Merges changes from main #4412
Draft
Merges changes from main #4412
+27,306
−7,409
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…orts (isaac-sim#3994) # Description This PR breaks the actuator config into separate files in order to avoid a circular import which arises once the configuration is imported into the actuator base class for more than type hinting. ## Type of change - Possible breaking change! The actuator configs have moved `.py` files and thus modules. They can still be imported directly from the `isaaclab.actuators` package. External references to these classes through the `actuator_cfg` module will not longer work. Instead, import directly from the `isaaclab.actuators` package. ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Brian McCann <144816553+bmccann-bdai@users.noreply.github.com> Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…m#3923) # Description Remove dependency on IsaacSim `stage_utils` for integration of new simulation engines like `newton`. ## Type of change - Dependency removal ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com> Signed-off-by: ooctipus <zhengyuz@nvidia.com> Signed-off-by: Kelly Guo <kellyg@nvidia.com> Signed-off-by: Kelly Guo <kellyguo123@hotmail.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: ooctipus <zhengyuz@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
# Description Currently, `.dockerignore` does not include `env_isaaclab` nor `**/wandb/*` in the files to be ignored, which should be ignored for cluster deployment since a) all Python packages are already part of the docker image (if `env_isaaclab` is not included in `.dockerignore`, it rsyncs over a 24GB dir), and b) local wandb logs should be ignored. This PR adds `env_isaaclab` and `**/wandb/*` to `.dockerignore`. Fixes isaac-sim#4026 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. Before: <img width="692" height="199" alt="Screenshot from 2025-11-16 15-27-52" src="https://github.com/user-attachments/assets/a53d2224-13ca-43df-9732-618b9adc0ac9" /> After: <img width="692" height="182" alt="Screenshot from 2025-11-16 15-29-33" src="https://github.com/user-attachments/assets/e2a9e7e3-5b8a-4566-8b5a-f1ee7ec57d3a" /> ## 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 - [ ] 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
…im#3941) Tendon imports in from_files_cfg had a typo that prevented importing. This is resolved in this commit. ## 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: Kyle Morgenstein <34984693+KyleM73@users.noreply.github.com>
# Description In the [Local Installation / Installation using Isaac Lab Pip Packages page](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/isaaclab_pip_installation.html#installing-dependencies) of the documentation, the “Installing dependencies” section is broken. I removed duplicate content and corrected the ordering. Fixes isaac-sim#3967 ## Type of change - Documentation update ## Screenshots | Before | After | | ------ | ----- | | <img width="823" height="999" alt="スクリーンショット 2025-11-08 012827" src="https://github.com/user-attachments/assets/6f022810-cff5-44c6-a835-75bc780433ce" /> | <img width="822" height="651" alt="スクリーンショット 2025-11-08 014930" src="https://github.com/user-attachments/assets/c06eacf1-bd4a-4210-8a79-c64fc923c622" /> | ## 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
isaac-sim#4045) # Description Frees up more space at the start of the licence checker job so that we have enough disk space to install all the dependencies needed to avoid the out of space errors. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: ooctipus <zhengyuz@nvidia.com> Co-authored-by: ooctipus <zhengyuz@nvidia.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
…sim#3950) # Description This MR does the following: - Introduces Quest retargeters for G1 env loco-manipulation tasks. This enables lower body control via the quest controller joysticks, and upper body control via controller tracking. - Refactors the retargeters to *not* depend on OpenXRDevice, instead move enums into DeviceBase and allow retargeters to be used across devices. - Adds XrAnchor "pinning" to a specific robot prim so that the XR view follows the robot in the scene. Fixes # (issue) ## Type of change - New feature (non-breaking change which adds functionality) - Breaking change (existing functionality will not work without user modification) - Documentation update ## Screenshots Please attach before and after screenshots of the change if applicable. ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Hougant Chen <hougantc@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
# Description This MR updates the docs to refer to the technical report of Isaac Lab. The acknowledgement to Orbit is kept but its reference has been purged. Future users should cite the technical report as it has the most updated description of features. ## 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 --------- Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
…sim#3269) # Description This PR adds support for providing a custom `ProgressReporter` while doing hyperparameter tuning with Ray Integration. Without the PR, the Ray integration defaults to the standard `CLIReporter`, which often displays metrics that aren’t particularly relevant or at the desired frequency. Similar to how we allow users to specify a --cfg_class (e.g., `CartpoleTheiaJobCfg`), this PR lets them optionally provide a custom `ProgressReporter` class. If such is not provided, it falls back to the default. Moreover, I have added an example inside `vision_cartpole_cfg.py` (i.e., `CustomCartpoleProgressReporter`). One point to highlight is that the new "[context-aware progress reporting](ray-project/ray#36949)" conflicts with custom `ProgressReporter`, so if a custom `ProgressReporter` is provided, the PR disables the context-aware progress reporting. Fixes isaac-sim#3268. ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by: garylvov <67614381+garylvov@users.noreply.github.com>
# Description An Isaac Sim import path changed in Isaac Lab which broke a fragile import in xr_anchor_utils. This change fixed the import. Fixes # (issue) ## 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
# Description Adds `preserve_order` flag to `JointPositionToLimitsActionCfg` ## 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 - [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>
isaac-sim#4053) # Description Add a short description about the locomotion policy used in the loco-manipulation teleop demo. Added a link to the AGILE training framework since it is released. <!-- 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 - Documentation update ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [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 -->
…isaac-sim#3992) # Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> This PR adds new APIs to Isaac Lab Mimic to expand support for loco-manipulation data generation. It adds: - Processing for body end effector to treat a robot's base as an eef during Mimic data generation. This enables the use of the same Mimic annotation and subtask interface to enable lower body movement. - An optional way to cleanly add custom recorders for Mimic data generation (useful for when users want to record beyond the action/state data provided by Isaac Lab's default recorder). - Interface for enabling a navigation p-controller during Mimic data generation for robot's with mobile bases. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] 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: peterd-NV <peterd@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…saac-sim#4000) # Description Latest URDF importer in Isaac Sim 5.1 removed the support for merge-joints, which caused a breaking change for some users. Although this will maintain as the behavior going forward, we are updating the importer version to a patch fix of the URDF importer for the short term that still provides the merge-joints support. In the future, we will look into providing more tooling for supporting similar behaviors in addition to the importer itself. Fixes isaac-sim#3943 ## Type of change - Bug fix (non-breaking change which fixes an issue) - Breaking change (existing functionality will not work without user modification) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com>
…4133) # Description Updates starlette to 0.49.1 due to security vulnerability in the previously used 0.45.3. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] 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 -->
…m#4091) # Description Adds a new state_dependent_std param to the rsl_rl_config for IsaacLab. --------- Signed-off-by: ooctipus <zhengyuz@nvidia.com> Co-authored-by: ooctipus <zhengyuz@nvidia.com>
…2826) # Description Introducing a close function to the recorder manager which exports the data to file when the environment is closed and closes the recorder terms. Fixes # (issue) ## 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 ## 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: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Signed-off-by: ooctipus <zhengyuz@nvidia.com> Co-authored-by: Eva M. <164949346+mmungai-bdai@users.noreply.github.com> Co-authored-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com> Co-authored-by: ooctipus <zhengyuz@nvidia.com>
…use case (isaac-sim#3801) # Description This PR adds a demo that showcasing the advance usage of RigidObjectCollection. This shows spawning random number of objects and varying object types per reset with a bin packing example. ## Type of change - New feature (non-breaking change which adds functionality) ## Screenshots  ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] 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: ooctipus <zhengyuz@nvidia.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…3924) # Description Remove dependency on IsaacSim `prim_utils` for integration of new simulation engines like `newton`. NOTE: this PR depends on isaac-sim#3923 ## Type of change - Dependency removal ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: ooctipus <zhengyuz@nvidia.com> Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Octi Zhang <zhengyuz@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
# Description > Reopening pending PR (closed at that point) for when the cleanup and removal of the internal repository was performed. This PR updates the agent configuration (to be as similar as possible) for the `Isaac-Humanoid-v0` task to ensure a more accurate comparison of the RL libraries when generating the [Training Performance](https://isaac-sim.github.io/IsaacLab/main/source/overview/reinforcement-learning/rl_frameworks.html#training-performance) table. To this end: 1. A common Training time info (e.g.: `Training time: XXX.YY seconds`) is printed when running existing `train.py` scripts. Currently the RL libraries output training information in different formats and extends. 2. A note is added to involved agent configurations to notify/ensure that any modification should be propagated to the other agent configuration files. 3. The commands used to benchmark the RL libraries is added to docs, for clearness and repro. ## Screenshots Difference between current agent configuration (red) and new agent configuration (green) showing that the new configuration does not represent a radical change in learning <img width="1230" height="880" alt="Screenshot from 2025-11-28 13-19-14" src="https://github.com/user-attachments/assets/12a098c1-c169-4e09-b60f-b5f105341fbd" /> ## 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 -->
…nd Pico (isaac-sim#4135) # Description Adds instruction to join early access program to support Meta Quest and Pico. ## 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 This PR extends the `ContactSensor` class to expose aggregated friction forces for each filtered body. It uses the same vectorized approach used for [`contact_points`](isaac-sim#2842). Concretely, this change introduces: - `ContactSensorCfg.track_friction_forces` toggle to turn on friction tracking - `ContactSensorData.friction_forces_w` where the sum of friction forces for each filtered body are stored Fixes isaac-sim#2074, isaac-sim#2064 ## Performance Results of `check_contact_sensor.py` with `track_friction_data = False`: ``` avg dt real-time 0.017448579105403043 avg dt real-time 0.017589360827958443 avg dt real-time 0.016146250123070787 ``` Results of `check_contact_sensor.py` with `track_friction_data = True`: ``` avg dt real-time 0.01818224351439858 avg dt real-time 0.017720674386015163 avg dt real-time 0.01777262271923246 ``` ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
# Description Added a retargeter for G1 upper body which takes in controller input and outputs a bool for hand open/close in addition to the left and right EE targets based on the controller position. Fixes # (issue) ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
… body. (isaac-sim#3864) # Description Implement ability to attach an imu sensor to xform primitives in a usd file. This PR is based on work by @GiulioRomualdi here: isaac-sim#3094 Addressing issue isaac-sim#3088. We considered more general implementations to account for all sensor types, but found they all handle pose information too differently to gain any benefit from a more general solution. Fixes # (3088) ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Brian McCann <144816553+bmccann-bdai@users.noreply.github.com> Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
…aclab.envs.mdp.actions.JointPositionToLimitsAction (isaac-sim#3865) # Description This PR fixes the issue reported in isaac-sim#3753 where the advanced indexing failed due to shape mismatch. This PR is an alternative solution to isaac-sim#3754, The fixes is tricky, the most elegant and performant way I found so far is separate code path when env_id is None vs env_id is tensor. if we don't do so, applying left hand side with self._prev_applied_actions[env_ids, :] where env_ids is 2d will cause the lfs shape to be ill formed. Fixes isaac-sim#3753 <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: ooctipus <zhengyuz@nvidia.com> Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
# Description This PR prevents users from accidentally randomizing the mass of rigid body to small and negative by clamping at 1e-6 kg. Fixes isaac-sim#518 ## 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 - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
) # Description Adds support for vectorizing the pick and place demo to test performance for multi-environments. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] 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 -->
…ot installed (isaac-sim#4180) # Description the is_docker() check can sometimes detect that we are installing in docker even though docker is not available on the system, causing to downstream issues in the script. this fix narrows the checks for docker to avoid false positives. Fixes isaac-sim#4181 ## 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) - [ ] 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 Removes reference to a gitlab link in the code that is not accessible. ## 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` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Co-authored-by: ooctipus <zhengyuz@nvidia.com>
# Description Mirrors the `UrdfFileCfg` spawner for `MJCF` files. Code is done, but currently WIP until Issue isaac-sim#1671 is resolved. Edit 10/21/2025: isaac-sim#1671 is resolved with IsaacSim 5.0, PR is ready for review. ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist - [X] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [X] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [X] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com>
kellyguo11
requested review from
ClemensSchwarke,
Toni-SM,
masoudmoghani,
matthewtrepte,
ossamaAhmed,
peterd-NV and
xyao-nv
as code owners
Contributor
|
Skipped: This PR changes more files than the configured file change limit: ( |
github-actions
bot
added
asset
….py` demo (isaac-sim#4415) # Description This fix addresses an issue where robot ID 0 was not receiving keyboard controls due to the condition `if self._selected_id:` which evaluates 0 as False. This ensures that all robot IDs, including 0, can properly receive keyboard commands. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
…ab-public into update-isaacsim-6-0116
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
20 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
Merges latest commits from main.