Klakhi/temp gen non int #3562
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Klakhi/temp gen non int #3562
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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
# 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 -->
# 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
…saacLab into klakhi/temp_gen_non_int
# Description I realized there were some comments I often have to repeat in my reviewing process. I tried to add some of them into the code style page to directly point developers to it. ## Type of change - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] 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 <[email protected]> Co-authored-by: James Tigue <[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 This MR does the following: * Adds parsing of instanced prims in `isaaclab.sim.utils.get_all_matching_child_prims` and `isaaclab.sim.utils.get_first_matching_child_prim`. Earlier, instanced prims were skipped since `Usd.Prim.GetChildren` does not return instanced prims. * Adds parsing of instanced prims in `isaaclab.sim.utils.make_uninstanceable` to make all prims uninstanceable. These are needed to parse meshes for the dynamic raycaster class in isaac-sim#3298 ## Type of change - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) - Breaking change (fix or feature that would cause existing functionality to not work as expected) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Mayank Mittal <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
# 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 Given the increase in number of PRs to the codebase, it has become harder to understand the type of changes and the corresponding team to communicate with. This MR uses a GitHub bot to help us out with categorizing the PRs. More info: https://github.com/actions/labeler ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Mayank Mittal <[email protected]>
# Description This MR adds license for Github action labeller and Pinocchio. ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Mayank Mittal <[email protected]>
# 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]>
Previous merge led to matches for documentation that are unintentional. This MR fixes the workflow. - Bug fix (non-breaking change which fixes an issue) - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Mayank Mittal <[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]>
Fixes Jetbot asset path in the documentation. - Documentation update - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there Signed-off-by: Javier Felix-Rendon <[email protected]>
…#3400) # Description As noted by @liyifan2002 in the related issue, the `.gitignore` rule for `datasets` also unintentionally ignores changes in `isaaclab/utils/datasets/`. This PR fixes the problem by changing the rule from `datasets` to `/datasets/`, ensuring that only the top-level `datasets/` folder (e.g., created when following [this guide](https://isaac-sim.github.io/IsaacLab/main/source/overview/imitation-learning/skillgen.html#download-and-setup)) is ignored, while keeping `isaaclab/utils/datasets/` tracked. Fixes isaac-sim#3364 ## 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
Applied the pre-merge CI failure control to the tasks stage, as it is done in the general test stage Co-authored-by: Kelly Guo <[email protected]>
…#3482) # 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 Some more infrastructure updates to brush up our automated jobs: - treat warnings as errors in doc building and fixing some existing warnings - adding release branches to the doc versions - making sure all jobs also get triggered on release branches - fixes make script on windows - fixes out of space error for license check job ## 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 --> --------- Co-authored-by: ooctipus <[email protected]>
# Description A lot of content is shared between different installation guides. This MR moves them to a common "include" so that it is easier for us to maintain and modify these changes. ## 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 --------- Co-authored-by: Kelly Guo <[email protected]>
# Description
The docstring of the `IdealPDActuator` didn't match its implementation.
Desired and actual joint positions and velocities were swapped.
Actual implementation is like this:
```
def compute(
self, control_action: ArticulationActions, joint_pos: torch.Tensor, joint_vel: torch.Tensor
) -> ArticulationActions:
# compute errors
error_pos = control_action.joint_positions - joint_pos
error_vel = control_action.joint_velocities - joint_vel
# calculate the desired joint torques
self.computed_effort = self.stiffness * error_pos + self.damping * error_vel + control_action.joint_efforts
```
It is "`desired - current`", the current docstring says the opposite:
<img width="524" height="60" alt="image"
src="https://github.com/user-attachments/assets/efdc7348-1587-4ed6-be58-875e804e8db9"
/>
## 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)
- [ ] 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
Co-authored-by: Lorenz Wellhausen <[email protected]>
## 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 This PR is added with feedback from PBT user, and made below improvments 1. added resume logic to allow wandb to continue on the same run_id 2. corrected broadcasting order in distributed setup 3. made score query general by using dotted keys to access dictionary of arbitrary depth Fixes # (issue) - 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` - [x] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- 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]>
…ment (isaac-sim#3516) # 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. --> Fixes bug for toy object intermittently spawning behind the box for the task Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-v0 - Reset the default viewer camera pose to see the whole scene. <!-- 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 <img width="1003" height="677" alt="image" src="https://github.com/user-attachments/assets/4d6afe7c-c0e2-4f32-9331-48a917735191" /> <!-- 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 - [ ] 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#3512) # Description This PR makes the LD_PRELOAD always points to the right python libgomp.so.1 when conda activate is invoked. The ARM machines doesn't really work with conda unless LD_PRELOAD is point to `torch/lib/libgomp.so.1` This has been tested to work on linux and arm to work on both machines ## 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 - [ ] 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 -->
…saac-sim#3496) # Description Adds instructions on how to position the lighthouse for manus+vive, to resolve vive tracking quality issues that users may affect hand tracking experience. ## 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 Co-authored-by: Cathy Li <[email protected]>
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Description
THIS IS JUST A TEMPORARY PR. PLEASE IGNORE FOR REVIEW
Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context.
List any dependencies that are required for this change.
Fixes # (issue)
Type of change
Screenshots
Please attach before and after screenshots of the change if applicable.
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there