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# Description pxr.Semantics was deprecated in Isaac Sim 4.2 and is now Semantics. This PR replaces imports of pxr.Semantics with Semantics if available. ## 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 - [ ] 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 -->
…#2476) # 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 --> Fixed potential issues in :func:`~isaaclab.envs.mdp.events.randomize_visual_texture_material` related to handling visual prims during texture randomization. Fixes # (issue) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: YunLiu <55491388+KumoLiu@users.noreply.github.com>
# Description Fix the link ## Type of change - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [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: robotsfan <fanziqi614@gmail.com>
Fixes link to python script in walkthrough tutorial Fixes isaac-sim#2740 ## Checklist - [X] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [X] I have made corresponding changes to the documentation - [X] My changes generate no new warnings - [X] I have added tests that prove my fix is effective or that my feature works - [X] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [X] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description Add more information in the print out message, when generating disassembly paths. ## Type of change - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) ## Checklist - [ x ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ x ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ x ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
…#2022) # 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 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. Implement part of isaac-sim#1769 (optimization) This is a breaking change because the fast variant is now enabled by default. I also improve sb3 training script, fixed loading of normalization and fixed the humanoid hyperparameters to be similar to rsl-rl, so we can compare apples to apples in terms of training speed. I will probably open another PR for the rest of the proposals. <!-- 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) - Breaking change (fix or feature that would cause existing functionality to not work as expected) - This change requires a documentation update With respect to testing, how do you run a single test? and is there anything I should add? ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Antonin RAFFIN <antonin.raffin@ensta.org> Signed-off-by: Kelly Guo <kellyguo123@hotmail.com> Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
# Description This PR adds `NoiseModel` support for manager-based workflows. To achieve this, I have: - Added `NoiseModel` lifecycle management to `ObservationManager`. - Added a `Callable` field, `func`, to `NoiseModelCfg`, which `ObservationManager` uses to assign the class instance within, similar to how it is done for `ModifierBase`. - Renamed `apply()` to be `__call()__`, to be consistent with function-based noises and `ModifierBase`. Fixes isaac-sim#2715 and isaac-sim#1864. Note: I left the changelog with the entry [Unreleased] until the PR is given the green light. ## 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 - [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
…igidObjectCollection and Articulation (isaac-sim#2736) # Description When WriteState, WriteLink, WriteCOM, WriteJoint are invoked, there is a inconsistency when reading values of ReadState, ReadLink, ReadCOM. The Source of the bug is because of missing timestamp invalidation of relative data or missing update to the related data within the write function. Below I list the all functions that is problematics RigitObject: write_root_link_pose_to_sim write_root_com_velocity_to_sim RigitObjectCollection: write_object_link_pose_to_sim write_object_com_velocity_to_sim Articulation: write_joint_state_to_sim The bug if fixed by invalidating the relevant data timestamps in write_joint_state_to_sim function for articulation, and added direct update to the dependent data in write_(state|link|com)_to_sim of RigitObject and RigitObjectCollection. I have added the tests cases that checks the consistency among ReadState, ReadLink, ReadCOM when either WriteState, WriteLink, WriteCOM, WriteJoint is called and passed all tests. Fixes isaac-sim#2534 isaac-sim#2702 <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
) # Description Various minor updates to documentation to clarify a few concepts: - Adds note about source conda environment if installing from binaries using conda, but not using `./isaaclab.sh -c` option - Adds note that Fabric should be enabled for GPU simulation and that rendering will not update if Fabric is not enabled - Adds note about using the inference task names if available when running inferencing - Removes unneeded physics cudaDevice flag for distributed training ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - This change requires a documentation update ## 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 -->
…saac-sim#2692) Fix bug of reset joint initial state of articulation in event function `reset_scene_to_default` ref to: isaac-sim#2663, where the targets were not previously reset together with the joint positions. # Description ref: isaac-sim#2663 Signed-off-by: Wenguo Hou <wghou09@bjtu.edu.cn> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
# Description The body_com event term added to the base velocity cfg caused errors in some locomotion environments if the body was not named "base". This PR disables the event term for these environments. Fixes isaac-sim#2574 ## 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 - [ ] 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 logs env_cfg and agent_cfg to wandb in accordance how rl_games handles env_cfg and agent_cfg. Before env_cfg and agent_cfg is not observable from wandb run. ## 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 run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
# Description Add an example to train a locomotion and loco-manipulation controller for digit. This also serves as an example on how to train a robot with closed loops. ## Type of change - New feature (non-breaking change which adds functionality) ## Screenshots ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: lgulich <22480644+lgulich@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
# Description Fixes typo in reset_scene_to_default that was recently added where joint position was incorrectly set to velocity targets. ## 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 - [ ] 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 -->
…ng (isaac-sim#2760) # Description This PR updates the `NoiseModelWithAdditiveBias` to apply per-feature bias sampling. Previously, the model sampled a single scalar bias per episode and applied it uniformly across all feature dimensions (i.e., axis 1 of a (`num_env`, `feature_dim`) tensor). This PR changes the behavior to instead sample a separate bias value for each feature dimension, making the model more suitable for structured inputs such as positions, velocities, or multi-DOF actions. ### Notes Structured inputs typically contain semantically distinct components, like [x, y, z] coordinates, where applying the same bias across all components introduces unrealistic, fully correlated noise. Independent per-dimension bias sampling leads to more realistic and robust policy training, especially for sim-to-real transfer. I’ve replaced the previous behavior with this new default, as I believe the original implementation could be misleading and not well-suited for many practical scenarios. However, if desired, I can make both behaviors available via a configuration flag (e.g., `per_feature_bias=True`), to retain backward compatibility. Fixes isaac-sim#2759. ## Type of change - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…saac-sim#1748) # Description In the `H1RoughEnvCfg` class, the `body_names` assignment for contact termination was initialized twice, which was redundant. This PR removes the duplicate assignment. ``` # Terminations self.terminations.base_contact.params["sensor_cfg"].body_names = [".*torso_link"] # Rewards self.rewards.undesired_contacts = None self.rewards.flat_orientation_l2.weight = -1.0 self.rewards.dof_torques_l2.weight = 0.0 self.rewards.action_rate_l2.weight = -0.005 self.rewards.dof_acc_l2.weight = -1.25e-7 # Commands self.commands.base_velocity.ranges.lin_vel_x = (0.0, 1.0) self.commands.base_velocity.ranges.lin_vel_y = (0.0, 0.0) self.commands.base_velocity.ranges.ang_vel_z = (-1.0, 1.0) # terminations self.terminations.base_contact.params["sensor_cfg"].body_names = ".*torso_link" ``` ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Signed-off-by: Kelly Guo <kellyguo123@hotmail.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
## Description Previously, `euler_xyz_from_quat` returned Euler angles in the [0, 2π) range, which is uncommon in robotics applications. As a result, several users implemented their own workarounds to adjust the angle range to (−π, π]. Examples include: - **Isaac-RL-Two-wheel-Legged-Bot**: Custom unwrapping implemented in [`rewards.py#L17`](https://github.com/jaykorea/Isaac-RL-Two-wheel-Legged-Bot/blob/057f81ed3aa4aff91551fce5c54256e47cece29a/lab/flamingo/tasks/constraint_based/locomotion/velocity/mdp/rewards.py#L17). - **lorenzo-bianchi/IsaacLab**: Manual angle shifting in [`quadcopter_env_v1.py#L219`](https://github.com/lorenzo-bianchi/IsaacLab/blob/247f66db3691046ecdfecb311268eccc729048ec/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/quadcopter/quadcopter_env_v1.py#L219). - **kscalelabs/klab**: Custom angle normalization in [`imu.py#L17`](https://github.com/kscalelabs/klab/blob/edf749f5177ba296a076d13380cd0fb1e5846e3f/exts/zbot2/zbot2/tasks/locomotion/velocity/mdp/imu.py#L17). To address this issue, we have updated the default angle range from [0, 2π) to (−π, π] by removing the `% (2 * torch.pi)` operation at the return statement, since the [atan2 function](https://en.wikipedia.org/wiki/Atan2) naturally outputs angles within the (−π, π] range. We also introduced a new parameter, `wrap_to_2pi: bool = False`. Setting this parameter to `True` will maintain the previous behavior: - **Default (`wrap_to_2pi=False`)**: Angles returned in the range (−π, π]. - **Optional (`wrap_to_2pi=True`)**: Angles wrapped in the original [0, 2π) range. Additionally, multiple test samples have been added to evaluate and ensure performance and accuracy across different scenarios. ### What’s Changed - **Default behavior** updated to (−π, π] (non-breaking). - **New argument** `wrap_to_2pi` for optional wrapping. - **Unit tests** added for both wrapped and unwrapped outputs. --- Fixes isaac-sim#2364 ## Type of Change - **Enhancement** (non-breaking addition of functionality) --- ## Checklist - [x] Ran `./isaaclab.sh --format` and all pre-commit checks pass - [x] Updated docstrings to describe `wrap_to_2pi` parameter - [x] Added tests covering both wrapped and unwrapped outputs - [x] No new warnings introduced - [ ] Updated changelog and bumped version in `config/extension.toml` - [x] Confirmed my name is listed in `CONTRIBUTORS.md` --------- Co-authored-by: Kelly Guo <kellyg@nvidia.com>
# Description Fix the small stylistic mistake in the documentation. ## Type of change - Bug fix (non-breaking change which fixes an issue) (docs fix) ## 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: Norbert Cygiert <107721774+norbertcygiert@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…c-sim#2680) # Description Thanks to Matteo Grimaldi, Saleh Nabi and Wonju Lee for identifying the source of this memory leak. <!-- 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 --> Add garbage collector calls since warp doesn't handle well the free memory. Fixes isaac-sim#2679 <!-- 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 ## Screenshots Before this change - the experiment hasn't been completed on 64GB RAM machines. After this change it requires less than 12GB RAM. <!-- Example: | Before | 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 <!-- 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: David <ddleon@outlook.co.il> Signed-off-by: Kelly Guo <kellyguo123@hotmail.com> Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
…es (isaac-sim#2511) # Description Currently, `update_class_from_dict()` does not allow updating the configclass Iterable elements with Hydra, when the provided Iterable length differs from the default value. Such a feature is nevertheless needed when changing the network layer depth on the go, e.g., while using learning libraries that utilize configclass (see isaac-sim#2456 for details). This PR modifies `update_class_from_dict()` such that if an element is a flat Iterable (e.g., flat list), it is replaced wholesale, without checking the lengths. Moreover, the PR modifies the robustness of the function against a few edge cases that might break the execution, and adds comments to make it easier to follow the logic flow. Note: I left the changelog entry as `[Unreleased]` until a green light is given. Fixes isaac-sim#2456. ## 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 - [ ] 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> Signed-off-by: Kelly Guo <kellyguo123@hotmail.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
# Description This PR relaxes the upper range of allowed protobuf versions so that IsaacLab can be installed in a modern python environment without downgrading or conflicting with modern protobuf versions. The original reason for pinning this to <5 was apparently due to transitive breakage in tensorboard, which also had this pinned to <5 - so pinning this in IsaacLab itself would not be necessary if both deps were composed together. Tensorboard has since (in Aug 2024) unpinned this here: tensorflow/tensorboard#6888 So, the original concern should, afaict, be obviated now. # Fixes This should repair any case where someone wants to install IsaacLab into a modern python environment that uses any of the Google ecosystem (gRPC/protobuf et al) without conflict or forced down-rev'ing to older versions (current version of protobuf is 6.31.1). ## 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 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 Minor fixes for SB3 play script to accommodate for inference task names and updates profiling numbers for the RL library comparison. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - This change requires a documentation update ## 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 This is a small change to the Walkthrough documentation to make it explicit to change the observation space dimension in the second half of the Exploring the RL problem tutorial. Fixes isaac-sim#2787 ## Type of change - This change is exclusively documentation --------- Signed-off-by: Brian Bingham <briansbingham@gmail.com> Signed-off-by: Michael Gussert <michael@gussert.com> Co-authored-by: Michael Gussert <michael@gussert.com>
# Description Corrects `quat_inv()` in utils/math.py: the inverse is now computed as: `quat_conjugate(q) / q.pow(2).sum(dim=-1, keepdim=True).clamp(min=eps)` ensuring correct results for **non-unit** quaternions. Fixes isaac-sim#1263 (see discussion for details). Also updated `CHANGELOG.rst` and corrected a few minor typos within. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by: Kelly Guo <kellyg@nvidia.com>
# Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html --> This MR fixes compatibility issues with robomimic by setting its installation version to v0.4.0. <!-- 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 - [ ] 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 -->
# Description replace_slices_with_strings() and replace_strings_with_slices() in [IsaacLab/source/isaaclab/isaaclab/utils/dict.py](https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab/isaaclab/utils/dict.py) are changed to allow slices being process if a list of dicts is passed in as input. Cherry picks changes from isaac-sim#2571 by @LinghengMeng Fixes isaac-sim#2481 ## 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 - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
) # Description This PR fixes the numpy version get upgraded to >2 when installing rl_packages dependencies ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] 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 - [x] I have not done this task -->
# Description Updates gymnasium to 1.2.0, which includes a fix for memory leak when recording videos during training with `--video`. Fixes isaac-sim#1996 ## 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) - Breaking change (fix or feature that would cause existing functionality to not work as expected) - 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 -->
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Description
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