Merges release 2.3 changes into main with Isaac Sim 5.1 support #3857
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…m#3392) # Description Recent isaac sim update introduced a new bug for non-headless scripts where some scripts were hanging at simulation startup. This change introduces a new unit test that aims to capture issues like this by forcing the use of the non-headless app file. Additionally, the isaac sim CI system has very unstable results for perf testing, so we are disabling the performance-related tests for the sim CI. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
…ac-sim#3405) # Description The default_inertia attributes of the Articulation, RigidObjectCollection, and RigidObject data asset classes did not specify in what coordinate frame the tensors should be provided. This PR addresses this, and addresses some minor inconsistencies across the default_inertia docstrings. ## Type of change - This change requires a documentation update ## Screenshots ArticulationData | Before | After | | ------ | ----- | | <img width="731" height="162" alt="image" src="https://github.com/user-attachments/assets/7e2a6973-6264-4ba0-89d7-fd903e3bee6d" />| <img width="750" height="262" alt="image" src="https://github.com/user-attachments/assets/470832e6-0164-4402-b4c7-6a5ac5e599a1" />| RigidObjectCollectionData | Before | After | | ------ | ----- | | <img width="731" height="181" alt="image" src="https://github.com/user-attachments/assets/7d6bd039-b7f5-40e2-9180-33d0748694a8" /> | <img width="733" height="276" alt="image" src="https://github.com/user-attachments/assets/07bb32ca-628c-4132-8009-1db1c279d653" /> | RigidObjectData | Before | After | | ------ | ----- | | <img width="732" height="160" alt="image" src="https://github.com/user-attachments/assets/43b29f1c-3e92-4b96-925f-88cdf7ef3fc3" /> | <img width="733" height="276" alt="image" src="https://github.com/user-attachments/assets/d16bbc57-3939-4f2e-84cb-9ec135dcbe7e" /> | ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
…m#3395) # Description Recent isaac sim update introduced a new bug for non-headless scripts where some scripts were hanging at simulation startup. This change introduces a new unit test that aims to capture issues like this by forcing the use of the non-headless app file. Additionally, the isaac sim CI system has very unstable results for perf testing, so we are disabling the performance-related tests for the sim CI. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
# Description Running on Spark requires the latest nightly torch build. Added a check in the installation script for ARM platforms and force an install of the nightly torch build if ARM architecture is detected. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
# Description Bumps version to 2.3 in preparation for release. Adds a note in the README for to indicate active development for the release branch. Updates Isaac Sim dependency to 5.1. Updates asset server to 5.1 staging. ## Type of change - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
# Description Adding new collision mesh property options allowing users to configure meshes to add different collision types ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Harsh Patel <hapatel@theaiinstitute.com> Co-authored-by: James Tigue <jtigue@theaiinstitute.com> Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…c-sim#3378) # Description This PR provides remake and extension to orginal environment kuka-allegro-reorientation implemented in paper: DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Training (https://arxiv.org/abs/2305.12127) [Aleksei Petrenko](https://arxiv.org/search/cs?searchtype=author&query=Petrenko,+A), [Arthur Allshire](https://arxiv.org/search/cs?searchtype=author&query=Allshire,+A), [Gavriel State](https://arxiv.org/search/cs?searchtype=author&query=State,+G), [Ankur Handa](https://arxiv.org/search/cs?searchtype=author&query=Handa,+A), [Viktor Makoviychuk](https://arxiv.org/search/cs?searchtype=author&query=Makoviychuk,+V) and another environment kuka-allegro-lift implemented in paper: Visuomotor Policies to Grasp Anything with Dexterous Hands (https://dextrah-rgb.github.io/) [Ritvik Singh](https://www.ritvik-singh.com/), [Arthur Allshire](https://allshire.org/), [Ankur Handa](https://ankurhanda.github.io/), [Nathan Ratliff](https://www.nathanratliff.com/), [Karl Van Wyk](https://scholar.google.com/citations?user=TCYAoF8AAAAJ&hl=en) Though this is a remake, this remake ends up differs quite a lot in environment details for reasons like: 1. Simplify reward structure, 2. Unify environment implemtation, 3. Standarize mdp, 4. Utilizes manager-based API That in my opinion, makes environment study and extension more accessible, and analyzable. For example you can train lift policy first then continuing the checkpoint in reorientation environment, since they share the observation space. : )) It is a best to consider this a very careful re-interpretation rather than exact execution to migrate them to IsaacLab Here is the training curve if you just train with `./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Dexsuite-Kuka-Allegro-Lift-v0 --num_envs 8192 --headless` `./isaaclab.sh -p -m torch.distributed.run --nnodes=1 --nproc_per_node=4 scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Dexsuite-Kuka-Allegro-Reorient-v0 --num_envs 40960 --headless --distributed` lift training ~ 4 hours reorientation training ~ 2 days Note that it requires a order of magnitude more data and time for reorientation to converge compare to lift under almost identical setup training curve(screen captured from Wandb) - reward, Cyan: reorient, Purple: Lift <img width="1487" height="780" alt="Screenshot from 2025-09-07 22-58-13" src="https://github.com/user-attachments/assets/bfa911de-4fee-4c0d-b39c-e9c33fae28f4" /> video results lift   reorient   Memo: I really enjoy working on this remake, and hopefully for whoever plan to play and extend on this remake find it helpful and similarily joyful as I did. I will be very excited to see what you got : )) Octi CAUTION: Do Not Merge until the asset is uploaded to S3 bucket! Fixes # (issue) <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
# Description This PR introduces the Population Based Training algorithm originally implemented in Petrenko, Aleksei, et al. "Dexpbt: Scaling up dexterous manipulation for hand-arm systems with population based training." arXiv preprint arXiv:2305.12127 (2023). Pbt algorithm offers a alternative to scaling when increasing number of environment has margin effect. It takes idea in natural selection and stochastic property in rl-training to always keeps the top performing agent while replace weak agent with top performance to overcome the catastrophic failure, and improve the exploration. Training view, underperformers are rescued by best performers and later surpasses them and become best performers <img width="1078" height="509" alt="Screenshot from 2025-09-09 00-55-11" src="https://github.com/user-attachments/assets/34434bf1-5cb6-4956-a344-49c9969d4861" /> Note: PBT is still at beta phase and has below limitations: 1. in theory It can work with any rl algorithm but current implementation only works for rl-games 2. The API could be furthur simplified without needing explicitly input num_policies or policy_idx, which allows for dynamic max_population, but it is for future work ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
# Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html --> Fixes the import issues via "path:Module" in below files, which will not import all modules/dependencies unless in use ``` - isaaclab_tasks/manager_based/manipulation/stack/config/galbot/__init__.py - isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/__init__.py - isaaclab_mimic/envs/__init__.py ``` <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
…im#3150) # Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html --> Contributors: @huihuaNvidia2023, @rwiltz, @life1ess, @peterd-NV, @yanchangNvidia These changes introduce new environments: `Isaac-PickPlace-Locomanipulation-G1-Abs-v0` and `Isaac-PickPlace-FixedBaseUpperBodyIK-G1-Abs-v0`. These environments, specially the locomanipulation one, feature: 1. The G1 robot with the retargeter for 3-finger dexterous hand to operator hands tracked by Apple Vision Pro 2. A locomotion policy trained with RL that enables G1 to walk and follow a input velocity command (vx, vy, wz, h) linear velocity in two axes, angular velocity around its pelvis' z-axis, and height distance of the pelvis from the feet. 3. Integration with upper body controller that is driven by Inverse Kinematics. Below is a diagram showing the high level controller composition. The environments introduced have the waist controlled by IK, but it is possible to configure it such that waist DOFs are controlled by the lower body policy as well. <img width="645" height="275" alt="image" src="https://github.com/user-attachments/assets/accc4a46-dda5-4714-9a54-7812125753a2" /> This code has been tested through the [Mimic pipeline](https://laughing-dollop-wom7611.pages.github.io/devel/source/overview/teleop_imitation.html), and the output dataset was used to [train a robomimic policy](https://laughing-dollop-wom7611.pages.github.io/devel/source/overview/teleop_imitation.html#training-an-agent) that achieves a success rate of **92% from 50 policy rollouts**. Fixes # (issue) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> Some fixes included in these changes: 1. Previously, Inverse kinematics relied on an input URDF of the robot to load a pinocchio kinematics model. This URDF was exported from the robot asset USD through USD to URDF export extension, however, if the extension is not setup properly, the joint ordering can change causing unexpected behavior due to mismatch of joint ordering between the IK controller and that of Isaac Lab. For the G1 asset, we are for now using a URDF asset directly instead of relying on the URDF exporter. 2. Previously, the Inverse Kinematics controller assumed that for its kinematics model, only the joints that are being controlled by IK need to be updated, but when combined with other controllers on other joints this assumption breaks. Added a new kinematics configuration `class:PinkKinematicsConfiguration` that allows for all joints of an articulation to be updated while only a subset are controlled by IK. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) ## Screenshots  Robomimic policy for PickPlace trained with the Locomanipulation environment. We achieve 92% success rate from 50 rollouts. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there⚠️ This PR depends on isaac-sim#3149 and should only be merged after that PR <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Co-authored-by: Huihua Zhao <huihuaz@nvidia.com> Co-authored-by: Rafael Wiltz <rwiltz@nvidia.com> Co-authored-by: Sergey Grizan <sgrizan@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Philipp Reist <66367163+preist-nvidia@users.noreply.github.com>
# Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html --> Adds two place tasks and mimic tasks with Agibot A2D humanoid, using RMPFlow controller: - add agibot robot config in agibot.py and .usd asset - add motion_policy_configs and .urdf for rmpflow controller - add new task cfg: place_toy2box_rmp_rel_env_cfg, and place_upright_mug_rmp_rel_env_cfg - add new mimic task cfg: agibot_place_toy2box_mimic_env_cfg, and agibot_place_upright_mug_mimic_env_cfg - add new mimic task: in pick_place_mimic_env.py - add new subtasks in mdp.observations/terminations: object_grasped, object_placed_upright, object_a_is_into_b Notes: This PR relies on PR (isaac-sim#3210) for RmpFlowAction support. You can test the whole gr00t-mimic workflow by: 1. Record Demos ``` ./isaaclab.sh -p scripts/tools/record_demos.py \ --dataset_file datasets/recorded_demos_agibot_right_arm_rel.hdf5 \ --task Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-v0 \ --teleop_device spacemouse \ --num_demos 1 ``` 2. Replay Demos ``` ./isaaclab.sh -p scripts/tools/replay_demos.py \ --dataset_file datasets/recorded_demos_agibot_right_arm_rel.hdf5 \ --task Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-v0 \ --num_envs 1 ``` 3. Annotate Demos ``` ./isaaclab.sh -p scripts/imitation_learning/isaaclab_mimic/annotate_demos.py \ --input_file datasets/recorded_demos_agibot_right_arm_rel.hdf5 \ --output_file datasets/annotated_demos_agibot_right_arm_rel.hdf5 \ --task Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-Rel-Mimic-v0 \ --auto ``` 4. Generate Demos ``` ./isaaclab.sh -p scripts/imitation_learning/isaaclab_mimic/generate_dataset.py \ --input_file datasets/annotated_demos_agibot_right_arm_rel.hdf5 \ --output_file datasets/generated_demos_agibot_right_arm_rel.hdf5 \ --task Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-Rel-Mimic-v0 \ --num_envs 16 \ --generation_num_trials 10 ``` <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) ## Screenshot <img width="1401" height="567" alt="environments_agibot" src="https://github.com/user-attachments/assets/bc95e83a-e334-4dfc-a65c-3d1d97be0c4b" /> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com> Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…c-sim#3412) # Description Fail the pre-merge CI job for a fork PRs when general tests fail - Add step to check test results for PRs from forks - Parse XML test report to detect failures/errors - Fail job immediately if tests don't pass for fork PRs - Maintain existing behavior for same-repo PRs ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
…-sim#3259) # Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html --> This PR adds locomanipulation data generation via disjoint navigation. It allows the user to replay static manipulation data recorded with the G1 through an end to end pick-up -> navigate -> drop-off pipeline.  The code for this PR is contained in the folder ``scripts/isaaclab/imitation_learning/disjoint_navigation``, and does not modify existing IsaacLab extensions. The code is as follows: - ``replay.py`` - Main entry script for loading the static-manipulation dataset and generating locomanipulation dataset - ``common.py`` - Common classes and abstract base classes for the data generation pipeline. This code may be re-used by different scenarios. - ``occupancy_map.py`` - Helper class and methods for working with occupancy maps. - ``path_utils.py`` - Helper class used by path controller for following a path - ``display_dataset.py`` -- Utility script for visualizing generated trajectories with matplotlib - ``g1_29dof.py`` - The example scenario using G1 + WBC with random forklifts and boxes. This may be copied modified by end users to support their own scenarios. - ``visualization.py`` - Code to visualize occupancy map in USD stage <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> Co-authored-by: Michael Lin <michalin@nvidia.com> Co-authored-by: Huihua Zhao <huihuaz@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…ickPlace task as an example (isaac-sim#3242) # Description Teleop support for Unitree G1 with Inspire 5-finger hand, take PickPlace task as an example. # Type of change - New feature (non-breaking change which adds functionality) ## Changes: -Preparation of the humanoid robot asset: Unitree G1 (29 DOF) with Inspire 5-finger hand -Configuration of the robot’s articulation -Retargeting setup for the humanoid robot -Creation of the manipulation task environment: pickplace_unitree_g1_inspire_hand_env_cfg.py -Updated the how-to tutorial of [cloudxr_teleoperation.rst](https://github.com/isaac-sim/IsaacLab/pull/3242/files#diff-3896784d4dbd3e2106adae8f4ab65530a3bb87430cf8d15463aff37f3a975fec). Below is a diagram showing the robot asset and the workflow in teleop.  # Test Steps 1. Run the teleop task with: python scripts/tools/record_demos.py \ --task Isaac-PickPlace-G1-InspireFTP-Abs-v0 \ --teleop_device handtracking \ --enable_pinocchio 2. Replay the collected demos with: python scripts/tools/replay_demos.py \ --task Isaac-PickPlace-G1-InspireFTP-Abs-v0 \ --enable_pinocchio \ --dataset_file datasets/dataset.hdf5 ## Screenshots Please attach before and after screenshots of the change if applicable.  ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: yami007007 <weihuaz@nvidia.com> Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Weihua Zhang <weihuaz@weihuaz-mlt.client.nvidia.com>
…isaac-sim#3411) # Description Update namespace for materials and objects in the terrain generator test. Fixes isaac-sim#3383 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description Adds a logdir parameter for all environment configs to allow passing of the log dir for each experiment from the training/inferencing scripts to the environment object. This allows environments to access the logdir for the run and store log files in there, such as from the feature extractor. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Signed-off-by: Kelly Guo <kellyguo123@hotmail.com> Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
# Description Fixes a linter error from a previous PR that I didn't have access to fix. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
# Description URL address to downloaded G1 sample dataset was fixed in these changes. Fixes # (issue) URL was pointing to wrong public server address. It has been corrected. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
# Description Fix: teleop G1 with Inspire hand (PR isaac-sim#3242), modifications includes: - Correct the USD asset path of G1_INSPIRE_FTP_CFG - Increase arm damping for stability using the new pink_ik wrapper ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots - Only modified the `unitree.py` file. ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description This PR improves the robustness in detecting arm system and correctly install torch nightly build for cuda130 Fixes # (issue) <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
…aac-sim#3479) # Description Fix: teleop G1 with Inspire hand (PR isaac-sim#3242), add the Isaac-PickPlace-G1-InspireFTP-Abs-v0 task into environment docs. ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description With kitxr 107.3.111, we can save cpu time by skipping writes to usd stage since all the data is in fabric. This gives us back 11ms (on my machine) on the main thread. Additionally, texture streaming was bottlenecking the render thread. Disabling gave us back 11ms on the renderthread. Together, it gave me back 11ms. <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> Fixes # (issue) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
isaac-sim#3489) <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> Updates the Isaac Lab Mimic doc tutorials according to prior reviewer feedback. Changes: 1. Clarify demo success criteria for Demo 2 (humanoid pouring task) 2. Add visualization at the start of Demo 2 to clearly indicate that it is a different task from Demo 1. 3. Document the dataset of Demo 2 <!-- As you go through the list, delete the ones that are not applicable. --> - Documentation update Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> (cherry picked from commit 137106d)
…#3483) # Updates the path to IsaacLab directory in SkillGen documentation ## Description This PR updates the IsaacLab workspace path for clarity and consistency in SkillGen documentation. - Updated `docs/source/overview/imitation-learning/skillgen.rst` (Download and Setup section) - Replaced: - Before: `cd /path/to/your/isaaclab/root` - After: `cd /path/to/your/IsaacLab` Motivation: Aligns with the repository name and common workspace convention, reducing confusion and preventing copy-paste errors for users following setup steps. Dependencies: None ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description Update the user on wrist calibration status with terminal outputs. Remove unnecessary error logs at the beginning of the session, when joint data has not arrived yet. ## Type of change - Bug fix (non-breaking change which fixes an issue) --------- Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
# Description This PR removes a `UserWarning` from PyTorch about using `torch.tensor()` on an existing tensor in `events.py`. It replaces `torch.tensor(actuator.joint_indices, device=asset.device)` with `.to(device)` to avoid unnecessary copies. Warning mentionned: ```bash /home/spring/IsaacLab/source/isaaclab/isaaclab/envs/mdp/events.py:542: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.clone().detach() or sourceTensor.clone().detach().requires_grad_(True), rather than torch.tensor(sourceTensor). actuator_joint_indices = torch.tensor(actuator.joint_indices, device=asset.device) ``` ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Louis LE LAY <le.lay.louis@gmail.com> Co-authored-by: ooctipus <zhengyuz@nvidia.com> Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
# Description Given the increase in number of PRs to the codebase, it has become harder to understand the type of changes and the corresponding team to communicate with. This MR uses a GitHub bot to help us out with categorizing the PRs. More info: https://github.com/actions/labeler ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
# Description This MR adds license for Github action labeller and Pinocchio. ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Previous merge led to matches for documentation that are unintentional. This MR fixes the workflow. - Bug fix (non-breaking change which fixes an issue) - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Fixes Jetbot asset path in the documentation. - Documentation update - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there Signed-off-by: Javier Felix-Rendon <javierfelixrendon@gmail.com>
…ts (isaac-sim#3778) # Description There were some recent updates to a couple of our dependency packages that have updated their licenses. Updating our license checker exceptions to match with the new updated licenses for these packages. Additionally, adds a note in the simulation performance documentation for CPU governor setting to improve performance. Also, updates a few unit tests to mark as flaky as we've shown in recent CI runs. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
) We were incorrectly converting all numpy array data in the TiledCamera class into uint8 type warp arrays when simulation device is set to CPU. Some annotations like depth are float32 while segmentation data is uint32. The correct behavior should convert to warp arrays depending on the input data type of the numpy array. Additionally, rlgames configs were set to cuda device by default but were not being overridden when users specify the simulation device to CPU through cmdline. We should propagate the device setting to the rlgames configs so that we can run training on the same device, similar to how RSL RL is set up. Fixes isaac-sim#3526 - Bug fix (non-breaking change which fixes an issue) - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
# Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> Updates mimic doc for manipulator expected success stats for both state-based and visuomotor policy training. Enhances documentation for SkillGen & Imitation learning workflows. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Documentation update <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
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| ISAACSIM_BASE_IMAGE: ${{ vars.ISAACSIM_BASE_IMAGE || 'nvcr.io/nvidia/isaac-sim' }} | ||
| ISAACSIM_BASE_VERSION: ${{ vars.ISAACSIM_BASE_VERSION || '5.0.0' }} | ||
| ISAACSIM_BASE_IMAGE: ${{ vars.ISAACSIM_BASE_IMAGE || 'nvcr.io/nvidia/isaac-sim' }} # 'nvcr.io/nvidian/isaac-sim' | ||
| ISAACSIM_BASE_VERSION: ${{ vars.ISAACSIM_BASE_VERSION || '5.1.0' }} # 'latest-release-5-1' |
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Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
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* Provides PBT training cfg example for Isaac-Dexsuite-Kuka-Allegro-Lift-v0 env for rl_games (#3553)
# Description
This PR provides a PBT builtin training example for
Isaac-Dexsuite-Kuka-Allegro-Lift-v0 environment.
Though we had introduction and explanation for how to run PBT, We didn't
have an builtin example.
This will make using PBT easier for user.
Fixes # (issue)
<!-- As a practice, it is recommended to open an issue to have
discussions on the proposed pull request.
This makes it easier for the community to keep track of what is being
developed or added, and if a given feature
is demanded by more than one party. -->
## Type of change
- New feature (non-breaking change which adds functionality)
## Screenshots
Please attach before and after screenshots of the change if applicable.
<!--
Example:
| Before | After |
| ------ | ----- |
| _gif/png before_ | _gif/png after_ |
To upload images to a PR -- simply drag and drop an image while in edit
mode and it should upload the image directly. You can then paste that
source into the above before/after sections.
-->
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it
For example,
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* [Newton] Adds policy transfer script for sim2sim transfer from Newton to physX (#3565)
# Description
This PR adds a play script to physX-based IsaacLab to make it possible
to play a Newton-based trained policy. Tested environments are
H1/G1/Anymal-D but other exisiting Newton environment should transfer as
well.
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Please include a summary of the change and which issue is fixed. Please
also include relevant motivation and context.
List any dependencies that are required for this change.
Fixes # (issue)
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- Bug fix (non-breaking change which fixes an issue)
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## Screenshots
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## Checklist
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guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
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Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com>
* Randomizes viscous and dynamic joint friction based on IsaacSim 5.0 (#3318)
# Description
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to check the contribution guidelines.
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This PR fixes https://github.com/isaac-sim/IsaacLab/issues/3266, adding
the possibility to randomize the friction coefficient when isaacsim is
higher than 5.0.0
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- New feature (non-breaking change which adds functionality)
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## Checklist
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`./isaaclab.sh --format`
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- [x] My changes generate no new warnings
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feature works
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Signed-off-by: Giulio Romualdi <giulio.romualdi@gmail.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
* Fixes broken link to conda in installation doc (#3601)
Fixes broken link to conda in installation doc
* Adds link to IsaacLabEvalTasks repo from mimic section in doc (#3621)
# Description
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Isaac Lab Mimic section is disjoint from [IsaacLabEvalTask
repo](https://github.com/isaac-sim/IsaacLabEvalTasks/tree/main) which
uses Mimic to generate Nut pouring task and Pipe sorting task for GR00T
post-training and closedloop evaluation. Added a pointer in the doc.
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## Type of change
Documentation update
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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- [x] My changes generate no new warnings
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* Updated docker image builds with new requirements (#3613)
# Description
Enabling multi-arch build with Isaac SIM 5.1 images
* Forces CRLF for .bat files to prevent script execution errors on Windows (#3624)
# Description
Fix windows script execution error as described in [Discussions
3260](https://github.com/isaac-sim/IsaacLab/discussions/3260), by
forcing to use crlf as eol in `*.bat` file
## Type of change
- Bug fix (non-breaking change which fixes an issue)
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
* Fixes minor typos in the documentation (#3584)
# Description
Fixes minor typos in the documentation.
## Type of change
- Bug fix (non-breaking change which fixes an issue)
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
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`./isaaclab.sh --format`
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feature works
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extension's `config/extension.toml` file
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exists there
* Fixes SB3's template ppo cfg up to date with security-safe syntax for training specification (#3688)
# Description
This PR fixes the bug where if template is generated using SB3, the code
does not run because it couldn't parse from string
```
policy_kwargs: "dict(
activation_fn=nn.ELU,
net_arch=[32, 32],
squash_output=False,
)"
```
We have disabled the string parsing, as it is not safe(aka arbitrary
code could be parsed)
this PR makes sure the sb3's template also adopt the new secure syntax
```
policy_kwargs:
activation_fn: nn.ELU
net_arch: [32, 32]
squash_output: False
```
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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* Uses the configuration to obtain the simulation device (#3636)
# Description
This MR fixes the slow-down observed in recent IsaacLab updates.
Previously, the simulation device was read through the configuration;
later, this was changed to read the device through the simulation
manager.
On profiling, I observed that the simulation manager function took 0.01
s per call. This is quite a bit of overhead, considering that
`env.device` refers to `sim.device` and gets called at multiple
locations in the environment.
This MR reverts back to the previous solution for obtaining the device.
Fixes #3554
## Type of change
- Bug fix (non-breaking change which fixes an issue)
## Screenshots
```
./isaaclab.sh -p scripts/benchmarks/benchmark_non_rl.py --task Isaac-Velocity-Flat-Anymal-C-v0 --headless --seed 0 --num_frames 2000
```
The numbers reported here are the average FPS on PC with RTX A6000 GPU
and Intel i9-9820X:
* **Before**: 94784.43553363248
* **Overriding `sim.device`**: 100484.21244511564
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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extension's `config/extension.toml` file
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exists there
* Adds msgpack to license exception (#3687)
# Description
msgpack is required by ray when installing rl_games. it has an apache
2.0 license, so we are adding it to the exceptions list since the
license shows up as UNKNOWN by the license checker.
## Type of change
<!-- As you go through the list, delete the ones that are not
applicable. -->
- Documentation update
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
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* Fixes skrl train/play script configurations when using the `--agent` argument and rename agent configuration variable (#3643)
# Description
This PR address the following points:
* Fix skrl train/play script configuration when using the `--agent`
argument
Example:
```bash
python scripts/reinforcement_learning/skrl/train.py --task
Isaac-Cart-Double-Pendulum-Direct-v0 --headless --agent
skrl_mappo_cfg_entry_point
```
Error:
```
[INFO]: Parsing configuration from:
isaaclab_tasks.direct.cart_double_pendulum.cart_double_pendulum_env:CartDoublePendulumEnvCfg
[INFO]: Parsing configuration from:
/home/toni/Documents/RL/toni_IsaacLab/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_mappo_cfg.yaml
[INFO] Logging experiment in directory:
/home/toni/Documents/RL/toni_IsaacLab/logs/skrl/cart_double_pendulum_direct
Error executing job with overrides: []
Traceback (most recent call last):
File
"/home/toni/Documents/RL/toni_IsaacLab/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py",
line 101, in hydra_main
func(env_cfg, agent_cfg, *args, **kwargs)
File
"/home/toni/Documents/RL/toni_IsaacLab/scripts/reinforcement_learning/skrl/train.py",
line 156, in main
log_dir = datetime.now().strftime("%Y-%m-%d_%H-%M-%S") +
f"_{algorithm}_{args_cli.ml_framework}"
^^^^^^^^^
NameError: name 'algorithm' is not defined
```
* Replace `STATES` by `OBSERVATIONS` when defining skrl's agent
configuration model inputs to ensure a smooth and error-free transition
when the new mayor version of **skrl** gets released. In such mayor
version `OBSERVATIONS` and `STATES` have different value/usage.
## Type of change
<!-- As you go through the list, delete the ones that are not
applicable. -->
- Bug fix (non-breaking change which fixes an issue)
* Updates SkillGen documentation for data gen command and success rates (#3702)
# SkillGen documentation: data gen command cleanup and success-rate
guidance
## Description
This PR updates the SkillGen documentation in
`docs/source/overview/imitation-learning/skillgen.rst`:
- Removes a redundant `--headless` flag from a data generation command
example.
- Adds a note with success-rate guidelines and training recommendations
for cube stacking and bin cube stacking.
- Clarifies minor text details, including correcting the planning phase
order to “Retreat → Contact → Approach” for consistency.
Motivation: Improve clarity, set realistic expectations on data
generation and downstream policy performance, and align docs with actual
planner behavior.
Dependencies: None
## Type of change
- Documentation update
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
* Configures mesh collision schemas in `convert_mesh.py` (#3558)
# Description
The collision approximation configuration changed in main branch, but
the code in tools/convert_mesh.py does not sync.
Fixes #3557
## Type of change
- Bug fix (non-breaking change which fixes an issue)
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
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feature works
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extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
---------
Signed-off-by: zehao-wang <59912787+zehao-wang@users.noreply.github.com>
* Fixes warnings when running AutoMate env (#3660)
# Description
* Fixes the warning messages reported in the QA testing
* Remove redundant config argument 'sample_from'
* Change the default value of config argument 'num_log_traj'
## Type of change
- Bug fix (non-breaking change which fixes an issue)
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
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feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
---------
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
* Exposes `physxscene:solveArticulationContactLast` flag through PhysxCfg (#3502)
# Description
This PR adds api to set physxscene:solveArticulationContactLast through
PhysxCfg,
this is only available in sim 5.1
Fixes # (issue)
## Type of change
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- New feature (non-breaking change which adds functionality)
## Screenshots
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## Checklist
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- [] I have added tests that prove my fix is effective or that my
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extension's `config/extension.toml` file
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Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
* Updates CODEOWNERS for Isaac Lab Mimic (#3714)
# Description
Update CODEOWNERS for Isaac Lab Mimic
## Type of change
- Documentation update
## Checklist
- [ ] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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Signed-off-by: Yan Chang <yachang@nvidia.com>
* Update gymnasium dependency to version 1.2.1 (#3696)
# Description
This MR updates gymnasium version to prevent memory leak while video
recording.
Related MR: https://github.com/Farama-Foundation/Gymnasium/pull/1444
Fixes https://github.com/isaac-sim/IsaacLab/pull/3387
## Type of change
- Bug fix (non-breaking change which fixes an issue)
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>
* Updates SB3 ppo cfg so it trains under reasonable amount of time (#3726)
# Description
This PR fixes the sb3_ppo_cfg for task Isaac-Ant-v0
the parameter before had 4096 num_envs + horizon 512 + batch size 128 +
n_epoch 20,
that means the training one cycle it needs to for loop (20 * 512 * 4096)
/ 128 = 327680 times!
which appears as if it is hanging forever
the new config matches more closely with that of rl_games.
I verified it will trains under 5 min
[Screencast from 2025-10-15
13-56-21.webm](https://github.com/user-attachments/assets/2bc7bcd8-0063-46b9-adb0-67a6aa686732)
## Type of change
<!-- As you go through the list, delete the ones that are not
applicable. -->
- Bug fix (non-breaking change which fixes an issue)
## Screenshots
Please attach before and after screenshots of the change if applicable.
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## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
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exists there
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* Fixes the way seed was set in the benchmark_non_rl script (#3741)
# Description
When seed was added to the benchmark_non_rl.py script, it was mistakenly
trying to read from simulation config, which doesn't exist. We can set
seed directly from the cli arguments since it's ok to be None if it's
not specified.
## Type of change
<!-- As you go through the list, delete the ones that are not
applicable. -->
- Bug fix (non-breaking change which fixes an issue)
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
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* Removes pickle dependency for cfg load and dump (#3709)
# Description
We have been supporting both pickle and yaml storing for configuration.
However, pickle has some security vulnerabilities and we have been
preferring the use of yaml in most cases. Thus, we are removing the
pickle utilities for saving and loading configs.
For more info on pickle: https://docs.python.org/3/library/pickle.html
## Type of change
- Breaking change (existing functionality will not work without user
modification)
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
* Adds functions to obtain prim pose and scale from USD Xformable (#3371)
# Description
This MR adds two functions to obtain the pose and scale of a prim
respectively.
This is needed for #3298.
## Type of change
- New feature (non-breaking change which adds functionality)
- This change requires a documentation update
## Checklist
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
* Sets reward computation in AutoMate env with CUDA or CPU (#3733)
# Description
If Nvidia driver 580 and cuda toolkit 13.0, we compute reward with CPU.
If Nvidia driver 570 and cuda toolkit 12.8, we compute reward with CUDA.
Fixes issue with hanging process with cuda 13.
## Type of change
- Bug fix (non-breaking change which fixes an issue)
- Documentation update
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
* Normalizes line endings for docs/make.bat (#3757)
# Description
When cloning the repo, make.bat caused line ending changes to be
triggered on Linux due to difference in Windows and Linux styles. This
change normalizes the script to avoid triggering git conversions when
cloning the repo.
## Type of change
- Bug fix (non-breaking change which fixes an issue)
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
* Adds data gen and policy learning times in SkillGen documentation (#3773)
## Description
This PR updates the SkillGen docs to include expected data generation
and policy training times for clarity.
Dependencies: None
## Type of change
- Documentation update
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
* Fixes typo in rl-games configuration for cartpole task (#3767)
# Description
Fixed a typo in the RL Games PPO configuration file for the Cartpole
feature-based environment. Changed value_bootstraop to value_bootstrap
on line 60 to match the correct parameter name used throughout the
codebase.
## Type of change
- Bug fix (non-breaking change which fixes an issue)
## Screenshots
Not applicable (text-only typo fix in YAML configuration file)
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
<!--
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Signed-off-by: G.G <148413288+tkgaolol@users.noreply.github.com>
* Updates cuRobo installation instructions and added VRAM baseline perf to SkillGen docs (#3796)
### Description
- Add a concise installation caveat for cuRobo when Omniverse Kit/Isaac
Sim environment scripts set `PYTHONPATH`/`PYTHONHOME`, with simple
mitigations.
- Clarify `TORCH_CUDA_ARCH_LIST` usage (match GPU compute capability;
add `+PTX` for forward compatibility).
- Consolidate and document VRAM usage baselines and GPU recommendations
for both Vanilla Cube Stacking and Adaptive Bin Cube Stacking (measured
over 10 demos on RTX 6000 Ada 48 GB).
- Minor wording fixes for consistency (e.g., “adaptive bin cube
stacking”).
- **Dependencies**: None
### Type of change
- Documentation update
### Checklist
- [x] I have read and understood the contribution guidelines
- [x] I have run the `pre-commit` checks with `./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension’s `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
* Fixes cuda version as float for AutoMate to correctly convert patch versions (#3795)
# Description
To convert cuda version from a string to a float, I update the function
to handle cases with multiple points, e.g. string '12.8.9' will be
converted to float 12.89. Before, float('12.8.9') will return None for
failure conversion.
## Type of change
- Bug fix (non-breaking change which fixes an issue)
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
* Updates package licenses, CPU Governor setting in docs, and flaky tests (#3778)
# Description
There were some recent updates to a couple of our dependency packages
that have updated their licenses. Updating our license checker
exceptions to match with the new updated licenses for these packages.
Additionally, adds a note in the simulation performance documentation
for CPU governor setting to improve performance.
Also, updates a few unit tests to mark as flaky as we've shown in recent
CI runs.
## Type of change
<!-- As you go through the list, delete the ones that are not
applicable. -->
- Bug fix (non-breaking change which fixes an issue)
- Documentation update
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
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* Fixes TiledCamera data types and rlgames training on CPU (#3808)
# Description
We were incorrectly converting all numpy array data in the TiledCamera
class into uint8 type warp arrays when simulation device is set to CPU.
Some annotations like depth are float32 while segmentation data is
uint32. The correct behavior should convert to warp arrays depending on
the input data type of the numpy array.
Additionally, rlgames configs were set to cuda device by default but
were not being overridden when users specify the simulation device to
CPU through cmdline. We should propagate the device setting to the
rlgames configs so that we can run training on the same device, similar
to how RSL RL is set up.
Fixes #3526
## Type of change
- Bug fix (non-breaking change which fixes an issue)
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
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* Adds matplotlib-inline to license exceptions (#3853)
# Description
matplotlib-inline has BSD-3 license, so it's ok for us to include it. We
already have the license file specified for it.
## Type of change
- Documentation update
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
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* Merges release 2.3 changes into main with Isaac Sim 5.1 support (#3857)
# Description
Merging in updates for the Isaac Lab 2.3 release, moving to support for
Isaac Sim 5.1.
This change includes many features for teleoperation, disjoint
navigation, whole-body control for teleoperation, and IK updates from
@rwiltz, @michaellin6, @jaybdub, @huihuaNvidia2023, @hougantc-nvda,
@lotusl-code, @yami007007, @cathyliyuanchen, @tifchen-nvda.
Additionally, support for DGX Spark is added by @ooctipus and
@matthewtrepte.
For details of the changes and updates, refer to the release notes.
## Type of change
- New feature (non-breaking change which adds functionality)
- Breaking change (existing functionality will not work without user
modification)
- Documentation update
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
<!--
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---------
Signed-off-by: Harsh Patel <hapatel@theaiinstitute.com>
Signed-off-by: rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: yami007007 <weihuaz@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Louis LE LAY <le.lay.louis@gmail.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Signed-off-by: Javier Felix-Rendon <javierfelixrendon@gmail.com>
Signed-off-by: Doug Fulop <dougfulop@gmail.com>
Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com>
Signed-off-by: Giulio Romualdi <giulio.romualdi@gmail.com>
Signed-off-by: zehao-wang <59912787+zehao-wang@users.noreply.github.com>
Signed-off-by: Michael Gussert <michael@gussert.com>
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Signed-off-by: shauryadNv <shauryad@nvidia.com>
Co-authored-by: Philipp Reist <66367163+preist-nvidia@users.noreply.github.com>
Co-authored-by: Harsh Patel <hapatel@theaiinstitute.com>
Co-authored-by: James Tigue <jtigue@theaiinstitute.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com>
Co-authored-by: michaellin6 <michalin@nvidia.com>
Co-authored-by: Huihua Zhao <huihuaz@nvidia.com>
Co-authored-by: Rafael Wiltz <rwiltz@nvidia.com>
Co-authored-by: Sergey Grizan <sgrizan@nvidia.com>
Co-authored-by: Alexander Poddubny <143108850+nv-apoddubny@users.noreply.github.com>
Co-authored-by: John <jaybdub@users.noreply.github.com>
Co-authored-by: yami007007 <weihuaz@nvidia.com>
Co-authored-by: Weihua Zhang <weihuaz@weihuaz-mlt.client.nvidia.com>
Co-authored-by: PeterL-NV <petliu@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: hougantc-nvda <127865892+hougantc-nvda@users.noreply.github.com>
Co-authored-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: njawale42 <njawale@nvidia.com>
Co-authored-by: Cathy Li <40371641+cathyliyuanchen@users.noreply.github.com>
Co-authored-by: Louis LE LAY <le.lay.louis@gmail.com>
Co-authored-by: Javier Felix-Rendon <javierfelixrendon@gmail.com>
Co-authored-by: Doug Fulop <dougfulop@gmail.com>
Co-authored-by: Robin Vishen <117207232+vi7n@users.noreply.github.com>
Co-authored-by: -T.K.- <t_k_233@outlook.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>
Co-authored-by: Rebecca Zhang <rebeccaz@nvidia.com>
Co-authored-by: Lorenz Wellhausen <lorenwel@users.noreply.github.com>
Co-authored-by: Lorenz Wellhausen <lorenz.wellhausen@rivr.ai>
Co-authored-by: Michael Gussert <michael@gussert.com>
Co-authored-by: Antoine RICHARD <antoiner@nvidia.com>
Co-authored-by: tifchen-nvda <tifchen@nvidia.com>
Co-authored-by: Cathy Li <yuanchenl@yuanchenl-mlt.client.nvidia.com>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com>
Co-authored-by: Milad-Rakhsha <miladrakhsha@gmail.com>
Co-authored-by: Giulio Romualdi <giulio.romualdi@gmail.com>
Co-authored-by: Xinjie Yao <xyao@nvidia.com>
Co-authored-by: shauryadNv <shauryad@nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>
Co-authored-by: zehao-wang <59912787+zehao-wang@users.noreply.github.com>
Co-authored-by: yijieg <yijieg@nvidia.com>
Co-authored-by: ndahile-nvidia <167997649+ndahile-nvidia@users.noreply.github.com>
Co-authored-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: yanziz-nvidia <yanziz@nvidia.com>
Co-authored-by: lotusl-code <lotusl@nvidia.com>
* Updates release notes and driver versions (#3868)
# Description
Documentation update for release notes for the 2.3 release and some
final updates on recommended driver versions.
## Type of change
- Documentation update
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
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Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
* Fixes broken link for Isaac-Tracking-LocoManip-Digit-v0 (#3883)
# Description
<!--
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to check the contribution guidelines.
Link:
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review and merge.
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`Isaac-Tracking-LocoManip-Digit-v0` was moved to a different source code
path and docs were not updated accordingly. This change fixes the broken
URL.
## Type of change
<!-- As you go through the list, delete the ones that are not
applicable. -->
- Documentation update
## Checklist
- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
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extension's `config/extension.toml` file
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Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com>
Signed-off-by: Giulio Romualdi <giulio.romualdi@gmail.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Signed-off-by: zehao-wang <59912787+zehao-wang@users.noreply.github.com>
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Signed-off-by: Yan Chang <yachang@nvidia.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: G.G <148413288+tkgaolol@users.noreply.github.com>
Signed-off-by: Harsh Patel <hapatel@theaiinstitute.com>
Signed-off-by: rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com>
Signed-off-by: yami007007 <weihuaz@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Louis LE LAY <le.lay.louis@gmail.com>
Signed-off-by: Javier Felix-Rendon <javierfelixrendon@gmail.com>
Signed-off-by: Doug Fulop <dougfulop@gmail.com>
Signed-off-by: Michael Gussert <michael@gussert.com>
Signed-off-by: shauryadNv <shauryad@nvidia.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com>
Co-authored-by: Giulio Romualdi <giulio.romualdi@gmail.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Michael Gussert <michael@gussert.com>
Co-authored-by: Xinjie Yao <xyao@nvidia.com>
Co-authored-by: Alexander Poddubny <143108850+nv-apoddubny@users.noreply.github.com>
Co-authored-by: Qingyang Jiang <jiang131072@gmail.com>
Co-authored-by: co63oc <4617245+co63oc@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>
Co-authored-by: njawale42 <njawale@nvidia.com>
Co-authored-by: zehao-wang <59912787+zehao-wang@users.noreply.github.com>
Co-authored-by: yijieg <yijieg@nvidia.com>
Co-authored-by: Yan Chang <yachang@nvidia.com>
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: G.G <148413288+tkgaolol@users.noreply.github.com>
Co-authored-by: Philipp Reist <66367163+preist-nvidia@users.noreply.github.com>
Co-authored-by: Harsh Patel <hapatel@theaiinstitute.com>
Co-authored-by: James Tigue <jtigue@theaiinstitute.com>
Co-authored-by: rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com>
Co-authored-by: michaellin6 <michalin@nvidia.com>
Co-authored-by: Huihua Zhao <huihuaz@nvidia.com>
Co-authored-by: Rafael Wiltz <rwiltz@nvidia.com>
Co-authored-by: Sergey Grizan <sgrizan@nvidia.com>
Co-authored-by: John <jaybdub@users.noreply.github.com>
Co-authored-by: yami007007 <weihuaz@nvidia.com>
Co-authored-by: Weihua Zhang <weihuaz@weihuaz-mlt.client.nvidia.com>
Co-authored-by: PeterL-NV <petliu@nvidia.com>
Co-authored-by: hougantc-nvda <127865892+hougantc-nvda@users.noreply.github.com>
Co-authored-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: Cathy Li <40371641+cathyliyuanchen@users.noreply.github.com>
Co-authored-by: Louis LE LAY <le.lay.louis@gmail.com>
Co-authored-by: Javier Felix-Rendon <javierfelixrendon@gmail.com>
Co-authored-by: Doug Fulop <dougfulop@gmail.com>
Co-authored-by: Robin Vishen <117207232+vi7n@users.noreply.github.com>
Co-authored-by: -T.K.- <t_k_233@outlook.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>
Co-authored-by: Rebecca Zhang <rebeccaz@nvidia.com>
Co-authored-by: Lorenz Wellhausen <lorenwel@users.noreply.github.com>
Co-authored-by: Lorenz Wellhausen <lorenz.wellhausen@rivr.ai>
Co-authored-by: Antoine RICHARD <antoiner@nvidia.com>
Co-authored-by: tifchen-nvda <tifchen@nvidia.com>
Co-authored-by: Cathy Li <yuanchenl@yuanchenl-mlt.client.nvidia.com>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: Milad-Rakhsha <miladrakhsha@gmail.com>
Co-authored-by: shauryadNv <shauryad@nvidia.com>
Co-authored-by: ndahile-nvidia <167997649+ndahile-nvidia@users.noreply.github.com>
Co-authored-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: yanziz-nvidia <yanziz@nvidia.com>
Co-authored-by: lotusl-code <lotusl@nvidia.com>
Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
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Description
Merging in updates for the Isaac Lab 2.3 release, moving to support for Isaac Sim 5.1.
This change includes many features for teleoperation, disjoint navigation, whole-body control for teleoperation, and IK updates from @rwiltz, @michaellin6, @jaybdub, @huihuaNvidia2023, @hougantc-nvda, @lotusl-code, @yami007007, @cathyliyuanchen, @tifchen-nvda. Additionally, support for DGX Spark is added by @ooctipus and @matthewtrepte.
For details of the changes and updates, refer to the release notes.
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there