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isaac-racine
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Jun 5, 2024
Updates code to Isaac Lab release - New feature - Breaking change - [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 run all the tests with `./isaaclab.sh --test` and they pass - [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
isaac-racine
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Jun 5, 2024
Updates code to Isaac Lab release - New feature - Breaking change - [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 run all the tests with `./isaaclab.sh --test` and they pass - [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
fatimaanes
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Aug 8, 2024
Updates code to Isaac Lab release ## Type of change - New feature - Breaking change ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have run all the tests with `./isaaclab.sh --test` and they pass - [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
iamdrfly
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Nov 21, 2024
Updates code to Isaac Lab release ## Type of change - New feature - Breaking change ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have run all the tests with `./isaaclab.sh --test` and they pass - [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
kellyguo11
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Jun 13, 2025
# 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 gifs in Mimic docs by hosting on download.isaacsim.com ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - 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 -->
kellyguo11
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Jul 19, 2025
# 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 gifs in Mimic docs by hosting on download.isaacsim.com ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - 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 -->
StephenWelch
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Aug 17, 2025
# 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 gifs in Mimic docs by hosting on download.isaacsim.com ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - 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 -->
george-nehma
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Oct 24, 2025
# 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 gifs in Mimic docs by hosting on download.isaacsim.com ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - 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 -->
hujc7
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Apr 22, 2026
Restore base-mass randomization on H1 and Cassie that was disabled with add_base_mass = None in their rough-terrain configs (pre-existing biped convention from 2024-06 PR isaac-sim#444, later reinforced by PR isaac-sim#4165's Newton NaN TODO). The parent PR isaac-sim#5248 switches the shared default to log-uniform scale (1/1.25, 1.25), which is safer for bipeds than the old additive (-5, 5) kg (effectively ±25% on H1's torso vs ±100% on Cassie's pelvis). - H1 inherits the shared default (symmetric ±25% scale, body_names="torso_link"). - Cassie overrides to (1.0, 1.25) asymmetric heavier-bias: lighter-than- nominal pelvis destabilizes Cassie's closed-loop Achilles rod coupling and hip PD response, while heavier-than-nominal dampens dynamics. ## Ablation (Cassie, 1500-iter Newton, 4096 envs, seed 42) | Variant | reward | ep len | vs disabled | |--------------------------------|-------:|-------:|------------:| | None (disabled, prior default) | 23.93 | 910 | 1.00x | | (1/1.25, 1.25) sym25 | 14.15 | 850 | 0.59x x | | (1/1.10, 1.10) tight10 | 14.53 | 831 | 0.61x x | | **(1.0, 1.25) heavier25** | **21.50** | **932** | **0.90x** | Tightening the range symmetrically did not help (tight10 ~ sym25) — the lighter side is what destabilizes, not the magnitude. Restricting to [1.0, 1.25] (never lighter, up to +25% heavier) preserves most of the randomization benefit while avoiding the failure mode. Episode length also improves (932 vs 910), indicating the randomized policy is actively more stable during episodes — the lower aggregate reward comes from extra dof-torque regularizer paid to handle heavier instances, not degraded task completion. ## H1 (unchanged, 1500-iter Newton) H1's larger base mass (≈15 kg torso) means ±25% on the default scale (11-19 kg range) is well within the controller's robustness margin. H1 reward at iter 1499: 24.02 with mass rand on vs 23.58 with it disabled (1.02x, essentially equal). Re-enabling provides sim-to-real robustness at negligible training cost.
hujc7
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Apr 22, 2026
Restore base-mass randomization on H1 and Cassie that was disabled with add_base_mass = None in their rough-terrain configs (pre-existing biped convention from 2024-06 PR isaac-sim#444, later reinforced by PR isaac-sim#4165's Newton NaN TODO). The parent PR isaac-sim#5248 switches the shared default to log-uniform scale (1/1.25, 1.25), which is safer for bipeds than the old additive (-5, 5) kg (effectively ±25% on H1's torso vs ±100% on Cassie's pelvis). - H1 inherits the shared default (symmetric ±25% scale, body_names="torso_link"). - Cassie overrides to (1.0, 1.25) asymmetric heavier-bias: lighter-than- nominal pelvis destabilizes Cassie's closed-loop Achilles rod coupling and hip PD response, while heavier-than-nominal dampens dynamics. ## Ablation (Cassie, 1500-iter Newton, 4096 envs, seed 42) | Variant | reward | ep len | vs disabled | |--------------------------------|-------:|-------:|------------:| | None (disabled, prior default) | 23.93 | 910 | 1.00x | | (1/1.25, 1.25) sym25 | 14.15 | 850 | 0.59x x | | (1/1.10, 1.10) tight10 | 14.53 | 831 | 0.61x x | | **(1.0, 1.25) heavier25** | **21.50** | **932** | **0.90x** | Tightening the range symmetrically did not help (tight10 ~ sym25) — the lighter side is what destabilizes, not the magnitude. Restricting to [1.0, 1.25] (never lighter, up to +25% heavier) preserves most of the randomization benefit while avoiding the failure mode. Episode length also improves (932 vs 910), indicating the randomized policy is actively more stable during episodes — the lower aggregate reward comes from extra dof-torque regularizer paid to handle heavier instances, not degraded task completion. ## H1 (unchanged, 1500-iter Newton) H1's larger base mass (≈15 kg torso) means ±25% on the default scale (11-19 kg range) is well within the controller's robustness margin. H1 reward at iter 1499: 24.02 with mass rand on vs 23.58 with it disabled (1.02x, essentially equal). Re-enabling provides sim-to-real robustness at negligible training cost.
hujc7
added a commit
to hujc7/IsaacLab
that referenced
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Apr 22, 2026
Restore base-mass randomization on H1 and Cassie that was disabled with add_base_mass = None in their rough-terrain configs (pre-existing biped convention from 2024-06 PR isaac-sim#444, later reinforced by PR isaac-sim#4165's Newton NaN TODO). The parent PR isaac-sim#5248 switches the shared default to log-uniform scale (1/1.25, 1.25), which is safer for bipeds than the old additive (-5, 5) kg (effectively ±25% on H1's torso vs ±100% on Cassie's pelvis). - H1 inherits the shared default (symmetric ±25% scale, body_names="torso_link"). - Cassie overrides to (1.0, 1.25) asymmetric heavier-bias: lighter-than- nominal pelvis destabilizes Cassie's closed-loop Achilles rod coupling and hip PD response, while heavier-than-nominal dampens dynamics. | Variant | reward | ep len | vs disabled | |--------------------------------|-------:|-------:|------------:| | None (disabled, prior default) | 23.93 | 910 | 1.00x | | (1/1.25, 1.25) sym25 | 14.15 | 850 | 0.59x x | | (1/1.10, 1.10) tight10 | 14.53 | 831 | 0.61x x | | **(1.0, 1.25) heavier25** | **21.50** | **932** | **0.90x** | Tightening the range symmetrically did not help (tight10 ~ sym25) — the lighter side is what destabilizes, not the magnitude. Restricting to [1.0, 1.25] (never lighter, up to +25% heavier) preserves most of the randomization benefit while avoiding the failure mode. Episode length also improves (932 vs 910), indicating the randomized policy is actively more stable during episodes — the lower aggregate reward comes from extra dof-torque regularizer paid to handle heavier instances, not degraded task completion. H1's larger base mass (≈15 kg torso) means ±25% on the default scale (11-19 kg range) is well within the controller's robustness margin. H1 reward at iter 1499: 24.02 with mass rand on vs 23.58 with it disabled (1.02x, essentially equal). Re-enabling provides sim-to-real robustness at negligible training cost.
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Description
Updates code to Isaac Lab release
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --format./isaaclab.sh --testand they passconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there