.1 release of IsaacLab. To make this clearer to understand, we note the change in their behavior in a tabular form: Actuator Type | Attribute | v1.4.0 Behavior | v2.0.1 Behavior -- | -- | -- | -- Implicit | `velocity_limit` | Ignored, not set into simulation | Set into simulation Implicit | `effort_limit` | Set into simulation | Set into simulation Explicit | `velocity_limit` | Used by actuator models (e.g., DC Motor), not set into simulation | Used by actuator models (e.g., DC Motor), set into simulation Explicit | `effort_limit` | Used by actuator models, not set into simulation | Used by actuator models, set into simulation Setting the limits from the configuration into the simulation directly affects the behavior of the underlying physics engine solver. This impact is particularly noticeable when velocity limits are too restrictive, especially in joints with high stiffness, where it becomes easier to reach these limits. As a result, the change in behavior caused previously trained policies to not function correctly in IsaacLab v2.0.1. Consequently, we have reverted back to the prior behavior and added `velocity_limit_sim` and `effort_limit_sim` attributes to make it clear that setting those parameters means changing solver's configuration. The new behavior is as follows: Attribute | Implicit Actuator | Explicit Actuator -- | -- | -- `velocity_limit` | Ignored, not set into simulation | Used by the model (e.g., DC Motor), not set into simulation `effort_limit` | Set into simulation (same as `effort_limit_sim`) | Used by the models, not set into simulation `velocity_limit_sim` | Set into simulation | Set into simulation `effort_limit_sim` | Set into simulation (same as `effort_limit`) | Set into simulation Users are advised to use the `xxx_sim` flag if they want to directly modify the solver limits.

Removal of `disable_contact_processing` flag in SimulationCfg

Related MRs: https://github.com/isaac-sim/IsaacLab/pull/1861

Details

We have now removed the `disable_contact_processing` flag from the `SimulationCfg` to not have the user worry about these intricacies of the simulator. The flag is always True by default unless a contact sensor is created (which will internally set this flag to False). Previously, the flag `disable_contact_processing` led to confusion about its behavior. As the name suggests, the flag controls the contact reporting from the underlying physics engine, PhysX. Disabling this flag (note the double negation) means that PhysX collects the contact information from its solver and allows reporting them to the user. Enabling this flag means this operation is not performed and the overhead of it is avoided. Many of our examples (for instance, the locomotion environments) were setting this flag to True which meant the contacts should **not** get reported. However, this issue was not noticed earlier since GPU simulation bypasses this flag, and only CPU simulation gets affected. Running the same examples on CPU device led to different behaviors because of this reason. Existing users, who currently set this flag themselves, should receive a deprecated warning mentioning the removal of this flag and the switch to the new default behavior.

Switch to older rendering settings to improve render quality

Related MRs: https://github.com/isaac-sim/IsaacLab/pull/1855

Details

With the IsaacLab 2.0.0 release, we switched to new render settings aimed at improving tiled-rendering performance, but at the cost of reduced rendering quality. This change particularly affected dome lighting in the scene, which is the default in many of our examples. As reported by several users, this change negatively impacted render quality, even in cases where it wasn’t necessary (such as when recording videos of the simulation). In response to this feedback, we have reverted to the previous render settings by default to restore the quality users expected. For users who are looking to trade render quality for speed, we will provide guidelines in the future.

🤗 New Contributors

@syundo0730 made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1884
@Gonglitian made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1981
@lhy0807 made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2012

- Python
Published by Mayankm96 about 1 year ago

isaaclab - v2.0.1

👀 Overview

This release contains a small set of fixes and improvements.

The main change was to maintain combability with the updated library name for RSL RL, which breaks the previous installation methods for Isaac Lab. This release provides the necessary fixes and updates in Isaac Lab to accommodate for the name change and maintain combability with installation for RSL RL.

Full Changelog: https://github.com/isaac-sim/IsaacLab/compare/v2.0.0...v2.0.1

🔧 Improvements

Switches to RSL-RL install from PyPI by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1811
Updates the script path in the document by @fan-ziqi in https://github.com/isaac-sim/IsaacLab/pull/1766
Disables extension auto-reload when saving files by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/1788
Updates documentation for v2.0.1 installation by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/1818

🐛 Bug Fixes

Fixes timestamp of com and link buffers when writing articulation pose to sim by @Jackkert in https://github.com/isaac-sim/IsaacLab/pull/1765
Fixes incorrect local documentation preview path in xdg-open command by @louislelay in https://github.com/isaac-sim/IsaacLab/pull/1776
Fixes no matching distribution found for rsl-rl (unavailable) by @samibouziri in https://github.com/isaac-sim/IsaacLab/pull/1808
Fixes reset of sensor drift inside the RayCaster sensor by @zoctipus in https://github.com/isaac-sim/IsaacLab/pull/1821

New Contributors

@Jackkert made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1765

- Python
Published by kellyguo11 over 1 year ago

isaaclab - v2.0.0

👀 Overview

Isaac Lab 2.0 brings some exciting new features, including a new addition to the Imitation Learning workflow with the Isaac Lab Mimic extension.

Isaac Lab Mimic provides the ability to automatically generate additional trajectories based on just a few human collected demonstrations, allowing for larger training datasets with less human effort. This work is based on the MimicGen work for Scalable Robot Learning using Human Demonstrations.

Additionally, we introduced a new set of AMP tasks based on Adversarial Motion Priors, training humanoid robots to walk, run, and dance 👯

Along with Isaac Lab 2.0, Isaac Sim 4.5 brings several new and breaking changes, including a full refactor of the Isaac Sim extensions, an improved URDF importer, an update to the PyTorch dependency to version 2.5.1, and many fixes for tiled rendering that now supports multiple tiled cameras at different resolutions.

To follow the refactoring in Isaac Sim, we made similar refactoring and restructuring changes to Isaac Lab. These breaking changes will no longer be compatible with previous Isaac Sim versions. Please make sure to update to Isaac Sim 4.5 when using the Isaac Lab 2.0 release.

Full Changelog: https://github.com/isaac-sim/IsaacLab/compare/v1.4.1...v2.0.0

🌟 Highlights from the Isaac Sim 4.5 release:

Support for multiple TiledCamera instances and varying resolutions
Improved rendering performance by up to 1.2x
Faster startup time through optimizations in the Cloner class that improves startup time by 30%
Enhanced OmniPVD for debugging physics simulation, enabling capturing reinforcement learning simulation workloads of up to 2000 environments
Physics simulation performance optimizations improving throughput of up to 70%
Physics support for dedicated cylinder and cone geometry designed for robot wheels that is fully GPU accelerated
A new physics GPU filtering mechanism allowing co-location of reinforcement learning environments at the origin with minimal performance loss for scenes with limited collider counts
Improvements in simulation stability for mimic joints at high joint gains

🔆 Highlighted Features

https://github.com/user-attachments/assets/fee52af0-2ef5-4753-8fbb-dd887f691967

https://github.com/user-attachments/assets/ac1310d4-5452-4bb0-a9d5-d4b8202d79d3

https://github.com/user-attachments/assets/ea1e7901-5711-4324-ae91-3649f6c4fcbd

https://github.com/user-attachments/assets/288ffb91-20b7-4396-a1e1-1ee8f222d444

✨ New Features

Adds humanoid AMP tasks for direct workflow by @Toni-SM
Adds Isaac Lab Mimic based on MimicGen data generation for Imitation Learning by @peterd-NV @nvcyc @ashwinvkNV @karsten-nvidia
Adds consolidated demo script for showcasing recording and mimic dataset generation in real-time in one simulation script by @nvcyc
Adds Franka stacking environment for GR00T mimic by @peterd-NV @nvcyc
Adds option to filter collisions and real-time playback by @kellyguo11

🔧 Improvements

Adds a tutorial for policy inference in a prebuilt USD scene by @oahmednv
Adds unit tests for multi-tiled cameras by @matthewtrepte
Updates render setting defaults for better quality by @kellyguo11
Adds a flag to wait for texture loading completion when reset by @oahmednv
Adds pre-trained checkpoints and tools for generating and uploading checkpoints by @nv-cupright
Adds new denoiser optimization flags for rendering by @kellyguo11
Updates torch to 2.5.1 by @kellyguo11

🐛 Bug Fixes

Fixes external force buffers to set to zero when no forces/torques are applied by @matthewtrepte

💔 Breaking Changes

Updates the URDF and MJCF importers for Isaac Sim 4.5 by @Dhoeller19
Renames Isaac Lab extensions and folders by @kellyguo11
Restructures extension folders and removes old imitation learning scripts by @kellyguo11

✈️ Migration Guide

Renaming of Isaac Sim Extensions

Details

Previously, Isaac Sim extensions have been following the convention of `omni.isaac.*`, such as `omni.isaac.core`. In Isaac Sim 4.5, Isaac Sim extensions have been renamed to use the prefix `isaacsim`, replacing `omni.isaac`. In addition, many extensions have been renamed and split into multiple extensions to prepare for a more modular framework that can be customized by users through the use of app templates. Notably, the following commonly used Isaac Sim extensions in Isaac Lab are renamed as follow: * `omni.isaac.cloner` --> `isaacsim.core.cloner` * `omni.isaac.core.prims` --> `isaacsim.core.prims` * `omni.isaac.core.simulation_context` --> `isaacsim.core.api.simulation_context` * `omni.isaac.core.utils` --> `isaacsim.core.utils` * `omni.isaac.core.world` --> `isaacsim.core.api.world` * `omni.isaac.kit.SimulationApp` --> `isaacsim.SimulationApp` * `omni.isaac.ui` --> `isaacsim.gui.components`

Renaming of the URDF and MJCF Importers

Details

Starting from Isaac Sim 4.5, the URDF and MJCF importers have been renamed to be more consistent with the other extensions in Isaac Sim. The importers are available on isaac-sim GitHub as open source projects. Due to the extension name change, the Python module names have also been changed: * URDF Importer: `isaacsim.asset.importer.urdf` (previously `omni.importer.urdf`) * MJCF Importer: `isaacsim.asset.importer.mjcf` (previously `omni.importer.mjcf`) From the Isaac Sim UI, both URDF and MJCF importers can now be accessed directly from the File > Import menu when selecting a corresponding .urdf or .xml file in the file browser.

Changes in URDF Importer

Details

Isaac Sim 4.5 brings some updates to the URDF Importer, with a fresh UI to allow for better configurations when importing robots from URDF. As a result, the Isaac Lab URDF Converter has also been updated to reflect these changes. The `UrdfConverterCfg` includes some new settings, such as `PDGainsCfg` and `NaturalFrequencyGainsCfg` classes for configuring the gains of the drives. One breaking change to note is that the `UrdfConverterCfg.JointDriveCfg.gains` attribute must be of class type `PDGainsCfg` or `NaturalFrequencyGainsCfg`. The stiffness of the `PDGainsCfg` must be specified, as such: ```python joint_drive=sim_utils.UrdfConverterCfg.JointDriveCfg( gains=sim_utils.UrdfConverterCfg.JointDriveCfg.PDGainsCfg(stiffness=None, damping=None) ) ``` The `natural_frequency` attribute must be specified for `NaturalFrequencyGainsCfg`.

Renaming of Isaac Lab Extensions and Folders

Details

Corresponding to Isaac Sim 4.5 changes, we have also made some updates to the Isaac Lab directories and extensions. All extensions that were previously under `source/extensions` are now under the `source/` directory directly. The `source/apps` and `source/standalone` folders have been moved to the root directory and are now called `apps/` and `scripts/`. Isaac Lab extensions have been renamed to: * `omni.isaac.lab` --> `isaaclab` * `omni.isaac.lab_assets` --> `isaaclab_assets` * `omni.isaac.lab_tasks` --> `isaaclab_tasks` In addition, we have split up the previous `source/standalone/workflows` directory into `scripts/imitation_learning` and `scripts/reinforcement_learning` directories. The RSL RL, Stable-Baselines, RL_Games, SKRL, and Ray directories are under `scripts/reinforcement_learning`, while Robomimic and the new Isaac Lab Mimic directories are under `scripts/imitation_learning`. To assist with the renaming of Isaac Lab extensions in your project, we have provided a [simple script](https://gist.github.com/kellyguo11/3e8f73f739b1c013b1069ad372277a85) that will traverse through the `source` and `docs` directories in your local Isaac Lab project and replace any instance of the renamed directories and imports. **Please use the script at your own risk as it will overwrite source files directly.**

Restructuring of Isaac Lab Extensions

Details

With the introduction of `isaaclab_mimic`, designed for supporting data generation workflows for imitation learning, we have also split out the previous `wrappers` folder under `isaaclab_tasks` to its own module, named `isaaclab_rl`. This new extension will contain reinforcement learning specific wrappers for the various RL libraries supported by Isaac Lab. The new `isaaclab_mimic` extension will also replace the previous imitation learning scripts under the `robomimic` folder. We have removed the old scripts for data collection and dataset preparation in favor of the new mimic workflow. For users who prefer to use the previous scripts, they will be available in previous release branches. Additionally, we have also restructured the `isaaclab_assets` extension to be split into `robots` and `sensors` subdirectories. This allows for clearer separation between the pre-defined configurations provided in the extension. For any existing imports such as `from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG`, please replace it with `from isaaclab.robots.anymal import ANYMAL_C_CFG`.

🤗 New Contributors

We have expanded our internal efforts towards Isaac Lab and Gr00t developments. We sincerely thank the different teams involved in adding these new features into the framework.

- Python
Published by kellyguo11 over 1 year ago

isaaclab - v1.4.1

👀 Overview

This release contains a set of improvements and bug fixes.

Most importantly, we reverted one of the changes from the previous release (https://github.com/isaac-sim/IsaacLab/pull/966) to ensure the training throughput performance remains the same.

Full Changelog: https://github.com/isaac-sim/IsaacLab/compare/v1.4.0...v1.4.1

This is the final release compatible with Isaac Sim 4.2. The next release will target Isaac Sim 4.5, which introduces breaking changes that will make Isaac Lab incompatible with earlier versions of Isaac Sim.

✨ New Features

Adds documentation and demo script for IMU sensor by @mpgussert in https://github.com/isaac-sim/IsaacLab/pull/1694

🔧 Improvements

Removes deprecation for rootstatew properties and setters by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/1695
Fixes MARL workflows for recording videos during training/inferencing by @Rishi-V in https://github.com/isaac-sim/IsaacLab/pull/1596
Adds body tracking option to ViewerCfg by @KyleM73 in https://github.com/isaac-sim/IsaacLab/pull/1620
Fixes the joint_parameter_lookup type in RemotizedPDActuatorCfg to support list format by @fan-ziqi in https://github.com/isaac-sim/IsaacLab/pull/1626
Updates pip installation documentation to clarify options by @steple in https://github.com/isaac-sim/IsaacLab/pull/1621
Fixes docstrings in Articulation Data that report wrong return dimension by @zoctipus in https://github.com/isaac-sim/IsaacLab/pull/1652
Fixes documentation error for PD Actuator by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/1668
Clarifies ray documentation and fixes minor issues by @garylvov in https://github.com/isaac-sim/IsaacLab/pull/1717
Updates code snippets in documentation to reference scripts by @mpgussert in https://github.com/isaac-sim/IsaacLab/pull/1693
Adds dict conversion test for ActuatorBase configs by @mschweig in https://github.com/isaac-sim/IsaacLab/pull/1608

🐛 Bug Fixes

Fixes JointAction not preserving order when using all joints by @T-K-233 in https://github.com/isaac-sim/IsaacLab/pull/1587
Fixes event term for pushing root by setting velocity by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1584
Fixes error in Articulation where default_joint_stiffness and default_joint_damping are not correctly set for implicit actuator by @zoctipus in https://github.com/isaac-sim/IsaacLab/pull/1580
Fixes action reset of pre_trained_policy_action in navigation environment by @nicolaloi in https://github.com/isaac-sim/IsaacLab/pull/1623
Fixes rigid object's root com velocities timestamp check by @ori-gadot in https://github.com/isaac-sim/IsaacLab/pull/1674
Adds interval resampling on event manager's reset call by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1750
Corrects calculation of target height adjustment based on sensor data by @fan-ziqi in https://github.com/isaac-sim/IsaacLab/pull/1710
Fixes infinite loop in repeated_objects_terrain method by @nicolaloi in https://github.com/isaac-sim/IsaacLab/pull/1612
Fixes issue where the indices were not created correctly for articulation setters by @AntoineRichard in https://github.com/isaac-sim/IsaacLab/pull/1660

🤗 New Contributors

@T-K-233 made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1587
@steple made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1616
@Rishi-V made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1596
@nicolaloi made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1623
@mschweig made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1608
@AntoineRichard made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1660
@ori-gadot made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1674
@garylvov made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1717

- Python
Published by Mayankm96 over 1 year ago

isaaclab - v1.4.0

👀 Overview

Due to a great amount of amazing updates, we are putting out one more Isaac Lab release based off of Isaac Sim 4.2. This release contains many great new additions and bug fixes, including several new environments, distributed training and hyperparameter support with Ray, new live plot feature for Manager-based environments, and more.

We will now spend more focus on the next Isaac Lab release geared towards the new Isaac Sim 4.5 release coming soon. The upcoming release will contain breaking changes in both Isaac Lab and Isaac Sim and breaks backwards compatibility, but will come with many great fixes and improvements.

Full Changelog: https://github.com/isaac-sim/IsaacLab/compare/v1.3.0...v1.4.0

✨ New Features

Adds Factory contact-rich manipulation tasks to IsaacLab by @noseworm in https://github.com/isaac-sim/IsaacLab/pull/1520
Adds a Franka stacking ManagerBasedRLEnv by @peterd-NV in https://github.com/isaac-sim/IsaacLab/pull/1494
Adds recorder manager in manager-based environments by @nvcyc in https://github.com/isaac-sim/IsaacLab/pull/1336
Adds Ray Workflow: Multiple Run Support, Distributed Hyperparameter Tuning, and Consistent Setup Across Local/Cloud by @glvov-bdai in https://github.com/isaac-sim/IsaacLab/pull/1301
Adds OperationSpaceController to docs and tests and implement corresponding action/action_cfg classes by @ozhanozen in https://github.com/isaac-sim/IsaacLab/pull/913
Adds null-space control option within OperationSpaceController by @ozhanozen in https://github.com/isaac-sim/IsaacLab/pull/1557
Adds observation term history support to Observation Manager by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/1439
Adds live plots to managers by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/893

🔧 Improvements

Adds documentation and example scripts for sensors by @mpgussert in https://github.com/isaac-sim/IsaacLab/pull/1443
Removes duplicated TerminationsCfg code in G1 and H1 RoughEnvCfg by @fan-ziqi in https://github.com/isaac-sim/IsaacLab/pull/1484
Adds option to change the clipping behavior for all Cameras and unifies the default by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/891
Adds check that no articulation root API is applied on rigid bodies by @lgulich in https://github.com/isaac-sim/IsaacLab/pull/1358
Adds RayCaster rough terrain base height to reward by @Andy-xiong6 in https://github.com/isaac-sim/IsaacLab/pull/1525
Adds position threshold check for state transitions by @DorsaRoh in https://github.com/isaac-sim/IsaacLab/pull/1544
Adds clip range for JointAction by @fan-ziqi in https://github.com/isaac-sim/IsaacLab/pull/1476

🐛 Bug Fixes

Fixes noisemodel initialized in directmarl_env by @NoneJou072 in https://github.com/isaac-sim/IsaacLab/pull/1480
Fixes entrypoint and kwargs in isaaclabtasks README by @fan-ziqi in https://github.com/isaac-sim/IsaacLab/pull/1485
Fixes syntax for checking if pre-commit is installed in isaaclab.sh by @louislelay in https://github.com/isaac-sim/IsaacLab/pull/1422
Corrects fisheye camera projection types in spawner configuration by @command-z-z in https://github.com/isaac-sim/IsaacLab/pull/1361
Fixes actuator velocity limits propagation down the articulation rootphysxview by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/1509
Computes Jacobian in the root frame inside the DifferentialInverseKinematicsAction class by @zoctipus in https://github.com/isaac-sim/IsaacLab/pull/967
Adds transform for mesh_prim of ray caster sensor by @clearsky-mio in https://github.com/isaac-sim/IsaacLab/pull/1448
Fixes configclass dict conversion for torch tensors by @lgulich in https://github.com/isaac-sim/IsaacLab/pull/1530
Fixes error in apply_actions method in NonHolonomicAction action term. by @KyleM73 in https://github.com/isaac-sim/IsaacLab/pull/1513
Fixes outdated sensor data after reset by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/1276
Fixes order of logging metrics and sampling commands in command manager by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1352

💔 Breaking Changes

Refactors pose and velocities to link frame and COM frame APIs by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/966

🤗 New Contributors

@nvcyc made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1336
@peterd-NV made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1494
@NoneJou072 made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1480
@clearsky-mio made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1448
@Andy-xiong6 made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1525
@noseworm made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1520

- Python
Published by kellyguo11 over 1 year ago

isaaclab - v1.3.0

👀 Overview

This release will be a final release based on Isaac Sim 4.2 before the transition to Isaac Sim 4.5, which will likely contain breaking changes and no longer backwards compatible with Isaac Sim 4.2 and earlier. In this release, we introduce many features, improvements, and bug fixes, including IMU sensors, support for various types of gymnasium spaces, manager-based perception environments, and more.

Full Changelog: https://github.com/isaac-sim/IsaacLab/compare/v1.2.0...v1.3.0

✨ New Features

Adds IMU sensor by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/619
Add Camera Benchmark Tool and Allow Correct Unprojection of distancetocamera depth image by @glvov-bdai in https://github.com/isaac-sim/IsaacLab/pull/976
Creates Manager Based Cartpole Vision Example Environments by @glvov-bdai in https://github.com/isaac-sim/IsaacLab/pull/995
Adds image extracted features observation term and cartpole examples for it by @glvov-bdai in https://github.com/isaac-sim/IsaacLab/pull/1191
Supports other gymnasium spaces in Direct workflow by @Toni-SM in https://github.com/isaac-sim/IsaacLab/pull/1117
Adds configuration classes for spawning different assets at prim paths by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1164
Adds a rigid body collection class by @Dhoeller19 in https://github.com/isaac-sim/IsaacLab/pull/1288
Adds option to scale/translate/rotate meshes in the mesh_converter by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/1228
Adds event term to randomize gains of explicit actuators by @MoreTore in https://github.com/isaac-sim/IsaacLab/pull/1005
Adds Isaac Lab Reference Architecture documentation by @OOmotuyi in https://github.com/isaac-sim/IsaacLab/pull/1371

🔧 Improvements

Expands functionality of FrameTransformer to allow multi-body transforms by @jsmith-bdai in https://github.com/isaac-sim/IsaacLab/pull/858
Inverts SE-2 keyboard device actions (Z, X) for yaw command by @riccardorancan in https://github.com/isaac-sim/IsaacLab/pull/1030
Disables backward pass compilation of warp kernels by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1222
Replaces TensorDict with native dictionary by @Toni-SM in https://github.com/isaac-sim/IsaacLab/pull/1348
Improves omni.isaac.lab_tasks loading time by @Toni-SM in https://github.com/isaac-sim/IsaacLab/pull/1353
Caches PhysX view's joint paths when processing fixed articulation tendons by @Toni-SM in https://github.com/isaac-sim/IsaacLab/pull/1347
Replaces hardcoded module paths with __name__ dunder by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1357
Expands observation term scaling to support list of floats by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/1269
Removes extension startup messages from the Simulation App by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1217
Adds a render config to the simulation and tiledCamera limitations to the docs by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/1246
Adds Kit command line argument support by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/1293
Modifies workflow scripts to generate random seed when seed=-1 by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/1048
Adds benchmark script to measure robot loading by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1195
Switches from carb to omni.log for logging by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1215
Excludes cache files from vscode explorer by @Divelix in https://github.com/isaac-sim/IsaacLab/pull/1131
Adds versioning to the docs by @sheikh-nv in https://github.com/isaac-sim/IsaacLab/pull/1247
Adds better error message for invalid actuator parameters by @lgulich in https://github.com/isaac-sim/IsaacLab/pull/1235
Updates tested docker and apptainer versions for cluster deployment by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/1230
Removes ml_archive as a dependency of omni.isaac.lab extension by @fan-ziqi in https://github.com/isaac-sim/IsaacLab/pull/1266
Adds a validity check for configclasses by @Dhoeller19 in https://github.com/isaac-sim/IsaacLab/pull/1214
Ensures mesh name is compatible with USD convention in mesh converter by @fan-ziqi in https://github.com/isaac-sim/IsaacLab/pull/1302
Adds sanity check for the term type inside the command manager by @command-z-z in https://github.com/isaac-sim/IsaacLab/pull/1315
Allows configclass to_dict operation to handle a list of configclasses by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/1227

🐛 Bug Fixes

Disables replicate physics for deformable teddy lift environment by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1026
Fixes Jacobian joint indices for floating base articulations by @lorenwel in https://github.com/isaac-sim/IsaacLab/pull/1033
Fixes setting the seed from CLI for RSL-RL by @kaixi287 in https://github.com/isaac-sim/IsaacLab/pull/1084
Fixes camera MDP term name and reprojection docstrings by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1130
Fixes deprecation notice for using pxr.Semantics by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1129
Fixes scaling of default ground plane by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/1133
Fixes Isaac Sim executable on pip installation by @Toni-SM in https://github.com/isaac-sim/IsaacLab/pull/1172
Passes device from CLI args to simulation config in standalone scripts by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/1114
Fixes the event for randomizing rigid body material by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/1140
Fixes the raycastercamera tutorial script when saving the data by @mpgussert in https://github.com/isaac-sim/IsaacLab/pull/1198
Fixes running the docker container when the DISPLAY env variable is not defined by @GiulioRomualdi in https://github.com/isaac-sim/IsaacLab/pull/1163
Fixes default joint pos when setting joint limits by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/1040
Fixes device propogation for noise and adds noise tests by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/1175
Removes additional sbatch and fixes default profile in cluster deployment by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/1229
Fixes the checkpoint loading error in RSL-RL training script by @bearpaw in https://github.com/isaac-sim/IsaacLab/pull/1210
Fixes pytorch broadcasting issue in EMAJointPositionToLimitsAction by @bearpaw in https://github.com/isaac-sim/IsaacLab/pull/1207
Fixes body IDs selection when computing feet_slide reward for locomotion-velocity task by @dtc103 in https://github.com/isaac-sim/IsaacLab/pull/1277
Fixes broken URLs in markdown files by @DorsaRoh in https://github.com/isaac-sim/IsaacLab/pull/1272
Fixes net_arch in sb3_ppo_cfg.yaml for Isaac-Lift-Cube-Franka-v0 task by @LinghengMeng in https://github.com/isaac-sim/IsaacLab/pull/1249

🤗 New Contributors

@riccardorancan made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1030
@glvov-bdai made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/976
@kaixi287 made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1084
@lgulich made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1119
@nv-apoddubny made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1118
@GiulioRomualdi made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1163
@Divelix made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1131
@sheikh-nv made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1247
@dtc103 made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1277
@DorsaRoh made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1272
@louislelay made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1271
@LinghengMeng made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1249
@OOmotuyi made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1337
@command-z-z made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1315
@MoreTore made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/1005

- Python
Published by kellyguo11 over 1 year ago

isaaclab - v1.2.0

👀 Overview

We leverage the new release of Isaac Sim, 4.2.0, and bring RTX-based tiled rendering, support for multi-agent environments, and introduce many bug fixes and improvements.

Additionally, we have published an example for generating rewards using an LLM based on Eureka, available here https://github.com/isaac-sim/IsaacLabEureka.

Full Changelog: https://github.com/isaac-sim/IsaacLab/compare/v1.1.0...v1.2.0

🔆 Highlighted Features

https://github.com/user-attachments/assets/b991ff62-c6b2-4042-9435-ac7ae232fb26

https://github.com/user-attachments/assets/cb929b45-63b7-433c-af6c-5c19b4951b35

https://github.com/user-attachments/assets/4ecc18e0-ec6c-455a-9a2f-88b00bae0a9f

✨ New Features

Adds RTX-based tiled rendering. This improves the overall rendering speed and quality.
Adds the direct workflow perceptive Shadowhand Cube Repose environment Isaac-Repose-Cube-Shadow-Vision-Direct-v0 by @kellyguo11.
Adds support for multi-agent environments with the Direct workflow, with support for MAPPO and IPPO in SKRL by @Toni-SM
Adds the direct workflow multi-agent environments Isaac-Cart-Double-Pendulum-Direct-v0 and Isaac-Shadow-Hand-Over-Direct-v0 by @Toni-SM
Adds throughput benchmarking scripts for the different learning workflows by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/759
Adds results for the benchmarks in the documentation here for different types of hardware by @kellyguo11
Adds the direct workflow Allegro hand environment by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/709
Adds video recording to the play scripts in RL workflows by @j3soon in https://github.com/isaac-sim/IsaacLab/pull/763
Adds comparison tables for the supported RL libraries here by @kellyguo11
Add APIs for deformable asset by @masoudmoghani in https://github.com/isaac-sim/IsaacLab/pull/630
Adds support for MJCF converter by @qqqwan in https://github.com/isaac-sim/IsaacLab/pull/957
Adds a function to define camera configs through intrinsic matrix by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/617
Adds configurable modifiers to observation manager by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/830
Adds the Hydra configuration system for RL training by @Dhoeller19 in https://github.com/isaac-sim/IsaacLab/pull/700

🔧 Improvements

Uses PhysX accelerations for rigid body acceleration data by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/760
Adds documentation on the frames for asset data by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/742
Renames Unitree configs in locomotion tasks to match properly by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/714
Adds option to set the height of the border in the TerrainGenerator by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/744
Adds a cli arg to run_all_tests.py for testing a selected extension by @jsmith-bdai in https://github.com/isaac-sim/IsaacLab/pull/753
Decouples rigid object and articulation asset classes by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/644
Adds performance optimizations for domain randomization by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/494
Allows having hybrid dimensional terms inside an observation group by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/772
Adds a flag to preserve joint order inside JointActionCfg action term by @xav-nal in https://github.com/isaac-sim/IsaacLab/pull/787
Adds the ability to resume training from a checkpoint with rl_games by @sizsJEon in https://github.com/isaac-sim/IsaacLab/pull/797
Adds windows configuration to VS code tasks by @johnBuffer in https://github.com/isaac-sim/IsaacLab/pull/963
Adapts A and D button bindings in the keyboard device by @zoctipus in https://github.com/isaac-sim/IsaacLab/pull/910
Uses torch.einsum for quatrotate and quatrotate_inverse operations by @dxyy1 in https://github.com/isaac-sim/IsaacLab/pull/900
Expands on articulation test for multiple instances and devices by @jsmith-bdai in https://github.com/isaac-sim/IsaacLab/pull/872
Adds setting of environment seed at initialization by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/940
Disables default viewport when headless but cameras are enabled by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/851
Simplifies the return type for parse_env_cfg method by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/965
Simplifies the if-elses inside the event manager apply method by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/948

🐛 Bug Fixes

Fixes rendering frame delays. Rendered images now faithfully represent the latest state of the physics scene. We added the flag rerender_on_reset in the environment configs to toggle an additional render step when a reset happens. When activated, the images/observation always represent the latest state of the environment, but this also reduces performance.
Fixes wrap_to_pi function in math utilities by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/771
Fixes setting of pose when spawning a mesh by @masoudmoghani in https://github.com/isaac-sim/IsaacLab/pull/692
Fixes caching of the terrain using the terrain generator by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/757
Fixes running train scripts when rsl_rl is not installed by @Dhoeller19 in https://github.com/isaac-sim/IsaacLab/pull/784, https://github.com/isaac-sim/IsaacLab/pull/789
Adds flag to recompute inertia when randomizing the mass of a rigid body by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/989
Fixes support for classmethod when defining a configclass by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/901
Fixes Sb3VecEnvWrapper to clear buffer on reset by @EricJin2002 in https://github.com/isaac-sim/IsaacLab/pull/974
Fixes venv and conda pip installation on windows by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/970
Sets native livestream extensions to Isaac Sim 4.1-4.0 defaults by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/954
Defaults the gym video recorder fps to match episode decimation by @ozhanozen in https://github.com/isaac-sim/IsaacLab/pull/894
Fixes the event manager's apply method by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/936
Updates camera docs with world units and introduces new test for intrinsics by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/886
Adds the ability to resume training from a checkpoint with rl_games by @sizsJEon in https://github.com/isaac-sim/IsaacLab/pull/797

💔 Breaking Changes

Simplifies device setting in SimulationCfg and AppLauncher by @Dhoeller19 in https://github.com/isaac-sim/IsaacLab/pull/696
Fixes conflict in teleop-device command line argument in scripts by @Dhoeller19 in https://github.com/isaac-sim/IsaacLab/pull/791
Converts container.sh into Python utilities by @hhansen-bdai in https://github.com/isaac-sim/IsaacLab/commit/f565c33d7716db1be813b30ddbcf9321712fc497
Drops support for TiledCamera for Isaac Sim 4.1

✈️ Migration Guide

Setting the simulation device into the simulation context

Details

Previously, changing the simulation device to CPU required users to set other simulation parameters (such as disabling GPU physics and GPU pipelines). This made setting up the device appear complex. We now simplify the checks for device directly inside the simulation context, so users only need to specify the device through the configuration object. Before: ```python sim_utils.SimulationCfg(device="cpu", use_gpu_pipeline=False, dt=0.01, physx=sim_utils.PhysxCfg(use_gpu=False)) ``` Now: ```python sim_utils.SimulationCfg(device="cpu", dt=0.01, physx=sim_utils.PhysxCfg()) ```

Setting the simulation device from CLI

Details

Previously, users could specify the device through the command line argument `--device_id`. However, this made it ambiguous when users wanted to set the device to CPU. Thus, instead of the device ID, users need to specify the device explicitly through the argument `--device`. The valid options for the device name are: * "cpu": runs simulation on CPU * "cuda": runs simulation on GPU with device ID at default index * "cuda:N": runs simulation on GPU with device ID at `N`. For instance, "cuda:0" will use device at index "0". Due to the above change, the command line interaction with some of the scripts has changed. Before: ```bash ./isaaclab.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --headless --cpu ``` Now: ```bash ./isaaclab.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --headless --device cpu ```

Renaming of teleoperation device CLI in standalone scripts

Details

Since `--device` is now an argument provided by the AppLauncher, it conflicted with the command-line argument used for specifying the teleoperation-device in some of the standalone scripts. Thus, to fix this conflict, the teleoperation-device now needs to be specified through `--teleop_device` argument. Before: ```bash ./isaaclab.sh -p source/standalone/environments/teleoperation/teleop_se3_agent.py --task Isaac-Lift-Cube-Franka-IK-Rel-v0 --num_envs 1 --device keyboard ``` Now: ```bash ./isaaclab.sh -p source/standalone/environments/teleoperation/teleop_se3_agent.py --task Isaac-Lift-Cube-Franka-IK-Rel-v0 --num_envs 1 --teleop_device keyboard ```

Using Python-version of container utility script

Details

The prior [`container.sh`](https://github.com/isaac-sim/IsaacLab/blob/v1.1.0/docker/container.sh) became quite complex as it had many different use cases in one script. For instance, building a docker image for "base" or "ros2", as well as cluster deployment. As more users wanted to have the flexibility to overlay their own docker settings, maintaining this bash script became cumbersome. Hence, we migrated its features into a Python script in this release. Additionally, we split the cluster-related utilities into their own script inside the `docker/cluster` directory. We still maintain backward compatibility for `container.sh`. Internally, it calls the Python script `container.py`. We request users to use the Python script directly. Before: ```bash ./docker/container.sh start ``` Now: ```bash ./docker/container.py start ```

Using separate directories for logging videos in RL workflows

Details

Previously, users could record videos during the RL training by specifying the `--video` flag to the `train.py` script. The videos would be saved inside the `videos` directory in the corresponding log directory of the run. Since many users requested to also be able to record videos while inferencing the policy, recording videos have also been added to the `play.py` script. Since changing the prefix of the video file names is not possible, the videos from the train and play scripts are saved inside the `videos/train` and `videos/play` directories, respectively.

Drops support for the tiled camera with Isaac Sim 4.1

Details

Various fixes have been made to the tiled camera rendering pipeline in Isaac Sim 4.2. This made supporting the tiled camera with Isaac Sim 4.1 difficult. Hence, for the best experience, we advice switching to Isaac Sim 4.2 with this release of Isaac Lab.

🤗 New Contributors

@xav-nal made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/787
@sizsJEon made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/797
@jtigue-bdai made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/830
@StrainFlow made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/835
@mpgussert made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/827
@Symars made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/898
@martinmatak made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/876
@bearpaw made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/945
@dxyy1 made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/900
@qqqwan made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/957
@johnBuffer made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/963
@EricJin2002 made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/974
@iamnambiar made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/986

- Python
Published by Mayankm96 over 1 year ago

isaaclab - v1.1.0

👀 Overview

With the release of Isaac Sim 4.0 and 4.1, support for Isaac Sim 2023.1.1 has been discontinued. We strongly encourage all users to upgrade to Isaac Sim 4.1 to take advantage of the latest features and improvements. For detailed information on this upgrade, please refer to the release notes available here.

Besides the above, the Isaac Lab release brings new features and improvements, as detailed below. We thank all our contributors for their continued support.

Full Changelog: https://github.com/isaac-sim/IsaacLab/compare/v1.0.0...v1.1.0

✨ New Features

Adds distributed multi-GPU learning support for skrl by @Toni-SM in https://github.com/isaac-sim/IsaacLab/pull/574
Updates skrl integration to support training/evaluation using JAX by @Toni-SM in https://github.com/isaac-sim/IsaacLab/pull/592
Adds lidar pattern for raycaster sensor by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/616
Adds support for PBS job scheduler-based clusters by @shafeef901 in https://github.com/isaac-sim/IsaacLab/pull/605
Adds APIs for spawning deformable meshes by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/613

🔧 Improvements

Changes documentation color to the green theme by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/585
Fixes sphinx tabs to make them work in dark theme by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/584
Fixes VSCode settings to work with pip installation of Isaac Sim by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/628
Fixes isaaclab scripts to deal with Isaac Sim pip installation by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/631
Optimizes interactive scene for homogeneous cloning by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/636
Improves docker X11 forwarding documentation by @j3soon in https://github.com/isaac-sim/IsaacLab/pull/685

🐛 Bug Fixes

Reads gravity direction from simulation inside RigidObjectData by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/582
Fixes reference count in asset instances due to circular references by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/580
Fixes issue with asset deinitialization due to torch > 2.1 by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/640
Fixes the rendering logic regression in environments by @Dhoeller19 in https://github.com/isaac-sim/IsaacLab/pull/614
Fixes the check for action-space inside Stable-Baselines3 wrapper by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/610
Fixes warning message in Articulation config processing by @locoxsoco in https://github.com/isaac-sim/IsaacLab/pull/699
Fixes action term in the reach environment by @masoudmoghani in https://github.com/isaac-sim/IsaacLab/pull/710
Fixes training UR10 reach with RL_GAMES and SKRL by @sudhirpratapyadav in https://github.com/isaac-sim/IsaacLab/pull/678
Adds event manager call to simple manage-based env by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/666

💔 Breaking Changes

Drops official support for Isaac Sim 2023.1.1
Removes the use of body view inside the asset classes by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/643
Renames SimulationCfg.substeps to SimulationCfg.render_interval by @Dhoeller19 in https://github.com/isaac-sim/IsaacLab/pull/515

✈️ Migration Guide

Renaming of `SimulationCfg.substeps`

Previously, the users set both omni.isaac.lab.sim.SimulationCfg.dt and omni.isaac.lab.sim.SimulationCfg.substeps, which marked the physics insulation time-step and sub-steps, respectively. It was unclear whether sub-steps meant the number of integration steps inside the physics time-step dt or the number of physics steps inside a rendering step.

Since in the code base, the attribute was used as the latter, it has been renamed to render_interval for clarity.

Removal of Deprecated Attributes

As notified in previous releases, we removed the classes and attributes marked as deprecated. These are as follows:

The mdp.add_body_mass method in the events. Please use the mdp.randomize_rigid_body_mass instead.
The classes managers.RandomizationManager and managers.RandomizationTermCfg. Please use the managers.EventManager and managers.EventTermCfg classes instead.
The following properties in omni.isaac.lab.sensors.FrameTransformerData:
- target_rot_source --> target_quat_w
- target_rot_w --> target_quat_source
- source_rot_w --> source_quat_w
The attribute body_physx_view from the omni.isaac.lab.assets.Articulation and omni.isaac.lab.assets.RigidObject classes. These caused confusion when used with the articulation view since the body names did not follow the same ordering.

🤗 New Contributors

@Brayden-Zhang made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/600
@fan-ziqi made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/648
@sudhirpratapyadav made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/678
@locoxsoco made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/699
@masoudmoghani made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/710
@j3soon made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/685

- Python
Published by Mayankm96 almost 2 years ago

isaaclab - v1.0.0

👀 Overview

Welcome to the first official release of Isaac Lab!

Building upon the foundation of the Orbit framework, we have integrated the RL environment designing workflow from OmniIsaacGymEnvs. This allows users to choose a suitable task-design approach for their applications.

While we maintain backward compatibility with Isaac Sim 2023.1.1, we highly recommend using Isaac Lab with Isaac Sim 4.0.0 version for the latest features and improvements.

Full Changelog: https://github.com/isaac-sim/IsaacLab/compare/v0.3.1...v1.0.0

✨ New Features

Integrated CI/CD pipeline, which is triggered on pull requests and publishes the results publicly
Extended support for Windows OS platforms
Added tiled rendered based Camera sensor implementation. This provides optimized RGB-D rendering throughputs of up to 10k frames per second.
Added support for multi-GPU and multi-node training for the RL-Games library
Integrated APIs for environment designing (direct workflow) without relying on managers
Added implementation of delayed PD actuator model
Added various new learning environments :
- Cartpole balancing using images
- Shadow hand cube reorientation
- Boston Dynamics Spot locomotion
- Unitree H1 and G1 locomotion
- ANYmal-C navigation
- Quadcopter target reaching

🔧 Improvements

Reduced start-up time for scripts (inherited from Isaac Sim 4.0 improvements)
Added lazy buffer implementation for rigid object and articulation data. Instead of updating all the quantities at every step call, the lazy buffers are updated only when the user queries them
Added SKRL support to more environments

💔 Breaking Change

For users coming from Orbit, this release brings certain breaking changes. Please check the migration guide for more information.

✈️ Migration Guide

Please find detailed migration guides as follows:

🤗 New Contributors

@abizovnuralem made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/452
@eltociear made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/460
@zoctipus made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/486
@JunghwanRo made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/497

🌟 Acknowledgements

We wholeheartedly thank @Mayankm96, @kellyguo11 and the Boston Dynamics AI Institute for their significant contributions to the framework.

- Python
Published by Dhoeller19 almost 2 years ago

isaaclab - v0.3.1

👀 Overview

This is an intermediate release with minor patch fixes and improvements.

Note: This is the final release of the framework under the name "Orbit". The framework will soon be renamed to "Isaac Lab" and be moved to a new GitHub organization. More details will be provided shortly.

Full Changelog: https://github.com/NVIDIA-Omniverse/orbit/compare/v0.3.0...v0.3.1

✨ New Features

Allows setting USD variants when loading prim from USD file by @lorenwel
Adds fix_root_link attribute to ArticulationRootPropertiesCfg by @Mayankm96

🔧 Improvements

Removes duplicated cassie configuration in core extension by @MuhongGuo
Fixes type-hinting for articulation properties in from_files_cfg.py by @MuhongGuo
Adds X11 setup checks for the Docker container by @hhansen-bdai

🐛 Bug Fixes

Fixes configclass shared references to keep compound objects independent across subclass instances by @hhansen-bdai
Fixes loading of ContactSensor when using it in an extension by @fyu-bdai
Fixes RSL-RL ONNX exporter for empirical normalization by @Nemantor

🤗 New Contributors

@MuhongGuo made their first contribution in https://github.com/NVIDIA-Omniverse/orbit/pull/383
@lorenwel made their first contribution in https://github.com/NVIDIA-Omniverse/orbit/pull/402

- Python
Published by Mayankm96 about 2 years ago

isaaclab - v0.3.0

👀 Overview

This release includes various fixes and improvements to the framework. It additionally includes many new features, as listed below.

Full Changelog: https://github.com/NVIDIA-Omniverse/orbit/compare/v0.2.0...v0.3.0

✨ New Features

Adds terrain-aware patch sampling into the terrain generator by @nikitardn
Adds a viewer camera controller to the base environment by @farbod-farshidian
Adds animation recording for environments by @Mayankm96
Adds Franka cabinet opening environment from IsaacGymEnvs by @renezurbruegg
Adds Allegro hand cube manipulation environment from IsaacGymEnvs by @Mayankm96, @arbhardwaj98
Adds Allegro and Shadow Hand asset configurations by @Mayankm96
Adds Kinova (Jaco2, Gen3) asset configurations by @Mayankm96
Adds approximate torque calculation for implicit actuator by @nikitardn
Adds loading of custom kit experience files using AppLauncher by @Mayankm96

🔧 Improvements

Adds a runner script to execute all tests in the source directory by @jsmith-bdai
Allows loading of initialized configs in load_cfg_from_registry by @nikitardn
Checks default joint states are configured within limits by @Dhoeller19
Expands on unit tests for rigid object asset and terrain importer classes by @jsmith-bdai
Adds unit tests for contact sensor class by @fyu-bdai
Adds signal interrupt handle to AppLauncher by @Mayankm96
Adds ROS2 Humble to Dockerfile by @hhansen-bdai
Improved usage instructions for cluster deployment by @pascal-roth
Removes unnecessary future imports for Python 3.10 by @Mayankm96

🐛 Bug Fixes

Fixes running environments with a single instance by @Dhoeller19
Fixes source frame indexing in FrameTransfomer sensor by @jsmith-bdai
Fixes handling of time-out signal in RSL-RL and RL-Games wrapper by @Mayankm96
Fixes unwanted squeeze in Articulation class for 1-joint assets by @Mayankm96
Fixes shape argument ordering in hf_terrains.random_uniform_terrain by @nikitardn
Fixes joint and body sub-indexing for observations and rewards by @Dhoeller19
Fixes camera sensor for Isaac Sim 2023.1 update by @hhansen-bdai
Fixes imitation learning workflow for lift environment by @jsmith-bdai
Fixes apply actions method in the NonHolonomicAction action term class by @KyleM73
Fixes the tensor shape for the contact sensor's force matrix data by @abmoRobotics
Fixes missing max raycast distance in RayCaster sensor by @renezurbruegg
Fixes rendering of RTX sensors within the environment stepping by @Dhoeller19

💔 Breaking Changes

Drops support for Isaac Sim 2022.2.2 and earlier by @hhansen-bdai
Removes compat submodule from orbit by @Mayankm96
Removes omni.isaac.contrib_tasks in favor of separate project template by @nburger-bdai
Changes link names ordering in articulation to follow PhysX by @Mayankm96
Renames RandomizationManager to EventManager by @pascal-roth
Renames some terms in omni.isaac.orbit.envs.mdp to avoid confusion by @Mayankm96

✈️ Migration Guide

Renaming of Randomization Manager to Event Manager

While the randomization manager referred to all possible " randomizations " in the environment, many users felt that the triggering of the terms was not apparent. Additionally, for non-RL use-cases, randomization seemed like a misnomer. Hence, we renamed the class to be called event manager.

Replace the following import and usage:

```python from omni.isaac.orbit.managers import RandomizationTermCfg as RandTerm

@configclass class RandomizationCfg: """Configuration for randomization."""

reset_base = RandTerm(
    func=mdp.reset_root_state_uniform,
    mode="reset",
    params={"pose_range": {}, "velocity_range": {}},
)

@configclass class MyEnvCfg:

 randomization: RandomizationCfg = RandomizationCfg()

```

with the following:

```python from omni.isaac.orbit.managers import EventTermCfg as EventTerm

@configclass class EventCfg: """Configuration for events."""

reset_base = EventTerm(
    func=mdp.reset_root_state_uniform,
    mode="reset",
    params={"pose_range": {}, "velocity_range": {}},
)

@configclass class MyEnvCfg:

 events: EventCfg = EventCfg()

```

Renaming of MDP terms

We observed that several of the MDP terms had close to overlapping names, such as the reward term joint_pos_limits and termination term joint_pos_limit. To avoid errors, we decided to make the term names clearer.

Please note the following changes in MDP terms:

Observation: joint_pos_norm -> joint_pos_limit_normalized
Event: add_body_mass -> randomize_rigid_body_mass
Termination: base_height -> root_height_below_minimum
Termination: joint_pos_limit -> joint_pos_out_of_limit
Termination: joint_pos_manual_limit -> joint_pos_out_of_manual_limit
Termination: joint_vel_limit -> joint_vel_out_of_limit
Termination: joint_vel_manual_limit -> joint_vel_out_of_manual_limit
Termination: joint_torque_limit -> joint_effort_out_of_limit

Removal of `omni.isaac.contrib_tasks`

Initially, we intended to have the contrib_tasksmodule for developers to send their environment implementations. However, many users preferred a more isolated development environment for their projects. Hence, we removed the contrib_tasks and now provide a separate template repository for building projects that use Orbit.

However, we encourage the community to provide their environment implementations directly to the orbit_tasks extension. This allows us to ensure the environments are maintained during future releases of the framework.

For more details, please check: https://github.com/isaac-orbit/orbit.ext_template

🤗 New Contributors

@fyu-bdai made their first contribution in 06ada157a903271ccbb03be3662434199572bc78
@arbhardwaj98 made their first contribution in 1a42eb97c46e8cc785cd4cfdf202a2e31a52e278
@phenomen21 made their first contribution in https://github.com/NVIDIA-Omniverse/orbit/pull/248
@Ltesfaye made their first contribution in https://github.com/NVIDIA-Omniverse/orbit/pull/320
@KyleM73 made their first contribution in https://github.com/NVIDIA-Omniverse/orbit/pull/317
@VladimirFokow made their first contribution in https://github.com/NVIDIA-Omniverse/orbit/pull/321
@shafeef901 made their first contribution in https://github.com/NVIDIA-Omniverse/orbit/pull/300
@RumblingTurtle made their first contribution in https://github.com/NVIDIA-Omniverse/orbit/pull/341

- Python
Published by Mayankm96 about 2 years ago

isaaclab - Release 0.2.0

👀 Overview

This release refactors Orbit APIs to make them more modular and performance-efficient. It also introduces various new functionalities, such as batched sensors and managers handling randomization, termination, action spaces, and curriculum.

Full Changelog: https://github.com/NVIDIA-Omniverse/orbit/compare/v0.1.0...v0.2.0

✨ New Features

Procedural terrain generation using height-fields and trimesh library
Sensors for contact sensing, frame transformations, and GPU-based ray-casting
Scene manager to handle a collection of assets and sensors
Managers to handle various aspects of environment designing - action space, observation space, randomization, termination, rewards, and curriculum
Spawning support to load meshes in different formats (OBJ, FBX, STL) and URDF files into simulation directly
Support for docker and cluster-based deployments
New environments for flat and rough terrain locomotion from legged_gym

🔧 Improvements

Merged the previous type-specific static markers into a unified VisualizationMarkers class
Switched to using PhysX interfaces directly instead of Isaac Sim interface classes for performance
Migrated the gym.Env class from the OpenAI Gym 0.21 version to the Gymnasium v0.29 version

💔 Breaking Changes

This release is incompatible with v0.1.0 due to heavy refactoring and changes. We recommend users revisit the tutorials to familiarize themselves with the new APIs. We apologize for any inconvenience caused but believe the enhancements in this release justify the transition.

🤗 New Contributors

@kouroshD
@Toni-SM
@pascal-roth
@nikitardn
@Dhoeller19
@jsmith-bdai
@AutonomousHansen
@farbod-farshidian

- Python
Published by Mayankm96 over 2 years ago

isaaclab - Release 0.1.0

👀 Overview

The initial release of the ORBIT framework. It includes the core APIs built around Isaac Sim for robot learning. In addition, provides an initial set of environments for learning.

The main set of features includes:

Python configuration handling system using the decorator @configclass
Different explicit actuator models for processing commands
Actuator groups to handle complex articulations
Support for different robots:
- legged robots: ANYmal-C, ANYmal-B, Unitree A1
- fixed-arm manipulators: Franka Emika arm, UR5
- wheel-based mobile manipulators: Clearpath Ridgeback with Franka Emika arm or UR5
- legged mobile manipulators
Batched implementation of motion generators
- differential inverse kinematics
Initial set of environments for learning
- classic: cart-pole, humanoid, ant
- locomotion: legged locomotion on flat terrain
- manipulation: table-top object lifting, end-effector tracking
Demonstrations of different learning workflows
- Imitation learning: robomimic
- Reinforcement learning: stable-baselines3, rsl-rl, rl-games

- Python
Published by Mayankm96 over 3 years ago

Recent Releases of isaaclab

isaaclab - v2.2.1

👀 Overview

✨ New Features

🔧 Improvements

Core API

Infrastructure

🐛 Bug Fixes

Core API

Infrastructure

📜 Documentation

💔 Breaking Changes

🤗 New Contributors

isaaclab - v2.2.0

👀 Overview

🔆 Highlighted Features

FORGE environments

AutoMate environments

Isaac Lab Evaluation Tasks

💡Isaac Sim 5.0 Updates

✨ New Features

🔧 Improvements

🐛 Bug Fixes

📄 Documentation

isaaclab - v2.1.1

👀 Overview

✨ New Features

🔧 Improvements

Core API

Tasks API

Infrastructure

🐛 Bug Fixes

Core API

Tasks API

Example Tasks

📜 Documentation

💔 Breaking Changes

Disabling of additional stabilization pass in PhysX settings

Clipping of torques inside the DC Motor

🤗 New Contributors

isaaclab - v2.1.0

👀 Overview

🔆 Highlighted Features

✨ New Features

🔧 Improvements

🐛 Bug Fixes

🤗 New Contributors

isaaclab - v2.0.2

👀 Overview

✨ New Features

🔧 Improvements

🐛 Bug Fixes

💔 Breaking Changes

✈️ Migration Guide

Introduction of simulation's effort and velocity limits parameters in ActuatorBaseCfg

Removal of disable_contact_processing flag in SimulationCfg

Switch to older rendering settings to improve render quality

🤗 New Contributors

isaaclab - v2.0.1

👀 Overview

🔧 Improvements

🐛 Bug Fixes

New Contributors

isaaclab - v2.0.0

👀 Overview

🌟 Highlights from the Isaac Sim 4.5 release:

🔆 Highlighted Features

✨ New Features

🔧 Improvements

🐛 Bug Fixes

💔 Breaking Changes

✈️ Migration Guide

Renaming of Isaac Sim Extensions

Renaming of the URDF and MJCF Importers

Changes in URDF Importer

Renaming of Isaac Lab Extensions and Folders

Restructuring of Isaac Lab Extensions

🤗 New Contributors

isaaclab - v1.4.1

👀 Overview

Removal of `disable_contact_processing` flag in SimulationCfg

Renaming of `SimulationCfg.substeps`