Merge branch 'main' of github.com:zoctipus/IsaacLab into main

CONTRIBUTORS.md

@@ -66,6 +66,7 @@ Guidelines for modifications:
 * Michael Gussert
 * Michael Noseworthy
 * Muhong Guo
+* Nicola Loi
 * Nuralem Abizov
 * Oyindamola Omotuyi
 * Özhan Özen

VERSION

@@ -1 +1 @@
-1.3.0
+1.4.0

docs/source/setup/installation/binaries_installation.rst

@@ -1,12 +1,9 @@
-.. _isaacsim-binaries-installation:
-
+.. _isaaclab-binaries-installation:
 
 Installation using Isaac Sim Binaries
 =====================================
 
-.. note::
-
-   If you use Conda, we recommend using `Miniconda <https://docs.anaconda.com/miniconda/miniconda-other-installer-links/>`_.
+Issac Lab requires Isaac Sim. Install Isaac Sim first, then Isaac Lab.
 
 Installing Isaac Sim
 --------------------
@@ -269,6 +266,10 @@ Setting up the conda environment (optional)
 .. attention::
    This step is optional. If you are using the bundled python with Isaac Sim, you can skip this step.
 
+.. note::
+
+   If you use Conda, we recommend using `Miniconda <https://docs.anaconda.com/miniconda/miniconda-other-installer-links/>`_.
+
 The executable ``isaaclab.sh`` automatically fetches the python bundled with Isaac
 Sim, using ``./isaaclab.sh -p`` command (unless inside a virtual environment). This executable
 behaves like a python executable, and can be used to run any python script or

docs/source/setup/installation/pip_installation.rst

@@ -1,11 +1,9 @@
-.. _isaacsim-pip-installation:
+.. _isaaclab-pip-installation:
 
-Installation using Isaac Sim pip
+Installation using pip
 ================================
 
-.. note::
-
-   If you use Conda, we recommend using `Miniconda <https://docs.anaconda.com/miniconda/miniconda-other-installer-links/>`_.
+Issac Lab requires Isaac Sim. Install Isaac Sim first, then Isaac Lab.
 
 Installing Isaac Sim
 --------------------
@@ -21,11 +19,15 @@ compatibility issues with some Linux distributions. If you encounter any issues,
 
    This may pose compatibility issues with some Linux distributions. For instance, Ubuntu 20.04 LTS has GLIBC 2.31
    by default. If you encounter compatibility issues, we recommend following the
-   :ref:`Isaac Sim Binaries Installation <isaacsim-binaries-installation>` approach.
+   :ref:`Isaac Sim Binaries Installation <isaaclab-binaries-installation>` approach.
 
 .. attention::
 
-      On Windows with CUDA 12, the GPU driver version 552.86 is required.
+   On Windows with CUDA 12, the GPU driver version 552.86 is required.
+
+.. note::
+
+   If you use Conda, we recommend using `Miniconda <https://docs.anaconda.com/miniconda/miniconda-other-installer-links/>`_.
 
 -  To use the pip installation approach for Isaac Sim, we recommend first creating a virtual environment.
    Ensure that the python version of the virtual environment is **Python 3.10**.
@@ -88,19 +90,21 @@ compatibility issues with some Linux distributions. If you encounter any issues,
       pip install --upgrade pip
 
 
--  Then, install the Isaac Sim packages
+-  Then, install the Isaac Sim packages. There are 2 options: A complete installation, or a minimal installation for running Isaac Lab only.
 
-   .. code-block:: bash
+   -  Complete installation:
 
-      pip install isaacsim==4.2.0.2 isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com
+      .. code-block:: bash
 
+         pip install isaacsim==4.2.0.2 isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com
 
-- To install a minimal set of packages for running Isaac Lab only, the following command can be used. Note that you cannot run ``isaacsim`` with this.
+   -  Minimal set of packages for running Isaac Lab only:
 
-   .. code-block:: bash
+      .. code-block:: bash
 
-      pip install isaacsim-rl isaacsim-replicator isaacsim-extscache-physics isaacsim-extscache-kit-sdk isaacsim-extscache-kit isaacsim-app --extra-index-url https://pypi.nvidia.com
+         pip install isaacsim-rl isaacsim-replicator isaacsim-extscache-physics isaacsim-extscache-kit-sdk isaacsim-extscache-kit isaacsim-app --extra-index-url https://pypi.nvidia.com
 
+      Note that you cannot run ``isaacsim`` with this.
 
 Verifying the Isaac Sim installation
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -131,7 +135,9 @@ Verifying the Isaac Sim installation
    This process can take upwards of 10 minutes and is required on the first run of each experience file.
    Once the extensions are pulled, consecutive runs using the same experience file will use the cached extensions.
 
-   In addition, the first run will prompt users to accept the Nvidia Omniverse License Agreement.
+.. attention::
+
+   The first run will prompt users to accept the Nvidia Omniverse License Agreement.
    To accept the EULA, reply ``Yes`` when prompted with the below message:
 
    .. code:: bash

source/apps/isaaclab.python.headless.kit

@@ -5,7 +5,7 @@
 [package]
 title = "Isaac Lab Python Headless"
 description = "An app for running Isaac Lab headlessly"
-version = "1.3.0"
+version = "1.4.0"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "isaaclab", "python", "headless"]

source/apps/isaaclab.python.headless.rendering.kit

@@ -9,7 +9,7 @@
 [package]
 title = "Isaac Lab Python Headless Camera"
 description = "An app for running Isaac Lab headlessly with rendering enabled"
-version = "1.3.0"
+version = "1.4.0"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]

source/apps/isaaclab.python.kit

@@ -5,7 +5,7 @@
 [package]
 title = "Isaac Lab Python"
 description = "An app for running Isaac Lab"
-version = "1.3.0"
+version = "1.4.0"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "usd"]

source/apps/isaaclab.python.rendering.kit

@@ -9,7 +9,7 @@
 [package]
 title = "Isaac Lab Python Camera"
 description = "An app for running Isaac Lab with rendering enabled"
-version = "1.3.0"
+version = "1.4.0"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]

source/extensions/omni.isaac.lab/docs/CHANGELOG.rst

@@ -8,7 +8,16 @@ Fixed
 ^^^^^
 
 * fixed docstring in articulation data :class:`omni.isaac.lab.assets.ArticulationData`.
-  In body properties sections, the second dimension should be num_bodies but was documented as 1 .
+  In body properties sections, the second dimension should be num_bodies but was documented as 1.
+
+
+0.30.3 (2025-01-02)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added body tracking as an origin type to :class:`omni.isaac.lab.envs.ViewerCfg` and :class:`omni.isaac.lab.envs.ui.ViewportCameraController`.
 
 
 0.30.2 (2024-12-22)

source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py

@@ -3,7 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-import torch
 from collections.abc import Iterable
 from dataclasses import MISSING
 from typing import Literal
@@ -181,7 +180,7 @@ class RemotizedPDActuatorCfg(DelayedPDActuatorCfg):
 
     class_type: type = actuator_pd.RemotizedPDActuator
 
-    joint_parameter_lookup: torch.Tensor = MISSING
+    joint_parameter_lookup: list[list[float]] = MISSING
     """Joint parameter lookup table. Shape is (num_lookup_points, 3).
 
     This tensor describes the relationship between the joint angle (rad), the transmission ratio (in/out),

source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py

@@ -324,7 +324,7 @@ def __init__(
         super().__init__(
             cfg, joint_names, joint_ids, num_envs, device, stiffness, damping, armature, friction, torch.inf, torch.inf
         )
-        self._joint_parameter_lookup = cfg.joint_parameter_lookup.to(device=device)
+        self._joint_parameter_lookup = torch.tensor(cfg.joint_parameter_lookup, device=device)
         # define remotized joint torque limit
         self._torque_limit = LinearInterpolation(self.angle_samples, self.max_torque_samples, device=device)
 

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py

@@ -202,7 +202,7 @@ def body_state_w(self):
     @property
     def body_link_state_w(self):
         """State of all bodies `[pos, quat, lin_vel, ang_vel]` in simulation world frame.
-        Shape is (num_instances,1, 13).
+        Shape is (num_instances, 1, 13).
 
         The position, quaternion, and linear/angular velocity are of the body's link frame relative to the world.
         """

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/common.py

@@ -36,14 +36,15 @@ class ViewerCfg:
     Default is (1280, 720).
     """
 
-    origin_type: Literal["world", "env", "asset_root"] = "world"
+    origin_type: Literal["world", "env", "asset_root", "asset_body"] = "world"
     """The frame in which the camera position (eye) and target (lookat) are defined in. Default is "world".
 
     Available options are:
 
     * ``"world"``: The origin of the world.
     * ``"env"``: The origin of the environment defined by :attr:`env_index`.
     * ``"asset_root"``: The center of the asset defined by :attr:`asset_name` in environment :attr:`env_index`.
+    * ``"asset_body"``: The center of the body defined by :attr:`body_name` in asset defined by :attr:`asset_name` in environment :attr:`env_index`.
     """
 
     env_index: int = 0
@@ -58,6 +59,12 @@ class ViewerCfg:
     This quantity is only effective if :attr:`origin` is set to "asset_root".
     """
 
+    body_name: str | None = None
+    """The name of the body in :attr:`asset_name` in the interactive scene for the frame origin. Default is None.
+
+    This quantity is only effective if :attr:`origin` is set to "asset_body".
+    """
+
 
 ##
 # Types.

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py

@@ -15,6 +15,8 @@
 import omni.kit.app
 import omni.timeline
 
+from omni.isaac.lab.assets.articulation.articulation import Articulation
+
 if TYPE_CHECKING:
     from omni.isaac.lab.envs import DirectRLEnv, ManagerBasedEnv, ViewerCfg
 
@@ -59,12 +61,15 @@ def __init__(self, env: ManagerBasedEnv | DirectRLEnv, cfg: ViewerCfg):
             self.set_view_env_index(self.cfg.env_index)
             # set the camera origin to the center of the environment
             self.update_view_to_env()
-        elif self.cfg.origin_type == "asset_root":
+        elif self.cfg.origin_type == "asset_root" or self.cfg.origin_type == "asset_body":
             # note: we do not yet update camera for tracking an asset origin, as the asset may not yet be
             # in the scene when this is called. Instead, we subscribe to the post update event to update the camera
             # at each rendering step.
             if self.cfg.asset_name is None:
                 raise ValueError(f"No asset name provided for viewer with origin type: '{self.cfg.origin_type}'.")
+            if self.cfg.origin_type == "asset_body":
+                if self.cfg.body_name is None:
+                    raise ValueError(f"No body name provided for viewer with origin type: '{self.cfg.origin_type}'.")
         else:
             # set the camera origin to the center of the world
             self.update_view_to_world()
@@ -160,6 +165,41 @@ def update_view_to_asset_root(self, asset_name: str):
         # update the camera view
         self.update_view_location()
 
+    def update_view_to_asset_body(self, asset_name: str, body_name: str):
+        """Updates the viewer's origin based upon the body of an asset in the scene.
+
+        Args:
+            asset_name: The name of the asset in the scene. The name should match the name of the
+                asset in the scene.
+            body_name: The name of the body in the asset.
+
+        Raises:
+            ValueError: If the asset is not in the scene or the body is not valid.
+        """
+        # check if the asset is in the scene
+        if self.cfg.asset_name != asset_name:
+            asset_entities = [*self._env.scene.rigid_objects.keys(), *self._env.scene.articulations.keys()]
+            if asset_name not in asset_entities:
+                raise ValueError(f"Asset '{asset_name}' is not in the scene. Available entities: {asset_entities}.")
+        # check if the body is in the asset
+        asset: Articulation = self._env.scene[asset_name]
+        if body_name not in asset.body_names:
+            raise ValueError(
+                f"'{body_name}' is not a body of Asset '{asset_name}'. Available bodies: {asset.body_names}."
+            )
+        # get the body index
+        body_id, _ = asset.find_bodies(body_name)
+        # update the asset name
+        self.cfg.asset_name = asset_name
+        # set origin type to asset_body
+        self.cfg.origin_type = "asset_body"
+        # update the camera origins
+        self.viewer_origin = (
+            self._env.scene[self.cfg.asset_name].data.body_link_pos_w[self.cfg.env_index, body_id].view(3)
+        )
+        # update the camera view
+        self.update_view_location()
+
     def update_view_location(self, eye: Sequence[float] | None = None, lookat: Sequence[float] | None = None):
         """Updates the camera view pose based on the current viewer origin and the eye and lookat positions.
 
@@ -190,3 +230,5 @@ def _update_tracking_callback(self, event):
         # in other cases, the camera view is static and does not need to be updated continuously
         if self.cfg.origin_type == "asset_root" and self.cfg.asset_name is not None:
             self.update_view_to_asset_root(self.cfg.asset_name)
+        if self.cfg.origin_type == "asset_body" and self.cfg.asset_name is not None and self.cfg.body_name is not None:
+            self.update_view_to_asset_body(self.cfg.asset_name, self.cfg.body_name)

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/utils/marl.py

@@ -58,6 +58,7 @@ def __init__(self, env: DirectMARLEnv) -> None:
             self.cfg = self.env.cfg
             self.sim = self.env.sim
             self.scene = self.env.scene
+            self.render_mode = self.env.render_mode
 
             self.single_observation_space = gym.spaces.Dict()
             if self._state_as_observation:
@@ -126,7 +127,7 @@ def step(self, action: torch.Tensor) -> VecEnvStepReturn:
             return obs, rewards, terminated, time_outs, extras
 
         def render(self, recompute: bool = False) -> np.ndarray | None:
-            self.env.render(recompute)
+            return self.env.render(recompute)
 
         def close(self) -> None:
             self.env.close()

source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/spot.py

@@ -11,15 +11,13 @@
 * :obj:`SPOT_CFG`: The Spot robot with delay PD and remote PD actuators.
 """
 
-import torch
-
 import omni.isaac.lab.sim as sim_utils
 from omni.isaac.lab.actuators import DelayedPDActuatorCfg, RemotizedPDActuatorCfg
 from omni.isaac.lab.assets.articulation import ArticulationCfg
 from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR
 
 # Note: This data was collected by the Boston Dynamics AI Institute.
-joint_parameter_lookup = torch.tensor([
+joint_parameter_lookup = [
     [-2.792900, -24.776718, 37.165077],
     [-2.767442, -26.290108, 39.435162],
     [-2.741984, -27.793369, 41.690054],
@@ -121,7 +119,7 @@
     [-0.298016, -24.632576, 36.948864],
     [-0.272558, -22.528547, 33.792821],
     [-0.247100, -20.401667, 30.602500],
-])
+]
 """The lookup table for the knee joint parameters of the Boston Dynamics Spot robot.
 
 This table describes the relationship between the joint angle (rad), the transmission ratio (in/out),

source/extensions/omni.isaac.lab_tasks/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.10.17"
+version = "0.10.18"
 
 # Description
 title = "Isaac Lab Environments"

source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst

@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.10.18 (2025-01-03)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed the reset of the actions in the function overriding of the low level observations of :class:`omni.isaac.lab_tasks.manager_based.navigation.mdp.PreTrainedPolicyAction`.
+
+
 0.10.17 (2024-12-17)
 ~~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cart_double_pendulum/agents/skrl_ippo_cfg.yaml

@@ -76,5 +76,5 @@ agent:
 # https://skrl.readthedocs.io/en/latest/api/trainers/sequential.html
 trainer:
   class: SequentialTrainer
-  timesteps: 1600
+  timesteps: 4800
   environment_info: log

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cart_double_pendulum/agents/skrl_mappo_cfg.yaml

@@ -78,5 +78,5 @@ agent:
 # https://skrl.readthedocs.io/en/latest/api/trainers/sequential.html
 trainer:
   class: SequentialTrainer
-  timesteps: 1600
+  timesteps: 4800
   environment_info: log

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cart_double_pendulum/agents/skrl_ppo_cfg.yaml

@@ -76,5 +76,5 @@ agent:
 # https://skrl.readthedocs.io/en/latest/api/trainers/sequential.html
 trainer:
   class: SequentialTrainer
-  timesteps: 1600
+  timesteps: 4800
   environment_info: log