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Emerson ball #4073
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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 <[email protected]> Co-authored-by: James Tigue <[email protected]> Co-authored-by: James Tigue <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
…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 <[email protected]> Co-authored-by: Rafael Wiltz <[email protected]> Co-authored-by: Sergey Grizan <[email protected]> Co-authored-by: Kelly Guo <[email protected]> Co-authored-by: Philipp Reist <[email protected]>
# 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 <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
…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 <[email protected]> Co-authored-by: Huihua Zhao <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
…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 <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]> Co-authored-by: Weihua Zhang <[email protected]>
…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 <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: Mayank Mittal <[email protected]>
# 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 <[email protected]>
…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 <[email protected]>
# 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 <[email protected]> Co-authored-by: ooctipus <[email protected]> Co-authored-by: Mayank Mittal <[email protected]>
…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 <[email protected]>
# 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 <!-- 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 <[email protected]> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
matplotlib-inline has BSD-3 license, so it's ok for us to include it. We already have the license file specified for it. - Documentation update - [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 -->
…ll as a deformable objects. Passing the new objects to the Booster_K1_env
… need to instantiate all objects before scene.clone_environments call. Overrided reset call for the environment. Ball and Goals positions are correctly reset. Field not spawning. Need fix. All objects spawing with the correct colors and shapes.
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