| Changelog |
| --------- |
|
|
| 6.1.17 (2026-07-24) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added support for an optional ``demo_recorder_cfg_entry_point`` Gym registry entry in demonstration collection. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed simulator tests and examples to use the available legacy Franka Panda USD asset. |
|
|
|
|
| 6.1.16 (2026-07-14) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed docker installs deleting ``pillow`` from Isaac Sim's |
| ``omni.kit.pip_archive`` prebundle by relaxing the exact ``pillow==12.2.0`` |
| pin to a ``>=12.1.1`` floor. An exact pin below the version prebundled by a |
| future Isaac Sim base image forces a downgrade that deletes the prebundled |
| copy, dangling the per-file symlink farm on aarch64 and breaking extension |
| startup. |
|
|
|
|
| 6.1.15 (2026-07-11) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Added a fail-loud post-install check that aborts installation when pip |
| operations leave a prebundled Isaac Sim package with a dangling |
| ``__init__.py`` (other new dangling symlinks are reported as warnings). |
| * Fixed the ``isaacsim.robot_motion.pink`` extension failing to load after |
| installation by moving the ``pin-pink`` pin from ``3.1.0`` to ``3.3.0``, which |
| provides ``pink.exceptions.NoSolutionFound`` while staying below the pink 3.4 |
| task-API break. Environments installed manually should update with |
| ``pip install pin-pink==3.3.0``. |
|
|
|
|
| 6.1.14 (2026-06-30) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed a crash (``undefined symbol: ncclDevCommCreate``) when launching the Isaac Sim |
| streaming app (e.g. ``isaac-sim.streaming.sh`` / ``runheadless.sh``) from an Isaac Lab |
| install against Isaac Sim 6.0. Isaac Sim's deprecated ``omni.isaac.ml_archive`` prebundle |
| ships its own PyTorch and NCCL while Isaac Lab installs a different pinned PyTorch; on |
| launch paths that do not import Isaac Lab (which otherwise deprioritizes the prebundle on |
| ``sys.path``), the two NCCL copies collide and the prebundled torch binds to the wrong |
| one. The install step that repoints the prebundle to the active environment now uses |
| overlayfs-safe filesystem operations, so it works inside the Docker image build (where it |
| previously failed silently with ``EXDEV`` / ``EINVAL``) and fails loudly if a shadowing |
| copy remains. |
|
|
|
|
| 6.1.13 (2026-06-29) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Updated the Isaac Sim pip dependency to ``6.0.1.0`` and aligned the |
| ``pillow`` dependency with Isaac Sim by pinning ``pillow==12.2.0``. |
|
|
|
|
| 6.1.12 (2026-06-18) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed Linux ARM installation by pre-installing ``nlopt==2.6.2`` before |
| Isaac Lab dependencies are resolved, and by keeping ``swig`` available in |
| Docker only until dependency installation completes. |
|
|
|
|
| 6.1.11 (2026-06-16) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :func:`~isaaclab.sim.utils.newton_model_utils.replace_newton_shape_colors` incorrectly |
| keeping Newton's random palette colors for environments 1–N when USD cloning is skipped |
| Shape labels for non-source environments now resolve to the clone-plan source prim so |
| the correct USD material color is applied to all environments. |
|
|
|
|
| 6.1.10 (2026-06-14) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Updated the ``newton`` extra installation message to list the Newton GL |
| viewer's ``pyglet`` dependency. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed SimulationContext reset ordering so initial visualizers are created before the timeline play event pump can invalidate freshly created PhysX tensor views. |
| * Fixed Pink IK USD-to-URDF conversion to use Isaac Sim's URDF exporter instead of the unavailable ``nvidia.srl`` package. |
|
|
|
|
| 6.1.9 (2026-06-13) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Prevented MARL adapter wrappers from raising destructor tracebacks when destroyed by setting their environment lifecycle state explicitly. |
|
|
|
|
| 6.1.8 (2026-06-12) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed OVRTX-backed Newton scenes to keep USD cloning enabled and preserve env-local camera transforms in heterogeneous clone plans. |
|
|
|
|
| 6.1.7 (2026-06-11) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed LEAPP export of :func:`isaaclab.envs.mdp.projected_gravity` to expose |
| root orientation as the graph input and compute projected gravity inside the |
| exported graph. |
| * Fixed a quaternion convention bug in :class:`~isaaclab.controllers.rmp_flow.RmpFlowController` |
| where the end-effector orientation target was re-converted to ``(x, y, z, w)`` even though |
| IsaacLab quaternions are already in that order. The spurious conversion scrambled the target |
| orientation handed to RMPFlow, causing the arm to drift away from its commanded pose (e.g. the |
| Agibot RMPFlow place tasks no longer hold their reset pose under a zero relative command). |
| * Guarded asset and sensor destructors against Python interpreter shutdown so |
| callback cleanup does not touch lazy imports after import machinery is torn down. |
| * Fixed :func:`isaaclab.utils.string.string_to_callable` to validate lambda |
| expression strings before evaluating them and to evaluate them without |
| Python builtins. |
|
|
|
|
| 6.1.6 (2026-06-10) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the ``isaaclab.python.kit`` GUI experience failing to start with a Kit |
| dependency-solver error on Isaac Sim builds that do not ship |
| ``isaacsim.robot.experimental.wheeled_robots`` or |
| ``isaacsim.robot.wheeled_robots.nodes``. These extensions are not imported by |
| Isaac Lab and are now declared optional, so the experience loads regardless of |
| the Isaac Sim build. |
| * Fixed livestream launch handling to reject Isaac Sim full-app experiences |
| that depend on ``isaacsim.exp.full`` and to ensure Kit-backed examples open |
| a Kit visualizer by default when needed. |
|
|
|
|
| 6.1.5 (2026-06-09) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed ``isaaclab`` install metadata to include ``isaaclab_ppisp`` as a peer extension. |
| * Fixed local asset retrieval for MDL files that import sibling MDL modules, such as Hospital materials importing OmniUe4 modules. |
| * Prevented environment destructors from emitting cleanup tracebacks after Python import shutdown begins. |
| * Fixed :func:`~isaaclab.controllers.utils.import_lula` failing to locate the ``lula`` module on |
| pip-based Isaac Sim installs by extending :func:`~isaaclab.controllers.utils.find_lula_prebundle_dir` |
| to also search the ``extscache/<name>-<version>`` and ``extsDeprecated/<name>`` layouts used by pip |
| installs (the Isaac Sim 6.0 pip packages ship ``isaacsim.robot_motion.lula`` under |
| ``extsDeprecated``, where the Kit resolver reports it as unavailable), in addition to the |
| ``exts/<name>`` layout used by binary installs. :func:`~isaaclab.controllers.utils.import_lula` now |
| adds the prebundle to ``sys.path`` before attempting to enable the Kit extension, avoiding a spurious |
| ``Failed to resolve extension dependencies`` error logged when Kit tries to enable the deprecated |
| ``isaacsim.robot_motion.lula`` extension even though ``lula`` itself loads correctly. When ``lula`` |
| still cannot be found, a clear, actionable :class:`ModuleNotFoundError` is raised instead of the bare |
| import error. |
| |
| |
| 6.1.4 (2026-06-08) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added a scene-data backend hook for active ``InteractiveScene`` access so |
| backends can source scene-owned entity transforms without relying on global |
| rigid-body views, and visualizers can discover scene-owned contact sensors. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Clarified ``--video`` behavior when multiple video-capable visualizers are active: |
| Gymnasium video recording captures one ``env.render()`` stream, with Kit taking |
| priority over Newton. |
| * Updated the visualizer tiled camera tutorial to show generated Kit cameras and |
| existing Newton robot-mounted camera streams with matching documentation figures. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Improved visualizer tiled-camera errors when ``tiled_cam_prim_path`` is set but |
| the scene has no Isaac Lab ``Camera`` sensors, and clarified the camera-mode |
| documentation for Cartpole camera tasks. |
| * Fixed remote asset mirroring to include textures referenced by downloaded MDL materials. |
|
|
|
|
| 6.1.3 (2026-06-07) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed a memory leak in :meth:`~isaaclab.envs.ManagerBasedEnv.close`, |
| :meth:`~isaaclab.envs.DirectRLEnv.close` and :meth:`~isaaclab.envs.DirectMARLEnv.close` |
| where the cached observation buffers and the :class:`gym.spaces` observation/action |
| spaces were never released, causing host and GPU memory to accumulate on each |
| environment construct/teardown cycle. |
| * Fixed the ``create_cube_base_env`` tutorial crashing at startup with a ``RuntimeError`` |
| because its prestartup USD-level randomization terms ran while scene replication was enabled. |
|
|
|
|
| 6.1.2 (2026-06-06) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed :class:`~isaaclab.controllers.rmp_flow.RmpFlowController` to load RMPFlow directly from the |
| ``lula`` library on every backend, instead of going through the Isaac Sim Kit motion-generation |
| extension. ``lula`` is importable both under Kit and kitless (e.g. the Newton visualizer), giving a |
| single code path. The ``rmp_flow_smoothed`` variant is now available in both modes as well. |
| |
| Removed |
| ^^^^^^^ |
|
|
| * Removed obsolete ``scripts/tools/wrap_warp_to_torch.py`` migration helper. Use |
| :attr:`~isaaclab.utils.warp.ProxyArray.torch` when tensor interop is needed. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed missing :mod:`isaaclab.cloner` lazy exports for clone-plan source resolution. |
|
|
|
|
| 6.1.1 (2026-06-05) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed compliant-contact USD spawning to use |
| :class:`~isaaclab_physx.sim.spawners.materials.PhysxRigidBodyMaterialCfg` |
| instead of the deprecated rigid-body material alias. |
|
|
|
|
| 6.1.0 (2026-06-02) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab.sim.ServiceLocator` and exposed it as |
| :attr:`~isaaclab.sim.SimulationContext.services`. |
|
|
| Backend-specific caches can be registered and retrieved using subscript |
| syntax (``services[cls] = instance``, ``services[cls]``). Services with |
| a ``close()`` method are automatically closed on ``clear_instance()``. |
| * Added :class:`~isaaclab.sensors.camera.CameraISPMode` (values ``AUTO_CAMERA`` and ``AUTO_ANY``) and the :attr:`~isaaclab.sensors.camera.CameraCfg.isp_cfg` field to author or auto-discover an ISP cfg (:class:`~isaaclab_ppisp.PpispCfg`) from a USD ``RenderProduct`` bound to the camera (or anywhere on the stage as a fallback). |
| * Added :attr:`~isaaclab.renderers.RenderBufferKind.RGB_HDR` to the renderer output contract so backends can advertise a 3-channel float HDR AOV. |
| * Added :meth:`~isaaclab.renderers.BaseRenderer.prepare_cameras` hook so backends can author per-camera USD overrides. |
| * Added :class:`~isaaclab.renderers.CameraRenderSpec`, an immutable description of a tiled camera passed to render backends so they no longer hold a reference to the camera sensor instance. |
| * Added shared visualizer defaults for CLI-created visualizer configs. |
| * Auto-install ``libgl1-mesa-dev``, ``libopengl-dev``, ``libglx-dev``, |
| ``libx11-dev``, ``libxcursor-dev``, ``libxi-dev``, ``libxinerama-dev``, |
| and ``libxrandr-dev`` on ARM when sudo is available, so |
| ``./isaaclab.sh -i`` can build ``imgui-bundle`` from source without a |
| separate provisioning step. |
| * Added :func:`~isaaclab.utils.string.compile_template_pattern` to compile a slotted template |
| (with ``{}`` slots expanding to a caller-provided regex fragment) into a regular expression. |
| * Added :func:`~isaaclab.utils.string.strip_templated_prefix` to strip a templated prefix |
| (with ``{}`` slots matching one path segment each) from a string and return the remainder. |
| * Added multi-GPU troubleshooting documentation describing the NCCL hang that can occur when |
| ``CUDA_VISIBLE_DEVICES`` selects a subset of a node's GPUs, including the |
| ``NCCL_P2P_DISABLE=1`` workaround and an explanation of why it is not needed when all GPUs |
| are visible. |
| |
| Changed |
| ^^^^^^^ |
|
|
| * Updated the ``usd-core`` dependency to 25.11.0 to match Kit 110.1.1. |
| * Renamed the ``./isaaclab.sh -i none`` core-only install selector to |
| ``./isaaclab.sh -i core`` for clarity (the install still ships the |
| core submodules, so ``"core"`` describes the result better than |
| ``"none"``). |
| * Updated shared visualizer tiled camera defaults for the visualizer integration test coverage. |
| * ``./isaaclab.sh -i mimic`` now also installs ``isaaclab_teleop`` as an editable |
| submodule, since :mod:`isaaclab_mimic` declares it as a required dependency. |
| * Updated installation, quickstart, and pip documentation to match ``./isaaclab.sh -i`` |
| install tokens and pip wheel extras. |
| * Regenerated the environments overview table from task configuration metadata. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed visualizer tiled camera defaults and camera pose helpers so tiled camera views remain opt-in and respect selected environment ids. |
| * Fixed ``scripts/tutorials/01_assets/add_new_robot.py`` failing at the Jetbot |
| velocity-target setter when the action was a CPU ``torch.Tensor``. The |
| tutorial now allocates the wheel-velocity templates on ``sim.device`` and |
| uses :meth:`~isaaclab.assets.BaseArticulation.set_joint_velocity_target_index`. |
| * Fixed lazy-eval sensors (contact, IMU, PVA, joint-wrench across PhysX and Newton) |
| returning stale pre-reset data when :meth:`~isaaclab.scene.InteractiveScene.reset` was |
| called inside an environment step without a subsequent physics step (e.g. inside |
| :meth:`~isaaclab.envs.ManagerBasedRLEnv._reset_idx`). Each step-dependent sensor's |
| update kernel now skips envs whose ``timestamp`` is still ``0`` (the signal that no |
| physics step has occurred since the last reset), so the next ``data`` access returns |
| the values that the sensor's ``reset()`` populated rather than re-reading a physics |
| buffer that holds pre-reset values. |
| * Fixed ``--viz none`` parsing to use the internal disable-all sentinel. |
| * Fixed Kit launches hiding Isaac Lab Python ``INFO`` logs, including joint |
| wrench sensor initialization messages. |
| * Restricted the ``pytetwild`` install requirement to x86_64 platforms. |
| PyPI ships no aarch64 wheel and the sdist build fails on ARM |
| (``-m64`` hardcoded in CMake), which broke the ARM64 docker image |
| build. Tetrahedralization of volume deformables now degrades |
| gracefully on ARM64 with the existing "install pytetwild" message |
| instead of failing the install outright. |
| * Made ``./isaaclab.sh -i`` skip the ARM-only swig auto-install when |
| ``sudo`` is unavailable instead of crashing with a ``FileNotFoundError``. |
| Users on locked-down ARM containers can now run the install and |
| pre-provision swig themselves if they need to build nlopt from source. |
| * Fixed Hydra space deserialization for direct MARL environment configs so |
| per-agent observation and action spaces remain populated for skrl multi-agent |
| wrappers. |
| * Fixed Newton replicated-scene cloning so source clone plans are available |
| before sensor construction and asset USD replication is skipped for Newton |
| physics replication. |
| * Fixed :class:`~isaaclab.sim.converters.MjcfConverter` to enable the Isaac Sim MJCF importer |
| extension before importing MJCF assets. |
| * Fixed module-import-time ``from pxr import …`` in :mod:`isaaclab.sim.simulation_context`, |
| :mod:`isaaclab.assets.asset_base`, :mod:`isaaclab.scene.interactive_scene`, |
| :mod:`isaaclab.sim.spawners.from_files.from_files`, :mod:`isaaclab.sim.utils.prims`, |
| :mod:`isaaclab.sim.utils.queries`, :mod:`isaaclab.sim.utils.semantics`, |
| :mod:`isaaclab.sim.utils.stage`, and :mod:`isaaclab.sim.utils.transforms`. Previously, |
| ``from isaaclab.assets import Articulation`` or ``from isaaclab.sim import SimulationContext`` |
| forced ``pxr`` (USD) into ``sys.modules`` before :class:`~isaaclab.app.AppLauncher`, |
| which broke Kit's USD binding registration with a cascade of |
| ``TfNotice`` / ``UsdAPISchemaBase`` / ``GfVec3f`` converter errors during |
| ``SimulationApp.startup``. Kit-less env-cfg parsing followed by ``--visualizer kit`` |
| now succeeds without any pxr modules preloaded. Type hints stay under |
| ``TYPE_CHECKING``; where pxr is used at runtime, the ``from pxr import …`` is deferred |
| into the function body that needs it. |
| * Fixed ignored shutdown traceback from environment destructors when Python import |
| machinery has already finalized. |
| * Fixed the pip wheel build so that extensions promoted to top-level packages |
| (e.g. ``isaaclab_assets``, ``isaaclab_tasks``, ``isaaclab_rl``) keep their |
| ``config/extension.toml`` under ``isaaclab/source/`` where the bundled Kit |
| experience files search for them. Without this, launching a Kit app from the |
| wheel failed during dependency resolution with |
| ``isaaclab_assets ... (none found)`` before the simulator started. |
| |
| |
| 6.0.0 (2026-05-20) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :func:`~isaaclab.sim.schemas.define_actuator_properties` to author |
| ``NewtonActuator`` USD prims from IsaacLab actuator configs. Lives alongside |
| the other ``define_*_properties`` schema writers and is invoked from the |
| schema-side post-spawn hook below. |
| * Added :meth:`~isaaclab.assets.AssetBaseCfg._post_spawn` hook (no-op by |
| default) invoked by :class:`~isaaclab.assets.AssetBase` after spawning the |
| asset. :class:`~isaaclab.assets.ArticulationCfg` overrides it to author |
| Newton-native actuator prims from :attr:`~isaaclab.assets.ArticulationCfg.actuators`. |
| * Added common deformable property and material base cfgs in :mod:`isaaclab.sim`. |
| * Added backend-neutral deformable asset APIs, including |
| :class:`~isaaclab.assets.DeformableObject`, |
| :class:`~isaaclab.assets.DeformableObjectCfg`, and shared base/data classes. |
| * Added deformable body spawner, schema, and material APIs under |
| :mod:`isaaclab.sim`, including |
| :class:`~isaaclab.sim.DeformableObjectSpawnerCfg`, |
| :class:`~isaaclab.sim.DeformableBodyPropertiesCfg`, |
| :func:`~isaaclab.sim.define_deformable_body_properties`, |
| :func:`~isaaclab.sim.modify_deformable_body_properties`, |
| :class:`~isaaclab.sim.DeformableBodyMaterialCfg`, |
| :class:`~isaaclab.sim.SurfaceDeformableBodyMaterialCfg`, and |
| :func:`~isaaclab.sim.spawn_deformable_body_material`. |
| * Added ``pytetwild`` as a package dependency for tetrahedral mesh generation. |
| * Added deformable API, migration, and tutorial documentation for |
| backend-neutral imports and Newton backend selection. |
| * Added :mod:`isaaclab.scene_data` sub-package consolidating |
| :class:`~isaaclab.scene_data.SceneDataProvider`, |
| :class:`~isaaclab.scene_data.SceneDataBackend`, and |
| :class:`~isaaclab.scene_data.SceneDataFormat` in a single import location. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * :class:`~isaaclab.assets.BaseArticulation` no longer imports |
| ``isaaclab_newton`` from its ``__init__``. Newton-native actuator authoring |
| now flows through the generic ``_post_spawn`` hook on |
| :class:`~isaaclab.assets.AssetBaseCfg`. |
| * :meth:`~isaaclab.physics.PhysicsManager.set_decimation` now has an explicit |
| ``pass`` body so the base class is consistent with the other no-op |
| classmethods. |
| * Removed temporary startup and runtime debug breadcrumbs from core simulation and environment setup logs. |
| * Changed deformable spawners to accept backend-specific deformable property and |
| material cfgs. Use PhysX cfgs from :mod:`isaaclab_physx.sim` or Newton cfgs |
| from :mod:`isaaclab_newton.sim`. |
| * Changed deformable demos and tutorials to use the backend-neutral |
| :mod:`isaaclab.assets` and :mod:`isaaclab.sim` APIs with selectable PhysX or |
| Newton backends. |
| * Changed USD spawning to support deformable objects whose USD assets contain |
| embedded tetrahedral mesh data. |
| * **Breaking:** Renamed :class:`~isaaclab.sim.spawners.meshes.MeshSquareCfg` |
| to :class:`~isaaclab.sim.spawners.meshes.MeshRectangleCfg` and |
| :func:`~isaaclab.sim.spawners.meshes.spawn_mesh_square` to |
| :func:`~isaaclab.sim.spawners.meshes.spawn_mesh_rectangle`. The ``size`` |
| attribute is now a ``tuple[float, float]`` of X- and Y-axis lengths instead |
| of a single edge length. Migrate ``MeshSquareCfg(size=s)`` to |
| ``MeshRectangleCfg(size=(s, s))``. |
| * **Breaking:** Moved :class:`~isaaclab.scene_data.SceneDataProvider` from |
| :mod:`isaaclab.scene.scene_data_provider` and |
| :class:`~isaaclab.scene_data.SceneDataBackend` / |
| :class:`~isaaclab.scene_data.SceneDataFormat` from :mod:`isaaclab.physics` |
| to the new :mod:`isaaclab.scene_data` sub-package. Update imports:: |
|
|
| # before |
| from isaaclab.scene.scene_data_provider import SceneDataProvider |
| from isaaclab.physics import SceneDataBackend, SceneDataFormat |
|
|
| # after |
| from isaaclab.scene_data import SceneDataProvider, SceneDataBackend, SceneDataFormat |
|
|
| Deprecated |
| ^^^^^^^^^^ |
|
|
| * Deprecated generic deformable property and material cfgs in favor of |
| ``PhysxDeformableBodyPropertiesCfg``, ``PhysxDeformableBodyMaterialCfg``, |
| ``PhysxSurfaceDeformableBodyMaterialCfg``, ``NewtonDeformableBodyPropertiesCfg``, |
| ``NewtonDeformableBodyMaterialCfg``, and ``NewtonSurfaceDeformableBodyMaterialCfg``. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed three places where ``OvPhysxManager`` was misclassified as the |
| PhysX backend by a substring/schema match: |
|
|
| - :meth:`~isaaclab.sensors.SensorBase._register_callbacks` matched |
| ``"physx" in physics_mgr_cls.__name__.lower()`` to gate the PhysX |
| ``IsaacEvents.PRIM_DELETION`` import — the substring also matches |
| ``"OvPhysxManager"``, so the ``isaaclab_physx`` import fired in |
| kitless OVPhysX mode and raised |
| :exc:`ModuleNotFoundError` because ``omni.physics.tensors`` is not |
| loaded. Switched to an exact ``physics_mgr_cls.__name__ == |
| "PhysxManager"`` match. |
| - :meth:`~isaaclab.assets.AssetBase.set_debug_vis` had the same |
| substring check guarding an ``import omni.kit.app`` call, which |
| would fire for OVPhysX-backed assets and break under |
| ``./scripts/run_ovphysx.sh``. Switched to an exact |
| ``"PhysxManager"`` match. |
| - :meth:`~isaaclab.physics.SceneDataProvider._get_backend` used |
| ``"physx" in manager_name`` to dispatch the backend factory; this |
| silently routed ``OvPhysxManager`` to the PhysX scene-data |
| provider. Switched to exact ``"PhysxManager"`` / |
| ``"NewtonManager"`` matches and an explicit ``ValueError`` for |
| unknown managers. |
| * Made |
| :attr:`~isaaclab.scene.InteractiveScene.physics_scene_path` accept a |
| bare :class:`pxr.UsdPhysics.Scene` prim as a fallback when no prim |
| with ``PhysxSceneAPI`` applied is on the stage. Kitless OVPhysX |
| does not load the ``omni.physx`` schema, so the auto-created scene |
| prim only carries the stock USD type. PhysX-backed flows continue |
| to prefer the ``PhysxSceneAPI`` prim. |
| * Fixed a per-step performance regression in :func:`~isaaclab.envs.mdp.events.apply_external_force_torque` |
| when the event was configured with all-zero ``force_range`` and ``torque_range`` (a common default |
| for tasks that declare the event term but apply no disturbance). The event was unconditionally |
| sampling zero wrenches and routing them through the dual-buffer ``WrenchComposer`` introduced in |
| PR #5265, paying the full per-step compose-and-apply cost in |
| :meth:`~isaaclab.assets.Articulation.write_data_to_sim` for what is semantically a no-op. The |
| function now returns early when both ranges are exactly zero. This restores the H1, G1, and |
| Anymal-C ``Velocity-Rough`` throughput observed prior to PR #5265. Behaviour for non-zero ranges |
| is unchanged. |
| * Fixed visualization marker backend initialization so USD markers remain available during rendering even when standalone visualizers are not launched. |
| * Fixed :class:`~isaaclab.sim.views.FrameView` dispatch under the OVPhysX |
| backend. ``FrameView(...)`` now routes to |
| :class:`~isaaclab_ovphysx.sim.views.OvPhysxFrameView` instead of silently |
| falling through to ``FabricFrameView``, which returned stale USD spawn |
| poses for sensor frames riding on physics bodies. |
|
|
|
|
| 5.5.1 (2026-05-19) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed a Windows fatal exception (``0xc0000139``) that crashed the process on startup when |
| running any :class:`~isaaclab.envs.ManagerBasedRLEnv`-based script (e.g. ``skrl/play.py``) |
| on machines where ``h5py``'s native DLL could not be loaded. The ``import h5py`` in |
| :class:`~isaaclab.utils.datasets.HDF5DatasetFileHandler` was a top-level statement that |
| executed unconditionally at import time. It is now deferred to the individual methods that |
| open or create HDF5 files, so the DLL is only loaded when dataset recording is actually used. |
|
|
|
|
| 5.5.0 (2026-05-18) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed the installation model of :meth:`~isaaclab.cli.commands.install.command_install` |
| from per-submodule selection to a three-tier system. All core submodules |
| (``isaaclab``, ``isaaclab_assets``, ``isaaclab_contrib``, ``isaaclab_experimental``, |
| ``isaaclab_newton``, ``isaaclab_ov``, ``isaaclab_ovphysx``, ``isaaclab_physx``, |
| ``isaaclab_rl``, ``isaaclab_tasks``, ``isaaclab_tasks_experimental``, |
| ``isaaclab_visualizers``) |
| are now always installed by ``./isaaclab.sh -i``. Optional submodules |
| (``mimic``, ``teleop``) and automatic extra feature sets |
| (``newton``, ``rl[...]``, ``visualizer[...]``) are installed by ``./isaaclab.sh -i`` |
| / ``./isaaclab.sh -i all``. |
| Optional dependency extras require selectors, so rlinf dependencies are |
| installed with ``contrib[rlinf]`` and the ``ovrtx`` / ``ovphysx`` wheels are installed |
| with ``ov[ovrtx]``, ``ov[ovphysx]``, or ``ov[all]``. Old per-submodule tokens (e.g. |
| ``assets``, ``tasks``, ``physx``) now emit a warning and are skipped gracefully. |
| Migrate using the table below: |
| |
| +----------------------------------------------+-------------------------------------------+ |
| | Old command | New command | |
| +==============================================+===========================================+ |
| | ``./isaaclab.sh -i assets,tasks,physx`` | ``./isaaclab.sh -i none`` | |
| +----------------------------------------------+-------------------------------------------+ |
| | ``./isaaclab.sh -i assets,tasks,ov,rl[...]`` | ``./isaaclab.sh -i ov[all],rl[...]`` | |
| +----------------------------------------------+-------------------------------------------+ |
| | ``./isaaclab.sh -i newton,rl[all]`` | unchanged | |
| +----------------------------------------------+-------------------------------------------+ |
| | ``./isaaclab.sh -i mimic,teleop`` | unchanged | |
| +----------------------------------------------+-------------------------------------------+ |
| | ``uv pip install isaaclab[tasks,rl,assets]`` | ``uv pip install isaaclab[all]`` | |
| +----------------------------------------------+-------------------------------------------+ |
|
|
| * Simplified :mod:`isaaclab` package extras to ``isaacsim`` and ``all``; removed the old |
| per-submodule extras (``tasks``, ``rl``, ``assets``, etc.) from ``pip install isaaclab[...]``. |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed :func:`~isaaclab.cloner.cloner_utils.is_homogeneous` because it is an implementation detail. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the ``isaaclab`` wheel's ``rsl-rl`` optional dependency to install |
| ``rsl-rl-lib==5.0.1``, matching the version required by the RSL-RL training |
| scripts. |
| * Fixed the root ``uv run`` workflow by restoring the documented |
| ``pyproject.toml`` extras, the IsaacLab-only ``all`` extra, and removing the |
| Isaac Sim extra from the development project. |
| * Fixed ``uv run`` creating ``.venv`` from an active conda Python by requiring |
| uv-managed Python for the development project. |
|
|
|
|
| 5.4.0 (2026-05-17) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab.sensors.ray_caster.BaseRayCaster`, |
| :class:`~isaaclab.sensors.ray_caster.BaseRayCasterCamera`, |
| :class:`~isaaclab.sensors.ray_caster.BaseMultiMeshRayCaster`, and |
| :class:`~isaaclab.sensors.ray_caster.BaseMultiMeshRayCasterCamera` |
| carrying the backend-agnostic ray-caster logic. Backend subclasses |
| override only the body-tracker and target-mesh-tracker hooks. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * **Breaking:** Changed :class:`~isaaclab.sensors.camera.CameraData` |
| camera-owned buffers to :class:`~isaaclab.utils.warp.ProxyArray`. |
| Access torch tensor operations through the explicit ``.torch`` view. |
| * :class:`~isaaclab.sensors.ray_caster.RayCaster`, |
| :class:`~isaaclab.sensors.ray_caster.RayCasterCamera`, |
| :class:`~isaaclab.sensors.ray_caster.MultiMeshRayCaster`, and |
| :class:`~isaaclab.sensors.ray_caster.MultiMeshRayCasterCamera` are now |
| :class:`~isaaclab.utils.backend_utils.FactoryBase` shims dispatching |
| to PhysX / Newton implementations. Cfg surface and runtime semantics |
| unchanged. |
| * Changed ray-caster camera update paths to keep pose, ray, depth, normal, |
| and mesh-id buffers Warp-owned internally, while exposing public camera |
| outputs through :class:`~isaaclab.utils.warp.ProxyArray`. |
|
|
|
|
| 5.3.0 (2026-05-16) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added unified ``train`` and ``play`` console-script entry points (``isaaclab.cli:train`` |
| and ``isaaclab.cli:play``) that dispatch to a library-specific implementation via |
| ``--rl_library``. Supported libraries are ``rsl_rl``, ``rl_games``, ``skrl``, ``sb3``, |
| and ``rlinf``. |
| * Added refactored per-library train/play scripts under |
| ``scripts/reinforcement_learning/`` with a shared ``common.dispatch_library_entrypoint`` |
| helper, replacing the previous standalone per-library scripts. |
| * Added experimental ``uv run`` workflow allowing ``uv run train`` and ``uv run play`` |
| directly from the repository root without manual environment setup. See |
| :ref:`uv-run-training` for usage. |
| * Added :attr:`~isaaclab.sim.converters.UrdfConverterCfg.ros_package_paths`, |
| :attr:`~isaaclab.sim.converters.UrdfConverterCfg.robot_type`, |
| :attr:`~isaaclab.sim.converters.UrdfConverterCfg.run_asset_transformer`, |
| :attr:`~isaaclab.sim.converters.UrdfConverterCfg.run_multi_physics_conversion`, and |
| :attr:`~isaaclab.sim.converters.UrdfConverterCfg.debug_mode` config fields that mirror the |
| new :class:`isaacsim.asset.importer.urdf.URDFImporterConfig` options. |
| * Extended :attr:`~isaaclab.sim.converters.UrdfConverterCfg.collision_type` to accept |
| ``"Bounding Sphere"`` and ``"Bounding Cube"`` in addition to the existing ``"Convex Hull"`` |
| and ``"Convex Decomposition"`` values. |
| * Added :attr:`~isaaclab.sim.converters.MjcfConverterCfg.fix_base`, |
| :attr:`~isaaclab.sim.converters.MjcfConverterCfg.link_density`, |
| :attr:`~isaaclab.sim.converters.MjcfConverterCfg.robot_type`, |
| :attr:`~isaaclab.sim.converters.MjcfConverterCfg.override_gain_type`, |
| :attr:`~isaaclab.sim.converters.MjcfConverterCfg.override_bias_type`, |
| :attr:`~isaaclab.sim.converters.MjcfConverterCfg.override_gain_prm`, |
| :attr:`~isaaclab.sim.converters.MjcfConverterCfg.override_bias_prm`, |
| :attr:`~isaaclab.sim.converters.MjcfConverterCfg.run_asset_transformer`, |
| :attr:`~isaaclab.sim.converters.MjcfConverterCfg.run_multi_physics_conversion`, and |
| :attr:`~isaaclab.sim.converters.MjcfConverterCfg.debug_mode` config fields that mirror the |
| new :class:`isaacsim.asset.importer.mjcf.MJCFImporterConfig` options. |
| * Added ``--deterministic`` flag to :class:`~isaaclab.app.app_launcher.AppLauncher` so training and |
| rendering runs can opt into RTX/RTPT carb settings for more reproducible output after startup. |
| * Added :func:`~isaaclab.cloner.cloner_utils.is_homogeneous` to detect whether a :class:`~isaaclab.cloner.ClonePlan` |
| assigns every environment from every source (a homogeneous clone mask). |
| * Added :class:`~isaaclab.envs.mdp.observations.stacked_image`, a stateful |
| :class:`~isaaclab.managers.ManagerTermBase` that channel-stacks the last ``N`` frames |
| from a camera sensor. Manager-based environments can reference it in observation cfg |
| to add explicit temporal information for camera-based RL tasks whose renderer doesn't |
| supply implicit temporal data (e.g., Newton Warp). |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Refactored :class:`~isaaclab.sim.converters.UrdfConverter` to delegate the full conversion |
| pipeline to :class:`isaacsim.asset.importer.urdf.URDFImporter` / |
| :class:`isaacsim.asset.importer.urdf.URDFImporterConfig`. The duplicated IsaacLab |
| implementations of ``_apply_fix_base``, ``_apply_link_density``, ``_apply_joint_drives``, |
| ``_set_drive_type_on_joints``, ``_set_target_type_on_joints``, ``_set_drive_gains_on_joints``, |
| and ``_fix_articulation_root_for_fixed_base`` have been removed and replaced with a thin |
| translation layer that maps :class:`~isaaclab.sim.converters.UrdfConverterCfg` onto the |
| Isaac Sim importer config. All behaviour is preserved. |
| * Updated :class:`~isaaclab.sim.converters.MjcfConverter` to forward the full set of |
| :class:`isaacsim.asset.importer.mjcf.MJCFImporterConfig` options to the Isaac Sim importer. |
| * Bumped the ``newton[sim]`` pin from ``v1.2.0rc2`` to ``v1.2.0`` |
| (stable) across :mod:`isaaclab_newton`, :mod:`isaaclab_physx` |
| (``[newton]`` extra), :mod:`isaaclab_visualizers` (3×), and |
| ``tools/wheel_builder/res/python_packages.toml``. Upstream release |
| notes: `newton-physics/newton v1.2.0 |
| <https://github.com/newton-physics/newton/releases/tag/v1.2.0>`_. |
| * No IsaacLab-side ``mujoco`` / ``mujoco-warp`` pin change — the |
| transitive ``mjwarp`` bump flows in through ``newton[sim]`` since |
| `isaac-sim/IsaacLab#5566 |
| <https://github.com/isaac-sim/IsaacLab/pull/5566>`_ dropped the |
| explicit pins. |
| * Changed Isaac Lab Docker images to run as the non-root ``isaaclab`` user by default. Use an explicit |
| container user override when root access is required. |
| * Changed :class:`~isaaclab.sensors.camera.CameraData` to expose all sensor buffers as |
| :class:`~isaaclab.utils.warp.ProxyArray` instead of :class:`torch.Tensor`. The fields |
| :attr:`~isaaclab.sensors.camera.CameraData.pos_w` (``wp.vec3f``), |
| :attr:`~isaaclab.sensors.camera.CameraData.quat_w_world` (``wp.quatf``), |
| :attr:`~isaaclab.sensors.camera.CameraData.intrinsic_matrices` (``wp.mat33f``), and all |
| entries in :attr:`~isaaclab.sensors.camera.CameraData.output` are now backed by warp arrays. |
| Use ``.torch`` for a zero-copy :class:`torch.Tensor` view or ``.warp`` to pass the array |
| directly to a warp kernel. Existing code using these fields as tensors (indexing, arithmetic, |
| :func:`torch.testing.assert_close`, etc.) continues to work via the |
| :class:`~isaaclab.utils.warp.ProxyArray` deprecation bridge with a one-time |
| :class:`DeprecationWarning`. |
| * Updated :meth:`~isaaclab.renderers.BaseRenderer.set_outputs` and |
| :meth:`~isaaclab.renderers.BaseRenderer.update_camera` in :class:`~isaaclab.renderers.BaseRenderer` |
| to accept :class:`~isaaclab.utils.warp.ProxyArray` arguments instead of :class:`torch.Tensor`. |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed :func:`~isaaclab.sim.converters.urdf_utils.merge_fixed_joints` as it is now handled by the Isaac Sim URDF importer. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed a startup crash in :class:`~isaaclab.app.AppLauncher` when launching with a CUDA device. |
| Setting the current torch CUDA device used to happen before ``SimulationApp`` was created, which |
| imported ``torch`` (and transitively NumPy/OpenBLAS) prior to Kit's platform-info fork. On systems |
| where OpenBLAS's at-fork handlers were not yet safe, that fork could crash. The |
| ``torch.cuda.set_device`` call is now deferred until after ``SimulationApp`` starts. |
| * Fixed ``calculate_rotation_error`` in |
| ``source/isaaclab/test/controllers/test_pink_ik.py`` composing rotation matrices |
| with element-wise ``*`` instead of matrix multiplication ``@`` — a latent bug |
| from `isaac-sim/IsaacLab#3149 |
| <https://github.com/isaac-sim/IsaacLab/pull/3149>`_ that surfaced as NaN after |
| `isaac-sim/IsaacLab#5609 |
| <https://github.com/isaac-sim/IsaacLab/pull/5609>`_ added the unit-norm guard to |
| ``quat_from_matrix``. |
| * Made ``test_pink_ik`` deterministic by seeding the env (``env_cfg.seed = 42``) |
| in ``create_test_env``. |
| * Loosened the G1 Pink IK rotation tolerance from ``0.030`` rad to ``0.100`` rad |
| in ``pink_ik_g1_test_configs.json`` to accommodate G1's intentionally smooth IK |
| tuning (slower-converging than GR1T2). GR1T2 tolerance unchanged at ``0.020`` rad. |
|
|
|
|
| 5.2.1 (2026-05-15) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :func:`~isaaclab.utils.math.create_rotation_matrix_from_view` returning a singular |
| matrix when the look-at direction was parallel to the up axis. The function now produces |
| a valid orthonormal frame via an alternate reference vector, and fills NaN for rows with |
| truly undefined forward direction (``eyes == targets`` or non-finite input). Callers |
| detect per-row failure with ``torch.isnan(R).any(dim=(-2, -1))``. |
| * Fixed :func:`~isaaclab.utils.math.quat_from_matrix` silently returning a non-unit |
| quaternion for non-rotation input (singular, reflection, or scale-error matrices). |
| Such inputs now return NaN, detectable via :func:`torch.isnan`. |
| * Fixed :meth:`~isaaclab.sensors.camera.Camera.set_world_poses_from_view` and |
| :meth:`~isaaclab.sensors.ray_caster.RayCasterCamera.set_world_poses_from_view` silently |
| applying garbage poses when an eye position equaled its target. Degenerate rows are now |
| skipped (with a logged warning), and ``ValueError`` is raised if every row in the batch |
| is degenerate. |
|
|
|
|
| 5.2.0 (2026-05-14) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :attr:`~isaaclab.assets.BaseArticulationData.body_link_jacobian_w` and |
| :attr:`~isaaclab.assets.BaseArticulationData.body_com_jacobian_w` properties, |
| exposing the per-body geometric Jacobian referenced at the link origin and |
| body center of mass respectively. The pair mirrors the existing |
| :attr:`~isaaclab.assets.BaseArticulationData.body_link_pose_w` / |
| :attr:`~isaaclab.assets.BaseArticulationData.body_com_pose_w` and |
| :attr:`~isaaclab.assets.BaseArticulationData.body_link_vel_w` / |
| :attr:`~isaaclab.assets.BaseArticulationData.body_com_vel_w` exposure pattern. |
| Backends without a native primitive raise :class:`NotImplementedError`. |
| * Added :attr:`~isaaclab.assets.BaseArticulationData.mass_matrix` property, |
| exposing the joint-space generalized mass matrix ``M(q)``. |
| * Added :attr:`~isaaclab.assets.BaseArticulationData.gravity_compensation_forces` |
| property, exposing the joint-space gravity-loading torque vector ``g(q)``. |
| * Added :attr:`~isaaclab.assets.BaseArticulation.num_base_dofs` — number of |
| free DoFs of the floating base (``0`` for fixed-base, ``6`` for floating- |
| base). Use it to map an actuated-joint index ``j`` to its column in the |
| Jacobian / mass matrix / gravity vector via ``j + num_base_dofs``. |
| |
| * The Jacobian / mass-matrix / gravity-comp DoF axis includes the floating- |
| base DoFs at the front: shape ``(N, num_jacobi_bodies, 6, num_joints + |
| num_base_dofs)`` for the Jacobian and ``(N, num_joints + num_base_dofs, |
| num_joints + num_base_dofs)`` for the mass matrix. This matches the |
| cross-library industry convention (Pinocchio's ``nv = 6 + n_actuated``, |
| Drake's ephemeral floating joint, MuJoCo's ``<freejoint/>``, RBDL's |
| ``JointTypeFloatingBase``, OCS2's ``generalizedCoordinatesNum = |
| 6 + actuatedJointsNum``, iDynTree's ``getFreeFloatingMassMatrix`` |
| returning ``(6 + dofs, 6 + dofs)``). |
| * Added :attr:`~isaaclab.scene_data.SceneDataProvider.usd_stage`, |
| :attr:`~isaaclab.scene_data.SceneDataProvider.num_envs`, and |
| :meth:`~isaaclab.scene_data.SceneDataProvider.get_camera_transforms` |
| so visualizers and renderers can pull stage-derived data through the same |
| Warp-native provider that already exposes transforms. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Migrated :class:`~isaaclab.envs.mdp.actions.task_space_actions.DifferentialInverseKinematicsAction`, |
| :class:`~isaaclab.envs.mdp.actions.task_space_actions.OperationalSpaceControllerAction`, |
| and :class:`~isaaclab.envs.mdp.actions.rmpflow_task_space_actions.RMPFlowAction` |
| to fetch dynamic quantities through the new |
| :class:`~isaaclab.assets.BaseArticulationData` properties instead of the |
| PhysX-only ``root_view``. The OSC action term now also gates the |
| per-step mass-matrix and gravity-compensation fetches behind the |
| controller cfg's :attr:`inertial_dynamics_decoupling`, |
| :attr:`nullspace_control`, and :attr:`gravity_compensation` flags |
| so backends without a native primitive are not invoked when the |
| controller does not consume the result. |
| * Action terms (DiffIK / OSC / RMPFlow / Pink) compute their Jacobian |
| joint-axis indices via |
| ``[j + asset.num_base_dofs for j in joint_ids]``, which is ``0`` for |
| fixed-base and ``+6`` for floating-base. Pink IK previously hardcoded |
| a private ``_physx_floating_joint_indices_offset = 6``; that was |
| removed in favor of the cross-backend property. |
| * PhysX backend's :attr:`body_link_jacobian_w` applies the COM→origin shift to |
| PhysX's natively COM-referenced Jacobian. The previously-exposed |
| ``Articulation.get_jacobians()`` was a passthrough that returned the raw |
| COM-referenced Jacobian, while IK / OSC consumers also read |
| :attr:`body_link_pose_w` as the EE pose setpoint — a frame mismatch that |
| produced a ``ω × r_com_w`` per-body bias in tracking. The new property |
| reads the same engine buffer and applies the shift so ``J · q_dot`` matches |
| ``body_link_lin_vel_w``. Consumers that intentionally want the raw |
| COM-referenced form can read :attr:`body_com_jacobian_w`. |
| * **Breaking:** :class:`~isaaclab.visualizers.base_visualizer.BaseVisualizer` |
| subclasses now receive a |
| :class:`~isaaclab.scene_data.SceneDataProvider` in |
| :meth:`~isaaclab.visualizers.base_visualizer.BaseVisualizer.initialize` |
| instead of the removed ``BaseSceneDataProvider``. Read environment count |
| from :attr:`~isaaclab.scene_data.SceneDataProvider.num_envs` |
| and call |
| :meth:`~isaaclab.scene_data.SceneDataProvider.get_camera_transforms` |
| on the new provider; both replace the previous ``get_metadata()`` / |
| ``get_camera_transforms()`` calls on the legacy interface. |
| |
| Removed |
| ^^^^^^^ |
|
|
| * **Breaking:** Removed ``isaaclab.physics.BaseSceneDataProvider``, |
| ``isaaclab.physics.SceneDataProvider`` (the legacy factory), |
| ``SimulationContext.initialize_scene_data_provider()``, and |
| ``SimulationContext.update_scene_data_provider()``. Use |
| :meth:`~isaaclab.sim.simulation_context.SimulationContext.get_scene_data_provider` |
| to obtain the new provider; consumers that previously called |
| ``get_newton_model()`` / ``get_newton_state()`` should call |
| ``NewtonManager.get_model()`` / ``NewtonManager.get_state()`` instead. |
| * Removed explicit ``mujoco`` and ``mujoco-warp`` dependencies from |
| :mod:`isaaclab`. These packages are not used by ``isaaclab`` core and are |
| now resolved transitively through Newton's ``[sim]`` extra in |
| :mod:`isaaclab_newton`. Users installing only the PhysX or Kit backends no |
| longer pull in MuJoCo. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :class:`~envs.LeappDeploymentEnv` crashing on ``reset()`` with |
| ``AttributeError: 'LeappDeploymentEnv' object has no attribute 'extras'`` |
| by initializing ``self.extras`` in ``__init__``. |
| * Fixed ``./isaaclab.sh -p -m pip ...`` failing with ``No module named pip`` |
| in the conda env created from ``environment.yml`` on Linux aarch64 |
| (e.g. DGX Spark / GB10). The conda-forge solver was not pulling |
| ``pip`` in transitively on aarch64, so the resulting ``env_isaaclab`` |
| had no pip. ``environment.yml`` now lists ``pip`` explicitly so it |
| is seeded on every platform. |
| * Fixed ``pip install isaaclab[isaacsim,all]==3.0.0`` failing with |
| ``No solution found`` (UV) or ``error: resolution-too-deep`` (pip) when |
| resolving against ``isaacsim==6.0.0.0``. ``viser>=1.0.16`` was a base |
| dependency of the built ``isaaclab`` wheel and transitively requires |
| ``websockets>=13.1``, but ``isaacsim-kernel==6.0.0.0`` pins |
| ``websockets==12.0``. Moved ``viser`` to an opt-in ``viser`` extra in |
| ``tools/wheel_builder/res/python_packages.toml`` so the base wheel is |
| installable alongside ``isaacsim==6.0.0.0``. Users who want the Viser |
| visualizer can request it explicitly with ``isaaclab[viser]``. |
|
|
|
|
| 5.1.1 (2026-05-13) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed Newton-related dependencies to use MuJoCo 3.8, MuJoCo Warp 3.8.0.2, |
| Warp 1.13 or newer, and the packaged Newton 1.2.0 release candidate. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed a spurious ``[Error][carb] Client passed into the framework is nullptr.`` |
| log emitted from :meth:`~isaaclab.cloner._fabric_notices.FabricNoticeBindings.initialize` |
| when an environment imports IsaacLab outside Kit (e.g. remote asset resolution |
| via ``omni.client``). The helper was passing ``clientName=None`` as a fallback |
| to ``tryAcquireInterfaceWithClient``; Carbonite has rejected null client names |
| since 2018, so the call only emitted a misleading error log and never returned |
| a valid interface. The fallback has been removed; the helper still fails closed |
| when Fabric is unavailable, with no impact on the cloning speedup when Fabric |
| is present. |
|
|
|
|
| 5.1.0 (2026-05-12) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :meth:`~isaaclab.scene.InteractiveScene.initialize_renderers` to |
| pre-create renderer backends for all scene sensors with a |
| ``renderer_cfg`` against the shared |
| :class:`~isaaclab.renderers.render_context.RenderContext`. The method is |
| idempotent and is now invoked from |
| :class:`~isaaclab.envs.DirectRLEnv`, |
| :class:`~isaaclab.envs.DirectMARLEnv`, |
| :class:`~isaaclab.envs.ManagerBasedEnv`, and |
| :class:`~isaaclab.envs.LeappDeploymentEnv` after scene construction so |
| that renderer backend creation order is deterministic and front-loaded |
| before the first :meth:`~isaaclab.sim.SimulationContext.reset`. |
| * Added :meth:`~isaaclab.renderers.base_renderer.BaseRenderer.initialize` |
| post-physics lifecycle hook (default no-op) that runs once per backend |
| after :meth:`~isaaclab.sim.SimulationContext.reset` builds physics |
| models. ``__init__`` now defines the pre-physics phase (eagerly invoked |
| by :meth:`~isaaclab.scene.InteractiveScene.initialize_renderers`) and |
| ``initialize`` defines the post-physics phase, letting backends whose |
| setup needs scene data (e.g. a built Newton model) defer that work |
| cleanly. Driven by |
| :meth:`~isaaclab.renderers.render_context.RenderContext.ensure_initialize`, |
| registered on |
| :class:`~isaaclab.physics.physics_manager.PhysicsEvent` ``PHYSICS_READY`` |
| by :class:`~isaaclab.sim.SimulationContext` at ``order=5`` so it fires |
| before sensor/asset callbacks (``order=10``). This decouples renderer |
| post-physics setup from camera initialization. Backends created lazily |
| after PHYSICS_READY are eagerly initialized at |
| :meth:`~isaaclab.renderers.render_context.RenderContext.get_renderer` |
| time. |
| * Added forwarding shims on :mod:`isaaclab.sim.schemas` and :mod:`isaaclab.sim` for the |
| Newton/MuJoCo cfg classes added in :mod:`isaaclab_newton.sim.schemas` |
| (:class:`NewtonRigidBodyPropertiesCfg`, :class:`NewtonJointDrivePropertiesCfg`, |
| :class:`NewtonCollisionPropertiesCfg`, :class:`NewtonMeshCollisionPropertiesCfg`, |
| :class:`NewtonMaterialPropertiesCfg`, :class:`NewtonArticulationRootPropertiesCfg`, |
| :class:`MujocoRigidBodyPropertiesCfg`, :class:`MujocoJointDrivePropertiesCfg`). |
| The shims resolve lazily on first access so importing :mod:`isaaclab.sim.schemas` |
| does not require :mod:`isaaclab_newton` to be installed. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed extension installation to honor ``pip_upgrade_dependencies`` declared |
| in ``config/extension.toml``. |
|
|
|
|
| 5.0.0 (2026-05-11) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab.cloner.ClonePlan` as the flat clone contract shared by |
| scene cloning, backend replication, and scene-data providers. |
| * Added :meth:`~isaaclab.sim.SimulationContext.get_clone_plan` and |
| :meth:`~isaaclab.sim.SimulationContext.set_clone_plan` for publishing the |
| scene's clone plan. |
| * Added :attr:`~isaaclab.scene.InteractiveScene.clone_plan` for consumers holding |
| a scene reference. |
| * Added explicit ``spawn_paths`` support to multi-asset spawners so scene |
| planning can spawn representative heterogeneous sources directly. |
| |
| Changed |
| ^^^^^^^ |
|
|
| * **Breaking:** Changed scene-data providers to build visualizer backend models |
| from :meth:`~isaaclab.sim.SimulationContext.get_clone_plan` instead of a |
| clone-time visualizer artifact. Use the published |
| :class:`~isaaclab.cloner.ClonePlan` for custom scene-data integrations. |
| * **Breaking:** Changed :class:`~isaaclab.scene.InteractiveScene` to build clone |
| plans directly from asset configuration, spawn representative sources in their |
| selected environments, and replicate from those sources instead of spawning and |
| discovering prototypes under ``/World/template``. |
| * **Breaking:** Replaced ``TemplateCloneCfg`` with |
| :class:`~isaaclab.cloner.CloneCfg` for clone execution settings. |
| * **Breaking:** Changed :func:`~isaaclab.cloner.make_clone_plan` to return a |
| :class:`~isaaclab.cloner.ClonePlan` object directly. |
| * **Breaking:** Changed clone plan publication to use |
| :meth:`~isaaclab.sim.SimulationContext.get_clone_plan` and |
| :meth:`~isaaclab.sim.SimulationContext.set_clone_plan` for the single scene |
| clone plan. |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * **Breaking:** Removed |
| :attr:`~isaaclab.cloner.TemplateCloneCfg.visualizer_clone_fn`, |
| :func:`~isaaclab.cloner.resolve_visualizer_clone_fn`, and |
| :class:`~isaaclab.physics.scene_data_requirements.VisualizerPrebuiltArtifacts`. |
| Use the :class:`~isaaclab.cloner.ClonePlan` published through |
| :meth:`~isaaclab.sim.SimulationContext.get_clone_plan` instead. |
| * **Breaking:** Removed |
| :meth:`~isaaclab.sim.SimulationContext.get_scene_data_visualizer_prebuilt_artifact`, |
| :meth:`~isaaclab.sim.SimulationContext.set_scene_data_visualizer_prebuilt_artifact`, |
| and |
| :meth:`~isaaclab.sim.SimulationContext.clear_scene_data_visualizer_prebuilt_artifact`. |
| Use :meth:`~isaaclab.sim.SimulationContext.get_clone_plan` / |
| :meth:`~isaaclab.sim.SimulationContext.set_clone_plan` instead. |
| * **Breaking:** Removed :func:`~isaaclab.cloner.clone_from_template`. Use |
| :func:`~isaaclab.cloner.make_clone_plan`, |
| :func:`~isaaclab.cloner.usd_replicate`, and backend physics replication |
| functions for direct cloning workflows. |
|
|
|
|
| 4.8.2 (2026-05-10) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed Pink IK setup checks to reinstall and report the required ``daqp`` |
| solver when it is missing or incompatible. |
|
|
|
|
| 4.8.1 (2026-05-09) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed the Pink IK task-space action base link frame lookup to read direct |
| body link pose data instead of slicing packed body link state. No user |
| migration is required. |
| * Added :mod:`filelock` to ``isaaclab`` install requirements. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :class:`~isaaclab.assets.Articulation` joint friction API docs to clarify backend-specific semantics. |
| * Fixed :class:`~isaaclab.envs.mdp.actions.PinkInverseKinematicsAction` |
| base link pose reads to avoid deprecated body link state access. |
| * Fixed the sensor overview documentation to include |
| :class:`~isaaclab.sensors.Pva` and |
| :class:`~isaaclab.sensors.JointWrenchSensor`. |
| * Fixed the PVA sensor demo to align front-foot sensor names with their prim |
| paths. |
| * Fixed Sphinx docs build failing due to ``https://nvidia.github.io/warp/objects.inv`` returning 404. |
| Pinned the ``warp`` intersphinx mapping to ``/stable/``, which is where the inventory now lives. |
| * Fixed the sensor prim-deletion callback guard so the OvPhysX backend is not |
| treated as the Kit PhysX backend. |
| * Relaxed the ``starlette`` pin in :mod:`isaaclab` from ``==0.49.1`` to |
| ``>=0.46.0,<0.50`` so installs of ``isaaclab[isaacsim,all]==3.0.0`` |
| alongside ``isaacsim==6.0.0.0`` resolve cleanly. The transitive pin |
| from ``isaacsim-kernel`` -> ``fastapi==0.117.1`` requires |
| ``starlette<0.49.0``; the previous exact pin was mutually exclusive. |
| * Fixed :mod:`isaaclab.sim.spawners.from_files` failing to import on Windows |
| due to an unconditional ``import fcntl`` (Unix-only). The distributed-rank |
| USD spawn lock now uses :class:`filelock.FileLock`, which works on both |
| Windows and POSIX. |
| * Certain functions in test_math were failing non deterministically. This was caused by not setting seed values. |
|
|
|
|
| 4.8.0 (2026-05-08) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Bumped Newton pin to ``v1.2.0rc2``. Pulls in IsaacLab-relevant fixes from |
| `newton-physics/newton#2678 <https://github.com/newton-physics/newton/pull/2678>`_ |
| and `newton-physics/newton#2720 |
| <https://github.com/newton-physics/newton/pull/2720>`_ (``SolverKamino`` |
| reset under ``world_mask``), the upstream tendon-scoping fix from |
| `newton-physics/newton#2659 |
| <https://github.com/newton-physics/newton/pull/2659>`_ ("Scope USD |
| custom-frequency parsing"), and a VRAM-leak fix on example reset |
| (`newton-physics/newton#2710 |
| <https://github.com/newton-physics/newton/pull/2710>`_). |
| * Newton ``v1.2.0rc2`` requires ``warp-lang==1.13.0``, ``mujoco==3.8.0``, |
| and ``mujoco-warp==3.8.0.1``. ``warp-lang``/``mujoco``/``mujoco-warp`` |
| pins live in :mod:`isaaclab` and ``tools/wheel_builder/res/python_packages.toml``; |
| the Newton pin is mirrored across :mod:`isaaclab_newton`, |
| :mod:`isaaclab_visualizers` (3×), :mod:`isaaclab_physx` (``[newton]`` |
| extra), and the wheel-builder TOML. |
| * Updated ``wp.math.transform_to_matrix`` to ``wp.transform_to_matrix`` in |
| :mod:`~isaaclab_newton.physics.newton_manager` and |
| :mod:`~isaaclab_ov.renderers.ovrtx_renderer_kernels` to match the |
| ``warp-lang`` 1.13 API (the ``wp.math`` namespace was removed). |
|
|
|
|
| 4.7.0 (2026-05-08) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added LEAPP export support for manager-based RSL-RL policies, including |
| export-time observation/action annotation, recurrent actor-state handling, and |
| deployment through :mod:`scripts.reinforcement_learning.leapp.deploy`. |
| * Added a Direct workflow LEAPP export tutorial and annotated ANYmal-C example |
| script showing how to mark policy inputs, outputs, and persistent state with |
| LEAPP annotations. Direct workflow policies can be exported with |
| :mod:`scripts.reinforcement_learning.leapp.rsl_rl.export`, but are not yet |
| supported by :mod:`scripts.reinforcement_learning.leapp.deploy`. |
| * Added LEAPP deployment documentation describing the exported-policy validation |
| flow and linking the manager-based and Direct workflow export paths. |
| * Added LEAPP export annotations, proxy utilities, and deployment environment |
| support for Isaac Lab assets, sensors, commands, and manager-based environments. |
| * Added :class:`~isaaclab.renderers.camera_render_spec.CameraRenderSpec` so render backends |
| take explicit camera inputs (USD paths, :class:`~isaaclab.sensors.camera.CameraCfg`, device, |
| counts) instead of the :class:`~isaaclab.sensors.camera.Camera` instance. |
| * Added :class:`~isaaclab.renderers.render_context.RenderContext` (accessed as |
| :attr:`~isaaclab.sim.simulation_context.SimulationContext.render_context`) to own one or |
| more :class:`~isaaclab.renderers.base_renderer.BaseRenderer` instances: configurations that |
| compare equal under ``==`` and share the same concrete |
| :class:`~isaaclab.renderers.renderer_cfg.RendererCfg` class reuse a backend; distinct |
| types (e.g. Isaac RTX and Newton) register separate backends, each with |
| :meth:`~isaaclab.renderers.base_renderer.BaseRenderer.prepare_stage` the first time a camera |
| with that configuration initializes. |
| * Added :meth:`~isaaclab.renderers.render_context.RenderContext.render_into_camera` to run |
| :meth:`~isaaclab.renderers.render_context.RenderContext.update_transforms` (at most once |
| per physics step), then :meth:`~isaaclab.renderers.base_renderer.BaseRenderer.render` and |
| :meth:`~isaaclab.renderers.base_renderer.BaseRenderer.read_output`. |
| * Added :meth:`~isaaclab.sim.simulation_context.SimulationContext.get_physics_step_count`. |
| * Added :class:`~isaaclab.cloner.ClonePlan` frozen dataclass capturing per-group |
| prototype-to-environment mappings (``dest_template``, ``prototype_paths``, |
| ``clone_mask``). Lets downstream consumers (scene data providers, mesh samplers) |
| read prototype geometry once and scatter to environments via the per-group mask |
| instead of walking per-env USD paths. |
| * Added :meth:`~isaaclab.sim.SimulationContext.get_clone_plans` and |
| :meth:`~isaaclab.sim.SimulationContext.set_clone_plans` for publishing and |
| consuming the cloner's per-group plan map. |
| * Added :attr:`~isaaclab.scene.InteractiveScene.clone_plans` property (forwards to |
| :meth:`~isaaclab.sim.SimulationContext.get_clone_plans`) so consumers holding a |
| scene reference can read the published plans without going through the sim |
| context. |
| * Added backend-agnostic :class:`~isaaclab.markers.VisualizationMarkers` support for |
| marker-capable Kit, Newton, Rerun, and Viser visualizers. |
| * Added :meth:`~isaaclab.utils.backend_utils.get_default_renderer_cfg`. to lazy load the IsaacRtxRendererCfg |
| * Added :class:`~isaaclab.sim.spawners.materials.RigidBodyMaterialBaseCfg`, the solver-common |
| base class for rigid-body physics materials. Carries the ``UsdPhysics.MaterialAPI`` standard |
| fields (``static_friction``, ``dynamic_friction``, ``restitution``). The PhysX-specific |
| compliant-contact and combine-mode fields moved to |
| :class:`~isaaclab_physx.sim.spawners.materials.PhysxRigidBodyMaterialCfg`. |
| * Added :class:`~isaaclab.sim.schemas.CollisionBaseCfg`, the solver-common base class for |
| collision properties. Carries :attr:`collision_enabled` (``UsdPhysics.CollisionAPI``) plus |
| :attr:`contact_offset` and :attr:`rest_offset` whose USD attributes are PhysX-namespaced |
| but are consumed by Newton's importer via the PhysX bridge resolver |
| (``import_usd.py:2104, 2111``). |
| * Added :class:`~isaaclab.sim.schemas.ArticulationRootBaseCfg`, the solver-common base class |
| for articulation root properties (``fix_root_link``, ``articulation_enabled``). |
| * Added :class:`~isaaclab.sim.schemas.MeshCollisionBaseCfg`, the solver-common base class for |
| mesh collision properties carrying ``mesh_approximation_name`` (writes |
| ``physics:approximation`` via :class:`UsdPhysics.MeshCollisionAPI`). The class-level |
| ``_usd_applied_schema`` metadata replaces the deprecated ``usd_api`` / ``physx_api`` |
| instance-field dispatch. |
| |
| Changed |
| ^^^^^^^ |
|
|
| * :class:`~isaaclab.sensors.camera.Camera` obtains a backend via |
| :meth:`~isaaclab.renderers.render_context.RenderContext.get_renderer` and calls |
| :meth:`~isaaclab.renderers.base_renderer.BaseRenderer.create_render_data` with |
| a :class:`~isaaclab.renderers.camera_render_spec.CameraRenderSpec` (no |
| :class:`~isaaclab.sensors.sensor_base.SensorBase` reference on the public API). |
| * :class:`~isaaclab.scene.interactive_scene.InteractiveScene` calls |
| :meth:`~isaaclab.renderers.render_context.RenderContext.update_transforms` once at the start |
| of :meth:`~isaaclab.scene.interactive_scene.InteractiveScene.update` when |
| ``lazy_sensor_update`` is false; fetches that render still dedupe the same way via |
| ``physics_step_count`` in :class:`~isaaclab.renderers.render_context.RenderContext`. |
| * **Breaking:** :func:`~isaaclab.cloner.clone_from_template` now returns |
| ``dict[str, ClonePlan]`` instead of ``None``. Bind the result and publish it |
| through :meth:`~isaaclab.sim.SimulationContext.set_clone_plans` if downstream |
| consumers (e.g. the PhysX scene data provider's Newton-visualizer build path) |
| need to read the plan. |
| * Changed :func:`~isaaclab.envs.mdp.body_incoming_wrench` to read from |
| :class:`~isaaclab.sensors.JointWrenchSensor`. Pass |
| ``sensor_cfg=SceneEntityCfg("joint_wrench", body_names=...)`` instead of an |
| articulation asset config. |
| * Updated :class:`~isaaclab.sensors.camera.Camera` to construct its internal |
| :class:`~isaaclab.sim.views.FrameView` without the now-removed |
| ``sync_usd_on_fabric_write`` kwarg. USD attributes on camera prims are |
| no longer kept in sync with Fabric writes; read poses through the view's |
| getters instead. |
| * :class:`~isaaclab.sensors.camera.CameraCfg` now defaults its render_cfg to :class:`~isaaclab.renderers.RenderCfg` |
| :meth:`~isaaclab.utils.backend_utils.get_default_renderer_cfg` is called during __post_init__ to replace |
| the generic RenderCfg with the default config :class:`~isaaclab_physx.renderers.IsaacRtxRendererCfg` |
| * Cleaned up the schema-cfg base classes to no longer carry PhysX namespace metadata. |
| :class:`~isaaclab.sim.schemas.RigidBodyBaseCfg`, |
| :class:`~isaaclab.sim.schemas.CollisionBaseCfg`, |
| :class:`~isaaclab.sim.schemas.ArticulationRootBaseCfg`, and |
| :class:`~isaaclab.sim.schemas.JointDriveBaseCfg` now declare ``_usd_namespace = None`` and |
| ``_usd_applied_schema = None``. Per-field PhysX overrides for fields whose only USD path |
| today is the ``physx*:*`` namespace (``disable_gravity``, ``contact_offset``, |
| ``rest_offset``, ``articulation_enabled``, ``max_velocity``) are declared via a new |
| ``_usd_field_exceptions`` mapping ``applied_schema -> (namespace, {cfg_field: usd_attr})``. |
| When any listed field is non-None at write time, the writer applies that schema and writes |
| the attribute under the exception namespace; otherwise the schema is not stamped onto the |
| prim. PhysX subclasses (:class:`PhysxRigidBodyPropertiesCfg`, |
| :class:`PhysxCollisionPropertiesCfg`, :class:`PhysxArticulationRootPropertiesCfg`, |
| :class:`PhysxJointDrivePropertiesCfg`) now self-declare ``_usd_namespace`` and |
| ``_usd_applied_schema`` for their own fields. Observable behavior on standard inputs is |
| unchanged. |
| * Consolidated the per-writer schema-application loop in |
| :mod:`isaaclab.sim.schemas` into a single shared helper ``_apply_namespaced_schemas``. |
| ``modify_articulation_root_properties``, ``modify_rigid_body_properties``, |
| ``modify_collision_properties``, ``modify_joint_drive_properties``, |
| ``modify_mesh_collision_properties``, and ``spawn_rigid_body_material`` all delegate to the |
| helper after writing their typed-API ``UsdPhysics`` fields. The canonical exception-table |
| + main-namespace gating logic now lives in one place instead of being duplicated across |
| six call sites. |
| * Moved the ``max_velocity`` field from :class:`~isaaclab_physx.sim.schemas.PhysxJointDrivePropertiesCfg` |
| to :class:`~isaaclab.sim.schemas.JointDriveBaseCfg`. The field is the only USD path to set |
| Newton's ``Model.joint_velocity_limit`` and is consumed by Newton's importer. The USD |
| attribute written is unchanged (``physxJoint:maxJointVelocity``); existing code using |
| ``PhysxJointDrivePropertiesCfg(max_velocity=...)`` continues to work because the field |
| is inherited. |
| * Moved the ``disable_gravity`` field from :class:`~isaaclab_physx.sim.schemas.PhysxRigidBodyPropertiesCfg` |
| to :class:`~isaaclab.sim.schemas.RigidBodyBaseCfg`. PhysX honors per-body via |
| ``physxRigidBody:disableGravity``; Newton currently honors at scene level (partial), |
| documented in the field docstring. Existing code using |
| ``PhysxRigidBodyPropertiesCfg(disable_gravity=...)`` continues to work via inheritance. |
| * Documented :attr:`~isaaclab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled` |
| and :attr:`~isaaclab.sim.schemas.ArticulationRootPropertiesCfg.enabled_self_collisions` |
| to lock their placement for the future :class:`ArticulationRootBaseCfg` / |
| ``PhysxArticulationRootPropertiesCfg`` split: ``articulation_enabled`` stays on the base |
| (single-namespace USD with verified Newton consumer); ``enabled_self_collisions`` moves |
| to the PhysX subclass (dual-namespace USD, with a future Newton sibling cfg owning the |
| ``newton:*`` namespace). |
| * Changed the defaults of :attr:`~isaaclab_physx.sim.spawners.materials.PhysxRigidBodyMaterialCfg.compliant_contact_stiffness`, |
| :attr:`compliant_contact_damping`, :attr:`friction_combine_mode`, and |
| :attr:`restitution_combine_mode` from concrete values (``0.0``, ``0.0``, ``"average"``, |
| ``"average"``) to ``None``. PhysX engine defaults match the previous concrete values, so |
| user-observable simulation behavior is unchanged; the difference is that these attributes |
| are now authored on the prim only when the user explicitly sets them (consistent with the |
| rest of the consumption-gated cfg layer). |
| * Relocated :class:`RigidBodyMaterialCfg` to :mod:`isaaclab_physx.sim.spawners.materials` and |
| split its fields between the new :class:`~isaaclab.sim.spawners.materials.RigidBodyMaterialBaseCfg` |
| (UsdPhysics-standard friction/restitution) and |
| :class:`~isaaclab_physx.sim.spawners.materials.PhysxRigidBodyMaterialCfg` |
| (PhysX-specific compliant-contact and combine-mode fields). A forwarding shim on |
| :mod:`isaaclab.sim.spawners.materials` and :mod:`isaaclab.sim` preserves existing imports. |
| * Refactored :func:`~isaaclab.sim.spawners.materials.spawn_rigid_body_material` to be |
| metadata-driven: it reads ``_usd_applied_schema``, ``_usd_namespace``, and |
| ``_usd_attr_name_map`` from the cfg class and gates ``PhysxMaterialAPI`` application on |
| whether the user authored at least one PhysX-namespaced field with a non-``None`` value. |
| Previously, the writer applied ``PhysxMaterialAPI`` unconditionally on every material spawn. |
| * Relocated :class:`CollisionPropertiesCfg` to :mod:`isaaclab_physx.sim.schemas` and split |
| its fields between the new :class:`~isaaclab.sim.schemas.CollisionBaseCfg` (solver-common |
| ``collision_enabled`` plus the PhysX-namespaced but Newton-consumed |
| ``contact_offset`` / ``rest_offset``) and |
| :class:`~isaaclab_physx.sim.schemas.PhysxCollisionPropertiesCfg` (PhysX-only |
| ``torsional_patch_radius`` / ``min_torsional_patch_radius``). A forwarding shim on |
| :mod:`isaaclab.sim.schemas`, :mod:`isaaclab.sim.schemas.schemas_cfg`, and |
| :mod:`isaaclab.sim` preserves existing imports. |
| * Refactored :func:`~isaaclab.sim.schemas.modify_collision_properties` to be metadata-driven |
| and to gate ``PhysxCollisionAPI`` application on whether the user authored at least one |
| PhysX-namespaced field with a non-``None`` value. Previously, the writer applied |
| ``PhysxCollisionAPI`` unconditionally on every collision prim, stamping the schema onto |
| Newton-targeted prims that only set ``collision_enabled``. |
| * Relocated :class:`ArticulationRootPropertiesCfg` to :mod:`isaaclab_physx.sim.schemas` and |
| split its fields between the new :class:`~isaaclab.sim.schemas.ArticulationRootBaseCfg` |
| (solver-common ``fix_root_link`` plus the PhysX-namespaced ``articulation_enabled`` which |
| is consumed by the IL Newton wrapper as a spawn-time guard) and |
| :class:`~isaaclab_physx.sim.schemas.PhysxArticulationRootPropertiesCfg` |
| (``enabled_self_collisions`` and PhysX TGS solver iter / sleep / stabilization thresholds). |
| A forwarding shim on :mod:`isaaclab.sim.schemas`, |
| :mod:`isaaclab.sim.schemas.schemas_cfg`, and :mod:`isaaclab.sim` preserves existing imports. |
| * Refactored :func:`~isaaclab.sim.schemas.modify_articulation_root_properties` to be |
| metadata-driven and to gate ``PhysxArticulationAPI`` application on whether the user |
| authored at least one PhysX-namespaced field with a non-``None`` value. Previously, the |
| writer applied ``PhysxArticulationAPI`` unconditionally on every articulation root, |
| stamping the schema onto Newton-targeted prims that only set ``fix_root_link``. |
| * Relocated :class:`MeshCollisionPropertiesCfg`, :class:`ConvexHullPropertiesCfg`, |
| :class:`ConvexDecompositionPropertiesCfg`, :class:`TriangleMeshPropertiesCfg`, |
| :class:`TriangleMeshSimplificationPropertiesCfg`, and :class:`SDFMeshPropertiesCfg` to |
| :mod:`isaaclab_physx.sim.schemas`. :class:`BoundingCubePropertiesCfg` and |
| :class:`BoundingSpherePropertiesCfg` stay in core because they author no PhysX schema. |
| A forwarding shim preserves existing imports. |
| * Refactored :func:`~isaaclab.sim.schemas.modify_mesh_collision_properties` to be |
| metadata-driven. The writer now reads ``_usd_applied_schema`` and ``_usd_namespace`` from |
| the cfg class instead of consulting instance-level ``usd_api`` / ``physx_api`` fields. |
| The standard :class:`UsdPhysics.MeshCollisionAPI` is always applied; PhysX cooking |
| schemas (``PhysxConvexHullCollisionAPI`` etc.) are gated on at least one |
| PhysX-namespaced tuning field being set. |
| * Relocated :class:`FixedTendonPropertiesCfg` and :class:`SpatialTendonPropertiesCfg` to |
| :mod:`isaaclab_physx.sim.schemas` as :class:`PhysxFixedTendonPropertiesCfg` and |
| :class:`PhysxSpatialTendonPropertiesCfg`. Tendons are a PhysX-only feature; no Newton |
| equivalent exists. A forwarding shim on :mod:`isaaclab.sim.schemas`, |
| :mod:`isaaclab.sim.schemas.schemas_cfg`, and :mod:`isaaclab.sim` preserves existing |
| imports. |
|
|
| Deprecated |
| ^^^^^^^^^^ |
|
|
| * Deprecated the ``usd_api`` and ``physx_api`` instance attributes on the mesh-collision |
| cfg classes in favor of class-level ``_usd_applied_schema`` metadata. Reading these |
| attributes still works through one minor version but emits a ``DeprecationWarning``. |
| Scheduled for removal in 5.0. |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * **Breaking:** Removed |
| :attr:`~isaaclab.cloner.TemplateCloneCfg.visualizer_clone_fn`, |
| :func:`~isaaclab.cloner.resolve_visualizer_clone_fn`, and |
| :class:`~isaaclab.physics.scene_data_requirements.VisualizerPrebuiltArtifacts`. |
| Scene data providers now build backend models from the |
| :class:`~isaaclab.cloner.ClonePlan` map via |
| :meth:`~isaaclab.sim.SimulationContext.get_clone_plans` instead of receiving a |
| prebuilt artifact through a clone-time callback. |
| * **Breaking:** Removed |
| :meth:`~isaaclab.sim.SimulationContext.get_scene_data_visualizer_prebuilt_artifact`, |
| :meth:`~isaaclab.sim.SimulationContext.set_scene_data_visualizer_prebuilt_artifact`, |
| and |
| :meth:`~isaaclab.sim.SimulationContext.clear_scene_data_visualizer_prebuilt_artifact`. |
| Use :meth:`~isaaclab.sim.SimulationContext.get_clone_plans` / |
| :meth:`~isaaclab.sim.SimulationContext.set_clone_plans` instead. |
| * Removed ``BaseArticulationData.body_incoming_joint_wrench_b``. Add |
| :class:`~isaaclab.sensors.JointWrenchSensorCfg` to the scene and read |
| :attr:`~isaaclab.sensors.JointWrenchSensorData.force` and |
| :attr:`~isaaclab.sensors.JointWrenchSensorData.torque` instead. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Pinned ``omniverseclient`` to ``2.71.1.7015``. |
| * Fixed :meth:`~isaaclab.sim.schemas.modify_joint_drive_properties` and |
| :meth:`~isaaclab.sim.schemas.modify_rigid_body_properties` so that ``PhysxJointAPI`` and |
| ``PhysxRigidBodyAPI`` are applied only when the user authored at least one PhysX-namespaced |
| field with a non-``None`` value. Previously, schema application was gated on class-level |
| metadata being defined, which caused Newton-targeted prims to receive PhysX schemas even |
| when the user only set base ``UsdPhysics``-standard fields. |
|
|
|
|
| 4.6.27 (2026-05-01) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| * Added :class:`~isaaclab.sensors.JointWrenchSensor`. |
|
|
|
|
| 4.6.26 (2026-05-01) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added ``Metrics/success_rate`` tracking to benchmark scripts. The result is always logged |
| to the benchmark artifact; ``--check_success`` additionally early-stops training on convergence. |
|
|
|
|
| 4.6.25 (2026-04-28) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed ``isaaclab.bat --install`` on Windows 11 failing with |
| ``'"setuptools<82.0.0"': Expected package name at the start of dependency |
| specifier``. ``extract_python_exe`` now prefers the underlying |
| ``kit/python/python.exe`` over Isaac Sim's ``python.bat`` so child pip calls |
| bypass the cmd.exe quoting hop that was preserving the literal double |
| quotes through to pip's argv. The fallback ``cmd.exe /c`` wrapper for |
| ``.bat``/``.cmd`` invocations now also uses caret-escaping |
| (e.g. ``setuptools^<82.0.0``) for metacharacters instead of double-quoting, |
| so the bat-hop path no longer leaks quotes. |
|
|
|
|
| 4.6.24 (2026-04-28) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed ``./isaaclab.sh -i`` failing to build the ``nlopt`` wheel on ARM Linux |
| (e.g. DGX Spark) when the host image is missing SWIG. The bare-metal install |
| path now mirrors ``docker/Dockerfile.base``: on ARM Linux it installs |
| ``swig`` via apt and pre-installs ``nlopt==2.6.2`` with |
| ``--no-build-isolation`` so later submodule installs skip the source-build |
| fallback. |
|
|
|
|
| 4.6.23 (2026-04-30) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :attr:`~isaaclab.assets.AssetBaseCfg.disable_shape_checks` configuration option |
| to skip shape/dtype validation in setter and writer methods, reducing per-call overhead |
| in production workloads. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed cross-backend asset interface regression tests to cover tensor views passed to |
| backend index resolution helpers. |
|
|
|
|
| 4.6.22 (2026-04-27) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * :class:`~isaaclab.renderers.BaseRenderer` now publishes a renderer-owned |
| output contract via ``supported_output_types() -> {RenderBufferKind: RenderBufferSpec}``. |
| :class:`~isaaclab.sensors.camera.CameraData` allocates buffers for the |
| intersection of the requested ``data_types`` and the contract; ``rgb`` is |
| exposed as a view into ``rgba`` when both are published. Requested types |
| the active backend cannot produce are dropped with a single warning instead |
| of being silently discarded later. |
| * :class:`~isaaclab_ov.renderers.OVRTXRenderer` now writes rendered tiles |
| directly into the torch storage backing ``camera.data.output``, eliminating |
| the per-frame ``wp.copy`` bridge. |
| * Moved Kit/RTX-only logic out of :class:`~isaaclab.sensors.camera.Camera` |
| into :class:`~isaaclab_physx.renderers.IsaacRtxRenderer`. |
|
|
| Deprecated |
| ^^^^^^^^^^ |
|
|
| * Deprecated RTX-flavored fields on :class:`~isaaclab.sensors.camera.CameraCfg` |
| (``semantic_filter``, ``colorize_semantic_segmentation``, |
| ``colorize_instance_segmentation``, ``colorize_instance_id_segmentation``, |
| ``semantic_segmentation_mapping``, ``depth_clipping_behavior``); set them on |
| :attr:`~isaaclab.sensors.camera.CameraCfg.renderer_cfg` instead. |
|
|
|
|
| 4.6.21 (2026-04-27) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed ProxyArray migration guidance and static regression checks to cover |
| deprecated ``wp.to_torch(proxy_array)`` usage and direct tensor/wp.array |
| method calls on data properties. |
|
|
|
|
| 4.6.20 (2026-04-27) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :func:`~isaaclab.utils.checked_apply` for forwarding declared |
| fields from an Isaac Lab configclass onto an external dataclass |
| (typically an upstream library config object). Raises |
| :class:`AttributeError` if the target is missing a declared field, so |
| upstream renames surface at startup instead of as silent no-ops. |
| * Added an opt-in runtime detector on :class:`~isaaclab.utils.warp.ProxyArray` |
| that emits a :class:`UserWarning` with the call site (``stacklevel=2``) on |
| every ``.torch`` read of a ``wp.quatf``-typed array when the |
| ``WARN_ON_TORCH_QUATF_ACCESS`` environment variable is set to ``"1"``. |
| Helps users find code that still assumes Isaac Lab 2.x's ``(w, x, y, z)`` |
| quaternion convention after the migration to Isaac Lab 3.x's |
| ``(x, y, z, w)`` convention. Documented in the Isaac Lab 3.0 migration |
| guide as a complement to the source-level quaternion finder tool. |
| |
| |
| 4.6.19 (2026-04-27) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Marked :meth:`~isaaclab.envs.manager_based_rl_mimic_env.ManagerBasedRLMimicEnv.get_subtask_start_signals` and |
| :meth:`~isaaclab.envs.manager_based_rl_mimic_env.ManagerBasedRLMimicEnv.get_subtask_term_signals` with |
| ``@optional_method``. |
| |
| |
| 4.6.18 (2026-04-27) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Updated the :class:`~isaaclab.cloner.TemplateCloneCfg` docstring example to import |
| ``get_current_stage`` from :mod:`isaaclab.sim.utils.stage` instead of |
| ``isaacsim.core.experimental.utils.stage``, aligning with the Isaac Lab API. |
| * Added a "Migration off Deprecated Isaac Sim APIs" section to the Isaac Lab 3.0 |
| migration guide (``docs/source/migration/migrating_to_isaaclab_3-0.rst``) that maps |
| deprecated ``isaacsim.core.*`` paths to their recommended replacements, preferring |
| Isaac Lab in-tree APIs (``isaaclab.sim.utils.*``, :class:`~isaaclab.sim.views.FrameView`, |
| :mod:`~isaaclab.cloner`) over the ``isaacsim.core.experimental.*`` fallbacks where |
| an Isaac Lab API exists. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :class:`~isaaclab.envs.mdp.randomize_visual_color` and |
| :class:`~isaaclab.envs.mdp.randomize_visual_texture` failing with |
| ``'rtx::neuraylib::MdlModuleId' for '' is Invalid`` on Replicator >= 1.13.0. |
| Kit's ``omni_usd_resolver`` intentionally returns an empty string when resolving |
| builtin MDL short-names such as ``OmniPBR.mdl`` (``OMNI_USD_RESOLVER_MDL_BUILTIN_BYPASS=1``), |
| but Replicator's ``create_sdf_spec_material`` now passes that empty resolved path directly |
| into ``UsdMdl.RegistryUtils.GetSubIdentifiersForAsset``. The fix pre-resolves the absolute |
| on-disk path via ``carb.tokens`` (``${kit}/mdl/core/Base/OmniPBR.mdl``) before handing it |
| to Replicator so the resolver returns a valid path. |
| |
| |
| 4.6.17 (2026-04-27) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Updated cross-backend asset interface tests to import :class:`~isaaclab_physx.physics.PhysxManager` |
| (aliased as ``SimulationManager``) instead of ``isaacsim.core.simulation_manager.SimulationManager``. |
| * Stopped registering deprecated Isaac Sim extension search paths in Isaac Lab Kit experiences and |
| switched explicit Isaac Sim extension dependencies to non-deprecated ``isaacsim.core.experimental.*``, |
| ``isaacsim.robot.experimental.wheeled_robots``, ``isaacsim.robot.wheeled_robots.nodes``, and |
| ``isaacsim.sensors.experimental.*`` equivalents. |
| * Migrated remaining Isaac Lab imports off deprecated Isaac Sim core utility/prim Python module paths |
| to their ``isaacsim.core.experimental.*`` replacements. |
| |
| Fixed |
| ^^^^^ |
|
|
| * Fixed ``isaaclab.sh --install`` leaving ``pinocchio`` uninstalled on top of recent Isaac Sim |
| base images that preinstall ``pin-pink`` in the kit's bundled ``site-packages`` without its |
| ``pin`` (cmeel pinocchio) dependency. Pip treats the ``pin-pink`` requirement as already |
| satisfied and skips the transitive ``pin`` resolve, so the pink IK controller and its tests |
| fail to import. ``isaaclab.cli.commands.install`` now probes ``import pinocchio`` after |
| installing the Isaac Lab submodules and force-reinstalls the cmeel ``pin``/``pin-pink``/ |
| ``daqp`` stack when the probe fails. |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Retired several ``source/isaaclab/test/deps/isaacsim`` standalone reproducers that depended on |
| deprecated Isaac Sim core extensions; use :mod:`isaaclab.sim` and ``isaacsim.core.experimental.*`` |
| for similar debugging workflows. |
|
|
|
|
| 4.6.16 (2026-04-24) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Renamed the ``TorchArray`` wrapper to |
| :class:`~isaaclab.utils.warp.ProxyArray` and its module from |
| ``isaaclab.utils.warp.torch_array`` to |
| ``isaaclab.utils.warp.proxy_array``. The new name better describes |
| the class as a proxy around a :class:`wp.array` exposing both |
| ``.warp`` and ``.torch`` accessors, rather than a torch-first type. |
| No backward-compatibility alias — downstream code must update |
| imports and type hints. |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed :meth:`~isaaclab.utils.warp.ProxyArray.rebind`. ``ProxyArray`` |
| instances are now immutable after construction: assigning to any |
| attribute other than the internal ``_torch_cache`` raises |
| :class:`AttributeError`. Call sites that previously rebound a |
| sim-bound wrapper (Newton / PhysX asset data classes when the solver |
| re-creates its arrays) now assign a fresh |
| ``ProxyArray(new_buf)`` instead. The old pattern was unsafe — |
| callers holding a stale ``.torch`` reference read the old memory |
| silently after ``rebind``. Forcing a new wrapper per rebind makes |
| the stale-reference hazard local and explicit. |
|
|
| .. code-block:: python |
|
|
| # Before (4.6.15) |
| self._joint_pos_ta.rebind(self._sim_bind_joint_pos) |
| # After (4.6.16) |
| self._joint_pos_ta = ProxyArray(self._sim_bind_joint_pos) |
|
|
|
|
| 4.6.15 (2026-04-24) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * :meth:`~isaaclab.sim.views.BaseFrameView.get_world_poses` and |
| :meth:`~isaaclab.sim.views.BaseFrameView.get_local_poses` now return |
| a pair of :class:`~isaaclab.utils.warp.ProxyArray` wrappers instead |
| of raw ``wp.array``. :class:`~isaaclab.sim.views.UsdFrameView`, |
| :class:`~isaaclab_physx.sim.views.FabricFrameView`, and |
| :class:`~isaaclab_newton.sim.views.NewtonSiteFrameView` were updated |
| accordingly. Calls without ``indices`` reuse a cached ProxyArray |
| wrapping the backend's stable buffer (Fabric/Newton); calls with |
| ``indices`` and all calls on USD construct a fresh ProxyArray per |
| invocation. |
|
|
| **Breaking change** — call sites that wrapped the return in |
| ``wp.to_torch(...)`` or passed the result directly to a kernel must |
| migrate: |
|
|
| .. code-block:: python |
|
|
| # Before (4.6.14) |
| pos_wp, quat_wp = view.get_world_poses(indices) |
| tensor = wp.to_torch(pos_wp) |
| # After (4.6.15) |
| pos_w, quat_w = view.get_world_poses(indices) |
| tensor = pos_w.torch |
| # ... and when passing to a warp kernel: |
| wp.launch(..., inputs=[pos_w.warp, ...]) |
|
|
|
|
| 4.6.14 (2026-04-24) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * :class:`~isaaclab.sensors.RayCasterData` and |
| :class:`~isaaclab.sensors.MultiMeshRayCasterData` properties |
| :attr:`~isaaclab.sensors.RayCasterData.pos_w`, |
| :attr:`~isaaclab.sensors.RayCasterData.quat_w`, and |
| :attr:`~isaaclab.sensors.RayCasterData.ray_hits_w` now return |
| :class:`~isaaclab.utils.warp.ProxyArray` instead of raw ``wp.array``. |
| Use ``.torch`` for a cached zero-copy ``torch.Tensor`` view or ``.warp`` |
| for the underlying ``wp.array``. |
|
|
| **Breaking change** — call sites that previously wrapped these in |
| ``wp.to_torch(...)`` must migrate to the ``.torch`` accessor: |
|
|
| .. code-block:: python |
|
|
| # Before (4.6.13) |
| hits = wp.to_torch(sensor.data.ray_hits_w) |
| # After (4.6.14) |
| hits = sensor.data.ray_hits_w.torch |
|
|
|
|
| 4.6.13 (2026-04-23) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab.utils.warp.ProxyArray`, a warp-first dual-access array |
| that provides explicit ``.torch`` and ``.warp`` accessors for seamless |
| interoperability between warp and PyTorch workflows. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * All properties on the following base data classes now return |
| :class:`~isaaclab.utils.warp.ProxyArray` instead of raw ``wp.array``: |
| :class:`~isaaclab.assets.articulation.BaseArticulationData`, |
| :class:`~isaaclab.assets.rigid_object.BaseRigidObjectData`, |
| :class:`~isaaclab.assets.rigid_object_collection.BaseRigidObjectCollectionData`, |
| :class:`~isaaclab.sensors.contact_sensor.BaseContactSensorData`, |
| :class:`~isaaclab.sensors.frame_transformer.BaseFrameTransformerData`, |
| :class:`~isaaclab.sensors.imu.BaseImuData`, and |
| :class:`~isaaclab.sensors.pva.BasePvaData`. |
| Use ``.torch`` for a cached zero-copy ``torch.Tensor`` view, or ``.warp`` for |
| the underlying ``wp.array``. Implicit torch operations (arithmetic, |
| ``torch.*`` functions) work during the deprecation period but emit a warning. |
|
|
|
|
| 4.6.12 (2026-04-23) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added caching to :func:`~isaaclab.utils.string.resolve_matching_names`, |
| avoiding repeated regex matching across ``find_bodies``, ``find_joints``, |
| and related calls. |
| |
| |
| 4.6.11 (2026-04-22) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed :class:`~isaaclab.sensors.RayCaster` to spawn its own non-physics Xform prim via |
| the new :attr:`~isaaclab.sensors.RayCasterCfg.spawn` attribute. ``prim_path`` should now |
| point to a child under the parent link (e.g. ``{ENV_REGEX_NS}/Robot/base/raycaster``). |
| * Renamed :class:`~isaaclab.sim.views.XformPrimView` to :class:`~isaaclab.sim.views.FrameView`, |
| ``BaseXformPrimView`` to :class:`~isaaclab.sim.views.BaseFrameView`, |
| and ``UsdXformPrimView`` to :class:`~isaaclab.sim.views.UsdFrameView`. |
| ``XformPrimView`` is kept as a deprecated alias. |
| * Moved :class:`~isaaclab.sensors.RayCasterCfg` offset into the spawned prim's local transform |
| instead of applying it at runtime. The :class:`~isaaclab.sim.views.FrameView` world pose now |
| includes the offset directly. |
| * Unified sensor prim path resolution in :class:`~isaaclab.sensors.SensorBase`. When |
| ``prim_path`` points at a physics body and a spawner is configured, a child prim is |
| automatically created underneath. |
|
|
| Deprecated |
| ^^^^^^^^^^ |
|
|
| * Deprecated passing a ``prim_path`` with ``ArticulationRootAPI`` or ``RigidBodyAPI`` to |
| :class:`~isaaclab.sensors.RayCasterCfg`. The path is automatically extended with |
| ``/raycaster``; users should migrate to the child-path convention. |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed :attr:`~isaaclab.sensors.RayCasterCfg.attach_yaw_only` (deprecated since 2.1.1). |
| Use ``ray_alignment="yaw"`` or ``ray_alignment="base"`` instead. |
| |
| |
| 4.6.10 (2026-04-22) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :meth:`~isaaclab.utils.wrench_composer.WrenchComposer.add_raw_buffers_from` to merge one composer's raw |
| input buffers into another. |
| * Added ``render_enabled`` property to all environment base classes |
| (:class:`~isaaclab.envs.ManagerBasedEnv`, :class:`~isaaclab.envs.ManagerBasedRLEnv`, |
| :class:`~isaaclab.envs.DirectRLEnv`, :class:`~isaaclab.envs.DirectMARLEnv`). |
| Setting ``env.render_enabled = False`` before calling ``step()`` skips the Kit app loop |
| (``app.update()``) and camera/RTX sensor rendering, while standalone visualizers (Newton, |
| Rerun, Viser) continue to update normally. Kit bundles camera rendering with its app loop |
| so the two cannot be separated; non-Kit visualizers have independent ``step()`` methods and |
| are unaffected by this flag. Post-reset re-renders for RTX sensors are also skipped when |
| disabled. The property can be toggled between steps for per-step control. Defaults to |
| ``True`` for full backward compatibility. |
| * Added ``skip_app_pumping`` parameter to |
| :meth:`~isaaclab.sim.SimulationContext.render` and |
| :meth:`~isaaclab.sim.SimulationContext.update_visualizers` to selectively skip |
| visualizers that pump the Kit app loop (``pumps_app_update() == True``). |
| |
| Changed |
| ^^^^^^^ |
|
|
| * Refactored :class:`~isaaclab.utils.wrench_composer.WrenchComposer` to a dual-buffer architecture with separate |
| global (world-frame) and local (body-frame) buffers. A new |
| :meth:`~isaaclab.utils.wrench_composer.WrenchComposer.compose_to_body_frame` method rotates global forces/torques |
| into the body frame at apply time using the current body orientation, then sums with local forces/torques. |
| * Updated imports of the PhysX tensors API in the ray caster sensors from |
| ``omni.physics.tensors.impl.api`` to ``omni.physics.tensors.api`` to track the upstream |
| Isaac Sim module relocation (the ``impl`` submodule was removed). |
|
|
| Deprecated |
| ^^^^^^^^^^ |
|
|
| * Deprecated :attr:`~isaaclab.utils.wrench_composer.WrenchComposer.composed_force` and |
| :attr:`~isaaclab.utils.wrench_composer.WrenchComposer.composed_torque` in favor of |
| :attr:`~isaaclab.utils.wrench_composer.WrenchComposer.out_force_b` and |
| :attr:`~isaaclab.utils.wrench_composer.WrenchComposer.out_torque_b`. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :class:`~isaaclab.utils.wrench_composer.WrenchComposer` not correctly updating the composed torque from global |
| positional forces when the body moves. |
| * Fixed :meth:`~isaaclab.utils.wrench_composer.WrenchComposer.reset` not clearing the ``_active`` flag when called |
| with ``slice(None)``. |
| * Fixed :class:`~isaaclab.utils.wrench_composer.WrenchComposer` producing spurious torque when global forces are |
| applied without explicit positions. |
| * Fixed ``set_external_force_and_torque`` wiping forces from non-resetting environments during partial |
| episode resets by using ``reset(env_ids)`` + ``add_forces_and_torques`` instead of ``set_forces_and_torques``. |
| |
| |
| 4.6.9 (2026-04-22) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Converted all four ray caster sensor classes (:class:`~isaaclab.sensors.RayCaster`, |
| :class:`~isaaclab.sensors.RayCasterCamera`, :class:`~isaaclab.sensors.MultiMeshRayCaster`, |
| :class:`~isaaclab.sensors.MultiMeshRayCasterCamera`) to launch Warp kernels directly via |
| ``wp.launch`` instead of going through Python-level torch wrappers. A new |
| :mod:`~isaaclab.sensors.ray_caster.kernels` module contains all sensor-specific kernels. |
| All intermediate ray buffers are now Warp-owned with zero-copy torch views, eliminating |
| per-step allocations. The existing :func:`~isaaclab.utils.warp.kernels.raycast_dynamic_meshes_kernel` |
| gained an ``env_mask`` parameter to support partial environment updates natively. A new |
| :func:`~isaaclab.utils.warp.kernels.raycast_mesh_masked_kernel` was added to |
| :mod:`~isaaclab.utils.warp.kernels` as the general-purpose masked single-mesh variant, |
| with ``return_distance`` and ``return_normal`` flags matching the design of |
| :func:`~isaaclab.utils.warp.kernels.raycast_mesh_kernel`. |
|
|
| **Breaking change** — :attr:`~isaaclab.sensors.RayCasterData.pos_w`, |
| :attr:`~isaaclab.sensors.RayCasterData.quat_w`, and |
| :attr:`~isaaclab.sensors.RayCasterData.ray_hits_w` now return :class:`wp.array` |
| instead of :class:`torch.Tensor`. Call-sites that previously accessed these as tensors |
| must wrap the result with :func:`wp.to_torch`: |
|
|
| .. code-block:: python |
|
|
| # Before |
| hits = sensor.data.ray_hits_w # torch.Tensor (old) |
| # After |
| hits = wp.to_torch(sensor.data.ray_hits_w) # torch.Tensor (zero-copy view) |
|
|
| * Changed the :attr:`~isaaclab.sensors.RayCaster.meshes` class variable cache key from |
| ``prim_path`` to a ``(prim_path, device)`` tuple so that meshes built on one device |
| (e.g. CPU) are not reused by a sensor running on another device (e.g. CUDA). |
|
|
| **Breaking change** — callers that read or write :attr:`~isaaclab.sensors.RayCaster.meshes` |
| directly must update the key: |
|
|
| .. code-block:: python |
|
|
| # Before |
| wp_mesh = RayCaster.meshes[prim_path] |
| # After |
| wp_mesh = RayCaster.meshes[(prim_path, device)] |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed frame composition in :meth:`~isaaclab.sensors.MultiMeshRayCaster._update_mesh_transforms` |
| which used simple subtraction instead of proper frame decomposition when applying mesh offsets. |
| With non-identity orientation offsets, tracked mesh positions were incorrect, causing raycasts to |
| miss or hit wrong surfaces. The method now uses :func:`~isaaclab.utils.math.combine_frame_transforms`. |
|
|
|
|
| 4.6.8 (2026-04-21) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Pinned ``mujoco`` and ``mujoco-warp`` to ``3.6.0`` to align with the Newton library. |
|
|
|
|
| 4.6.7 (2026-04-20) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :func:`~isaaclab.sim.utils.newton_model_utils.replace_newton_shape_colors` |
| to align Newton ``shape_color`` with authored USD where OmniPBR inputs or |
| ``primvars:displayColor`` apply. Set ``ISAACLAB_REPLACE_NEWTON_SHAPE_COLORS`` |
| to ``0``, ``false``, ``off``, or ``no`` to disable the pass; the function emits |
| a ``FutureWarning`` because this path is temporary until neutral USD materials |
| replace OmniPBR in content. |
| * Added ``test_newton_model_utils`` tests for the Newton shape color pass. |
| |
| Fixed |
| ^^^^^ |
|
|
| * Fixed nondeterministic environment replication when cloning from a template by |
| sorting prototype roots before building the clone plan in |
| :func:`~isaaclab.cloner.cloner_utils.clone_from_template`, keeping downstream |
| order stable across simulation and visualization backends. |
|
|
| 4.6.6 (2026-04-17) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed the way the python interpreter is called from ``isaaclab.sh`` to allow |
| error codes to bubble up to the process level. |
|
|
|
|
| 4.6.5 (2026-04-16) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed flaky ``test_first_frame_is_textured_camera`` by removing warmup-step |
| workaround and relying on the renderer's streaming wait instead. |
|
|
|
|
| 4.6.4 (2026-04-16) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed Newton viewer compatibility by restricting ``pyglet`` to ``<3``. |
|
|
|
|
| 4.6.3 (2026-04-16) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed :class:`~isaaclab.sensors.imu.Imu` and |
| :class:`~isaaclab.sensors.imu.ImuData` factory type annotations to include |
| the Newton IMU backend types. |
|
|
|
|
| 4.6.2 (2026-04-14) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
|
|
| * Added :class:`~isaaclab.sim.spawners.meshes.MeshSquareCfg` and |
| :func:`~isaaclab.sim.spawners.meshes.spawn_mesh_square` for spawning 2D triangle |
| mesh grids, used as surface deformable bodies (cloth). |
| * Added physics material support to |
| :func:`~isaaclab.sim.spawners.from_files.spawn_from_usd` for deformable bodies |
| loaded from USD files. |
| * Added wheel builder installation CI tests that verify the isaaclab wheel |
| builds, installs, and imports correctly in a clean uv environment. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Moved :class:`DeformableBodyPropertiesCfg`, :class:`DeformableBodyMaterialCfg`, |
| and :class:`DeformableObjectSpawnerCfg` from ``isaaclab`` to ``isaaclab_physx``. |
| These are PhysX-specific and are now imported from |
| ``isaaclab_physx.sim.schemas``, ``isaaclab_physx.sim.spawners.materials``, and |
| ``isaaclab_physx.sim.spawners.spawner_cfg`` respectively. |
| * Changed deformable body property and material application in mesh and USD spawners |
| to use ``isaaclab_physx.sim.schemas`` instead of ``isaaclab.sim.schemas``. |
| * Changed :func:`~isaaclab.sim.spawners.from_files.spawn_from_usd` to call |
| ``define_deformable_body_properties`` when the deformable body API is not yet |
| present on the prim, instead of always calling ``modify_deformable_body_properties``. |
| |
| Removed |
| ^^^^^^^ |
|
|
| * Removed :func:`define_deformable_body_properties` and |
| :func:`modify_deformable_body_properties` from ``isaaclab.sim.schemas``. Use |
| ``isaaclab_physx.sim.schemas`` instead. |
| * Removed :class:`DeformableBodyPropertiesCfg` from ``isaaclab.sim.schemas``. Use |
| :class:`isaaclab_physx.sim.schemas.DeformableBodyPropertiesCfg` instead. |
| * Removed :class:`DeformableBodyMaterialCfg` and |
| :func:`spawn_deformable_body_material` from ``isaaclab.sim.spawners.materials``. |
| Use ``isaaclab_physx.sim.spawners.materials`` instead. |
| * Removed :class:`DeformableObjectSpawnerCfg` from ``isaaclab.sim.spawners``. Use |
| ``isaaclab_physx.sim.spawners.spawner_cfg.DeformableObjectSpawnerCfg`` instead. |
| |
| |
| 4.6.1 (2026-04-14) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :attr:`~isaaclab.sim.schemas.JointDrivePropertiesCfg.ensure_drives_exist` |
| flag to :class:`~isaaclab.sim.schemas.JointDrivePropertiesCfg`. When enabled, |
| joints with zero stiffness and damping receive a minimal stiffness so that |
| backends like Newton recognise the drive as active. |
|
|
|
|
| 4.6.0 (2026-04-13) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Unified :class:`~isaaclab.sensors.camera.Camera` and :class:`~isaaclab.sensors.camera.TiledCamera` |
| into a single implementation. :class:`Camera` now delegates all rendering to the |
| :class:`~isaaclab.renderers.Renderer` abstraction (same approach :class:`TiledCamera` used). |
| The public API is unchanged for :class:`Camera` users. |
| * **Breaking:** :attr:`~isaaclab.sensors.camera.CameraData.info` is now a flat |
| ``dict[str, Any]`` keyed by data type (e.g. ``camera.data.info["semantic_segmentation"]``). |
| The metadata is shared across all cameras and identical to what the underlying renderer returns. |
|
|
| - **Camera users (old):** replace ``camera.data.info[cam_idx][data_type]`` with |
| ``camera.data.info[data_type]``. |
| - **TiledCamera users (old):** access pattern ``camera.data.info[data_type]`` is unchanged. |
|
|
| * **Breaking:** :meth:`~isaaclab.renderers.BaseRenderer.write_output` has been replaced by |
| :meth:`~isaaclab.renderers.BaseRenderer.read_output`. The new method receives the full |
| :class:`~isaaclab.sensors.camera.CameraData` instance and iterates output types internally. |
| Custom renderer implementations must replace ``write_output(render_data, output_name, output_data)`` |
| with ``read_output(render_data, camera_data)``. |
| |
| Deprecated |
| ^^^^^^^^^^ |
|
|
| * :class:`~isaaclab.sensors.camera.TiledCamera` is deprecated. Use |
| :class:`~isaaclab.sensors.camera.Camera` directly — it now supports all renderer backends. |
| * :class:`~isaaclab.sensors.camera.TiledCameraCfg` is deprecated. Use |
| :class:`~isaaclab.sensors.camera.CameraCfg` directly. |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed :attr:`~isaaclab.sensors.camera.Camera.render_product_paths`. Render products are |
| now managed internally by the renderer backend and are not part of the public API. |
|
|
|
|
| 4.5.33 (2026-04-13) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab.sensors.Pva` (Pose Velocity Acceleration) sensor, |
| renamed from the former ``Imu`` to better reflect its full output: pose, |
| velocity, and acceleration. |
| * Added :class:`~isaaclab.sensors.Imu` sensor that models a real inertial |
| measurement unit, providing only angular velocity (gyroscope) and linear |
| acceleration (accelerometer) in the sensor's body frame. |
| * Added :func:`~isaaclab.envs.mdp.observations.pva_orientation` and |
| :func:`~isaaclab.envs.mdp.observations.pva_projected_gravity` observation |
| functions for the PVA sensor. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed ``isaaclab.sensors.Imu`` to refer to a new lightweight IMU sensor |
| that only provides angular velocity and linear acceleration. The old |
| ``Imu``, ``ImuCfg``, ``ImuData``, ``BaseImu``, and ``BaseImuData`` names |
| now refer to this new sensor. For the original full-featured sensor, use |
| :class:`~isaaclab.sensors.Pva`, :class:`~isaaclab.sensors.PvaCfg`, etc. |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed ``gravity_bias`` configuration parameter from |
| :class:`~isaaclab.sensors.PvaCfg`. The PVA sensor now always reports raw |
| kinematic acceleration without gravity contribution. |
| * Removed ``gravity_bias`` and ``visualizer_cfg`` configuration parameters from |
| :class:`~isaaclab.sensors.ImuCfg`. The IMU sensor now unconditionally includes |
| gravity in its accelerometer readings, matching real hardware behavior. The |
| gravity vector is queried from the simulation automatically. |
| * Removed ``imu_orientation`` and ``imu_projected_gravity`` observation |
| functions. Use :func:`~isaaclab.envs.mdp.observations.pva_orientation` and |
| :func:`~isaaclab.envs.mdp.observations.pva_projected_gravity` instead. |
|
|
|
|
| 4.5.32 (2026-04-13) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :class:`~isaaclab.envs.mdp.events.randomize_actuator_gains` producing zero |
| stiffness and damping for explicit actuators. The default gains were read from |
| ``asset.data.joint_stiffness``, which is zeroed out at the sim level for explicit |
| actuator models. The defaults are now patched with the actual actuator PD gains. |
| |
| |
| 4.5.31 (2026-04-13) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab.envs.mdp.randomize_rigid_body_inertia` event term for |
| randomizing body inertia tensors independently of mass. Supports diagonal-only |
| (Ixx, Iyy, Izz) and full 3x3 modes. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Split :class:`~isaaclab.envs.mdp.randomize_rigid_body_material` into |
| backend-specific implementations. PhysX uses bucket-based 3-tuple materials via the |
| tensor API; Newton samples friction and restitution continuously per shape via |
| view-level attribute bindings. |
| * Converted ``randomize_rigid_body_com`` from a plain function to a |
| :class:`~isaaclab.managers.ManagerTermBase` class with repeatable randomization |
| from cached defaults. Newton passes position-only (vec3); PhysX passes full pose |
| (pos + quat). |
| * Converted ``randomize_rigid_body_collider_offsets`` from a plain function to a |
| :class:`~isaaclab.managers.ManagerTermBase` class with backend-specific |
| implementations. PhysX uses rest/contact offsets directly; Newton maps them to |
| ``shape_margin`` and ``shape_gap``. |
| |
| |
| 4.5.30 (2026-04-13) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :func:`~isaaclab.utils.warp.math_ops.transform_to_vec_quat` utility for |
| zero-copy splitting of ``wp.transformf`` arrays into ``vec3f`` and ``quatf`` views. |
|
|
|
|
| 4.5.29 (2026-04-10) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added flag to toggle dataset compression in RecorderManager and dataset file handler. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed RecorderManager to clone value tensors before adding to episode data, removing multiple clones in ``episodes.add()`` and replacing with a single clone. |
|
|
|
|
| 4.5.28 (2026-04-10) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :meth:`~isaaclab.physics.PhysicsManager.wait_for_playing` hook and |
| integrated it into :meth:`~isaaclab.sim.SimulationContext.step` so the |
| training loop blocks while the Kit GUI timeline is paused. |
|
|
|
|
| 4.5.27 (2026-04-08) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
|
|
| * Added :class:`~isaaclab.sim.views.BaseXformPrimView` abstract base class that defines |
| the common interface for backend-specific ``XformPrimView`` implementations. |
| * Added :class:`~isaaclab.sim.views.XformPrimView` factory to instantiate the correct |
| backend-specific ``XformPrimView`` based on the active simulation backend. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Refactored :class:`~isaaclab.sim.views.XformPrimView` to delegate backend-specific |
| logic to :class:`~isaaclab_physx.sim.views.FabricXformPrimView` and |
| :class:`~isaaclab_newton.sim.views.NewtonSiteXformPrimView`. The public API is |
| unchanged; use :class:`~isaaclab.sim.views.XformPrimView` for backend-aware |
| instantiation. |
|
|
| * Added release version to |
| :class:`~isaaclab.test.benchmark.recorders.VersionInfoRecorder` output. |
|
|
|
|
| 4.5.26 (2026-04-08) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed ``SummaryMetrics`` backend to |
| dynamically render unknown benchmark phases. Previously only hard-coded phase |
| names (``startup``, ``runtime``, ``train``, ``frametime``) were printed in the |
| summary report; any other phases were silently dropped. Unknown phases now |
| render their ``SingleMeasurement`` and ``StatisticalMeasurement`` entries |
| automatically. |
|
|
|
|
| 4.5.25 (2026-04-01) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added app launcher initialization marker to app launcher for auto hanging detection. |
|
|
|
|
| 4.5.24 (2026-03-25) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added support for absolute named imports (``from pkg import a, b``) in |
| ``.pyi`` stubs processed by :func:`~isaaclab.utils.module.lazy_export`. |
| Previously only relative imports and absolute wildcard fallbacks were |
| handled; explicit names from absolute packages are now eagerly resolved |
| and re-exported. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed incorrect mass matrix and gravity compensation force indexing for |
| floating-base robots in :class:`~isaaclab.envs.mdp.actions.OperationalSpaceControllerAction`. |
| The method ``_compute_dynamic_quantities()`` used ``self._joint_ids`` to index into PhysX |
| generalized quantities, which does not account for the 6 virtual base DOFs prepended by PhysX |
| for floating-base articulations. Replaced with ``self._jacobi_joint_idx`` which correctly |
| applies the +6 offset for floating-base robots and is identical to ``self._joint_ids`` for |
| fixed-base robots. |
|
|
|
|
| 4.5.23 (2026-03-16) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed flaky tests in ``test_mock_data_properties`` caused by use-after-free in |
| mock asset data properties. Warp view properties (e.g. :attr:`root_com_lin_vel_w`) |
| created pointer aliases into locally-scoped temporary arrays; when those temporaries |
| were freed by CPython's reference counter before the view was consumed, subsequent |
| reads produced garbage. Fixed by caching default arrays in the backing attribute |
| (``self._root_link_vel_w``, ``self._root_com_vel_w``, ``self._body_com_vel_w``, |
| etc.) so the backing memory remains alive for the lifetime of the mock object. |
|
|
|
|
| 4.5.22 (2026-03-16) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed multi-GPU distributed training segfault in |
| :func:`~isaaclab.sim.spawners.from_files.spawn_from_usd` caused by concurrent |
| USD asset downloads and ``Sdf_CrateFile::_MmapStream::Read`` mmap races. When |
| ``LOCAL_WORLD_SIZE > 1``, the download and stage composition are now serialized |
| with an ``fcntl`` file lock. |
|
|
|
|
| 4.5.21 (2026-03-13) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :meth:`~isaaclab.sim.SimulationContext.initialize_visualizers` silently |
| swallowing failures when visualizers were explicitly requested via the |
| ``--visualizer`` CLI flag. Unknown visualizer types and missing packages were |
| not caught because they failed during config resolution, before the |
| create/initialize loop. A ``RuntimeError`` is now raised for any explicitly |
| requested visualizer that cannot be configured or initialized. |
|
|
|
|
| 4.5.20 (2026-03-13) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Removed verbose ``logger.info`` and ``logger.debug`` calls from |
| :class:`~isaaclab.managers.ManagerBase` term initialization and entity resolution, |
| :func:`~isaaclab.sim.schemas.activate_contact_sensors` contact report setup, and |
| :class:`~isaaclab.sim.views.XformPrimView` Fabric detection. These messages added |
| noise to logs without actionable information. |
|
|
|
|
| 4.5.19 (2026-03-11) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :class:`~isaaclab.sim.views.XFormPrimView` crashing on multi-GPU setups (``cuda:1`` |
| and higher) when Fabric mode is enabled. USDRT ``SelectPrims`` and Warp fabric arrays only |
| support ``cuda:0`` internally — ``SelectPrims`` raises a C++ error when the active CUDA |
| context is not GPU 0, regardless of the ``device`` argument. The fix disables Fabric and |
| falls back to USD operations when ``self._device`` is not ``cuda:0``. Additionally fixed |
| device mismatches in the Fabric methods where Warp arrays were allocated on ``self._device`` |
| but kernel launches targeted ``_fabric_device`` (``cuda:0``). |
|
|
|
|
| 4.5.18 (2026-03-11) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added reward convergence checking to benchmark scripts. New ``--check_convergence`` |
| flag loads thresholds from ``configs.yaml`` automatically. Also accepts |
| ``--reward_threshold`` for manual override and ``--convergence_config`` to select |
| config section (default: ``full``). Adds ``check_convergence()`` and |
| ``log_convergence()`` to benchmark utils. |
|
|
|
|
| 4.5.17 (2026-03-11) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed simulation hanging on exit by removing the prim-by-prim |
| ``clear_stage()`` call from :meth:`~isaaclab.sim.SimulationContext.clear_instance`. |
| The subsequent :func:`~isaaclab.sim.utils.close_stage` and app shutdown already |
| tear down the entire stage, making the per-prim deletion redundant and slow. |
| * Fixed ``close_stage()`` ordering so that Kit's USD context is closed before |
| the stage cache is cleared, preventing the ``Removal of UsdStage from cache |
| failed`` error. |
|
|
|
|
| 4.5.16 (2026-03-10) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed "[Error] [omni.usd] Stage opening or closing already in progress" on |
| shutdown when running with Kit: ``env.close()`` already closes the stage, so |
| the redundant explicit :func:`~isaaclab.sim.utils.stage.close_stage` calls |
| in the scripts were removed; :meth:`~isaaclab.sim.SimulationContext.clear_instance` |
| (invoked by ``env.close()``) already closes the stage, so the duplicate calls |
| in the shutdown block triggered the error. |
|
|
|
|
| 4.5.15 (2026-03-10) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed semantic label warnings (``OgnSdSemanticLabelsMap: invalid input AOV``) |
| by restoring standard ``SemanticsLabelsAPI`` usage in :func:`~isaaclab.sim.utils.prims.clone`. |
|
|
|
|
| 4.5.14 (2026-03-10) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added ``validate_config`` hook to :func:`~isaaclab.utils.configclass`. Configclass |
| subclasses can now override ``validate_config(self)`` to perform domain-specific |
| validation that runs automatically as part of :func:`_validate`. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed ``SimulationContext`` singleton leak when environment ``__init__`` fails |
| after creating the context. :class:`~isaaclab.envs.DirectRLEnv`, |
| :class:`~isaaclab.envs.DirectMARLEnv`, and :class:`~isaaclab.envs.ManagerBasedEnv` |
| now call ``clear_instance()`` on the context when initialization raises, preventing |
| cascading "Simulation context already exists" errors in test suites and training loops. |
|
|
|
|
| 4.5.13 (2026-03-10) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
| * Added recursive resolution of nested :class:`~isaaclab.managers.ManagerTermBaseCfg` inside |
| :meth:`~isaaclab.managers.ManagerBase._resolve_param_value` so that ``params`` containing |
| manager term configs in dicts or lists have their ``func`` references and class-based |
| managers resolved automatically. |
|
|
|
|
| 4.5.12 (2026-03-10) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Unified :class:`~isaaclab.envs.mdp.randomize_physics_scene_gravity` into a single |
| class-based term that auto-detects the active physics backend (PhysX or Newton). |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed ``randomize_newton_physics_scene_gravity``. Use |
| :class:`~isaaclab.envs.mdp.randomize_physics_scene_gravity` instead, which |
| handles both PhysX and Newton backends automatically. |
|
|
|
|
| 4.5.11 (2026-02-28) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added ``visualizers`` parameter to ``build_simulation_context()``. |
|
|
|
|
| 4.5.10 (2026-03-09) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Refactored :func:`~isaaclab.utils.module.lazy_export` to infer fallback packages |
| and relative wildcard re-exports from the ``.pyi`` stub, making the stub the |
| single source of truth. The ``packages`` argument is deprecated. |
|
|
|
|
| 4.5.9 (2026-03-08) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * :mod:`isaaclab_ov` is now always installed when using ``./isaaclab.sh -i`` (or |
| ``--install all``), but with ``--no-deps`` so it is importable (e.g. by |
| :mod:`isaaclab_tasks` presets) without pulling in the optional ``ovrtx`` dependency. |
| To install the ovrtx dependency for OVRTX rendering, run ``./isaaclab.sh -i ovrtx``. |
|
|
| 4.5.8 (2026-03-06) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added ``debugpy`` to :mod:`isaaclab` package dependencies to support debugging out of the box. |
|
|
| 4.5.7 (2026-03-06) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Extended ``test_articulation_iface.py`` with Newton backend mock tests — added |
| Newton-specific mock view setup, sim config, and test parametrization alongside |
| existing PhysX tests. |
|
|
| * Extended ``test_rigid_object_iface.py`` with Newton backend mock tests — added |
| Newton-specific mock view setup and test parametrization. |
|
|
| * Fixed mask type handling in ``test_rigid_object_collection_iface.py`` to use |
| consistent mask types across backends. |
|
|
|
|
| 4.5.6 (2026-03-06) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Reorganized Visualizers and SDP packages |
| * Added Visualizer unit tests |
| * Improved PhysX Scene Data Provider perf |
| * Tweaked default Visualizer Configs |
|
|
|
|
| 4.5.5 (2026-03-05) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added documentation for :class:`~isaaclab.renderers.BaseRenderer` and the renderer |
| extension architecture in ``docs/source/overview/core-concepts/renderers.rst``, |
| including the factory pattern. |
|
|
|
|
| 4.5.4 (2026-03-01) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Enhanced :class:`~isaaclab.utils.timer.Timer` with configurable time format |
| (``s``/``ms``/``us``/``ns``), global enable/disable toggle, display output |
| control, and ``wp.synchronize()`` before stopping to ensure accurate |
| GPU timing. |
|
|
|
|
| 4.5.3 (2026-03-05) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Passed ``default_env_origins`` to the Newton replication pipeline so environment offsets to adapt new newton |
| cloning logic. |
|
|
| 4.5.2 (2026-03-04) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab.test.benchmark.backends.SummaryMetrics` backend for benchmarks: |
| prints a human-readable boxed summary to the console while still writing full JSON output. |
| Use ``--benchmark_backend summary`` in benchmark scripts. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed runtime stats in benchmark scripts so FPS metrics (e.g. Collection FPS, Total FPS) |
| are labeled with unit "FPS" instead of "ms". Unit is now inferred from the me |
| name in ``log_min_max_mean_stats`` (benchmark utils). |
|
|
| * Enabled frametime recorders for the ``omniperf`` backend in benchmark scripts to |
| preserve Grafana metrics ingestion. |
|
|
|
|
| 4.5.1 (2026-03-02) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added interface-conformance test suites that verify data property shapes/dtypes, writer |
| methods, setters, and alias consistency across Mock and PhysX backends: |
|
|
| - ``test/assets/test_articulation_iface.py`` for |
| :class:`~isaaclab.assets.BaseArticulation`. |
| - ``test/assets/test_rigid_object_iface.py`` for |
| :class:`~isaaclab.assets.BaseRigidObject`. |
| - ``test/assets/test_rigid_object_collection_iface.py`` for |
| :class:`~isaaclab.assets.BaseRigidObjectCollection`. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed structured warp types in ``MockArticulationData``, ``MockRigidObjectData``, and |
| ``MockRigidObjectCollectionData``: velocity, acceleration, and limit properties now |
| return the correct structured dtypes (``wp.spatial_vectorf``, ``wp.vec2f``, etc.) and |
| sliced velocity properties use zero-copy pointer arithmetic instead of torch-based |
| slicing, matching the PhysX backend contract. |
|
|
| * Added shape and dtype validation to all ``_index`` / ``_mask`` writer methods in |
| ``MockArticulation``, ``MockRigidObject``, and ``MockRigidObjectCollection``, replacing |
| bare ``pass`` stubs. |
|
|
| * Fixed ``set_coms_index`` / ``set_coms_mask`` docstrings in |
| :class:`~isaaclab.assets.BaseArticulation` to document the correct dtype |
| (``wp.transformf``) and frame of reference (body link frame). |
|
|
| * Fixed XR instruction widget for Fabric and switch to current scene view APIs. |
|
|
| * Fixed session lifecycle pre-shutdown by removing invalid unsubscribe() call. |
|
|
|
|
| 4.5.0 (2026-02-27) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Replaced ``omni.kit.commands`` and async Nucleus calls in asset utilities, prim |
| helpers. |
|
|
|
|
| 4.4.0 (2026-02-26) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Migrated lazy-loading to ``lazy_loader.attach_stub`` with ``.pyi`` stubs as the |
| single source of truth for module exports. Removed the old ``attach_cascading`` |
| helper, avoided eager callable resolution during deepcopy of |
| :class:`~isaaclab.utils.string.ResolvableString`, and updated MDP |
| exports/import boundaries so ``test_env_cfg_no_forbidden_imports.py`` passes |
| without importing runtime modules. |
|
|
|
|
| 4.3.2 (2026-02-25) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed inconsistent ``body_mass`` shape in :class:`~isaaclab.assets.BaseRigidObjectData` |
| from ``(num_instances, 1, 1)`` to ``(num_instances, 1)`` to align with the articulation |
| convention. |
|
|
| * Unified inertia scaling in :func:`~isaaclab.envs.mdp.events.randomize_rigid_body_mass` |
| to use a single code path for both articulations and rigid objects. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Reworked mock interfaces for assets and sensors to align with updated data shapes and |
| remove stale convenience aliases. |
|
|
|
|
| 4.3.1 (2026-02-27) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :meth:`~isaaclab.assets.AssetBase.assert_shape_and_dtype` and |
| :meth:`~isaaclab.assets.AssetBase.assert_shape_and_dtype_mask` validation methods to |
| :class:`~isaaclab.assets.AssetBase` for runtime shape and dtype checking of write method |
| inputs. Checks are only active in debug mode (``__debug__``), adding zero overhead in |
| optimized builds. |
| |
| Changed |
| ^^^^^^^ |
|
|
| * Fixed tendon setter signatures in :class:`~isaaclab.assets.BaseArticulation` |
| (``set_fixed_tendon_*`` and ``set_spatial_tendon_*``) now accept ``float`` values in |
| addition to tensors and warp arrays. |
|
|
|
|
| 4.3.0 (2026-02-26) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Added lazy callable-string resolution for config fields through |
| :class:`~isaaclab.utils.string.ResolvableString` in :mod:`isaaclab.utils.configclass`. |
| Config values such as ``class_type``/``func`` can now remain as strings until first |
| use and then resolve/cached automatically. |
|
|
| * Added ``{DIR}`` callable-string shorthand support in :mod:`isaaclab.utils.configclass` |
| for config defaults. ``"{DIR}.module:Symbol"`` now expands to the declaring config |
| module directory before resolution. |
|
|
| * Updated :func:`~isaaclab.utils.dict.update_class_from_dict` to stop eagerly resolving |
| callable strings during updates. Callable-string inputs are now preserved as lazy |
| :class:`~isaaclab.utils.string.ResolvableString` values and resolve only on first use. |
|
|
|
|
| 4.2.3 (2026-02-25) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :func:`~isaaclab.cloner.usd_replicate` and :func:`~isaaclab.cloner.physx_replicate` |
| skipping ``Sdf.CopySpec`` when the source and destination paths are identical (self-copy), |
| avoiding a redundant and potentially destructive USD spec overwrite. |
|
|
|
|
| 4.2.2 (2026-02-26) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :meth:`~isaaclab.assets.AssetBase.assert_shape_and_dtype` and |
| :meth:`~isaaclab.assets.AssetBase.assert_shape_and_dtype_mask` validation methods to |
| :class:`~isaaclab.assets.AssetBase` for runtime shape and dtype checking of write method |
| inputs. Checks are only active in debug mode (``__debug__``), adding zero overhead in |
| optimized builds. |
| |
| Changed |
| ^^^^^^^ |
|
|
| * Fixed tendon setter signatures in :class:`~isaaclab.assets.BaseArticulation` |
| (``set_fixed_tendon_*`` and ``set_spatial_tendon_*``) now accept ``float`` values in |
| addition to tensors and warp arrays. |
|
|
|
|
| 4.2.1 (2026-02-25) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Migrated all MDP action terms to use new ``_index`` write/set APIs with keyword-only arguments. |
|
|
| * Migrated all MDP event terms to use new ``_index`` write/set APIs (mass, inertia, COM, |
| joint properties, root state resets, fixed tendon parameters). |
|
|
| * Updated ``InteractiveScene.set_state`` to use new ``_index`` APIs for root pose/velocity |
| and joint state writes. |
|
|
| * Updated ``SceneEntityCfg`` body resolution to use ``find_sensors``/``num_sensors`` for |
| ContactSensor entities. |
|
|
|
|
| 4.2.0 (2026-02-24) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Refined base asset class abstractions (:class:`~isaaclab.assets.BaseArticulation`, |
| :class:`~isaaclab.assets.BaseRigidObject`) to better support multiple backends. |
| Removed abstract method requirements that forced unnecessary boilerplate in backend |
| implementations, making it easier to add new physics backends. |
|
|
| * Unified docstrings across all base asset classes with precise shape and dtype annotations |
| for warp array properties and write methods, ensuring consistent documentation between |
| PhysX and Newton backend implementations. |
|
|
|
|
| 4.1.0 (2026-02-18) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed hard dependency on the Isaac Sim Cloner for scene replication. Replication now uses internal utilities |
| :func:`~isaaclab.scene.cloner.usd_replicate` and :func:`~isaaclab.scene.cloner.physx_replicate`, reducing coupling |
| to Isaac Sim. Public APIs in :class:`~isaaclab.scene.interactive_scene.InteractiveScene` remain unchanged; code |
| directly importing the external Cloner should migrate to these utilities. |
|
|
| Added |
| ^^^^^ |
|
|
| * Added optional random prototype selection during environment cloning in |
| :class:`~isaaclab.scene.interactive_scene.InteractiveScene` via |
| :attr:`~isaaclab.scene.interactive_scene_cfg.InteractiveSceneCfg.random_heterogeneous_cloning`. |
| Defaults to ``True``; round-robin (modulo) mapping remains available by setting it to ``False``. |
|
|
| * Added flexible per-object cloning path in |
| :class:`~isaaclab.scene.interactive_scene.InteractiveScene`: when environments are heterogeneous |
| (different prototypes across envs), replication switches to per-object instead of whole-env cloning. |
| This reduces PhysX cloning time in heterogeneous scenes. |
|
|
|
|
| 4.0.0 (2026-02-22) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Updated :class:`~isaaclab.sim.converters.MjcfConverter` and |
| :class:`~isaaclab.sim.converters.MjcfConverterCfg` for the rewritten MJCF importer in Isaac Sim 5.0. |
| The converter now uses the ``MJCFImporter`` / ``MJCFImporterConfig`` API backed by the |
| ``mujoco-usd-converter`` library. The old settings ``fix_base``, ``link_density``, |
| ``import_inertia_tensor``, ``import_sites``, and ``make_instanceable`` have been removed |
| (handled automatically by the new converter). New settings ``merge_mesh``, |
| ``collision_from_visuals``, and ``collision_type`` have been added. The ``convert_mjcf.py`` |
| CLI tool has been updated accordingly. Note that the new importer produces assets with nested |
| rigid bodies (``RigidBodyAPI`` applied per link) instead of a flat hierarchy. |
|
|
|
|
|
|
| 3.5.3 (2026-02-22) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Refactored ``SimulationContext.clear_instance`` to delegate stage teardown to |
| :func:`~isaaclab.sim.utils.close_stage` instead of manually clearing the stage cache, |
| thread-local context, and Kit USD context inline. |
| * Updated :func:`~isaaclab.sim.utils.close_stage` to also close the Kit USD context stage |
| (``omni.usd.get_context().close_stage()``) when Kit is running, making it a complete |
| stage teardown function. |
| |
| |
| 3.5.2 (2026-02-23) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * ``NUCLEUS_ASSET_ROOT_DIR`` and derived Nucleus path constants are now parsed from ``apps/isaaclab.python.kit`` |
|
|
|
|
| 3.5.1 (2026-02-21) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed ``omni.usd`` calls with pure USD (``pxr``) equivalents in sim utils and sensors. |
|
|
| Deprecated |
| ^^^^^^^^^^ |
|
|
| * ``create_new_stage_in_memory`` — use ``create_new_stage`` instead. |
| * ``is_stage_loading`` — Kit-only, no production callers. |
|
|
|
|
| 3.5.0 (2026-02-21) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * The in-memory stage created with ``SimulationCfg(create_stage_in_memory=True)`` is now automatically |
| attached to the USD context at :class:`~isaaclab.sim.SimulationContext` creation. This ensures proper |
| stage lifecycle events for viewport and physics systems, preventing test isolation issues. |
|
|
|
|
| 3.4.3 (2026-02-22) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Migrated settings access from ``carb.settings`` to :class:`~isaaclab.app.settings_manager.SettingsManager`. |
| Application code and tests now use :func:`~isaaclab.app.settings_manager.get_settings_manager` or |
| :meth:`~isaaclab.sim.SimulationContext.get_setting` / :meth:`~isaaclab.sim.SimulationContext.set_setting` |
| instead of ``carb.settings.get_settings()``. |
| |
| |
| 3.4.2 (2026-02-20) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Replaced PhysX schema interactions via ``pxr.PhysxSchema`` API helpers with direct prim schema apply/get calls. |
| * Replaced ``omni.kit.commands.execute("ChangePropertyCommand")`` uses with direct ``CreateAttribute`` + ``Set`` calls. |
|
|
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed :func:`~isaaclab.sim.utils.attach_stage_to_usd_context`. This function is no longer needed |
| since the in-memory stage is now automatically attached to the USD context at ``SimulationContext`` |
| creation. Remove any calls to this function from your code. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :func:`~isaaclab.sim.utils.add_labels` to use :class:`UsdSemantics.LabelsAPI` directly |
| instead of the Replicator API for Isaac Sim 5.0+. This resolves ``'NoneType' object has no |
| attribute 'GetEditTarget'`` errors when using stage-in-memory mode. |
|
|
|
|
| 3.4.0 (2026-02-18) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Integrated TeleopCore as the teleoperation backend via the new :mod:`isaaclab_teleop` extension. |
| The :class:`~isaaclab_teleop.IsaacTeleopDevice` provides a unified teleoperation interface that |
| replaces the previous XR-specific device and retargeter classes. |
|
|
| Deprecated |
| ^^^^^^^^^^ |
|
|
| * Deprecated the existing XR teleoperation solution. :class:`~isaaclab.devices.openxr.OpenXRDevice`, |
| :class:`~isaaclab.devices.openxr.OpenXRDeviceCfg`, :class:`~isaaclab.devices.openxr.ManusVive`, |
| :class:`~isaaclab.devices.RetargeterBase`, :class:`~isaaclab.devices.RetargeterCfg`, and all |
| retargeters under :mod:`isaaclab.devices.openxr.retargeters` are deprecated in favor of |
| :class:`~isaaclab_teleop.IsaacTeleopDevice`. Existing imports will continue to work but emit |
| :class:`DeprecationWarning` when ``isaaclab_teleop`` is installed. |
|
|
|
|
| 3.3.0 (2026-02-13) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Migrated all asset and sensor data properties from ``torch.Tensor`` to ``wp.array`` (NVIDIA Warp). |
| All ``.data.*`` properties on :class:`~isaaclab.assets.Articulation`, |
| :class:`~isaaclab.assets.RigidObject`, :class:`~isaaclab.assets.RigidObjectCollection`, and |
| sensor data classes now return ``wp.array``. Use ``wp.to_torch()`` to convert back to |
| ``torch.Tensor`` when needed. |
|
|
| * Split all asset write methods into ``_index`` and ``_mask`` variants. The old ``env_ids`` |
| parameter has been replaced by explicit ``_index`` methods (sparse indexed data) and ``_mask`` |
| methods (full data with boolean mask). For example, |
| ``write_root_link_pose_to_sim(data, env_ids)`` is now |
| ``write_root_link_pose_to_sim_index(data, env_ids)`` or |
| ``write_root_link_pose_to_sim_mask(data, env_mask)``. |
|
|
| * Refactored :mod:`isaaclab.utils.wrench_composer` to use warp kernels internally. |
|
|
| * Updated all MDP action, observation, reward, termination, command, and event functions |
| to wrap ``wp.array`` data accesses with ``wp.to_torch()`` for torch compatibility. |
|
|
| * Updated mock interfaces for all assets and sensors to produce ``wp.array``-backed data. |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab.utils.buffers.TimestampedBufferWarp` for warp-native timestamped |
| data buffers, replacing ``TimestampedBuffer`` in warp-backed asset and sensor classes. |
|
|
| * Added shared warp math kernels in :mod:`isaaclab.utils.warp.kernels` for quaternion |
| operations, coordinate transforms, and velocity computations. |
|
|
| 3.2.0 (2026-02-06) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Refactored :class:`~isaaclab.sim.SimulationContext` to use :class:`~isaaclab.physics.PhysicsManager` |
| abstraction layer for cleaner separation between simulation orchestration and physics backend. |
|
|
|
|
| 3.1.0 (2026-02-05) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab.test.benchmark.BaseIsaacLabBenchmark` class replacing dependency on |
| ``isaacsim.benchmark.services`` for benchmarking workflows. This provides a standalone framework |
| for measuring performance of Isaac Lab components. |
|
|
| * Added measurement types in :mod:`isaaclab.test.benchmark.measurements`: |
|
|
| * :class:`~isaaclab.test.benchmark.SingleMeasurement`: Single floating-point measurement with unit. |
| * :class:`~isaaclab.test.benchmark.StatisticalMeasurement`: Mean, std, and sample count. |
| * :class:`~isaaclab.test.benchmark.DictMeasurement`: Dictionary-valued measurement. |
| * :class:`~isaaclab.test.benchmark.ListMeasurement`: List-valued measurement. |
| * :class:`~isaaclab.test.benchmark.BooleanMeasurement`: Boolean measurement. |
|
|
| * Added metadata types in :mod:`isaaclab.test.benchmark.measurements`: |
|
|
| * :class:`~isaaclab.test.benchmark.StringMetadata`: String metadata. |
| * :class:`~isaaclab.test.benchmark.IntMetadata`: Integer metadata. |
| * :class:`~isaaclab.test.benchmark.FloatMetadata`: Float metadata. |
| * :class:`~isaaclab.test.benchmark.DictMetadata`: Dictionary metadata. |
|
|
| * Added :class:`~isaaclab.test.benchmark.TestPhase` for organizing measurements and metadata |
| into logical phases within a benchmark. |
|
|
| * Added :class:`~isaaclab.test.benchmark.BenchmarkMonitor` context manager for async system |
| resource monitoring during blocking operations like RL training loops. |
|
|
| * Added pluggable backend architecture in :mod:`isaaclab.test.benchmark.backends`: |
|
|
| * ``json``: Full JSON output with all phases, measurements, and metadata. |
| * ``osmo``: Osmo KPI format for CI/CD integration. |
| * ``omniperf``: OmniPerf format for database upload. |
| * ``summary``: Human-readable console summary plus JSON output. |
|
|
| * Added system recorders in :mod:`isaaclab.test.benchmark.recorders`: |
|
|
| * :class:`~isaaclab.test.benchmark.recorders.CPUInfoRecorder`: CPU information capture. |
| * :class:`~isaaclab.test.benchmark.recorders.GPUInfoRecorder`: GPU information capture. |
| * :class:`~isaaclab.test.benchmark.recorders.MemoryInfoRecorder`: Memory usage tracking. |
| * :class:`~isaaclab.test.benchmark.recorders.VersionInfoRecorder`: Software version capture. |
|
|
| * Added CLI arguments for benchmark scripts: ``--benchmark_backend``, ``--output_path``. |
|
|
| * Added shell scripts for running benchmark suites: |
|
|
| * ``scripts/benchmarks/run_non_rl_benchmarks.sh``: Non-RL environment stepping benchmarks. |
| * ``scripts/benchmarks/run_physx_benchmarks.sh``: PhysX micro-benchmarks. |
| * ``scripts/benchmarks/run_training_benchmarks.sh``: RL training benchmarks. |
|
|
| * Added fallback in :mod:`isaaclab.test.benchmark.benchmark_core` for Isaac Sim packaging that |
| bundles frametime recorders in a single module, so frametime collection works across variants. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Refactored benchmark scripts to use new :class:`~isaaclab.test.benchmark.BaseIsaacLabBenchmark` |
| class instead of ``isaacsim.benchmark.services``. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed runtime stats in ``log_min_max_mean_stats`` (``scripts/benchmarks/utils.py``) so FPS |
| metrics are labeled with unit ``FPS`` and time metrics with ``ms`` instead of all being ``ms``. |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed hard dependency on ``isaacsim.benchmark.services`` extension for benchmarking. |
| The extension is now optional and only used for frametime recorders when available. |
|
|
|
|
| 3.0.3 (2026-02-05) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Modified all the base classes so that they implement the shorthands and the deprecation cycle to IsaacLab 4.0 |
|
|
|
|
| 3.0.2 (2026-02-04) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Removed exact version pinning for URDF asset importer extension that is incompatible with Isaac Sim 6.0. |
|
|
|
|
| 3.0.1 (2026-02-04) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :file:`isaaclab.sh` to use libstdc++ CXXABI_1.3.15 from conda for systems that lack that version (e.g., Ubuntu 22.04). |
|
|
|
|
| 3.0.0 (2026-02-02) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added albedo annotator for faster diffuse albedo rendering. This path will be the most performant when GUI is not required and only albedo and/or depth annotations are requested. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Updated Isaac Lab to be compatible with Isaac Sim 6.0.0. |
| * Updated the required Python version to 3.12 for Isaac Lab installation. |
| * Updated the required PyTorch version to 2.9.0+cu128 and torchvision to 0.24.0 for Isaac Lab installation. |
| * Updated numpy to 2.3.1 following version in Kit 109.0. |
| * Updated dex-retargeting to 0.5.0 with numpy 2.0+ dependency. |
| * Removed explicit URDF importer extension version dependency in :class:`~isaaclab.sim.converters.urdf_converter.UrdfConverter` and related code. |
|
|
|
|
| 2.1.2 (2026-01-30) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :mod:`isaaclab.test.benchmark` module providing a comprehensive benchmarking framework |
| for measuring performance of Isaac Lab components. Includes: |
|
|
| * :class:`BenchmarkConfig`: Configuration dataclass for benchmark execution parameters |
| (iterations, warmup steps, instances, device). |
| * :class:`BenchmarkResult`: Dataclass capturing timing statistics (mean, std in microseconds), |
| skip status, and dependency information. |
| * :class:`MethodBenchmark`: Definition class for methods to benchmark with multi-mode |
| input generators. |
| * Input generator helpers for creating standardized tensors and Warp masks: |
| ``make_tensor_env_ids``, ``make_tensor_joint_ids``, ``make_tensor_body_ids``, |
| ``make_warp_env_mask``, ``make_warp_joint_mask``, ``make_warp_body_mask``. |
| * :func:`benchmark_method`: Core function for benchmarking with warmup phases, |
| GPU synchronization, and graceful error handling. |
| * I/O utilities: :func:`get_hardware_info`, :func:`get_git_info`, :func:`print_hardware_info`, |
| :func:`print_results`, :func:`export_results_json`, :func:`export_results_csv`. |
|
|
|
|
| 2.1.1 (2026-02-03) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :mod:`isaaclab.test.mock_interfaces` module providing mock implementations for unit testing |
| without requiring Isaac Sim. Includes: |
|
|
| * Mock assets: :class:`MockArticulation`, :class:`MockRigidObject`, :class:`MockRigidObjectCollection` |
| with full state tracking and property management. |
| * Mock sensors: :class:`MockContactSensor`, :class:`MockImu`, :class:`MockFrameTransformer` |
| with configurable data outputs. |
| * Utility classes: :class:`MockArticulationBuilder`, :class:`MockSensorBuilder`, |
| :class:`MockWrenchComposer` for flexible mock construction. |
| * Factory functions for common robot morphologies (quadruped, humanoid). |
| * Patching utilities and decorators for easy test injection. |
|
|
|
|
| 2.1.0 (2026-02-02) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab.sensors.contact_sensor.BaseContactSensor` and |
| :class:`~isaaclab.sensors.contact_sensor.BaseContactSensorData` abstract base classes that define |
| the interface for contact sensors. These classes provide a backend-agnostic API for contact sensing. |
| * Added :class:`~isaaclab.sensors.imu.BaseImu` and :class:`~isaaclab.sensors.imu.BaseImuData` abstract |
| base classes that define the interface for IMU sensors. These classes provide a backend-agnostic |
| API for inertial measurement. |
| * Added :class:`~isaaclab.sensors.frame_transformer.BaseFrameTransformer` and |
| :class:`~isaaclab.sensors.frame_transformer.BaseFrameTransformerData` abstract base classes that |
| define the interface for frame transformer sensors. These classes provide a backend-agnostic API |
| for coordinate frame transformations. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Refactored the sensor classes (:class:`~isaaclab.sensors.ContactSensor`, |
| :class:`~isaaclab.sensors.Imu`, :class:`~isaaclab.sensors.FrameTransformer`) to follow the |
| multi-backend architecture. The classes now act as factory wrappers that instantiate the |
| appropriate backend-specific implementation (PhysX by default). |
| * Refactored the sensor data classes (:class:`~isaaclab.sensors.ContactSensorData`, |
| :class:`~isaaclab.sensors.ImuData`, :class:`~isaaclab.sensors.FrameTransformerData`) to use the |
| factory pattern for backend-specific instantiation. |
| * Moved PhysX-specific sensor tests to the ``isaaclab_physx`` package: |
|
|
| * ``test_contact_sensor.py`` → ``isaaclab_physx/test/sensors/`` |
| * ``test_imu.py`` → ``isaaclab_physx/test/sensors/`` |
| * ``test_frame_transformer.py`` → ``isaaclab_physx/test/sensors/`` |
|
|
|
|
| 2.0.0 (2026-01-30) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab.assets.BaseArticulation` and :class:`~isaaclab.assets.BaseArticulationData` |
| abstract base classes that define the interface for articulation assets. These classes provide |
| a backend-agnostic API for articulation operations. |
| * Added :class:`~isaaclab.assets.BaseRigidObject` and :class:`~isaaclab.assets.BaseRigidObjectData` |
| abstract base classes that define the interface for rigid object assets. These classes provide |
| a backend-agnostic API for rigid object operations. |
| * Added :class:`~isaaclab.assets.BaseRigidObjectCollection` and :class:`~isaaclab.assets.BaseRigidObjectCollectionData` |
| abstract base classes that define the interface for rigid object collection assets. These classes |
| provide a backend-agnostic API for managing collections of rigid objects. |
| * Added :mod:`~isaaclab.utils.backend_utils` module with utilities for managing simulation backends. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Refactored the asset classes to follow a multi-backend architecture. The core :mod:`isaaclab.assets` |
| module now provides abstract base classes that define the interface, while backend-specific |
| implementations are provided in separate packages (e.g., ``isaaclab_physx``). |
| * The concrete :class:`~isaaclab.assets.Articulation`, :class:`~isaaclab.assets.RigidObject`, |
| and :class:`~isaaclab.assets.RigidObjectCollection` classes in the ``isaaclab`` package |
| now inherit from their respective base classes, and using the backend-specific implementations provided |
| in the ``isaaclab_physx`` package, provide the default PhysX-based implementation. |
| * Moved :class:`DeformableObject`, :class:`DeformableObjectCfg`, and :class:`DeformableObjectData` |
| to the ``isaaclab_physx`` package since deformable bodies are specific to PhysX simulation. |
| * Moved :class:`SurfaceGripper` and :class:`SurfaceGripperCfg` to the ``isaaclab_physx`` package |
| since surface grippers rely on PhysX-specific contact APIs. |
|
|
| Deprecated |
| ^^^^^^^^^^ |
|
|
| * Deprecated the ``root_physx_view`` property on :class:`~isaaclab.assets.Articulation`, |
| :class:`~isaaclab.assets.RigidObject`, and :class:`~isaaclab.assets.RigidObjectCollection` |
| in favor of the backend-agnostic ``root_view`` property. |
|
|
| * Deprecated the ``object_*`` naming convention in :class:`~isaaclab.assets.RigidObjectCollection` |
| and :class:`~isaaclab.assets.RigidObjectCollectionData` in favor of ``body_*``: |
|
|
| **RigidObjectCollection methods:** |
|
|
| * ``write_object_state_to_sim()`` → use ``write_body_state_to_sim()`` |
| * ``write_object_link_state_to_sim()`` → use ``write_body_link_state_to_sim()`` |
| * ``write_object_pose_to_sim()`` → use ``write_body_pose_to_sim()`` |
| * ``write_object_link_pose_to_sim()`` → use ``write_body_link_pose_to_sim()`` |
| * ``write_object_com_pose_to_sim()`` → use ``write_body_com_pose_to_sim()`` |
| * ``write_object_velocity_to_sim()`` → use ``write_body_com_velocity_to_sim()`` |
| * ``write_object_com_velocity_to_sim()`` → use ``write_body_com_velocity_to_sim()`` |
| * ``write_object_link_velocity_to_sim()`` → use ``write_body_link_velocity_to_sim()`` |
| * ``find_objects()`` → use ``find_bodies()`` |
|
|
| **RigidObjectCollectionData properties:** |
|
|
| * ``default_object_state`` → use ``default_body_state`` |
| * ``object_names`` → use ``body_names`` |
| * ``object_pose_w``, ``object_pos_w``, ``object_quat_w`` → use ``body_pose_w``, ``body_pos_w``, ``body_quat_w`` |
| * ``object_vel_w``, ``object_lin_vel_w``, ``object_ang_vel_w`` → use ``body_vel_w``, ``body_lin_vel_w``, ``body_ang_vel_w`` |
| * ``object_acc_w``, ``object_lin_acc_w``, ``object_ang_acc_w`` → use ``body_acc_w``, ``body_lin_acc_w``, ``body_ang_acc_w`` |
| * And all other ``object_*`` properties (see :ref:`migrating-to-isaaclab-3-0` for complete list). |
|
|
| Migration |
| ^^^^^^^^^ |
|
|
| * See :ref:`migrating-to-isaaclab-3-0` for detailed migration instructions. |
|
|
|
|
| 1.0.0 (2026-01-30) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added a tool to find hard-coded quaternions in the codebase and help user convert them to the new XYZW ordering. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed the quaternion ordering to match warp, PhysX, and Newton native XYZW quaternion ordering. |
|
|
|
|
| 0.54.5 (2026-01-30) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :meth:`~isaaclab.utils.timer.Timer.get_timer_statistics` to get the statistics of the elapsed time of a timer. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed :class:`~isaaclab.utils.timer.Timer` class to use the online Welford's algorithm to compute the mean and standard deviation of the elapsed time. |
|
|
|
|
| 0.54.4 (2026-02-04) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :class:`~isaaclab.envs.mdp.actions.JointPositionToLimitsAction` and |
| :class:`~isaaclab.envs.mdp.actions.EMAJointPositionToLimitsAction` ignoring |
| ``preserve_order=True`` when the number of specified joints matches the total |
| number of joints in the asset. The optimization that replaced joint indices with |
| ``slice(None)`` now correctly checks for the ``preserve_order`` flag. |
|
|
|
|
| 0.54.3 (2026-01-28) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Moved :mod:`isaaclab.sensors.tacsl_sensor` to :mod:`isaaclab_contrib.sensors.tacsl_sensor` module, |
| since it is not completely ready for release yet. |
|
|
|
|
| 0.54.2 (2026-01-25) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added test suite for ray caster patterns with comprehensive parameterized tests. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed incorrect horizontal angle calculation in :func:`~isaaclab.sensors.ray_caster.patterns.patterns.lidar_pattern` |
| that caused the actual angular resolution to differ from the requested resolution. |
|
|
|
|
| 0.54.1 (2026-01-28) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Teleop: update carb settings to be compatible with Isaac Sim 6.0/Kit XR 110.0 |
|
|
|
|
| 0.54.0 (2026-01-13) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added Fabric backend support to :class:`~isaaclab.sim.views.XformPrimView` for GPU-accelerated |
| batch transform operations on all Boundable prims using Warp kernels. |
| * Added :mod:`~isaaclab.sim.utils.fabric_utils` module with Warp kernels for efficient Fabric matrix operations. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed :class:`~isaaclab.sensors.camera.Camera` to use Fabric backend for faster pose queries. |
|
|
|
|
| 0.53.2 (2026-01-14) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab.assets.utils.wrench_composer.WrenchComposer` to compose forces and torques at the body's center of mass frame. |
| * Added :meth:`~isaaclab.assets.Articulation.instantaneous_wrench_composer` to add or set instantaneous external wrenches to the articulation. |
| * Added :meth:`~isaaclab.assets.Articulation.permanent_wrench_composer` to add or set permanent external wrenches to the articulation. |
| * Added :meth:`~isaaclab.assets.RigidObject.instantaneous_wrench_composer` to add or set instantaneous external wrenches to the rigid object. |
| * Added :meth:`~isaaclab.assets.RigidObject.permanent_wrench_composer` to add or set permanent external wrenches to the rigid object. |
| * Added :meth:`~isaaclab.assets.RigidObjectCollection.instantaneous_wrench_composer` to add or set instantaneous external wrenches to the rigid object collection. |
| * Added :meth:`~isaaclab.assets.RigidObjectCollection.permanent_wrench_composer` to add or set permanent external wrenches to the rigid object collection. |
| * Added unit tests for the wrench composer. |
| * Added kernels for the wrench composer in the :mod:`isaaclab.utils.warp.kernels` module. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Deprecated :meth:`~isaaclab.assets.Articulation.set_external_force_and_torque` in favor of :meth:`~isaaclab.assets.Articulation.permanent_wrench_composer.set_forces_and_torques`. |
| * Deprecated :meth:`~isaaclab.assets.RigidObject.set_external_force_and_torque` in favor of :meth:`~isaaclab.assets.RigidObject.permanent_wrench_composer.set_forces_and_torques`. |
| * Deprecated :meth:`~isaaclab.assets.RigidObjectCollection.set_external_force_and_torque` in favor of :meth:`~isaaclab.assets.RigidObjectCollection.permanent_wrench_composer.set_forces_and_torques`. |
| * Modified the tests of the articulation, rigid object, and rigid object collection to use the new permanent and instantaneous external wrench functions and test them. |
|
|
| 0.53.1 (2026-01-08) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added function :func:`~isaaclab.sim.utils.prims.change_prim_property` to change attributes on a USD prim. |
| This replaces the previously used USD command ``ChangeProperty`` that depends on Omniverse Kit API. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Replaced occurrences of ``ChangeProperty`` USD command to :func:`~isaaclab.sim.utils.prims.change_prim_property`. |
|
|
|
|
| 0.53.0 (2026-01-07) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab.sim.views.XformPrimView` class to provide a |
| view of the USD Xform operations. Compared to Isaac Sim implementation, |
| this class optimizes several operations using USD SDF API. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Switched the sensor classes to use the :class:`~isaaclab.sim.views.XformPrimView` |
| class for the internal view wherever applicable. |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed the usage of :class:`isaacsim.core.utils.prims.XformPrim` |
| class from the sensor classes. |
|
|
|
|
| 0.52.2 (2026-01-06) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Improved logic for the URDF importer extension version pinning: the older extension version |
| is now pinned only on Isaac Sim 5.1 and later, while older Isaac Sim versions no longer |
| attempt to pin to a version that does not exist. |
|
|
|
|
| 0.52.1 (2026-01-02) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed FrameTransformer body name collision when tracking bodies with the same name but different hierarchical paths |
| (e.g., Robot/left_hand vs Robot_1/left_hand). The sensor now uses the full prim path (with env_* patterns normalized) |
| as the unique body identifier instead of just the leaf body name. This ensures bodies at different hierarchy levels |
| are tracked separately. The change is backwards compatible: user-facing frame names still default to leaf names when |
| not explicitly provided, while internal body tracking uses full paths to avoid collisions. Works for both |
| environment-scoped paths (e.g., /World/envs/env_0/Robot) and non-environment paths (e.g., /World/Robot). |
|
|
|
|
| 0.52.0 (2026-01-02) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :mod:`~isaaclab.sim.utils.transforms` module to handle USD Xform operations. |
| * Added passing of ``stage`` to the :func:`~isaaclab.sim.utils.prims.create_prim` function |
| inside spawning functions to allow for the creation of prims in a specific stage. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed :func:`~isaaclab.sim.utils.prims.create_prim` function to use the :mod:`~isaaclab.sim.utils.transforms` |
| module for USD Xform operations. It removes the usage of Isaac Sim's XformPrim class. |
|
|
|
|
| 0.51.2 (2025-12-30) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :attr:`~isaaclab.managers.ObservationManager.get_active_iterable_terms` |
| to handle observation data when not concatenated along the last dimension. |
|
|
|
|
| 0.51.1 (2025-12-29) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :func:`~isaaclab.utils.version.get_isaac_sim_version` to get the version of Isaac Sim. |
| This function caches the version of Isaac Sim and returns it immediately if it has already been computed. |
| This helps avoid parsing the VERSION file from disk multiple times. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed the function :meth:`~isaaclab.utils.version.compare_versions` to use :mod:`packaging.version.Version` module. |
| * Changed occurrences of :func:`isaacsim.core.version.get_version` to :func:`~isaaclab.utils.version.get_isaac_sim_version`. |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed storing of Isaac Sim version inside the environment base classes defined inside |
| :mod:`isaaclab.envs` module. |
|
|
|
|
| 0.51.0 (2025-12-29) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added tests for the :mod:`isaaclab.sim.utils.prims` module. |
| * Added tests for the :mod:`isaaclab.sim.utils.stage` module. |
| * Created :mod:`isaaclab.sim.utils.legacy` sub-module to keep deprecated functions. |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed many unused USD prim and stage related operations from the :mod:`isaaclab.sim.utils` module. |
| * Moved :mod:`isaaclab.sim.utils.nucleus` sub-module to the ``tests/deps/isaacsim`` directory as it |
| is only being used for Isaac Sim check scripts. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed the organization of the :mod:`isaaclab.sim.utils` module to make it clearer which functions |
| are related to the stage and which are related to the prims. |
| * Modified imports of :mod:`~isaaclab.sim.utils.stage` and :mod:`~isaaclab.sim.utils.prims` modules |
| to only use the :mod:`isaaclab.sim.utils` module. |
| * Moved ``logger.py`` to the :mod:`isaaclab.utils` module. |
|
|
|
|
| 0.50.7 (2025-12-29) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Moved ``pretrained_checkpoint.py`` to the :mod:`isaaclab_rl.utils` module. |
|
|
|
|
| 0.50.6 (2025-12-18) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed issue where :meth:~isaaclab.envs.mdp.observations.body_pose_w` was modifying the original body pose data |
| when using slice or int for body_ids in the observation config. A clone of the data is now created to avoid modifying |
| the original data. |
|
|
|
|
| 0.50.5 (2025-12-15) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab.sensors.MultiMeshRayCaster` sensor to support tracking of dynamic meshes for ray-casting. |
| We keep the previous implementation of :class:`~isaaclab.sensors.RayCaster` for backwards compatibility. |
| * Added :mod:`isaaclab.utils.mesh` sub-module to perform various Trimesh and USD Mesh related operations. |
|
|
|
|
| 0.50.4 (2025-12-15) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :attr:`~isaaclab.sim.PhysxCfg.enable_external_forces_every_iteration` to enable external forces every position |
| iteration. This can help improve the accuracy of velocity updates. Consider enabling this flag if the velocities |
| generated by the simulation are noisy. |
| * Added warning when :attr:`~isaaclab.sim.PhysxCfg.enable_external_forces_every_iteration` is set to False and |
| the solver type is TGS. |
|
|
|
|
| 0.50.3 (2025-12-11) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed missing mesh collision approximation attribute when running :class:`~isaaclab.sim.converters.MeshConverter`. |
| The collision approximation attribute is now properly set on the USD prim when converting meshes with mesh collision |
| properties. |
|
|
|
|
| 0.50.2 (2025-11-21) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Prevent randomizing mass to zero in :meth:`~isaaclab.envs.mdp.events.randomize_mass_by_scale` to avoid physics errors. |
|
|
|
|
| 0.50.1 (2025-11-25) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed advanced indexing issue in resetting prev action |
| in :class:`~isaaclab.envs.mdp.actions.JointPositionToLimitsAction` . |
|
|
|
|
| 0.50.0 (2025-12-8) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Implemented ability to attach an imu sensor to xform primitives in a usd file. This PR is based on work by '@GiulioRomualdi' |
| here: #3094 Addressing issue #3088. |
|
|
|
|
| 0.49.3 (2025-12-03) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`G1TriHandUpperBodyMotionControllerGripperRetargeter` and :class:`G1TriHandUpperBodyMotionControllerGripperRetargeterCfg` for retargeting the gripper state from motion controllers. |
| * Added unit tests for the retargeters. |
|
|
|
|
| 0.49.2 (2025-11-17) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :attr:`~isaaclab.sensors.contact_sensor.ContactSensorCfg.track_friction_forces` to toggle tracking of friction forces between sensor bodies and filtered bodies. |
| * Added :attr:`~isaaclab.sensors.contact_sensor.ContactSensorData.friction_forces_w` data field for tracking friction forces. |
|
|
|
|
| 0.49.1 (2025-11-26) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed import from ``isaacsim.core.utils.prims`` to ``isaaclab.sim.utils.prims`` across repo to reduce IsaacLab dependencies. |
|
|
| 0.49.0 (2025-11-10) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Updated the URDF Importer version to 2.4.31 to avoid issues with merging joints on the latest URDF importer in Isaac Sim 5.1 |
|
|
|
|
| 0.48.9 (2025-11-21) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Add navigation state API to IsaacLabManagerBasedRLMimicEnv |
| * Add optional custom recorder config to MimicEnvCfg |
|
|
|
|
| 0.48.8 (2025-10-15) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :attr:`preserve_order` flag to :class:`~isaaclab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg` |
|
|
|
|
| 0.48.7 (2025-11-25) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed import from ``isaaclab.sim.utils`` to ``isaaclab.sim.utils.stage`` in ``isaaclab.devices.openxr.xr_anchor_utils.py`` |
| to properly propagate the Isaac Sim stage context. |
|
|
|
|
| 0.48.6 (2025-11-18) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added OpenXR motion controller support for the G1 robot locomanipulation environment |
| ``Isaac-PickPlace-Locomanipulation-G1-Abs-v0``. This enables teleoperation using XR motion controllers |
| in addition to hand tracking. |
| * Added :class:`OpenXRDeviceMotionController` for motion controller-based teleoperation with headset anchoring control. |
| * Added motion controller-specific retargeters: |
| * :class:`G1TriHandControllerUpperBodyRetargeterCfg` for upper body and hand control using motion controllers. |
| * :class:`G1LowerBodyStandingControllerRetargeterCfg` for lower body control using motion controllers. |
|
|
|
|
| 0.48.5 (2025-11-14) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed import from ``isaacsim.core.utils.stage`` to ``isaaclab.sim.utils.stage`` to reduce IsaacLab dependencies. |
|
|
|
|
| 0.48.4 (2025-11-14) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Refactored modules related to the actuator configs in order to remediate a circular import necessary to support future |
| actuator drive model improvements. |
|
|
|
|
| 0.48.3 (2025-11-13) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Moved retargeter and device declaration out of factory and into the devices/retargeters themselves. |
|
|
|
|
| 0.48.2 (2025-11-13) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed from using :meth:`isaacsim.core.utils.torch.set_seed` to :meth:`~isaaclab.utils.seed.configure_seed` |
|
|
|
|
| 0.48.1 (2025-11-10) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab.devices.haply.HaplyDevice` class for SE(3) teleoperation with dual Haply Inverse3 and Versegrip devices, |
| supporting robot manipulation with haptic feedback. |
| * Added demo script ``scripts/demos/haply_teleoperation.py`` and documentation guide in |
| ``docs/source/how-to/haply_teleoperation.rst`` for Haply-based robot teleoperation. |
|
|
|
|
| 0.48.0 (2025-11-03) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Detected contacts are reported with the threshold of 0.0 (instead of 1.0). This increases the sensitivity of contact |
| detection. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Removed passing the boolean flag to :meth:`isaaclab.sim.schemas.activate_contact_sensors` when activating contact |
| sensors. This was incorrectly modifying the threshold attribute to 1.0 when contact sensors were activated. |
|
|
|
|
| 0.47.11 (2025-11-03) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the bug where effort limits were being overridden in :class:`~isaaclab.actuators.ActuatorBase` when the ``effort_limit`` parameter is set to None. |
| * Corrected the unit tests for three effort limit scenarios with proper assertions |
|
|
|
|
| 0.47.10 (2025-11-06) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added ``num_rerenders_on_reset`` parameter to ManagerBasedEnvCfg and DirectRLEnvCfg to configure the number |
| of render steps to perform after reset. This enables more control over DLSS rendering behavior after reset. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Added deprecation warning for ``rerender_on_reset`` parameter in ManagerBasedEnv and DirectRLEnv. |
|
|
|
|
| 0.47.9 (2025-11-05) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Fixed termination term bookkeeping in :class:`~isaaclab.managers.TerminationManager`: |
| per-step termination and last-episode termination bookkeeping are now separated. |
| last-episode dones are now updated once per step from all term outputs, avoiding per-term overwrites |
| and ensuring Episode_Termination metrics reflect the actual triggering terms. |
|
|
|
|
| 0.47.8 (2025-11-06) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added parameter :attr:`~isaaclab.terrains.TerrainImporterCfg.use_terrain_origins` to allow generated sub terrains with grid origins. |
|
|
|
|
| 0.47.7 (2025-10-31) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed Pink IK controller qpsolver from osqp to daqp. |
| * Changed Null Space matrix computation in Pink IK's Null Space Posture Task to a faster matrix pseudo inverse computation. |
|
|
|
|
| 0.47.6 (2025-11-01) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed an issue in recurrent policy evaluation in RSL-RL framework where the recurrent state was not reset after an episode termination. |
|
|
|
|
| 0.47.5 (2025-10-30) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Added docstrings notes to clarify the friction coefficient modeling in Isaac Sim 4.5 and 5.0. |
|
|
|
|
| 0.47.4 (2025-10-30) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Enhanced :meth:`~isaaclab.managers.RecorderManager.export_episodes` method to support customizable sequence of demo IDs: |
|
|
| - Added argument ``demo_ids`` to :meth:`~isaaclab.managers.RecorderManager.export_episodes` to accept a sequence of integers |
| for custom episode identifiers. |
|
|
| * Enhanced :meth:`~isaaclab.utils.datasets.HDF5DatasetFileHandler.write_episode` method to support customizable episode identifiers: |
|
|
| - Added argument ``demo_id`` to :meth:`~isaaclab.utils.datasets.HDF5DatasetFileHandler.write_episode` to accept a custom integer |
| for episode identifier. |
|
|
|
|
| 0.47.3 (2025-10-22) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the data type conversion in :class:`~isaaclab.sensors.tiled_camera.TiledCamera` to |
| support the correct data type when converting from numpy arrays to warp arrays on the CPU. |
|
|
|
|
| 0.47.2 (2025-10-17) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :meth:`~isaaclab.sim.utils.resolve_prim_pose` to resolve the pose of a prim with respect to another prim. |
| * Added :meth:`~isaaclab.sim.utils.resolve_prim_scale` to resolve the scale of a prim in the world frame. |
|
|
|
|
| 0.47.1 (2025-10-17) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Suppressed yourdfpy warnings when trying to load meshes from hand urdfs in dex_retargeting. These mesh files are not |
| used by dex_retargeting, but the parser is incorrectly configured by dex_retargeting to load them anyway which results |
| in warning spam. |
|
|
|
|
| 0.47.0 (2025-10-14) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Removed pickle utilities for saving and loading configurations as pickle contains security vulnerabilities in its APIs. |
| Configurations can continue to be saved and loaded through yaml. |
|
|
|
|
| 0.46.11 (2025-10-15) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added support for modifying the :attr:`/rtx/domeLight/upperLowerStrategy` Sim rendering setting. |
|
|
|
|
| 0.46.10 (2025-10-13) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added ARM64 architecture for pink ik and dex-retargetting setup installations. |
|
|
|
|
| 0.46.9 (2025-10-09) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :meth:`~isaaclab.devices.keyboard.se3_keyboard.Se3Keyboard.__del__` to use the correct method name |
| for unsubscribing from keyboard events "unsubscribe_to_keyboard_events" instead of "unsubscribe_from_keyboard_events". |
|
|
|
|
| 0.46.8 (2025-10-02) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed scaling factor for retargeting of GR1T2 hand. |
|
|
|
|
| 0.46.7 (2025-09-30) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed finger joint indices with manus extension. |
|
|
|
|
| 0.46.6 (2025-09-30) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added argument :attr:`traverse_instance_prims` to :meth:`~isaaclab.sim.utils.get_all_matching_child_prims` and |
| :meth:`~isaaclab.sim.utils.get_first_matching_child_prim` to control whether to traverse instance prims |
| during the traversal. Earlier, instanced prims were skipped since :meth:`Usd.Prim.GetChildren` did not return |
| instanced prims, which is now fixed. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Made parsing of instanced prims in :meth:`~isaaclab.sim.utils.get_all_matching_child_prims` and |
| :meth:`~isaaclab.sim.utils.get_first_matching_child_prim` as the default behavior. |
| * Added parsing of instanced prims in :meth:`~isaaclab.sim.utils.make_uninstanceable` to make all prims uninstanceable. |
|
|
|
|
| 0.46.5 (2025-10-14) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Exposed parameter :attr:`~isaaclab.sim.spawners.PhysxCfg.solve_articulation_contact_last` |
| to configure USD attribute ``physxscene:solveArticulationContactLast``. This parameter may |
| help improve solver stability with grippers, which previously required reducing simulation time-steps. |
| :class:`~isaaclab.sim.spawners.PhysxCfg` |
|
|
|
|
| 0.46.4 (2025-10-06) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Fixed :attr:`~isaaclab.sim.simulation_context.SimulationContext.device` to return the device from the configuration. |
| Previously, it was returning the device from the simulation manager, which was causing a performance overhead. |
|
|
|
|
| 0.46.3 (2025-09-17) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Modified setter to support for viscous and dynamic joint friction coefficients in articulation based on IsaacSim 5.0. |
| * Added randomization of viscous and dynamic joint friction coefficients in event term. |
|
|
|
|
| 0.46.2 (2025-09-13) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Fixed missing actuator indices in :meth:`~isaaclab.envs.mdp.events.randomize_actuator_gains` |
|
|
|
|
| 0.46.1 (2025-09-10) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Moved IO descriptors output directory to a subfolder under the task log directory. |
|
|
|
|
| 0.46.0 (2025-09-06) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added argument :attr:`traverse_instance_prims` to :meth:`~isaaclab.sim.utils.get_all_matching_child_prims` and |
| :meth:`~isaaclab.sim.utils.get_first_matching_child_prim` to control whether to traverse instance prims |
| during the traversal. Earlier, instanced prims were skipped since :meth:`Usd.Prim.GetChildren` did not return |
| instanced prims, which is now fixed. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Made parsing of instanced prims in :meth:`~isaaclab.sim.utils.get_all_matching_child_prims` and |
| :meth:`~isaaclab.sim.utils.get_first_matching_child_prim` as the default behavior. |
| * Added parsing of instanced prims in :meth:`~isaaclab.sim.utils.make_uninstanceable` to make all prims uninstanceable. |
|
|
|
|
| 0.45.16 (2025-09-06) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added teleoperation environments for Unitree G1. This includes an environment with lower body fixed and upper body |
| controlled by IK, and an environment with the lower body controlled by a policy and the upper body controlled by IK. |
|
|
|
|
| 0.45.15 (2025-09-05) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added action terms for using RMPFlow in Manager-Based environments. |
|
|
|
|
| 0.45.14 (2025-09-08) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab.ui.xr_widgets.TeleopVisualizationManager` and :class:`~isaaclab.ui.xr_widgets.XRVisualization` |
| classes to provide real-time visualization of teleoperation and inverse kinematics status in XR environments. |
|
|
|
|
| 0.45.13 (2025-09-08) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab.devices.openxr.manus_vive.ManusVive` to support teleoperation with Manus gloves and Vive trackers. |
|
|
|
|
| 0.45.12 (2025-09-05) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab.envs.mdp.actions.SurfaceGripperBinaryAction` for supporting surface grippers in Manager-Based workflows. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Added AssetBase inheritance for :class:`~isaaclab.assets.surface_gripper.SurfaceGripper`. |
|
|
|
|
| 0.45.11 (2025-09-04) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixes a high memory usage and perf slowdown issue in episode data by removing the use of torch.cat when appending to the episode data |
| at each timestep. The use of torch.cat was causing the episode data to be copied at each timestep, which causes high memory usage and |
| significant performance slowdown when recording longer episode data. |
| * Patches the configclass to allow validate dict with key is not a string. |
|
|
| Added |
| ^^^^^ |
|
|
| * Added optional episode metadata (ep_meta) to be stored in the HDF5 data attributes. |
| * Added option to record data pre-physics step. |
| * Added joint_target data to episode data. Joint target data can be optionally recorded by the user and replayed to improve |
| determinism of replay. |
|
|
|
|
| 0.45.10 (2025-09-02) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed regression in reach task configuration where the gripper command was being returned. |
| * Added :attr:`~isaaclab.devices.Se3GamepadCfg.gripper_term` to :class:`~isaaclab.devices.Se3GamepadCfg` |
| to control whether the gamepad device should return a gripper command. |
| * Added :attr:`~isaaclab.devices.Se3SpaceMouseCfg.gripper_term` to :class:`~isaaclab.devices.Se3SpaceMouseCfg` |
| to control whether the spacemouse device should return a gripper command. |
| * Added :attr:`~isaaclab.devices.Se3KeyboardCfg.gripper_term` to :class:`~isaaclab.devices.Se3KeyboardCfg` |
| to control whether the keyboard device should return a gripper command. |
|
|
|
|
| 0.45.9 (2025-08-27) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed removing import of pink_ik controller from isaaclab.controllers which is causing pinocchio import error. |
|
|
|
|
| 0.45.8 (2025-07-25) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Created :attr:`~isaaclab.controllers.pink_ik.PinkIKControllerCfg.target_eef_link_names` to :class:`~isaaclab.controllers.pink_ik.PinkIKControllerCfg` |
| to specify the target end-effector link names for the pink inverse kinematics controller. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Updated pink inverse kinematics controller configuration for the following tasks (Isaac-PickPlace-GR1T2, Isaac-NutPour-GR1T2, Isaac-ExhaustPipe-GR1T2) |
| to increase end-effector tracking accuracy and speed. Also added a null-space regularizer that enables turning on of waist degrees-of-freedom. |
| * Improved the test_pink_ik script to more comprehensive test on controller accuracy. Also, migrated to use pytest. With the current IK controller |
| improvements, our unit tests pass position and orientation accuracy test within **(1 mm, 1 degree)**. Previously, the position accuracy tolerances |
| were set to **(30 mm, 10 degrees)**. |
| * Included a new config parameter :attr:`fail_on_ik_error` to :class:`~isaaclab.controllers.pink_ik.PinkIKControllerCfg` |
| to control whether the IK controller raise an exception if robot joint limits are exceeded. In the case of an exception, the controller will hold the |
| last joint position. This adds to stability of the controller and avoids operator experiencing what is perceived as sudden large delays in robot control. |
|
|
|
|
| 0.45.7 (2025-08-21) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added periodic logging when checking if a USD path exists on a Nucleus server |
| to improve user experience when the checks takes a while. |
|
|
|
|
| 0.45.6 (2025-08-22) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :meth:`~isaaclab.envs.mdp.events.randomize_rigid_body_com` to broadcasts the environment ids. |
|
|
|
|
| 0.45.5 (2025-08-21) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :meth:`~isaaclab.assets.Articulation.write_joint_friction_coefficient_to_sim` to set the friction coefficients in the simulation. |
| * Fixed :meth:`~isaaclab.assets.Articulation.write_joint_dynamic_friction_coefficient_to_sim` to set the friction coefficients in the simulation.* Added :meth:`~isaaclab.envs.ManagerBasedEnvCfg.export_io_descriptors` to toggle the export of the IO descriptors. |
| * Fixed :meth:`~isaaclab.assets.Articulation.write_joint_viscous_friction_coefficient_to_sim` to set the friction coefficients in the simulation. |
|
|
|
|
|
|
| 0.45.4 (2025-08-21) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added unit tests for :class:`~isaaclab.sensor.sensor_base` |
|
|
|
|
| 0.45.3 (2025-08-20) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :meth:`isaaclab.envs.mdp.terminations.joint_effort_out_of_limit` so that it correctly reports whether a joint |
| effort limit has been violated. Previously, the implementation marked a violation when the applied and computed |
| torques were equal; in fact, equality should indicate no violation, and vice versa. |
|
|
|
|
| 0.45.2 (2025-08-18) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :meth:`~isaaclab.managers.ObservationManager.get_IO_descriptors` to export the IO descriptors for the observation manager. |
| * Added :meth:`~isaaclab.envs.ManagerBasedEnvCfg.io_descriptors_output_dir` to configure the directory to export the IO descriptors to. |
| * Added :meth:`~isaaclab.envs.ManagerBasedEnvCfg.export_io_descriptors` to toggle the export of the IO descriptors. |
| * Added the option to export the Observation and Action of the managed environments into a YAML file. This can be used to more easily |
| deploy policies trained in Isaac Lab. |
|
|
|
|
| 0.45.1 (2025-08-16) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added validations for scale-based randomization ranges across mass, actuator, joint, and tendon parameters. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Refactored randomization functions into classes with initialization-time checks to avoid runtime overhead. |
|
|
|
|
| 0.45.0 (2025-08-07) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :attr:`~isaaclab.sensors.contact_sensor.ContactSensorCfg.track_contact_points` to toggle tracking of contact |
| point locations between sensor bodies and filtered bodies. |
| * Added :attr:`~isaaclab.sensors.contact_sensor.ContactSensorCfg.max_contact_data_per_prim` to configure the maximum |
| amount of contacts per sensor body. |
| * Added :attr:`~isaaclab.sensors.contact_sensor.ContactSensorData.contact_pos_w` data field for tracking contact point |
| locations. |
|
|
|
|
| 0.44.12 (2025-08-12) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed IndexError in :meth:`isaaclab.envs.mdp.events.reset_joints_by_scale`, |
| :meth:`isaaclab.envs.mdp.events.reset_joints_by_offsets` by adding dimension to env_ids when indexing. |
|
|
|
|
| 0.44.11 (2025-08-11) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed rendering preset mode when an experience CLI arg is provided. |
|
|
|
|
| 0.44.10 (2025-08-06) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the old termination manager in :class:`~isaaclab.managers.TerminationManager` term_done logging that |
| logs the instantaneous term done count at reset. This let to inaccurate aggregation of termination count, |
| obscuring the what really happening during the training. Instead we log the episodic term done. |
|
|
|
|
| 0.44.9 (2025-07-30) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added ``from __future__ import annotations`` to manager_based_rl_mimic_env.py to fix Sphinx |
| doc warnings for IsaacLab Mimic docs. |
|
|
|
|
| 0.44.8 (2025-07-30) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Improved handling of deprecated flag :attr:`~isaaclab.sensors.RayCasterCfg.attach_yaw_only`. |
| Previously, the flag was only handled if it was set to True. This led to a bug where the yaw was not accounted for |
| when the flag was set to False. |
| * Fixed the handling of interval-based events inside :class:`~isaaclab.managers.EventManager` to properly handle |
| their resets. Previously, only class-based events were properly handled. |
|
|
|
|
| 0.44.7 (2025-07-30) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added a new argument ``is_global`` to :meth:`~isaaclab.assets.Articulation.set_external_force_and_torque`, |
| :meth:`~isaaclab.assets.RigidObject.set_external_force_and_torque`, and |
| :meth:`~isaaclab.assets.RigidObjectCollection.set_external_force_and_torque` allowing to set external wrenches |
| in the global frame directly from the method call rather than having to set the frame in the configuration. |
|
|
| Removed |
| ^^^^^^^^ |
|
|
| * Removed :attr:`xxx_external_wrench_frame` flag from asset configuration classes in favor of direct argument |
| passed to the :meth:`set_external_force_and_torque` function. |
|
|
|
|
| 0.44.6 (2025-07-28) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Tweak default behavior for rendering preset modes. |
|
|
|
|
| 0.44.5 (2025-07-28) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :meth:`isaaclab.scene.reset_to` to properly accept None as valid argument. |
| * Added tests to verify that argument types. |
|
|
|
|
| 0.44.4 (2025-07-22) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added safe callbacks for stage in memory attaching. |
| * Remove on prim deletion callback workaround |
|
|
|
|
| 0.44.3 (2025-07-21) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed rendering preset mode regression. |
|
|
|
|
| 0.44.2 (2025-07-22) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Updated teleop scripts to print to console vs omni log. |
|
|
|
|
| 0.44.1 (2025-07-17) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Updated test_pink_ik.py test case to pytest format. |
|
|
|
|
| 0.44.0 (2025-07-21) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed the way clipping is handled for :class:`~isaaclab.actuator.DCMotor` for torque-speed points in when in |
| negative power regions. |
|
|
| Added |
| ^^^^^ |
|
|
| * Added unit tests for :class:`~isaaclab.actuator.ImplicitActuator`, :class:`~isaaclab.actuator.IdealPDActuator`, |
| and :class:`~isaaclab.actuator.DCMotor` independent of :class:`~isaaclab.assets.Articulation` |
|
|
|
|
| 0.43.0 (2025-07-21) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Updates torch version to 2.7.0 and torchvision to 0.22.0. |
| Some dependencies now require torch>=2.6, and given the vulnerabilities in Torch 2.5.1, |
| we are updating the torch version to 2.7.0 to also include Blackwell support. Since Isaac Sim 4.5 has not updated the |
| torch version, we are now overwriting the torch installation step in isaaclab.sh when running ``./isaaclab.sh -i``. |
|
|
|
|
| 0.42.26 (2025-06-29) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added MangerBasedRLEnv support for composite gym observation spaces. |
| * A test for the composite gym observation spaces in ManagerBasedRLEnv is added to ensure that the observation spaces |
| are correctly configured base on the clip. |
|
|
|
|
| 0.42.25 (2025-07-11) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :attr:`~isaaclab.sensors.ContactSensorData.force_matrix_w_history` that tracks the history of the filtered |
| contact forces in the world frame. |
|
|
|
|
| 0.42.24 (2025-06-25) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added new curriculum mdp :func:`~isaaclab.envs.mdp.curriculums.modify_env_param` and |
| :func:`~isaaclab.envs.mdp.curriculums.modify_env_param` that enables flexible changes to any configurations in the |
| env instance |
|
|
|
|
| 0.42.23 (2025-07-11) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :meth:`isaaclab.envs.mdp.events.reset_joints_by_scale`, :meth:`isaaclab.envs.mdp.events.reset_joints_by_offsets` |
| restricting the resetting joint indices be that user defined joint indices. |
|
|
|
|
| 0.42.22 (2025-07-11) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed missing attribute in :class:`~isaaclab.sensors.ray_caster.RayCasterCamera` class and its reset method when no |
| env_ids are passed. |
|
|
|
|
| 0.42.21 (2025-07-09) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added input param ``update_history`` to :meth:`~isaaclab.managers.ObservationManager.compute` |
| to control whether the history buffer should be updated. |
| * Added unit test for :class:`~isaaclab.envs.ManagerBasedEnv`. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :class:`~isaaclab.envs.ManagerBasedEnv` and :class:`~isaaclab.envs.ManagerBasedRLEnv` to not update the history |
| buffer on recording. |
|
|
|
|
| 0.42.20 (2025-07-10) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added unit tests for multiple math functions: |
| :func:`~isaaclab.utils.math.scale_transform`. |
| :func:`~isaaclab.utils.math.unscale_transform`. |
| :func:`~isaaclab.utils.math.saturate`. |
| :func:`~isaaclab.utils.math.normalize`. |
| :func:`~isaaclab.utils.math.copysign`. |
| :func:`~isaaclab.utils.math.convert_quat`. |
| :func:`~isaaclab.utils.math.quat_conjugate`. |
| :func:`~isaaclab.utils.math.quat_from_euler_xyz`. |
| :func:`~isaaclab.utils.math.quat_from_matrix`. |
| :func:`~isaaclab.utils.math.euler_xyz_from_quat`. |
| :func:`~isaaclab.utils.math.matrix_from_euler`. |
| :func:`~isaaclab.utils.math.quat_from_angle_axis`. |
| :func:`~isaaclab.utils.math.axis_angle_from_quat`. |
| :func:`~isaaclab.utils.math.skew_symmetric_matrix`. |
| :func:`~isaaclab.utils.math.combine_transform`. |
| :func:`~isaaclab.utils.math.subtract_transform`. |
| :func:`~isaaclab.utils.math.compute_pose_error`. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed the implementation of :func:`~isaaclab.utils.math.copysign` to better reflect the documented functionality. |
|
|
|
|
| 0.42.19 (2025-07-09) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Added clone_in_fabric config flag to :class:`~isaaclab.scene.interactive_scene_cfg.InteractiveSceneCfg` |
| * Enable clone_in_fabric for envs which work with limited benchmark_non_rl.py script |
|
|
|
|
| 0.42.18 (2025-07-07) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed texture and color randomization to use new replicator functional APIs. |
|
|
|
|
| 0.42.17 (2025-07-08) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed hanging quat_rotate calls to point to quat_apply in :class:`~isaaclab.assets.articulation.ArticulationData` and |
| :class:`~isaaclab.assets.articulation.RigidObjectCollectionData` |
|
|
|
|
| 0.42.16 (2025-07-08) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added ability to set platform height independent of object height for trimesh terrains. |
|
|
|
|
| 0.42.15 (2025-07-01) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :attr:`abs_height_noise` and :attr:`rel_height_noise` to give minimum and maximum absolute and relative noise to |
| :class:`isaaclab.terrrains.trimesh.MeshRepeatedObjectsTerrainCfg` |
| * Added deprecation warnings to the existing :attr:`max_height_noise` but still functions. |
|
|
|
|
| 0.42.14 (2025-07-03) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed unittest tests that are floating inside pytests for articulation and rendering |
|
|
|
|
| 0.42.13 (2025-07-07) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Updated gymnasium to v1.2.0. This update includes fixes for a memory leak that appears when recording |
| videos with the ``--video`` flag. |
|
|
|
|
| 0.42.12 (2025-06-27) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added unit test for :func:`~isaaclab.utils.math.quat_inv`. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the implementation mistake in :func:`~isaaclab.utils.math.quat_inv`. |
|
|
|
|
| 0.42.11 (2025-06-25) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :func:`~isaaclab.utils.dict.update_class_from_dict` preventing setting flat Iterables with different lengths. |
|
|
|
|
| 0.42.10 (2025-06-25) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added ``sample_bias_per_component`` flag to :class:`~isaaclab.utils.noise.noise_model.NoiseModelWithAdditiveBias` |
| to enable independent per-component bias sampling, which is now the default behavior. If set to False, the previous |
| behavior of sharing the same bias value across all components is retained. |
|
|
|
|
| 0.42.9 (2025-06-18) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed data inconsistency between read_body, read_link, read_com when write_body, write_com, write_joint performed, in |
| :class:`~isaaclab.assets.Articulation`, :class:`~isaaclab.assets.RigidObject`, and |
| :class:`~isaaclab.assets.RigidObjectCollection` |
| * added pytest that check against these data consistencies |
|
|
|
|
| 0.42.8 (2025-06-24) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * :class:`~isaaclab.utils.noise.NoiseModel` support for manager-based workflows. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Renamed :func:`~isaaclab.utils.noise.NoiseModel.apply` method to :func:`~isaaclab.utils.noise.NoiseModel.__call__`. |
|
|
|
|
| 0.42.7 (2025-06-12) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed potential issues in :func:`~isaaclab.envs.mdp.events.randomize_visual_texture_material` related to handling |
| visual prims during texture randomization. |
|
|
|
|
| 0.42.6 (2025-06-11) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Remove deprecated usage of quat_rotate from articulation data class and replace with quat_apply. |
|
|
|
|
| 0.42.5 (2025-05-22) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed collision filtering logic for CPU simulation. The automatic collision filtering feature |
| currently has limitations for CPU simulation. Collision filtering needs to be manually enabled when using |
| CPU simulation. |
|
|
|
|
| 0.42.4 (2025-06-03) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Removes the hardcoding to :class:`~isaaclab.terrains.terrain_generator.TerrainGenerator` in |
| :class:`~isaaclab.terrains.terrain_generator.TerrainImporter` and instead the ``class_type`` is used which is |
| passed in the ``TerrainGeneratorCfg``. |
| |
| |
| 0.42.3 (2025-03-20) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Made separate data buffers for poses and velocities for the :class:`~isaaclab.assets.Articulation`, |
| :class:`~isaaclab.assets.RigidObject`, and :class:`~isaaclab.assets.RigidObjectCollection` classes. |
| Previously, the two data buffers were stored together in a single buffer requiring an additional |
| concatenation operation when accessing the data. |
| * Cleaned up ordering of members inside the data classes for the assets to make them easier |
| to comprehend. This reduced the code duplication within the class and made the class |
| more readable. |
|
|
|
|
| 0.42.2 (2025-05-31) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Updated gymnasium to >= 1.0 |
| * Added support for specifying module:task_name as task name to avoid module import for ``gym.make`` |
|
|
|
|
| 0.42.1 (2025-06-02) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added time observation functions to ~isaaclab.envs.mdp.observations module, |
| :func:`~isaaclab.envs.mdp.observations.current_time_s` and :func:`~isaaclab.envs.mdp.observations.remaining_time_s`. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Moved initialization of ``episode_length_buf`` outside of :meth:`load_managers()` of |
| :class:`~isaaclab.envs.ManagerBasedRLEnv` to make it available for mdp functions. |
|
|
|
|
| 0.42.0 (2025-06-02) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added support for stage in memory and cloning in fabric. This will help improve performance for scene setup and lower |
| overall startup time. |
|
|
|
|
| 0.41.0 (2025-05-19) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added simulation schemas for spatial tendons. These can be configured for assets imported |
| from file formats. |
| * Added support for spatial tendons. |
|
|
|
|
| 0.40.14 (2025-05-29) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added deprecation warning for :meth:`~isaaclab.utils.math.quat_rotate` and |
| :meth:`~isaaclab.utils.math.quat_rotate_inverse` |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed all calls to :meth:`~isaaclab.utils.math.quat_rotate` and :meth:`~isaaclab.utils.math.quat_rotate_inverse` to |
| :meth:`~isaaclab.utils.math.quat_apply` and :meth:`~isaaclab.utils.math.quat_apply_inverse` for speed. |
|
|
|
|
| 0.40.13 (2025-05-19) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Raising exceptions in step, render and reset if they occurred inside the initialization callbacks |
| of assets and sensors.used from the experience files and the double definition is removed. |
|
|
|
|
| 0.40.12 (2025-01-30) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added method :meth:`omni.isaac.lab.assets.AssetBase.set_visibility` to set the visibility of the asset |
| in the simulation. |
|
|
|
|
| 0.40.11 (2025-05-16) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added support for concatenation of observations along different dimensions in |
| :class:`~isaaclab.managers.observation_manager.ObservationManager`. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Updated the :class:`~isaaclab.managers.command_manager.CommandManager` to update the command counter after the |
| resampling call. |
|
|
|
|
| 0.40.10 (2025-05-16) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed penetration issue for negative border height in :class:`~isaaclab.terrains.terrain_generator.TerrainGeneratorCfg`. |
|
|
|
|
| 0.40.9 (2025-05-20) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed the implementation of :meth:`~isaaclab.utils.math.quat_box_minus` |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :meth:`~isaaclab.utils.math.quat_box_plus` |
| * Added :meth:`~isaaclab.utils.math.rigid_body_twist_transform` |
|
|
|
|
| 0.40.8 (2025-05-15) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :meth:`omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices` preventing setting of unused USD |
| camera parameters. |
| * Fixed :meth:`omni.isaac.lab.sensors.camera.camera.Camera._update_intrinsic_matrices` preventing unused USD camera |
| parameters from being used to calculate :attr:`omni.isaac.lab.sensors.camera.CameraData.intrinsic_matrices` |
| * Fixed :meth:`omni.isaac.lab.spawners.sensors.sensors_cfg.PinholeCameraCfg.from_intrinsic_matrix` preventing setting of |
| unused USD camera parameters. |
|
|
|
|
| 0.40.7 (2025-05-14) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| * Added a new attribute :attr:`articulation_root_prim_path` to the :class:`~isaaclab.assets.ArticulationCfg` class |
| to allow explicitly specifying the prim path of the articulation root. |
|
|
|
|
| 0.40.6 (2025-05-14) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Enabled external cameras in XR. |
|
|
|
|
| 0.40.5 (2025-05-23) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added feature for animation recording through baking physics operations into OVD files. |
|
|
|
|
| 0.40.4 (2025-05-17) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed livestreaming options to use ``LIVESTREAM=1`` for WebRTC over public networks and ``LIVESTREAM=2`` for WebRTC over private networks. |
|
|
|
|
| 0.40.3 (2025-05-20) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Made modifications to :func:`isaaclab.envs.mdp.image` to handle image normalization for normal maps. |
|
|
|
|
| 0.40.2 (2025-05-14) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Refactored remove_camera_configs to be a function that can be used in the record_demos and teleop scripts. |
|
|
|
|
| 0.40.1 (2025-05-14) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed spacemouse device add callback function to work with record_demos/teleop_se3_agent scripts. |
|
|
|
|
| 0.40.0 (2025-05-03) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added check in RecorderManager to ensure that the success indicator is only set if the termination manager is present. |
| * Added semantic tags in :func:`isaaclab.sim.spawners.from_files.spawn_ground_plane`. |
| This allows for :attr:`semantic_segmentation_mapping` to be used when using the ground plane spawner. |
|
|
|
|
| 0.39.0 (2025-04-01) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the :meth:`~isaaclab.env.mdp.observations.joint_effort` |
|
|
|
|
| 0.38.0 (2025-04-01) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :meth:`~isaaclab.envs.mdp.observations.body_pose_w` |
| * Added :meth:`~isaaclab.envs.mdp.observations.body_projected_gravity_b` |
|
|
|
|
| 0.37.5 (2025-05-12) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added a new teleop configuration class :class:`~isaaclab.devices.DevicesCfg` to support multiple teleoperation |
| devices declared in the environment configuration file. |
| * Implemented a factory function to create teleoperation devices based on the device configuration. |
|
|
|
|
| 0.37.4 (2025-05-12) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Remove isaacsim.xr.openxr from openxr experience file. |
| * Use Performance AR profile for XR rendering. |
|
|
|
|
| 0.37.3 (2025-05-08) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Updated PINK task space action to record processed actions. |
| * Added new recorder term for recording post step processed actions. |
|
|
|
|
| 0.37.2 (2025-05-06) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Migrated OpenXR device to use the new OpenXR handtracking API from omni.kit.xr.core. |
|
|
|
|
| 0.37.1 (2025-05-05) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Removed xr rendering mode. |
|
|
|
|
| 0.37.0 (2025-04-24) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Updated pytorch to latest 2.7.0 with cuda 12.8 for Blackwell support. |
| Torch is now installed as part of the isaaclab.sh/bat scripts to ensure the correct version is installed. |
| * Removed :attr:`~isaaclab.sim.spawners.PhysicsMaterialCfg.improve_patch_friction` as it has been deprecated and removed from the simulation. |
| The simulation will always behave as if this attribute is set to true. |
|
|
|
|
| 0.36.23 (2025-04-24) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed ``return_latest_camera_pose`` option in :class:`~isaaclab.sensors.TiledCameraCfg` from not being used to the |
| argument ``update_latest_camera_pose`` in :class:`~isaaclab.sensors.CameraCfg` with application in both |
| :class:`~isaaclab.sensors.Camera` and :class:`~isaaclab.sensors.TiledCamera`. |
|
|
|
|
| 0.36.22 (2025-04-23) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^^^ |
|
|
| * Adds correct type check for ManagerTermBase class in event_manager.py. |
|
|
|
|
| 0.36.21 (2025-04-15) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Removed direct call of qpsovlers library from pink_ik controller and changed solver from quadprog to osqp. |
|
|
|
|
| 0.36.20 (2025-04-09) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Added call to set cuda device after each ``app.update()`` call in :class:`~isaaclab.sim.SimulationContext`. |
| This is now required for multi-GPU workflows because some underlying logic in ``app.update()`` is modifying |
| the cuda device, which results in NCCL errors on distributed setups. |
|
|
|
|
| 0.36.19 (2025-04-01) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Added check in RecorderManager to ensure that the success indicator is only set if the termination manager is present. |
|
|
|
|
| 0.36.18 (2025-03-26) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added a dynamic text instruction widget that provides real-time feedback |
| on the number of successful recordings during demonstration sessions. |
|
|
|
|
| 0.36.17 (2025-03-26) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Added override in AppLauncher to apply patch for ``pxr.Gf.Matrix4d`` to work with Pinocchio 2.7.0. |
|
|
|
|
| 0.36.16 (2025-03-25) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Modified rendering mode default behavior when the launcher arg :attr:`enable_cameras` is not set. |
|
|
|
|
| 0.36.15 (2025-03-25) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added near plane distance configuration for XR device. |
|
|
|
|
| 0.36.14 (2025-03-24) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed default render settings in :class:`~isaaclab.sim.SimulationCfg` to None, which means that |
| the default settings will be used from the experience files and the double definition is removed. |
|
|
|
|
| 0.36.13 (2025-03-24) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added headpose support to OpenXRDevice. |
|
|
|
|
| 0.36.12 (2025-03-19) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added parameter to show warning if Pink IK solver fails to find a solution. |
|
|
|
|
| 0.36.11 (2025-03-19) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed default behavior of :class:`~isaaclab.actuators.ImplicitActuator` if no :attr:`effort_limits_sim` or |
| :attr:`effort_limit` is set. |
|
|
|
|
| 0.36.10 (2025-03-17) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * App launcher to update the cli arguments if conditional defaults are used. |
|
|
|
|
| 0.36.9 (2025-03-18) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^^^ |
|
|
| * Xr rendering mode, which is default when xr is used. |
|
|
|
|
| 0.36.8 (2025-03-17) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Removed ``scalar_first`` from scipy function usage to support older versions of scipy. |
|
|
|
|
| 0.36.7 (2025-03-14) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Changed the import structure to only import ``pinocchio`` when ``pink-ik`` or ``dex-retargeting`` is being used. |
| This also solves for the problem that ``pink-ik`` and ``dex-retargeting`` are not supported in windows. |
| * Removed ``isaacsim.robot_motion.lula`` and ``isaacsim.robot_motion.motion_generation`` from the default loaded Isaac Sim extensions. |
| * Moved pink ik action config to a separate file. |
|
|
|
|
| 0.36.6 (2025-03-13) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Worked around an issue where the render mode is set to ``"RayTracedLighting"`` instead of ``"RaytracedLighting"`` by |
| some dependencies. |
|
|
|
|
| 0.36.5 (2025-03-11) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^^^ |
|
|
| * Added 3 rendering mode presets: performance, balanced, and quality. |
| * Preset settings are stored in ``apps/rendering_modes``. |
| * Presets can be set with cli arg ``--rendering_mode`` or with :class:`RenderCfg`. |
| * Preset rendering settings can be overwritten with :class:`RenderCfg`. |
| * :class:`RenderCfg` supports all native RTX carb settings. |
|
|
| Changed |
| ^^^^^^^ |
| * :class:`RenderCfg` default settings are unset. |
|
|
|
|
| 0.36.4 (2025-03-11) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Updated the OpenXR kit file ``isaaclab.python.xr.openxr.kit`` to inherit from ``isaaclab.python.kit`` instead of |
| ``isaaclab.python.rendering.kit`` which is not appropriate. |
|
|
|
|
| 0.36.3 (2025-03-10) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Added the PinkIKController controller class that interfaces Isaac Lab with the Pink differential inverse kinematics solver |
| to allow control of multiple links in a robot using a single solver. |
|
|
|
|
| 0.36.2 (2025-03-07) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Allowed users to exit on 1 Ctrl+C instead of consecutive 2 key strokes. |
| * Allowed physics reset during simulation through :meth:`reset` in :class:`~isaaclab.sim.SimulationContext`. |
|
|
|
|
| 0.36.1 (2025-03-10) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :attr:`semantic_segmentation_mapping` for camera configs to allow specifying colors for semantics. |
|
|
|
|
| 0.36.0 (2025-03-07) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed the storage of tri-meshes and warp meshes inside the :class:`~isaaclab.terrains.TerrainImporter` class. |
| Initially these meshes were added for ray-casting purposes. However, since the ray-caster reads the terrains |
| directly from the USD files, these meshes are no longer needed. |
| * Deprecated the :attr:`warp_meshes` and :attr:`meshes` attributes from the |
| :class:`~isaaclab.terrains.TerrainImporter` class. These attributes now return an empty dictionary |
| with a deprecation warning. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed the prim path of the "plane" terrain inside the :class:`~isaaclab.terrains.TerrainImporter` class. |
| Earlier, the terrain was imported directly as the importer's prim path. Now, the terrain is imported as |
| ``{importer_prim_path}/{name}``, where ``name`` is the name of the terrain. |
|
|
|
|
| 0.35.0 (2025-03-07) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| * Improved documentation of various attributes in the :class:`~isaaclab.assets.ArticulationData` class to make |
| it clearer which values represent the simulation and internal class values. In the new convention, |
| the ``default_xxx`` attributes are whatever the user configured from their configuration of the articulation |
| class, while the ``xxx`` attributes are the values from the simulation. |
| * Updated the soft joint position limits inside the :meth:`~isaaclab.assets.Articulation.write_joint_pos_limits_to_sim` |
| method to use the new limits passed to the function. |
| * Added setting of :attr:`~isaaclab.assets.ArticulationData.default_joint_armature` and |
| :attr:`~isaaclab.assets.ArticulationData.default_joint_friction` attributes in the |
| :class:`~isaaclab.assets.Articulation` class based on user configuration. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Removed unnecessary buffer creation operations inside the :class:`~isaaclab.assets.Articulation` class. |
| Earlier, the class initialized a variety of buffer data with zeros and in the next function assigned |
| them the value from PhysX. This made the code bulkier and more complex for no reason. |
| * Renamed parameters for a consistent nomenclature. These changes are backwards compatible with previous releases |
| with a deprecation warning for the old names. |
|
|
| * ``joint_velocity_limits`` → ``joint_vel_limits`` (to match attribute ``joint_vel`` and ``joint_vel_limits``) |
| * ``joint_limits`` → ``joint_pos_limits`` (to match attribute ``joint_pos`` and ``soft_joint_pos_limits``) |
| * ``default_joint_limits`` → ``default_joint_pos_limits`` |
| * ``write_joint_limits_to_sim`` → ``write_joint_position_limit_to_sim`` |
| * ``joint_friction`` → ``joint_friction_coeff`` |
| * ``default_joint_friction`` → ``default_joint_friction_coeff`` |
| * ``write_joint_friction_to_sim`` → ``write_joint_friction_coefficient_to_sim`` |
| * ``fixed_tendon_limit`` → ``fixed_tendon_pos_limits`` |
| * ``default_fixed_tendon_limit`` → ``default_fixed_tendon_pos_limits`` |
| * ``set_fixed_tendon_limit`` → ``set_fixed_tendon_position_limit`` |
|
|
|
|
| 0.34.13 (2025-03-06) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added a new event mode called "prestartup", which gets called right after the scene design is complete |
| and before the simulation is played. |
| * Added a callback to resolve the scene entity configurations separately once the simulation plays, |
| since the scene entities cannot be resolved before the simulation starts playing |
| (as we currently rely on PhysX to provide us with the joint/body ordering) |
|
|
|
|
| 0.34.12 (2025-03-06) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Updated the mimic API :meth:`target_eef_pose_to_action` in :class:`isaaclab.envs.ManagerBasedRLMimicEnv` to take a dictionary of |
| eef noise values instead of a single noise value. |
| * Added support for optional subtask constraints based on DexMimicGen to the mimic configuration class :class:`isaaclab.envs.MimicEnvCfg`. |
| * Enabled data compression in HDF5 dataset file handler :class:`isaaclab.utils.datasets.hdf5_dataset_file_handler.HDF5DatasetFileHandler`. |
|
|
|
|
| 0.34.11 (2025-03-04) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed issue in :class:`~isaaclab.sensors.TiledCamera` and :class:`~isaaclab.sensors.Camera` where segmentation outputs only display the first tile |
| when scene instancing is enabled. A workaround is added for now to disable instancing when segmentation |
| outputs are requested. |
|
|
|
|
| 0.34.10 (2025-03-04) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the issue of misalignment in the motion vectors from the :class:`TiledCamera` |
| with other modalities such as RGBA and depth. |
|
|
|
|
| 0.34.9 (2025-03-04) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added methods inside the :class:`omni.isaac.lab.assets.Articulation` class to set the joint |
| position and velocity for the articulation. Previously, the joint position and velocity could |
| only be set using the :meth:`omni.isaac.lab.assets.Articulation.write_joint_state_to_sim` method, |
| which didn't allow setting the joint position and velocity separately. |
|
|
|
|
| 0.34.8 (2025-03-02) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the propagation of the :attr:`activate_contact_sensors` attribute to the |
| :class:`~isaaclab.sim.spawners.wrappers.wrappers_cfg.MultiAssetSpawnerCfg` class. Previously, this value |
| was always set to False, which led to incorrect contact sensor settings for the spawned assets. |
|
|
|
|
| 0.34.7 (2025-03-02) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Enabled the physics flag for disabling contact processing in the :class:`~isaaclab.sim.SimulationContact` |
| class. This means that by default, no contact reporting is done by the physics engine, which should provide |
| a performance boost in simulations with no contact processing requirements. |
| * Disabled the physics flag for disabling contact processing in the :class:`~isaaclab.sensors.ContactSensor` |
| class when the sensor is created to allow contact reporting for the sensor. |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed the attribute ``disable_contact_processing`` from :class:`~isaaclab.sim.SimulationContact`. |
|
|
|
|
| 0.34.6 (2025-03-01) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added a new attribute :attr:`is_implicit_model` to the :class:`isaaclab.actuators.ActuatorBase` class to |
| indicate if the actuator model is implicit or explicit. This helps checking that the correct model type |
| is being used when initializing the actuator models. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Added copy of configurations to :class:`~isaaclab.assets.AssetBase` and :class:`~isaaclab.sensors.SensorBase` |
| to prevent modifications of the configurations from leaking outside of the classes. |
| * Fixed the case where setting velocity/effort limits for the simulation in the |
| :class:`~isaaclab.actuators.ActuatorBaseCfg` class was not being used to update the actuator-specific |
| velocity/effort limits. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Moved warnings and checks for implicit actuator models to the :class:`~isaaclab.actuators.ImplicitActuator` class. |
| * Reverted to IsaacLab v1.3 behavior where :attr:`isaaclab.actuators.ImplicitActuatorCfg.velocity_limit` |
| attribute was not used for setting the velocity limits in the simulation. This makes it possible to deploy |
| policies from previous release without any changes. If users want to set the velocity limits for the simulation, |
| they should use the :attr:`isaaclab.actuators.ImplicitActuatorCfg.velocity_limit_sim` attribute instead. |
|
|
|
|
| 0.34.5 (2025-02-28) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added IP address support for WebRTC livestream to allow specifying IP address to stream across networks. |
| This feature requires an updated livestream extension, which is current only available in the pre-built Isaac Lab 2.0.1 docker image. |
| Support for other Isaac Sim builds will become available in Isaac Sim 5.0. |
|
|
|
|
| 0.34.4 (2025-02-27) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Refactored retargeting code from Se3Handtracking class into separate modules for better modularity |
| * Added scaffolding for developing additional retargeters (e.g. dex) |
|
|
|
|
| 0.34.3 (2025-02-26) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Enablec specifying the placement of the simulation when viewed in an XR device. This is achieved by |
| adding an ``XrCfg`` environment configuration with ``anchor_pos`` and ``anchor_rot`` parameters. |
|
|
|
|
| 0.34.2 (2025-02-21) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed setting of root velocities inside the event term :meth:`reset_root_state_from_terrain`. Earlier, the indexing |
| based on the environment IDs was missing. |
|
|
|
|
| 0.34.1 (2025-02-17) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Ensured that the loaded torch JIT models inside actuator networks are correctly set to eval mode |
| to prevent any unexpected behavior during inference. |
|
|
|
|
| 0.34.0 (2025-02-14) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Added attributes :attr:`velocity_limits_sim` and :attr:`effort_limits_sim` to the |
| :class:`isaaclab.actuators.ActuatorBaseCfg` class to separate solver limits from actuator limits. |
|
|
|
|
| 0.33.17 (2025-02-13) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed Imu sensor based observations at first step by updating scene during initialization for |
| :class:`~isaaclab.envs.ManagerBasedEnv`, :class:`~isaaclab.envs.DirectRLEnv`, and :class:`~isaaclab.envs.DirectMARLEnv` |
|
|
|
|
| 0.33.16 (2025-02-09) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Removes old deprecation warning from :attr:`isaaclab.assets.RigidObectData.body_state_w` |
|
|
|
|
| 0.33.15 (2025-02-09) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed not updating the ``drift`` when calling :func:`~isaaclab.sensors.RayCaster.reset` |
|
|
|
|
| 0.33.14 (2025-02-01) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed not updating the timestamp of ``body_link_state_w`` and ``body_com_state_w`` when ``write_root_pose_to_sim`` and ``write_joint_state_to_sim`` in the ``Articulation`` class are called. |
|
|
|
|
| 0.33.13 (2025-01-30) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| * Fixed resampling of interval time left for the next event in the :class:`~isaaclab.managers.EventManager` |
| class. Earlier, the time left for interval-based events was not being resampled on episodic resets. This led |
| to the event being triggered at the wrong time after the reset. |
|
|
|
|
| 0.33.12 (2025-01-28) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed missing import in ``line_plot.py`` |
|
|
|
|
| 0.33.11 (2025-01-25) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :attr:`isaaclab.scene.InteractiveSceneCfg.filter_collisions` to allow specifying whether collision masking across environments is desired. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Automatic collision filtering now happens as part of the replicate_physics call. When replicate_physics is not enabled, we call the previous |
| ``filter_collisions`` API to mask collisions between environments. |
| |
| |
| 0.33.10 (2025-01-22) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * In :meth:`isaaclab.assets.Articulation.write_joint_limits_to_sim`, we previously added a check for if default joint positions exceed the |
| new limits being set. When this is True, we log a warning message to indicate that the default joint positions will be clipped to be within |
| the range of the new limits. However, the warning message can become overly verbose in a randomization setting where this API is called on |
| every environment reset. We now default to only writing the message to info level logging if called within randomization, and expose a |
| parameter that can be used to choose the logging level desired. |
|
|
|
|
| 0.33.9 (2025-01-22) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed typo in /physics/autoPopupSimulationOutputWindow setting in :class:`~isaaclab.sim.SimulationContext` |
|
|
|
|
| 0.33.8 (2025-01-17) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Removed deprecation of :attr:`isaaclab.assets.ArticulationData.root_state_w` and |
| :attr:`isaaclab.assets.ArticulationData.body_state_w` derived properties. |
| * Removed deprecation of :meth:`isaaclab.assets.Articulation.write_root_state_to_sim`. |
| * Replaced calls to :attr:`isaaclab.assets.ArticulationData.root_com_state_w` and |
| :attr:`isaaclab.assets.ArticulationData.root_link_state_w` with corresponding calls to |
| :attr:`isaaclab.assets.ArticulationData.root_state_w`. |
| * Replaced calls to :attr:`isaaclab.assets.ArticulationData.body_com_state_w` and |
| :attr:`isaaclab.assets.ArticulationData.body_link_state_w` properties with corresponding calls to |
| :attr:`isaaclab.assets.ArticulationData.body_state_w` properties. |
| * Removed deprecation of :attr:`isaaclab.assets.RigidObjectData.root_state_w` derived properties. |
| * Removed deprecation of :meth:`isaaclab.assets.RigidObject.write_root_state_to_sim`. |
| * Replaced calls to :attr:`isaaclab.assets.RigidObjectData.root_com_state_w` and |
| :attr:`isaaclab.assets.RigidObjectData.root_link_state_w` properties with corresponding calls to |
| :attr:`isaaclab.assets.RigidObjectData.root_state_w` properties. |
| * Removed deprecation of :attr:`isaaclab.assets.RigidObjectCollectionData.root_state_w` derived properties. |
| * Removed deprecation of :meth:`isaaclab.assets.RigidObjectCollection.write_root_state_to_sim`. |
| * Replaced calls to :attr:`isaaclab.assets.RigidObjectCollectionData.root_com_state_w` and |
| :attr:`isaaclab.assets.RigidObjectData.root_link_state_w` properties with corresponding calls to |
| :attr:`isaaclab.assets.RigidObjectData.root_state_w` properties. |
| * Fixed indexing issue in ``write_root_link_velocity_to_sim`` in :class:`isaaclab.assets.RigidObject` |
| * Fixed index broadcasting in ``write_object_link_velocity_to_sim`` and ``write_object_com_pose_to_sim`` in |
| the :class:`isaaclab.assets.RigidObjectCollection` class. |
| |
| |
| 0.33.7 (2025-01-14) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the respawn of only wrong object samples in :func:`repeated_objects_terrain` of :mod:`isaaclab.terrains.trimesh` module. |
| Previously, the function was respawning all objects in the scene instead of only the wrong object samples, which in worst case |
| could lead to infinite respawn loop. |
|
|
|
|
| 0.33.6 (2025-01-16) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Added initial unit tests for multiple tiled cameras, including tests for initialization, groundtruth annotators, different poses, and different resolutions. |
|
|
|
|
| 0.33.5 (2025-01-13) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Moved the definition of ``/persistent/isaac/asset_root/*`` settings from :class:`AppLauncher` to the app files. |
| This is needed to prevent errors where ``isaaclab_assets`` was loaded prior to the carbonite setting being set. |
|
|
|
|
| 0.33.4 (2025-01-10) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Added an optional parameter in the :meth:`record_pre_reset` method in |
| :class:`~isaaclab.managers.RecorderManager` to override the export config upon invoking. |
|
|
|
|
| 0.33.3 (2025-01-08) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed docstring in articulation data :class:`isaaclab.assets.ArticulationData`. |
| In body properties sections, the second dimension should be num_bodies but was documented as 1. |
|
|
|
|
| 0.33.2 (2025-01-02) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added body tracking as an origin type to :class:`isaaclab.envs.ViewerCfg` and :class:`isaaclab.envs.ui.ViewportCameraController`. |
|
|
|
|
| 0.33.1 (2024-12-26) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Added kinematics initialization call for populating kinematic prim transforms to fabric for rendering. |
| * Added ``enable_env_ids`` flag for cloning and replication to replace collision filtering. |
|
|
|
|
| 0.33.0 (2024-12-22) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed populating default_joint_stiffness and default_joint_damping values for ImplicitActuator instances in :class:`isaaclab.assets.Articulation` |
|
|
|
|
| 0.32.2 (2024-12-17) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added null-space (position) control option to :class:`isaaclab.controllers.OperationalSpaceController`. |
| * Added test cases that uses null-space control for :class:`isaaclab.controllers.OperationalSpaceController`. |
| * Added information regarding null-space control to the tutorial script and documentation of |
| :class:`isaaclab.controllers.OperationalSpaceController`. |
| * Added arguments to set specific null-space joint position targets within |
| :class:`isaaclab.envs.mdp.actions.OperationalSpaceControllerAction` class. |
|
|
|
|
| 0.32.1 (2024-12-17) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Added a default and generic implementation of the :meth:`get_object_poses` function |
| in the :class:`ManagerBasedRLMimicEnv` class. |
| * Added a ``EXPORT_NONE`` mode in the :class:`DatasetExportMode` class and updated |
| :class:`~isaaclab.managers.RecorderManager` to enable recording without exporting |
| the data to a file. |
| |
| |
| 0.32.0 (2024-12-16) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Previously, physx returns the rigid bodies and articulations velocities in the com of bodies rather than the |
| link frame, while poses are in link frames. We now explicitly provide :attr:`body_link_state` and |
| :attr:`body_com_state` APIs replacing the previous :attr:`body_state` API. Previous APIs are now marked as |
| deprecated. Please update any code using the previous pose and velocity APIs to use the new |
| ``*_link_*`` or ``*_com_*`` APIs in :attr:`isaaclab.assets.RigidBody`, |
| :attr:`isaaclab.assets.RigidBodyCollection`, and :attr:`isaaclab.assets.Articulation`. |
|
|
|
|
| 0.31.0 (2024-12-16) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`ManagerBasedRLMimicEnv` and config classes for mimic data generation workflow for imitation learning. |
|
|
|
|
| 0.30.3 (2024-12-16) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed ordering of logging and resamping in the command manager, where we were logging the metrics |
| after resampling the commands. This leads to incorrect logging of metrics when inside the resample call, |
| the metrics tensors get reset. |
|
|
|
|
| 0.30.2 (2024-12-16) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed errors within the calculations of :class:`isaaclab.controllers.OperationalSpaceController`. |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`isaaclab.controllers.OperationalSpaceController` to API documentation. |
| * Added test cases for :class:`isaaclab.controllers.OperationalSpaceController`. |
| * Added a tutorial for :class:`isaaclab.controllers.OperationalSpaceController`. |
| * Added the implementation of :class:`isaaclab.envs.mdp.actions.OperationalSpaceControllerAction` class. |
|
|
|
|
| 0.30.1 (2024-12-15) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Added call to update articulation kinematics after reset to ensure states are updated for non-rendering sensors. |
| Previously, some changes in reset such as modifying joint states would not be reflected in the rigid body |
| states immediately after reset. |
|
|
|
|
| 0.30.0 (2024-12-15) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added UI interface to the Managers in the ManagerBasedEnv and MangerBasedRLEnv classes. |
| * Added UI widgets for :class:`LiveLinePlot` and :class:`ImagePlot`. |
| * Added ``ManagerLiveVisualizer/Cfg``: Given a ManagerBase (i.e. action_manager, observation_manager, etc) and a |
| config file this class creates the the interface between managers and the UI. |
| * Added :class:`EnvLiveVisualizer`: A 'manager' of ManagerLiveVisualizer. This is added to the ManagerBasedEnv |
| but is only called during the initialization of the managers in load_managers |
| * Added ``get_active_iterable_terms`` implementation methods to ActionManager, ObservationManager, CommandsManager, |
| CurriculumManager, RewardManager, and TerminationManager. This method exports the active term data and labels |
| for each manager and is called by ManagerLiveVisualizer. |
| * Additions to :class:`BaseEnvWindow` and :class:`RLEnvWindow` to register ManagerLiveVisualizer UI interfaces |
| for the chosen managers. |
| |
| |
| 0.29.0 (2024-12-15) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added observation history computation to :class:`isaaclab.manager.observation_manager.ObservationManager`. |
| * Added ``history_length`` and ``flatten_history_dim`` configuration parameters to :class:`isaaclab.manager.manager_term_cfg.ObservationTermCfg` |
| * Added ``history_length`` and ``flatten_history_dim`` configuration parameters to :class:`isaaclab.manager.manager_term_cfg.ObservationGroupCfg` |
| * Added full buffer property to :class:`isaaclab.utils.buffers.circular_buffer.CircularBuffer` |
|
|
|
|
| 0.28.4 (2024-12-15) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added action clip to all :class:`isaaclab.envs.mdp.actions`. |
|
|
|
|
| 0.28.3 (2024-12-14) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Added check for error below threshold in state machines to ensure the state has been reached. |
|
|
|
|
| 0.28.2 (2024-12-13) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the shape of ``quat_w`` in the ``apply_actions`` method of :attr:`~isaaclab.env.mdp.NonHolonomicAction` |
| (previously (N,B,4), now (N,4) since the number of root bodies B is required to be 1). Previously ``apply_actions`` |
| errored because ``euler_xyz_from_quat`` requires inputs of shape (N,4). |
|
|
|
|
| 0.28.1 (2024-12-13) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the internal buffers for ``set_external_force_and_torque`` where the buffer values would be stale if zero |
| values are sent to the APIs. |
|
|
|
|
| 0.28.0 (2024-12-12) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Adapted the :class:`~isaaclab.sim.converters.UrdfConverter` to use the latest URDF converter API from Isaac Sim 4.5. |
| The physics articulation root can now be set separately, and the joint drive gains can be set on a per joint basis. |
|
|
|
|
| 0.27.33 (2024-12-11) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Introduced an optional ``sensor_cfg`` parameter to the :meth:`~isaaclab.envs.mdp.rewards.base_height_l2` function, |
| enabling the use of :class:`~isaaclab.sensors.RayCaster` for height adjustments. For flat terrains, the function |
| retains its previous behavior. |
| * Improved documentation to clarify the usage of the :meth:`~isaaclab.envs.mdp.rewards.base_height_l2` function in |
| both flat and rough terrain settings. |
|
|
|
|
| 0.27.32 (2024-12-11) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Modified :class:`isaaclab.envs.mdp.actions.DifferentialInverseKinematicsAction` class to use the geometric |
| Jacobian computed w.r.t. to the root frame of the robot. This helps ensure that root pose does not affect the tracking. |
|
|
|
|
| 0.27.31 (2024-12-09) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Introduced configuration options in :class:`Se3HandTracking` to: |
|
|
| - Zero out rotation around the x/y axes |
| - Apply smoothing and thresholding to position and rotation deltas for reduced jitter |
| - Use wrist-based rotation reference as an alternative to fingertip-based rotation |
|
|
| * Switched the default position reference in :class:`Se3HandTracking` to the wrist joint pose, providing more stable |
| relative-based positioning. |
|
|
|
|
| 0.27.30 (2024-12-09) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the initial state recorder term in :class:`isaaclab.envs.mdp.recorders.InitialStateRecorder` to |
| return only the states of the specified environment IDs. |
|
|
|
|
| 0.27.29 (2024-12-06) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the enforcement of :attr:`~isaaclab.actuators.ActuatorBaseCfg.velocity_limits` at the |
| :attr:`~isaaclab.assets.Articulation.root_physx_view` level. |
|
|
|
|
| 0.27.28 (2024-12-06) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * If a USD that contains an articulation root is loaded using a |
| :attr:`isaaclab.assets.RigidBody` we now fail unless the articulation root is explicitly |
| disabled. Using an articulation root for rigid bodies is not needed and decreases overall performance. |
|
|
|
|
| 0.27.27 (2024-12-06) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Corrected the projection types of fisheye camera in :class:`isaaclab.sim.spawners.sensors.sensors_cfg.FisheyeCameraCfg`. |
| Earlier, the projection names used snakecase instead of camelcase. |
|
|
|
|
| 0.27.26 (2024-12-06) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added option to define the clipping behavior for depth images generated by |
| :class:`~isaaclab.sensors.RayCasterCamera`, :class:`~isaaclab.sensors.Camera`, and :class:`~isaaclab.sensors.TiledCamera` |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Unified the clipping behavior for the depth images of all camera implementations. Per default, all values exceeding |
| the range are clipped to zero for both ``distance_to_image_plane`` and ``distance_to_camera`` depth images. Prev. |
| :class:`~isaaclab.sensors.RayCasterCamera` clipped the values to the maximum value of the depth image, |
| :class:`~isaaclab.sensors.Camera` did not clip them and had a different behavior for both types. |
|
|
|
|
| 0.27.25 (2024-12-05) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the condition in ``isaaclab.sh`` that checks whether ``pre-commit`` is installed before attempting installation. |
|
|
|
|
| 0.27.24 (2024-12-05) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Removed workaround in :class:`isaaclab.sensors.TiledCamera` and :class:`isaaclab.sensors.Camera` |
| that was previously required to prevent frame offsets in renders. The denoiser setting is no longer |
| automatically modified based on the resolution of the cameras. |
|
|
|
|
| 0.27.23 (2024-12-04) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Added the attributes :attr:`~isaaclab.envs.DirectRLEnvCfg.wait_for_textures` and |
| :attr:`~isaaclab.envs.ManagerBasedEnvCfg.wait_for_textures` to enable assets loading check |
| during :class:`~isaaclab.DirectRLEnv` and :class:`~isaaclab.ManagerBasedEnv` reset method when |
| rtx sensors are added to the scene. |
|
|
|
|
| 0.27.22 (2024-12-04) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the order of the incoming parameters in :class:`isaaclab.envs.DirectMARLEnv` to correctly use |
| ``NoiseModel`` in marl-envs. |
|
|
|
|
| 0.27.21 (2024-12-04) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab.managers.RecorderManager` and its utility classes to record data from the simulation. |
| * Added :class:`~isaaclab.utils.datasets.EpisodeData` to store data for an episode. |
| * Added :class:`~isaaclab.utils.datasets.DatasetFileHandlerBase` as a base class for handling dataset files. |
| * Added :class:`~isaaclab.utils.datasets.HDF5DatasetFileHandler` as a dataset file handler implementation to |
| export and load episodes from HDF5 files. |
| * Added ``record_demos.py`` script to record human-teleoperated demos for a specified task and export to an HDF5 file. |
| * Added ``replay_demos.py`` script to replay demos loaded from an HDF5 file. |
|
|
|
|
| 0.27.20 (2024-12-02) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed :class:`isaaclab.envs.DirectMARLEnv` to inherit from ``Gymnasium.Env`` due to requirement from Gymnasium |
| v1.0.0 requiring all environments to be a subclass of ``Gymnasium.Env`` when using the ``make`` interface. |
|
|
|
|
| 0.27.19 (2024-12-02) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added ``isaaclab.utils.pretrained_checkpoints`` containing constants and utility functions used to manipulate |
| paths and load checkpoints from Nucleus. |
|
|
|
|
| 0.27.18 (2024-11-28) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Renamed Isaac Sim imports to follow Isaac Sim 4.5 naming conventions. |
|
|
|
|
| 0.27.17 (2024-11-20) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added ``create_new_stage`` setting in :class:`~isaaclab.app.AppLauncher` to avoid creating a default new |
| stage on startup in Isaac Sim. This helps reduce the startup time when launching Isaac Lab. |
|
|
|
|
| 0.27.16 (2024-11-15) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the class :class:`~isaaclab.devices.Se3HandTracking` which enables XR teleop for manipulators. |
|
|
|
|
| 0.27.15 (2024-11-09) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed indexing in :meth:`isaaclab.assets.Articulation.write_joint_limits_to_sim` to correctly process |
| non-None ``env_ids`` and ``joint_ids``. |
| |
| |
| 0.27.14 (2024-10-23) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the class :class:`~isaaclab.assets.RigidObjectCollection` which allows to spawn |
| multiple objects in each environment and access/modify the quantities with a unified (env_ids, object_ids) API. |
|
|
|
|
| 0.27.13 (2024-10-30) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the attributes :attr:`~isaaclab.sim.converters.MeshConverterCfg.translation`, :attr:`~isaaclab.sim.converters.MeshConverterCfg.rotation`, |
| :attr:`~isaaclab.sim.converters.MeshConverterCfg.scale` to translate, rotate, and scale meshes |
| when importing them with :class:`~isaaclab.sim.converters.MeshConverter`. |
|
|
|
|
| 0.27.12 (2024-11-04) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed TensorDict usage in favor of Python dictionary in sensors |
|
|
|
|
| 0.27.11 (2024-10-31) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added support to define tuple of floats to scale observation terms by expanding the |
| :attr:`isaaclab.managers.manager_term_cfg.ObservationManagerCfg.scale` attribute. |
|
|
|
|
| 0.27.10 (2024-11-01) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Cached the PhysX view's joint paths before looping over them when processing fixed joint tendons |
| inside the :class:`Articulation` class. This helps improve the processing time for the tendons. |
|
|
|
|
| 0.27.9 (2024-11-01) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the :class:`isaaclab.utils.types.ArticulationActions` class to store the joint actions |
| for an articulation. Earlier, the class from Isaac Sim was being used. However, it used a different |
| type for the joint actions which was not compatible with the Isaac Lab framework. |
|
|
|
|
| 0.27.8 (2024-11-01) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Added sanity check if the term is a valid type inside the command manager. |
| * Corrected the iteration over ``group_cfg_items`` inside the observation manager. |
|
|
|
|
| 0.27.7 (2024-10-28) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added frozen encoder feature extraction observation space with ResNet and Theia |
|
|
|
|
| 0.27.6 (2024-10-25) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed usage of ``meshes`` property in :class:`isaaclab.sensors.RayCasterCamera` to use ``self.meshes`` |
| instead of the undefined ``RayCaster.meshes``. |
| * Fixed issue in :class:`isaaclab.envs.ui.BaseEnvWindow` where undefined configs were being accessed when |
| creating debug visualization elements in UI. |
|
|
|
|
| 0.27.5 (2024-10-25) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added utilities for serializing/deserializing Gymnasium spaces. |
|
|
|
|
| 0.27.4 (2024-10-18) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Updated installation path instructions for Windows in the Isaac Lab documentation to remove redundancy in the |
| use of %USERPROFILE% for path definitions. |
|
|
|
|
| 0.27.3 (2024-10-22) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the issue with using list or tuples of ``configclass`` within a ``configclass``. Earlier, the list of |
| configclass objects were not converted to dictionary properly when ``to_dict`` function was called. |
|
|
|
|
| 0.27.2 (2024-10-21) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added ``--kit_args`` to :class:`~isaaclab.app.AppLauncher` to allow passing command line arguments directly to |
| Omniverse Kit SDK. |
|
|
|
|
| 0.27.1 (2024-10-20) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab.sim.RenderCfg` and the attribute :attr:`~isaaclab.sim.SimulationCfg.render` for |
| specifying render related settings. |
|
|
|
|
| 0.27.0 (2024-10-14) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added a method to :class:`~isaaclab.utils.configclass` to check for attributes with values of |
| type ``MISSING``. This is useful when the user wants to check if a certain attribute has been set or not. |
| * Added the configuration validation check inside the constructor of all the core classes |
| (such as sensor base, asset base, scene and environment base classes). |
| * Added support for environments without commands by leaving the attribute |
| :attr:`isaaclab.envs.ManagerBasedRLEnvCfg.commands` as None. Before, this had to be done using |
| the class :class:`isaaclab.command_generators.NullCommandGenerator`. |
| * Moved the ``meshes`` attribute in the :class:`isaaclab.sensors.RayCaster` class from class variable to instance variable. |
| This prevents the meshes to overwrite each other. |
|
|
|
|
| 0.26.0 (2024-10-16) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added Imu sensor implementation that directly accesses the physx view :class:`isaaclab.sensors.Imu`. The |
| sensor comes with a configuration class :class:`isaaclab.sensors.ImuCfg` and data class |
| :class:`isaaclab.sensors.ImuData`. |
| * Moved and renamed :meth:`isaaclab.sensors.camera.utils.convert_orientation_convention` to |
| :meth:`isaaclab.utils.math.convert_camera_frame_orientation_convention` |
| * Moved :meth:`isaaclab.sensors.camera.utils.create_rotation_matrix_from_view` to |
| :meth:`isaaclab.utils.math.create_rotation_matrix_from_view` |
|
|
|
|
| 0.25.2 (2024-10-16) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added support for different Gymnasium spaces (``Box``, ``Discrete``, ``MultiDiscrete``, ``Tuple`` and ``Dict``) |
| to define observation, action and state spaces in the direct workflow. |
| * Added :meth:`sample_space` to environment utils to sample supported spaces where data containers are torch tensors. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Mark the :attr:`num_observations`, :attr:`num_actions` and :attr:`num_states` in :class:`DirectRLEnvCfg` as deprecated |
| in favor of :attr:`observation_space`, :attr:`action_space` and :attr:`state_space` respectively. |
| * Mark the :attr:`num_observations`, :attr:`num_actions` and :attr:`num_states` in :class:`DirectMARLEnvCfg` as deprecated |
| in favor of :attr:`observation_spaces`, :attr:`action_spaces` and :attr:`state_space` respectively. |
|
|
|
|
| 0.25.1 (2024-10-10) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed potential issue where default joint positions can fall outside of the limits being set with Articulation's |
| ``write_joint_limits_to_sim`` API. |
|
|
|
|
| 0.25.0 (2024-10-06) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added configuration classes for spawning assets from a list of individual asset configurations randomly |
| at the specified prim paths. |
|
|
|
|
| 0.24.20 (2024-10-07) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the :meth:`isaaclab.envs.mdp.events.randomize_rigid_body_material` function to |
| correctly sample friction and restitution from the given ranges. |
|
|
|
|
| 0.24.19 (2024-10-05) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added new functionalities to the FrameTransformer to make it more general. It is now possible to track: |
|
|
| * Target frames that aren't children of the source frame prim_path |
| * Target frames that are based upon the source frame prim_path |
|
|
|
|
| 0.24.18 (2024-10-04) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixes parsing and application of ``size`` parameter for :class:`~isaaclab.sim.spawn.GroundPlaneCfg` to correctly |
| scale the grid-based ground plane. |
|
|
|
|
| 0.24.17 (2024-10-04) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the deprecation notice for using ``pxr.Semantics``. The corresponding modules use ``Semantics`` module |
| directly. |
|
|
|
|
| 0.24.16 (2024-10-03) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Renamed the observation function :meth:`grab_images` to :meth:`image` to follow convention of noun-based naming. |
| * Renamed the function :meth:`convert_perspective_depth_to_orthogonal_depth` to a shorter name |
| :meth:`isaaclab.utils.math.orthogonalize_perspective_depth`. |
|
|
|
|
| 0.24.15 (2024-09-20) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :meth:`grab_images` to be able to use images for an observation term in manager-based environments. |
|
|
|
|
| 0.24.14 (2024-09-20) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the method :meth:`convert_perspective_depth_to_orthogonal_depth` to convert perspective depth |
| images to orthogonal depth images. This is useful for the :meth:`~isaaclab.utils.math.unproject_depth`, |
| since it expects orthogonal depth images as inputs. |
|
|
|
|
| 0.24.13 (2024-09-08) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Moved the configuration of visualization markers for the command terms to their respective configuration classes. |
| This allows users to modify the markers for the command terms without having to modify the command term classes. |
|
|
|
|
| 0.24.12 (2024-09-18) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed outdated fetching of articulation data by using the method ``update_articulations_kinematic`` in |
| :class:`isaaclab.assets.ArticulationData`. Before if an articulation was moved during a reset, the pose of the |
| links were outdated if fetched before the next physics step. Adding this method ensures that the pose of the links |
| is always up-to-date. Similarly ``update_articulations_kinematic`` was added before any render step to ensure that the |
| articulation displays correctly after a reset. |
|
|
|
|
| 0.24.11 (2024-09-11) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added skrl's JAX environment variables to :class:`~isaaclab.app.AppLauncher` |
| to support distributed multi-GPU and multi-node training using JAX |
|
|
|
|
| 0.24.10 (2024-09-10) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added config class, support, and tests for MJCF conversion via standalone python scripts. |
|
|
|
|
| 0.24.9 (2024-09-09) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added a seed parameter to the :attr:`isaaclab.envs.ManagerBasedEnvCfg` and :attr:`isaaclab.envs.DirectRLEnvCfg` |
| classes to set the seed for the environment. This seed is used to initialize the random number generator for the environment. |
| * Adapted the workflow scripts to set the seed for the environment using the seed specified in the learning agent's configuration |
| file or the command line argument. This ensures that the simulation results are reproducible across different runs. |
|
|
|
|
| 0.24.8 (2024-09-08) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Modified:meth:`quat_rotate` and :meth:`quat_rotate_inverse` operations to use :meth:`torch.einsum` |
| for faster processing of high dimensional input tensors. |
|
|
|
|
| 0.24.7 (2024-09-06) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added support for property attributes in the :meth:``isaaclab.utils.configclass`` method. |
| Earlier, the configclass decorator failed to parse the property attributes correctly and made them |
| instance variables instead. |
|
|
|
|
| 0.24.6 (2024-09-05) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Adapted the ``A`` and ``D`` button bindings inside :meth:`isaaclab.device.Se3Keyboard` to make them now |
| more-intuitive to control the y-axis motion based on the right-hand rule. |
|
|
|
|
| 0.24.5 (2024-08-29) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added alternative data type "distance_to_camera" in :class:`isaaclab.sensors.TiledCamera` class to be |
| consistent with all other cameras (equal to type "depth"). |
|
|
|
|
| 0.24.4 (2024-09-02) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Added missing SI units to the documentation of :class:`isaaclab.sensors.Camera` and |
| :class:`isaaclab.sensors.RayCasterCamera`. |
| * Added test to check :attr:`isaaclab.sensors.RayCasterCamera.set_intrinsic_matrices` |
|
|
|
|
| 0.24.3 (2024-08-29) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the support for class-bounded methods when creating a configclass |
| out of them. Earlier, these methods were being made as instance methods |
| which required initialization of the class to call the class-methods. |
|
|
|
|
| 0.24.2 (2024-08-28) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added a class method to initialize camera configurations with an intrinsic matrix in the |
| :class:`isaaclab.sim.spawner.sensors.PinholeCameraCfg` |
| :class:`isaaclab.sensors.ray_caster.patterns_cfg.PinholeCameraPatternCfg` classes. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the ray direction in :func:`isaaclab.sensors.ray_caster.patterns.patterns.pinhole_camera_pattern` to |
| point to the center of the pixel instead of the top-left corner. |
| * Fixed the clipping of the "distance_to_image_plane" depth image obtained using the |
| :class:`isaaclab.sensors.ray_caster.RayCasterCamera` class. Earlier, the depth image was being clipped |
| before the depth image was generated. Now, the clipping is applied after the depth image is generated. This makes |
| the behavior equal to the USD Camera. |
|
|
|
|
| 0.24.1 (2024-08-21) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Disabled default viewport in certain headless scenarios for better performance. |
|
|
|
|
| 0.24.0 (2024-08-17) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added additional annotators for :class:`isaaclab.sensors.camera.TiledCamera` class. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Updated :class:`isaaclab.sensors.TiledCamera` to latest RTX tiled rendering API. |
| * Single channel outputs for :class:`isaaclab.sensors.TiledCamera`, :class:`isaaclab.sensors.Camera` and :class:`isaaclab.sensors.RayCasterCamera` now has shape (H, W, 1). |
| * Data type for RGB output for :class:`isaaclab.sensors.TiledCamera` changed from ``torch.float`` to ``torch.uint8``. |
| * Dimension of RGB output for :class:`isaaclab.sensors.Camera` changed from (H, W, 4) to (H, W, 3). Use type ``rgba`` to retrieve the previous dimension. |
|
|
|
|
| 0.23.1 (2024-08-17) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Updated torch to version 2.4.0. |
|
|
|
|
| 0.23.0 (2024-08-16) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added direct workflow base class :class:`isaaclab.envs.DirectMARLEnv` for multi-agent environments. |
|
|
|
|
| 0.22.1 (2024-08-17) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added APIs to interact with the physics simulation of deformable objects. This includes setting the |
| material properties, setting kinematic targets, and getting the state of the deformable object. |
| For more information, please refer to the :mod:`isaaclab.assets.DeformableObject` class. |
|
|
|
|
| 0.22.0 (2024-08-14) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :mod:`~isaaclab.utils.modifiers` module to provide framework for configurable and custom |
| observation data modifiers. |
| * Adapted the :class:`~isaaclab.managers.ObservationManager` class to support custom modifiers. |
| These are applied to the observation data before applying any noise or scaling operations. |
|
|
|
|
| 0.21.2 (2024-08-13) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Moved event mode-based checks in the :meth:`isaaclab.managers.EventManager.apply` method outside |
| the loop that iterates over the event terms. This prevents unnecessary checks and improves readability. |
| * Fixed the logic for global and per environment interval times when using the "interval" mode inside the |
| event manager. Earlier, the internal lists for these times were of unequal lengths which led to wrong indexing |
| inside the loop that iterates over the event terms. |
|
|
|
|
| 0.21.1 (2024-08-06) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| * Added a flag to preserve joint ordering inside the :class:`isaaclab.envs.mdp.JointAction` action term. |
|
|
|
|
| 0.21.0 (2024-08-05) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the command line argument ``--device`` in :class:`~isaaclab.app.AppLauncher`. Valid options are: |
|
|
| * ``cpu``: Use CPU. |
| * ``cuda``: Use GPU with device ID ``0``. |
| * ``cuda:N``: Use GPU, where N is the device ID. For example, ``cuda:0``. The default value is ``cuda:0``. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Simplified setting the device throughout the code by relying on :attr:`isaaclab.sim.SimulationCfg.device` |
| to activate gpu/cpu pipelines. |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed the parameter :attr:`isaaclab.sim.SimulationCfg.use_gpu_pipeline`. This is now directly inferred from |
| :attr:`isaaclab.sim.SimulationCfg.device`. |
| * Removed the command line input argument ``--device_id`` in :class:`~isaaclab.app.AppLauncher`. The device id can |
| now be set using the ``--device`` argument, for example with ``--device cuda:0``. |
| |
| |
| 0.20.8 (2024-08-02) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the handling of observation terms with different shapes in the |
| :class:`~isaaclab.managers.ObservationManager` class. Earlier, the constructor would throw an error if the |
| shapes of the observation terms were different. Now, this operation only happens when the terms in an observation |
| group are being concatenated. Otherwise, the terms are stored as a dictionary of tensors. |
| * Improved the error message when the observation terms are not of the same shape in the |
| :class:`~isaaclab.managers.ObservationManager` class and the terms are being concatenated. |
|
|
|
|
| 0.20.7 (2024-08-02) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Performance improvements for material randomization in events. |
|
|
| Added |
| ^^^^^ |
|
|
| * Added minimum randomization frequency for reset mode randomizations. |
|
|
|
|
| 0.20.6 (2024-08-02) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Removed the hierarchy from :class:`~isaaclab.assets.RigidObject` class to |
| :class:`~isaaclab.assets.Articulation` class. Previously, the articulation class overrode almost |
| all the functions of the rigid object class making the hierarchy redundant. Now, the articulation class |
| is a standalone class that does not inherit from the rigid object class. This does add some code |
| duplication but the simplicity and clarity of the code is improved. |
|
|
|
|
| 0.20.5 (2024-08-02) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :attr:`isaaclab.terrain.TerrainGeneratorCfg.border_height` to set the height of the border |
| around the terrain. |
|
|
|
|
| 0.20.4 (2024-08-02) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the caching of terrains when using the :class:`isaaclab.terrains.TerrainGenerator` class. |
| Earlier, the random sampling of the difficulty levels led to different hash values for the same terrain |
| configuration. This caused the terrains to be re-generated even when the same configuration was used. |
| Now, the numpy random generator is seeded with the same seed to ensure that the difficulty levels are |
| sampled in the same order between different runs. |
|
|
|
|
| 0.20.3 (2024-08-02) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the setting of translation and orientation when spawning a mesh prim. Earlier, the translation |
| and orientation was being applied both on the parent Xform and the mesh prim. This was causing the |
| mesh prim to be offset by the translation and orientation of the parent Xform, which is not the intended |
| behavior. |
|
|
|
|
| 0.20.2 (2024-08-02) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Modified the computation of body acceleration for rigid body data to use PhysX APIs instead of |
| numerical finite-differencing. This removes the need for computation of body acceleration at |
| every update call of the data buffer. |
|
|
|
|
| 0.20.1 (2024-07-30) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the :meth:`isaaclab.utils.math.wrap_to_pi` method to handle the wrapping of angles correctly. |
| Earlier, the method was not wrapping the angles to the range [-pi, pi] correctly when the angles were outside |
| the range [-2*pi, 2*pi]. |
|
|
|
|
| 0.20.0 (2024-07-26) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Support for the Isaac Sim 4.1.0 release. |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * The ``mdp.add_body_mass`` method in the events. Please use the |
| :meth:`isaaclab.envs.mdp.randomize_rigid_body_mass` method instead. |
| * The classes ``managers.RandomizationManager`` and ``managers.RandomizationTermCfg`` are replaced with |
| :class:`isaaclab.managers.EventManager` and :class:`isaaclab.managers.EventTermCfg` classes. |
| * The following properties in :class:`isaaclab.sensors.FrameTransformerData`: |
|
|
| * ``target_rot_source`` --> :attr:`~isaaclab.sensors.FrameTransformerData.target_quat_w` |
| * ``target_rot_w`` --> :attr:`~isaaclab.sensors.FrameTransformerData.target_quat_source` |
| * ``source_rot_w`` --> :attr:`~isaaclab.sensors.FrameTransformerData.source_quat_w` |
|
|
| * The kit experience file ``isaaclab.backwards.compatible.kit``. This is followed by dropping the support for |
| Isaac Sim 2023.1.1 completely. |
|
|
|
|
| 0.19.4 (2024-07-13) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Added the call to "startup" events when using the :class:`~isaaclab.envs.ManagerBasedEnv` class. |
| Earlier, the "startup" events were not being called when the environment was initialized. This issue |
| did not occur when using the :class:`~isaaclab.envs.ManagerBasedRLEnv` class since the "startup" |
| events were called in the constructor. |
|
|
|
|
| 0.19.3 (2024-07-13) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added schemas for setting and modifying deformable body properties on a USD prim. |
| * Added API to spawn a deformable body material in the simulation. |
| * Added APIs to spawn rigid and deformable meshes of primitive shapes (cone, cylinder, sphere, box, capsule) |
| in the simulation. This is possible through the :mod:`isaaclab.sim.spawners.meshes` module. |
|
|
|
|
| 0.19.2 (2024-07-05) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Modified cloning scheme based on the attribute :attr:`~isaaclab.scene.InteractiveSceneCfg.replicate_physics` |
| to determine whether environment is homogeneous or heterogeneous. |
|
|
|
|
| 0.19.1 (2024-07-05) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added a lidar pattern function :func:`~isaaclab.sensors.ray_caster.patterns.patterns.lidar_pattern` with |
| corresponding config :class:`~isaaclab.sensors.ray_caster.patterns_cfg.LidarPatternCfg`. |
|
|
|
|
| 0.19.0 (2024-07-04) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed parsing of articulations with nested rigid links while using the :class:`isaaclab.assets.Articulation` |
| class. Earlier, the class initialization failed when the articulation had nested rigid links since the rigid |
| links were not being parsed correctly by the PhysX view. |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed the attribute :attr:`body_physx_view` from the :class:`isaaclab.assets.Articulation` and |
| :class:`isaaclab.assets.RigidObject` classes. These were causing confusions when used with articulation |
| view since the body names were not following the same ordering. |
| * Dropped support for Isaac Sim 2023.1.1. The minimum supported version is now Isaac Sim 4.0.0. |
|
|
|
|
| 0.18.6 (2024-07-01) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the environment stepping logic. Earlier, the environments' rendering logic was updating the kit app which |
| would in turn step the physics :attr:`isaaclab.sim.SimulationCfg.render_interval` times. Now, a render |
| call only does rendering and does not step the physics. |
|
|
|
|
| 0.18.5 (2024-06-26) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the gravity vector direction used inside the :class:`isaaclab.assets.RigidObjectData` class. |
| Earlier, the gravity direction was hard-coded as (0, 0, -1) which may be different from the actual |
| gravity direction in the simulation. Now, the gravity direction is obtained from the simulation context |
| and used to compute the projection of the gravity vector on the object. |
|
|
|
|
| 0.18.4 (2024-06-26) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed double reference count of the physics sim view inside the asset classes. This was causing issues |
| when destroying the asset class instance since the physics sim view was not being properly released. |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the attribute :attr:`~isaaclab.assets.AssetBase.is_initialized` to check if the asset and sensor |
| has been initialized properly. This can be used to ensure that the asset or sensor is ready to use in the simulation. |
|
|
|
|
| 0.18.3 (2024-06-25) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the docstrings at multiple places related to the different buffer implementations inside the |
| :mod:`isaaclab.utils.buffers` module. The docstrings were not clear and did not provide enough |
| information about the classes and their methods. |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the field for fixed tendom names in the :class:`isaaclab.assets.ArticulationData` class. |
| Earlier, this information was not exposed which was inconsistent with other name related information |
| such as joint or body names. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Renamed the fields ``min_num_time_lags`` and ``max_num_time_lags`` to ``min_delay`` and |
| ``max_delay`` in the :class:`isaaclab.actuators.DelayedPDActuatorCfg` class. This is to make |
| the naming simpler to understand. |
|
|
|
|
| 0.18.2 (2024-06-25) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Moved the configuration for tile-rendered camera into its own file named ``tiled_camera_cfg.py``. |
| This makes it easier to follow where the configuration is located and how it is related to the class. |
|
|
|
|
| 0.18.1 (2024-06-25) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Ensured that a parity between class and its configuration class is explicitly visible in the |
| :mod:`isaaclab.envs` module. This makes it easier to follow where definitions are located and how |
| they are related. This should not be a breaking change as the classes are still accessible through the same module. |
|
|
|
|
| 0.18.0 (2024-06-13) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the rendering logic to render at the specified interval. Earlier, the substep parameter had no effect and rendering |
| would happen once every env.step() when active. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Renamed :attr:`isaaclab.sim.SimulationCfg.substeps` to :attr:`isaaclab.sim.SimulationCfg.render_interval`. |
| The render logic is now integrated in the decimation loop of the environment. |
|
|
|
|
| 0.17.13 (2024-06-13) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the orientation reset logic in :func:`isaaclab.envs.mdp.events.reset_root_state_uniform` to make it relative to |
| the default orientation. Earlier, the position was sampled relative to the default and the orientation not. |
|
|
|
|
| 0.17.12 (2024-06-13) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the class :class:`isaaclab.utils.buffers.TimestampedBuffer` to store timestamped data. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Added time-stamped buffers in the classes :class:`isaaclab.assets.RigidObjectData` and :class:`isaaclab.assets.ArticulationData` |
| to update some values lazily and avoid unnecessary computations between physics updates. Before, all the data was always |
| updated at every step, even if it was not used by the task. |
|
|
|
|
| 0.17.11 (2024-05-30) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :class:`isaaclab.sensor.ContactSensor` not loading correctly in extension mode. |
| Earlier, the :attr:`isaaclab.sensor.ContactSensor.body_physx_view` was not initialized when |
| :meth:`isaaclab.sensor.ContactSensor._debug_vis_callback` is called which references it. |
|
|
|
|
| 0.17.10 (2024-05-30) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed compound classes being directly assigned in ``default_factory`` generator method |
| :meth:`isaaclab.utils.configclass._return_f`, which resulted in shared references such that modifications to |
| compound objects were reflected across all instances generated from the same ``default_factory`` method. |
|
|
|
|
| 0.17.9 (2024-05-30) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added ``variants`` attribute to the :class:`isaaclab.sim.from_files.UsdFileCfg` class to select USD |
| variants when loading assets from USD files. |
|
|
|
|
| 0.17.8 (2024-05-28) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Implemented the reset methods in the action terms to avoid returning outdated data. |
|
|
|
|
| 0.17.7 (2024-05-28) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added debug visualization utilities in the :class:`isaaclab.managers.ActionManager` class. |
|
|
|
|
| 0.17.6 (2024-05-27) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added ``wp.init()`` call in Warp utils. |
|
|
|
|
| 0.17.5 (2024-05-22) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Websocket livestreaming is no longer supported. Valid livestream options are {0, 1, 2}. |
| * WebRTC livestream is now set with livestream=2. |
|
|
|
|
| 0.17.4 (2024-05-17) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Modified the noise functions to also support add, scale, and abs operations on the data. Added aliases |
| to ensure backward compatibility with the previous functions. |
|
|
| * Added :attr:`isaaclab.utils.noise.NoiseCfg.operation` for the different operations. |
| * Renamed ``constant_bias_noise`` to :func:`isaaclab.utils.noise.constant_noise`. |
| * Renamed ``additive_uniform_noise`` to :func:`isaaclab.utils.noise.uniform_noise`. |
| * Renamed ``additive_gaussian_noise`` to :func:`isaaclab.utils.noise.gaussian_noise`. |
|
|
|
|
| 0.17.3 (2024-05-15) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Set ``hide_ui`` flag in the app launcher for livestream. |
| * Fix native client livestream extensions. |
|
|
|
|
| 0.17.2 (2024-05-09) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Renamed ``_range`` to ``distribution_params`` in ``events.py`` for methods that defined a distribution. |
| * Apply additive/scaling randomization noise on default data instead of current data. |
| * Changed material bucketing logic to prevent exceeding 64k materials. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed broadcasting issues with indexing when environment and joint IDs are provided. |
| * Fixed incorrect tensor dimensions when setting a subset of environments. |
|
|
| Added |
| ^^^^^ |
|
|
| * Added support for randomization of fixed tendon parameters. |
| * Added support for randomization of dof limits. |
| * Added support for randomization of gravity. |
| * Added support for Gaussian sampling. |
| * Added default buffers to Articulation/Rigid object data classes for randomization. |
|
|
|
|
| 0.17.1 (2024-05-10) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Added attribute :attr:`isaaclab.sim.converters.UrdfConverterCfg.override_joint_dynamics` to properly parse |
| joint dynamics in :class:`isaaclab.sim.converters.UrdfConverter`. |
|
|
|
|
| 0.17.0 (2024-05-07) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Renamed ``BaseEnv`` to :class:`isaaclab.envs.ManagerBasedEnv`. |
| * Renamed ``base_env.py`` to ``manager_based_env.py``. |
| * Renamed ``BaseEnvCfg`` to :class:`isaaclab.envs.ManagerBasedEnvCfg`. |
| * Renamed ``RLTaskEnv`` to :class:`isaaclab.envs.ManagerBasedRLEnv`. |
| * Renamed ``rl_task_env.py`` to ``manager_based_rl_env.py``. |
| * Renamed ``RLTaskEnvCfg`` to :class:`isaaclab.envs.ManagerBasedRLEnvCfg`. |
| * Renamed ``rl_task_env_cfg.py`` to ``rl_env_cfg.py``. |
| * Renamed ``OIGEEnv`` to :class:`isaaclab.envs.DirectRLEnv`. |
| * Renamed ``oige_env.py`` to ``direct_rl_env.py``. |
| * Renamed ``RLTaskEnvWindow`` to :class:`isaaclab.envs.ui.ManagerBasedRLEnvWindow`. |
| * Renamed ``rl_task_env_window.py`` to ``manager_based_rl_env_window.py``. |
| * Renamed all references of ``BaseEnv``, ``BaseEnvCfg``, ``RLTaskEnv``, ``RLTaskEnvCfg``, ``OIGEEnv``, and ``RLTaskEnvWindow``. |
|
|
| Added |
| ^^^^^ |
|
|
| * Added direct workflow base class :class:`isaaclab.envs.DirectRLEnv`. |
|
|
|
|
| 0.16.4 (2024-05-06) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Added :class:`isaaclab.sensors.TiledCamera` to support tiled rendering with RGB and depth. |
|
|
|
|
| 0.16.3 (2024-04-26) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed parsing of filter prim path expressions in the :class:`isaaclab.sensors.ContactSensor` class. |
| Earlier, the filter prim paths given to the physics view was not being parsed since they were specified as |
| regex expressions instead of glob expressions. |
|
|
|
|
| 0.16.2 (2024-04-25) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Simplified the installation procedure, isaaclab -e is no longer needed |
| * Updated torch dependency to 2.2.2 |
|
|
|
|
| 0.16.1 (2024-04-20) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added attribute :attr:`isaaclab.sim.ArticulationRootPropertiesCfg.fix_root_link` to fix the root link |
| of an articulation to the world frame. |
|
|
|
|
| 0.16.0 (2024-04-16) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the function :meth:`isaaclab.utils.math.quat_unique` to standardize quaternion representations, |
| i.e. always have a non-negative real part. |
| * Added events terms for randomizing mass by scale, simulation joint properties (stiffness, damping, armature, |
| and friction) |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Added clamping of joint positions and velocities in event terms for resetting joints. The simulation does not |
| throw an error if the set values are out of their range. Hence, users are expected to clamp them before setting. |
| * Fixed :class:`isaaclab.envs.mdp.EMAJointPositionToLimitsActionCfg` to smoothen the actions |
| at environment frequency instead of simulation frequency. |
|
|
| * Renamed the following functions in :meth:`isaaclab.envs.mdp` to avoid confusions: |
|
|
| * Observation: :meth:`joint_pos_norm` -> :meth:`joint_pos_limit_normalized` |
| * Action: :class:`ExponentialMovingAverageJointPositionAction` -> :class:`EMAJointPositionToLimitsAction` |
| * Termination: :meth:`base_height` -> :meth:`root_height_below_minimum` |
| * Termination: :meth:`joint_pos_limit` -> :meth:`joint_pos_out_of_limit` |
| * Termination: :meth:`joint_pos_manual_limit` -> :meth:`joint_pos_out_of_manual_limit` |
| * Termination: :meth:`joint_vel_limit` -> :meth:`joint_vel_out_of_limit` |
| * Termination: :meth:`joint_vel_manual_limit` -> :meth:`joint_vel_out_of_manual_limit` |
| * Termination: :meth:`joint_torque_limit` -> :meth:`joint_effort_out_of_limit` |
|
|
| Deprecated |
| ^^^^^^^^^^ |
|
|
| * Deprecated the function :meth:`isaaclab.envs.mdp.add_body_mass` in favor of |
| :meth:`isaaclab.envs.mdp.randomize_rigid_body_mass`. This supports randomizing the mass based on different |
| operations (add, scale, or set) and sampling distributions. |
|
|
|
|
| 0.15.13 (2024-04-16) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Improved startup performance by enabling rendering-based extensions only when necessary and caching of nucleus directory. |
| * Renamed the flag ``OFFSCREEN_RENDER`` or ``--offscreen_render`` to ``ENABLE_CAMERAS`` or ``--enable_cameras`` respectively. |
|
|
|
|
| 0.15.12 (2024-04-16) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Replaced calls to the ``check_file_path`` function in the :mod:`isaaclab.sim.spawners.from_files` |
| with the USD stage resolve identifier function. This helps speed up the loading of assets from file paths |
| by avoiding Nucleus server calls. |
|
|
|
|
| 0.15.11 (2024-04-15) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the :meth:`isaaclab.sim.SimulationContext.has_rtx_sensors` method to check if any |
| RTX-related sensors such as cameras have been created in the simulation. This is useful to determine |
| if simulation requires RTX rendering during step or not. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the rendering of RTX-related sensors such as cameras inside the :class:`isaaclab.envs.RLTaskEnv` class. |
| Earlier the rendering did not happen inside the step function, which caused the sensor data to be empty. |
|
|
|
|
| 0.15.10 (2024-04-11) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed sharing of the same memory address between returned tensors from observation terms |
| in the :class:`isaaclab.managers.ObservationManager` class. Earlier, the returned |
| tensors could map to the same memory address, causing issues when the tensors were modified |
| during scaling, clipping or other operations. |
|
|
|
|
| 0.15.9 (2024-04-04) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed assignment of individual termination terms inside the :class:`isaaclab.managers.TerminationManager` |
| class. Earlier, the terms were being assigned their values through an OR operation which resulted in incorrect |
| values. This regression was introduced in version 0.15.1. |
|
|
|
|
| 0.15.8 (2024-04-02) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added option to define ordering of points for the mesh-grid generation in the |
| :func:`isaaclab.sensors.ray_caster.patterns.grid_pattern`. This parameter defaults to 'xy' |
| for backward compatibility. |
|
|
|
|
| 0.15.7 (2024-03-28) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Adds option to return indices/data in the specified query keys order in |
| :class:`isaaclab.managers.SceneEntityCfg` class, and the respective |
| :func:`isaaclab.utils.string.resolve_matching_names_values` and |
| :func:`isaaclab.utils.string.resolve_matching_names` functions. |
|
|
|
|
| 0.15.6 (2024-03-28) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Extended the :class:`isaaclab.app.AppLauncher` class to support the loading of experience files |
| from the command line. This allows users to load a specific experience file when running the application |
| (such as for multi-camera rendering or headless mode). |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed default loading of experience files in the :class:`isaaclab.app.AppLauncher` class from the ones |
| provided by Isaac Sim to the ones provided in Isaac Lab's ``apps`` directory. |
|
|
|
|
| 0.15.5 (2024-03-23) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the env origins in :meth:`_compute_env_origins_grid` of :class:`isaaclab.terrain.TerrainImporter` |
| to match that obtained from the Isaac Sim :class:`isaacsim.core.cloner.GridCloner` class. |
|
|
| Added |
| ^^^^^ |
|
|
| * Added unit test to ensure consistency between environment origins generated by IsaacSim's Grid Cloner and those |
| produced by the TerrainImporter. |
|
|
|
|
| 0.15.4 (2024-03-22) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the :class:`isaaclab.envs.mdp.actions.NonHolonomicActionCfg` class to use |
| the correct variable when applying actions. |
|
|
|
|
| 0.15.3 (2024-03-21) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added unit test to check that :class:`isaaclab.scene.InteractiveScene` entity data is not shared between separate instances. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Moved class variables in :class:`isaaclab.scene.InteractiveScene` to correctly be assigned as |
| instance variables. |
| * Removed custom ``__del__`` magic method from :class:`isaaclab.scene.InteractiveScene`. |
|
|
|
|
| 0.15.2 (2024-03-21) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Added resolving of relative paths for the main asset USD file when using the |
| :class:`isaaclab.sim.converters.UrdfConverter` class. This is to ensure that the material paths are |
| resolved correctly when the main asset file is moved to a different location. |
|
|
|
|
| 0.15.1 (2024-03-19) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the imitation learning workflow example script, updating Isaac Lab and Robomimic API calls. |
| * Removed the resetting of :attr:`_term_dones` in the :meth:`isaaclab.managers.TerminationManager.reset`. |
| Previously, the environment cleared out all the terms. However, it impaired reading the specific term's values externally. |
|
|
|
|
| 0.15.0 (2024-03-17) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Deprecated |
| ^^^^^^^^^^ |
|
|
| * Renamed :class:`isaaclab.managers.RandomizationManager` to :class:`isaaclab.managers.EventManager` |
| class for clarification as the manager takes care of events such as reset in addition to pure randomizations. |
| * Renamed :class:`isaaclab.managers.RandomizationTermCfg` to :class:`isaaclab.managers.EventTermCfg` |
| for consistency with the class name change. |
|
|
|
|
| 0.14.1 (2024-03-16) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added simulation schemas for joint drive and fixed tendons. These can be configured for assets imported |
| from file formats. |
| * Added logging of tendon properties to the articulation class (if they are present in the USD prim). |
|
|
|
|
| 0.14.0 (2024-03-15) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the ordering of body names used in the :class:`isaaclab.assets.Articulation` class. Earlier, |
| the body names were not following the same ordering as the bodies in the articulation. This led |
| to issues when using the body names to access data related to the links from the articulation view |
| (such as Jacobians, mass matrices, etc.). |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed the attribute :attr:`body_physx_view` from the :class:`isaaclab.assets.RigidObject` |
| and :class:`isaaclab.assets.Articulation` classes. These were causing confusions when used |
| with articulation view since the body names were not following the same ordering. |
|
|
|
|
| 0.13.1 (2024-03-14) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed the :mod:`isaaclab.compat` module. This module was used to provide compatibility |
| with older versions of Isaac Sim. It is no longer needed since we have most of the functionality |
| absorbed into the main classes. |
|
|
|
|
| 0.13.0 (2024-03-12) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added support for the following data types inside the :class:`isaaclab.sensors.Camera` class: |
| ``instance_segmentation_fast`` and ``instance_id_segmentation_fast``. These are GPU-supported annotations |
| and are faster than the regular annotations. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed handling of semantic filtering inside the :class:`isaaclab.sensors.Camera` class. Earlier, |
| the annotator was given ``semanticTypes`` as an argument. However, with Isaac Sim 2023.1, the annotator |
| does not accept this argument. Instead the mapping needs to be set to the synthetic data interface directly. |
| * Fixed the return shape of colored images for segmentation data types inside the |
| :class:`isaaclab.sensors.Camera` class. Earlier, the images were always returned as ``int32``. Now, |
| they are casted to ``uint8`` 4-channel array before returning if colorization is enabled for the annotation type. |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Dropped support for ``instance_segmentation`` and ``instance_id_segmentation`` annotations in the |
| :class:`isaaclab.sensors.Camera` class. Their "fast" counterparts should be used instead. |
| * Renamed the argument :attr:`isaaclab.sensors.CameraCfg.semantic_types` to |
| :attr:`isaaclab.sensors.CameraCfg.semantic_filter`. This is more aligned with Replicator's terminology |
| for semantic filter predicates. |
| * Replaced the argument :attr:`isaaclab.sensors.CameraCfg.colorize` with separate colorized |
| arguments for each annotation type (:attr:`~isaaclab.sensors.CameraCfg.colorize_instance_segmentation`, |
| :attr:`~isaaclab.sensors.CameraCfg.colorize_instance_id_segmentation`, and |
| :attr:`~isaaclab.sensors.CameraCfg.colorize_semantic_segmentation`). |
|
|
|
|
| 0.12.4 (2024-03-11) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
|
|
| * Adapted randomization terms to deal with ``slice`` for the body indices. Earlier, the terms were not |
| able to handle the slice object and were throwing an error. |
| * Added ``slice`` type-hinting to all body and joint related methods in the rigid body and articulation |
| classes. This is to make it clear that the methods can handle both list of indices and slices. |
|
|
|
|
| 0.12.3 (2024-03-11) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Added signal handler to the :class:`isaaclab.app.AppLauncher` class to catch the ``SIGINT`` signal |
| and close the application gracefully. This is to prevent the application from crashing when the user |
| presses ``Ctrl+C`` to close the application. |
|
|
|
|
| 0.12.2 (2024-03-10) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added observation terms for states of a rigid object in world frame. |
| * Added randomization terms to set root state with randomized orientation and joint state within user-specified limits. |
| * Added reward term for penalizing specific termination terms. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Improved sampling of states inside randomization terms. Earlier, the code did multiple torch calls |
| for sampling different components of the vector. Now, it uses a single call to sample the entire vector. |
|
|
|
|
| 0.12.1 (2024-03-09) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added an option to the last actions observation term to get a specific term by name from the action manager. |
| If None, the behavior remains the same as before (the entire action is returned). |
|
|
|
|
| 0.12.0 (2024-03-08) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added functionality to sample flat patches on a generated terrain. This can be configured using |
| :attr:`isaaclab.terrains.SubTerrainBaseCfg.flat_patch_sampling` attribute. |
| * Added a randomization function for setting terrain-aware root state. Through this, an asset can be |
| reset to a randomly sampled flat patches. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Separated normal and terrain-base position commands. The terrain based commands rely on the |
| terrain to sample flat patches for setting the target position. |
| * Fixed command resample termination function. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Added the attribute :attr:`isaaclab.envs.mdp.commands.UniformVelocityCommandCfg.heading_control_stiffness` |
| to control the stiffness of the heading control term in the velocity command term. Earlier, this was |
| hard-coded to 0.5 inside the term. |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed the function :meth:`sample_new_targets` in the terrain importer. Instead the attribute |
| :attr:`isaaclab.terrains.TerrainImporter.flat_patches` should be used to sample new targets. |
|
|
|
|
| 0.11.3 (2024-03-04) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Corrects the functions :func:`isaaclab.utils.math.axis_angle_from_quat` and :func:`isaaclab.utils.math.quat_error_magnitude` |
| to accept tensors of the form (..., 4) instead of (N, 4). This brings us in line with our documentation and also upgrades one of our functions |
| to handle higher dimensions. |
|
|
|
|
| 0.11.2 (2024-03-04) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added checks for default joint position and joint velocity in the articulation class. This is to prevent |
| users from configuring values for these quantities that might be outside the valid range from the simulation. |
|
|
|
|
| 0.11.1 (2024-02-29) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Replaced the default values for ``joint_ids`` and ``body_ids`` from ``None`` to ``slice(None)`` |
| in the :class:`isaaclab.managers.SceneEntityCfg`. |
| * Adapted rewards and observations terms so that the users can query a subset of joints and bodies. |
|
|
|
|
| 0.11.0 (2024-02-27) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Dropped support for Isaac Sim<=2022.2. As part of this, removed the components of :class:`isaaclab.app.AppLauncher` |
| which handled ROS extension loading. We no longer need them in Isaac Sim>=2023.1 to control the load order to avoid crashes. |
| * Upgraded Dockerfile to use ISAACSIM_VERSION=2023.1.1 by default. |
|
|
|
|
| 0.10.28 (2024-02-29) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Implemented relative and moving average joint position action terms. These allow the user to specify |
| the target joint positions as relative to the current joint positions or as a moving average of the |
| joint positions over a window of time. |
|
|
|
|
| 0.10.27 (2024-02-28) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added UI feature to start and stop animation recording in the stage when running an environment. |
| To enable this feature, please pass the argument ``--disable_fabric`` to the environment script to allow |
| USD read/write operations. Be aware that this will slow down the simulation. |
|
|
|
|
| 0.10.26 (2024-02-26) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added a viewport camera controller class to the :class:`isaaclab.envs.BaseEnv`. This is useful |
| for applications where the user wants to render the viewport from different perspectives even when the |
| simulation is running in headless mode. |
|
|
|
|
| 0.10.25 (2024-02-26) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Ensures that all path arguments in :mod:`isaaclab.sim.utils` are cast to ``str``. Previously, |
| we had handled path types as strings without casting. |
|
|
|
|
| 0.10.24 (2024-02-26) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added tracking of contact time in the :class:`isaaclab.sensors.ContactSensor` class. Previously, |
| only the air time was being tracked. |
| * Added contact force threshold, :attr:`isaaclab.sensors.ContactSensorCfg.force_threshold`, to detect |
| when the contact sensor is in contact. Previously, this was set to hard-coded 1.0 in the sensor class. |
|
|
|
|
| 0.10.23 (2024-02-21) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixes the order of size arguments in :meth:`isaaclab.terrains.height_field.random_uniform_terrain`. Previously, the function |
| would crash if the size along x and y were not the same. |
|
|
|
|
| 0.10.22 (2024-02-14) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed "divide by zero" bug in :class:`~isaaclab.sim.SimulationContext` when setting gravity vector. |
| Now, it is correctly disabled when the gravity vector is set to zero. |
|
|
|
|
| 0.10.21 (2024-02-12) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the printing of articulation joint information when the articulation has only one joint. |
| Earlier, the function was performing a squeeze operation on the tensor, which caused an error when |
| trying to index the tensor of shape (1,). |
|
|
|
|
| 0.10.20 (2024-02-12) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Adds :attr:`isaaclab.sim.PhysxCfg.enable_enhanced_determinism` to enable improved |
| determinism from PhysX. Please note this comes at the expense of performance. |
|
|
|
|
| 0.10.19 (2024-02-08) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed environment closing so that articulations, objects, and sensors are cleared properly. |
|
|
|
|
| 0.10.18 (2024-02-05) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Pinned :mod:`torch` version to 2.0.1 in the setup.py to keep parity version of :mod:`torch` supplied by |
| Isaac 2023.1.1, and prevent version incompatibility between :mod:`torch` ==2.2 and |
| :mod:`typing-extensions` ==3.7.4.3 |
|
|
|
|
| 0.10.17 (2024-02-02) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^^ |
|
|
| * Fixed carb setting ``/app/livestream/enabled`` to be set as False unless live-streaming is specified |
| by :class:`isaaclab.app.AppLauncher` settings. This fixes the logic of :meth:`SimulationContext.render`, |
| which depended on the config in previous versions of Isaac defaulting to false for this setting. |
|
|
|
|
| 0.10.16 (2024-01-29) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^^ |
|
|
| * Added an offset parameter to the height scan observation term. This allows the user to specify the |
| height offset of the scan from the tracked body. Previously it was hard-coded to be 0.5. |
|
|
|
|
| 0.10.15 (2024-01-29) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed joint torque computation for implicit actuators. Earlier, the torque was always zero for implicit |
| actuators. Now, it is computed approximately by applying the PD law. |
|
|
|
|
| 0.10.14 (2024-01-22) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the tensor shape of :attr:`isaaclab.sensors.ContactSensorData.force_matrix_w`. Earlier, the reshaping |
| led to a mismatch with the data obtained from PhysX. |
|
|
|
|
| 0.10.13 (2024-01-15) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed running of environments with a single instance even if the :attr:`replicate_physics`` flag is set to True. |
| |
| |
| 0.10.12 (2024-01-10) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed indexing of source and target frames in the :class:`isaaclab.sensors.FrameTransformer` class. |
| Earlier, it always assumed that the source frame body is at index 0. Now, it uses the body index of the |
| source frame to compute the transformation. |
|
|
| Deprecated |
| ^^^^^^^^^^ |
|
|
| * Renamed quantities in the :class:`isaaclab.sensors.FrameTransformerData` class to be more |
| consistent with the terminology used in the asset classes. The following quantities are deprecated: |
|
|
| * ``target_rot_w`` -> ``target_quat_w`` |
| * ``source_rot_w`` -> ``source_quat_w`` |
| * ``target_rot_source`` -> ``target_quat_source`` |
|
|
|
|
| 0.10.11 (2024-01-08) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed attribute error raised when calling the :class:`isaaclab.envs.mdp.TerrainBasedPositionCommand` |
| command term. |
| * Added a dummy function in :class:`isaaclab.terrain.TerrainImporter` that returns environment |
| origins as terrain-aware sampled targets. This function should be implemented by child classes based on |
| the terrain type. |
|
|
|
|
| 0.10.10 (2023-12-21) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed reliance on non-existent ``Viewport`` in :class:`isaaclab.sim.SimulationContext` when loading livestreaming |
| by ensuring that the extension ``omni.kit.viewport.window`` is enabled in :class:`isaaclab.app.AppLauncher` when |
| livestreaming is enabled |
|
|
|
|
| 0.10.9 (2023-12-21) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed invalidation of physics views inside the asset and sensor classes. Earlier, they were left initialized |
| even when the simulation was stopped. This caused issues when closing the application. |
|
|
|
|
| 0.10.8 (2023-12-20) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the :class:`isaaclab.envs.mdp.actions.DifferentialInverseKinematicsAction` class |
| to account for the offset pose of the end-effector. |
|
|
|
|
| 0.10.7 (2023-12-19) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Added a check to ray-cast and camera sensor classes to ensure that the sensor prim path does not |
| have a regex expression at its leaf. For instance, ``/World/Robot/camera_.*`` is not supported |
| for these sensor types. This behavior needs to be fixed in the future. |
|
|
|
|
| 0.10.6 (2023-12-19) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added support for using articulations as visualization markers. This disables all physics APIs from |
| the articulation and allows the user to use it as a visualization marker. It is useful for creating |
| visualization markers for the end-effectors or base of the robot. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed hiding of debug markers from secondary images when using the |
| :class:`isaaclab.markers.VisualizationMarkers` class. Earlier, the properties were applied on |
| the XForm prim instead of the Mesh prim. |
|
|
|
|
| 0.10.5 (2023-12-18) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed test ``check_base_env_anymal_locomotion.py``, which |
| previously called :func:`torch.jit.load` with the path to a policy (which would work |
| for a local file), rather than calling |
| :func:`isaaclab.utils.assets.read_file` on the path to get the file itself. |
|
|
|
|
| 0.10.4 (2023-12-14) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed potentially breaking import of omni.kit.widget.toolbar by ensuring that |
| if live-stream is enabled, then the :mod:`omni.kit.widget.toolbar` |
| extension is loaded. |
|
|
| 0.10.3 (2023-12-12) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the attribute :attr:`isaaclab.actuators.ActuatorNetMLPCfg.input_order` |
| to specify the order of the input tensors to the MLP network. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed computation of metrics for the velocity command term. Earlier, the norm was being computed |
| over the entire batch instead of the last dimension. |
| * Fixed the clipping inside the :class:`isaaclab.actuators.DCMotor` class. Earlier, it was |
| not able to handle the case when configured saturation limit was set to None. |
|
|
|
|
| 0.10.2 (2023-12-12) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Added a check in the simulation stop callback in the :class:`isaaclab.sim.SimulationContext` class |
| to not render when an exception is raised. The while loop in the callback was preventing the application |
| from closing when an exception was raised. |
|
|
|
|
| 0.10.1 (2023-12-06) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added command manager class with terms defined by :class:`isaaclab.managers.CommandTerm`. This |
| allow for multiple types of command generators to be used in the same environment. |
|
|
|
|
| 0.10.0 (2023-12-04) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Modified the sensor and asset base classes to use the underlying PhysX views instead of Isaac Sim views. |
| Using Isaac Sim classes led to a very high load time (of the order of minutes) when using a scene with |
| many assets. This is because Isaac Sim supports USD paths which are slow and not required. |
|
|
| Added |
| ^^^^^ |
|
|
| * Added faster implementation of USD stage traversal methods inside the :class:`isaaclab.sim.utils` module. |
| * Added properties :attr:`isaaclab.assets.AssetBase.num_instances` and |
| :attr:`isaaclab.sensor.SensorBase.num_instances` to obtain the number of instances of the asset |
| or sensor in the simulation respectively. |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed dependencies on Isaac Sim view classes. It is no longer possible to use :attr:`root_view` and |
| :attr:`body_view`. Instead use :attr:`root_physx_view` and :attr:`body_physx_view` to access the underlying |
| PhysX views. |
|
|
|
|
| 0.9.55 (2023-12-03) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the Nucleus directory path in the :attr:`isaaclab.utils.assets.NVIDIA_NUCLEUS_DIR`. |
| Earlier, it was referring to the ``NVIDIA/Assets`` directory instead of ``NVIDIA``. |
|
|
|
|
| 0.9.54 (2023-11-29) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed pose computation in the :class:`isaaclab.sensors.Camera` class to obtain them from XFormPrimView |
| instead of using ``UsdGeomCamera.ComputeLocalToWorldTransform`` method. The latter is not updated correctly |
| during GPU simulation. |
| * Fixed initialization of the annotator info in the class :class:`isaaclab.sensors.Camera`. Previously |
| all dicts had the same memory address which caused all annotators to have the same info. |
| * Fixed the conversion of ``uint32`` warp arrays inside the :meth:`isaaclab.utils.array.convert_to_torch` |
| method. PyTorch does not support this type, so it is converted to ``int32`` before converting to PyTorch tensor. |
| * Added render call inside :meth:`isaaclab.sim.SimulationContext.reset` to initialize Replicator |
| buffers when the simulation is reset. |
|
|
|
|
| 0.9.53 (2023-11-29) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed the behavior of passing :obj:`None` to the :class:`isaaclab.actuators.ActuatorBaseCfg` |
| class. Earlier, they were resolved to fixed default values. Now, they imply that the values are loaded |
| from the USD joint drive configuration. |
|
|
| Added |
| ^^^^^ |
|
|
| * Added setting of joint armature and friction quantities to the articulation class. |
|
|
|
|
| 0.9.52 (2023-11-29) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed the warning print in :meth:`isaaclab.sim.utils.apply_nested` method |
| to be more descriptive. Earlier, it was printing a warning for every instanced prim. |
| Now, it only prints a warning if it could not apply the attribute to any of the prims. |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the method :meth:`isaaclab.utils.assets.retrieve_file_path` to |
| obtain the absolute path of a file on the Nucleus server or locally. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed hiding of STOP button in the :class:`AppLauncher` class when running the |
| simulation in headless mode. |
| * Fixed a bug with :meth:`isaaclab.sim.utils.clone` failing when the input prim path |
| had no parent (example: "/Table"). |
|
|
|
|
| 0.9.51 (2023-11-29) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed the :meth:`isaaclab.sensor.SensorBase.update` method to always recompute the buffers if |
| the sensor is in visualization mode. |
|
|
| Added |
| ^^^^^ |
|
|
| * Added available entities to the error message when accessing a non-existent entity in the |
| :class:`InteractiveScene` class. |
| * Added a warning message when the user tries to reference an invalid prim in the :class:`FrameTransformer` sensor. |
|
|
|
|
| 0.9.50 (2023-11-28) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Hid the ``STOP`` button in the UI when running standalone Python scripts. This is to prevent |
| users from accidentally clicking the button and stopping the simulation. They should only be able to |
| play and pause the simulation from the UI. |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed :attr:`isaaclab.sim.SimulationCfg.shutdown_app_on_stop`. The simulation is always rendering |
| if it is stopped from the UI. The user needs to close the window or press ``Ctrl+C`` to close the simulation. |
|
|
|
|
| 0.9.49 (2023-11-27) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added an interface class, :class:`isaaclab.managers.ManagerTermBase`, to serve as the parent class |
| for term implementations that are functional classes. |
| * Adapted all managers to support terms that are classes and not just functions clearer. This allows the user to |
| create more complex terms that require additional state information. |
|
|
|
|
| 0.9.48 (2023-11-24) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed initialization of drift in the :class:`isaaclab.sensors.RayCasterCamera` class. |
|
|
|
|
| 0.9.47 (2023-11-24) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Automated identification of the root prim in the :class:`isaaclab.assets.RigidObject` and |
| :class:`isaaclab.assets.Articulation` classes. Earlier, the root prim was hard-coded to |
| the spawn prim path. Now, the class searches for the root prim under the spawn prim path. |
|
|
|
|
| 0.9.46 (2023-11-24) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed a critical issue in the asset classes with writing states into physics handles. |
| Earlier, the states were written over all the indices instead of the indices of the |
| asset that were being updated. This caused the physics handles to refresh the states |
| of all the assets in the scene, which is not desirable. |
|
|
|
|
| 0.9.45 (2023-11-24) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`isaaclab.command_generators.UniformPoseCommandGenerator` to generate |
| poses in the asset's root frame by uniformly sampling from a given range. |
|
|
|
|
| 0.9.44 (2023-11-16) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added methods :meth:`reset` and :meth:`step` to the :class:`isaaclab.envs.BaseEnv`. This unifies |
| the environment interface for simple standalone applications with the class. |
|
|
|
|
| 0.9.43 (2023-11-16) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Replaced subscription of physics play and stop events in the :class:`isaaclab.assets.AssetBase` and |
| :class:`isaaclab.sensors.SensorBase` classes with subscription to time-line play and stop events. |
| This is to prevent issues in cases where physics first needs to perform mesh cooking and handles are not |
| available immediately. For instance, with deformable meshes. |
|
|
|
|
| 0.9.42 (2023-11-16) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed setting of damping values from the configuration for :class:`ActuatorBase` class. Earlier, |
| the stiffness values were being set into damping when a dictionary configuration was passed to the |
| actuator model. |
| * Added dealing with :class:`int` and :class:`float` values in the configurations of :class:`ActuatorBase`. |
| Earlier, a type-error was thrown when integer values were passed to the actuator model. |
|
|
|
|
| 0.9.41 (2023-11-16) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the naming and shaping issues in the binary joint action term. |
|
|
|
|
| 0.9.40 (2023-11-09) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Simplified the manual initialization of Isaac Sim :class:`ArticulationView` class. Earlier, we basically |
| copied the code from the Isaac Sim source code. Now, we just call their initialize method. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed the name of attribute :attr:`default_root_state_w` to :attr:`default_root_state`. The latter is |
| more correct since the data is actually in the local environment frame and not the simulation world frame. |
|
|
|
|
| 0.9.39 (2023-11-08) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Changed the reference of private ``_body_view`` variable inside the :class:`RigidObject` class |
| to the public ``body_view`` property. For a rigid object, the private variable is not defined. |
|
|
|
|
| 0.9.38 (2023-11-07) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Upgraded the :class:`isaaclab.envs.RLTaskEnv` class to support Gym 0.29.0 environment definition. |
|
|
| Added |
| ^^^^^ |
|
|
| * Added computation of ``time_outs`` and ``terminated`` signals inside the termination manager. These follow the |
| definition mentioned in `Gym 0.29.0 <https://gymnasium.farama.org/tutorials/gymnasium_basics/handling_time_limits/>`_. |
| * Added proper handling of observation and action spaces in the :class:`isaaclab.envs.RLTaskEnv` class. |
| These now follow closely to how Gym VecEnv handles the spaces. |
|
|
|
|
| 0.9.37 (2023-11-06) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed broken visualization in :mod:`isaaclab.sensors.FrameTramsformer` class by overwriting the |
| correct ``_debug_vis_callback`` function. |
| * Moved the visualization marker configurations of sensors to their respective sensor configuration classes. |
| This allows users to set these configurations from the configuration object itself. |
|
|
|
|
| 0.9.36 (2023-11-03) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Added explicit deleting of different managers in the :class:`isaaclab.envs.BaseEnv` and |
| :class:`isaaclab.envs.RLTaskEnv` classes. This is required since deleting the managers |
| is order-sensitive (many managers need to be deleted before the scene is deleted). |
|
|
|
|
| 0.9.35 (2023-11-02) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the error: ``'str' object has no attribute '__module__'`` introduced by adding the future import inside the |
| :mod:`isaaclab.utils.warp.kernels` module. Warp language does not support the ``__future__`` imports. |
| |
| |
| 0.9.34 (2023-11-02) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Added missing import of ``from __future__ import annotations`` in the :mod:`isaaclab.utils.warp` |
| module. This is needed to have a consistent behavior across Python versions. |
|
|
|
|
| 0.9.33 (2023-11-02) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the :class:`isaaclab.command_generators.NullCommandGenerator` class. Earlier, |
| it was having a runtime error due to infinity in the resampling time range. Now, the class just |
| overrides the parent methods to perform no operations. |
|
|
|
|
| 0.9.32 (2023-11-02) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Renamed the :class:`isaaclab.envs.RLEnv` class to :class:`isaaclab.envs.RLTaskEnv` to |
| avoid confusions in terminologies between environments and tasks. |
|
|
|
|
| 0.9.31 (2023-11-02) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the :class:`isaaclab.sensors.RayCasterCamera` class, as a ray-casting based camera for |
| "distance_to_camera", "distance_to_image_plane" and "normals" annotations. It has the same interface and |
| functionalities as the USD Camera while it is on average 30% faster. |
|
|
|
|
| 0.9.30 (2023-11-01) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Added skipping of None values in the :class:`InteractiveScene` class when creating the scene from configuration |
| objects. Earlier, it was throwing an error when the user passed a None value for a scene element. |
| * Added ``kwargs`` to the :class:`RLEnv` class to allow passing additional arguments from gym registry function. |
| This is now needed since the registry function passes args beyond the ones specified in the constructor. |
|
|
|
|
| 0.9.29 (2023-11-01) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the material path resolution inside the :class:`isaaclab.sim.converters.UrdfConverter` class. |
| With Isaac Sim 2023.1, the material paths from the importer are always saved as absolute paths. This caused |
| issues when the generated USD file was moved to a different location. The fix now resolves the material paths |
| relative to the USD file location. |
|
|
|
|
| 0.9.28 (2023-11-01) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed the way the :func:`isaaclab.sim.spawners.from_files.spawn_ground_plane` function sets the |
| height of the ground. Earlier, it was reading the height from the configuration object. Now, it expects the |
| desired transformation as inputs to the function. This makes it consistent with the other spawner functions. |
|
|
|
|
| 0.9.27 (2023-10-31) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Removed the default value of the argument ``camel_case`` in setters of USD attributes. This is to avoid |
| confusion with the naming of the attributes in the USD file. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the selection of material prim in the :class:`isaaclab.sim.spawners.materials.spawn_preview_surface` |
| method. Earlier, the created prim was being selected in the viewport which interfered with the selection of |
| prims by the user. |
| * Updated :class:`isaaclab.sim.converters.MeshConverter` to use a different stage than the default stage |
| for the conversion. This is to avoid the issue of the stage being closed when the conversion is done. |
|
|
|
|
| 0.9.26 (2023-10-31) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the sensor implementation for :class:`isaaclab.sensors.FrameTransformer` class. Currently, |
| it handles obtaining the transformation between two frames in the same articulation. |
|
|
|
|
| 0.9.25 (2023-10-27) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the :mod:`isaaclab.envs.ui` module to put all the UI-related classes in one place. This currently |
| implements the :class:`isaaclab.envs.ui.BaseEnvWindow` and :class:`isaaclab.envs.ui.RLEnvWindow` |
| classes. Users can inherit from these classes to create their own UI windows. |
| * Added the attribute :attr:`isaaclab.envs.BaseEnvCfg.ui_window_class_type` to specify the UI window class |
| to be used for the environment. This allows the user to specify their own UI window class to be used for the |
| environment. |
|
|
|
|
| 0.9.24 (2023-10-27) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed the behavior of setting up debug visualization for assets, sensors and command generators. |
| Earlier it was raising an error if debug visualization was not enabled in the configuration object. |
| Now it checks whether debug visualization is implemented and only sets up the callback if it is |
| implemented. |
|
|
|
|
| 0.9.23 (2023-10-27) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed a typo in the :class:`AssetBase` and :class:`SensorBase` that effected the class destructor. |
| Earlier, a tuple was being created in the constructor instead of the actual object. |
|
|
|
|
| 0.9.22 (2023-10-26) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added a :class:`isaaclab.command_generators.NullCommandGenerator` class for no command environments. |
| This is easier to work with than having checks for :obj:`None` in the command generator. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Moved the randomization manager to the :class:`isaaclab.envs.BaseEnv` class with the default |
| settings to reset the scene to the defaults specified in the configurations of assets. |
| * Moved command generator to the :class:`isaaclab.envs.RlEnv` class to have all task-specification |
| related classes in the same place. |
|
|
|
|
| 0.9.21 (2023-10-26) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Decreased the priority of callbacks in asset and sensor base classes. This may help in preventing |
| crashes when warm starting the simulation. |
| * Fixed no rendering mode when running the environment from the GUI. Earlier the function |
| :meth:`SimulationContext.set_render_mode` was erroring out. |
|
|
|
|
| 0.9.20 (2023-10-25) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Changed naming in :class:`isaaclab.sim.SimulationContext.RenderMode` to use ``NO_GUI_OR_RENDERING`` |
| and ``NO_RENDERING`` instead of ``HEADLESS`` for clarity. |
| * Changed :class:`isaaclab.sim.SimulationContext` to be capable of handling livestreaming and |
| offscreen rendering. |
| * Changed :class:`isaaclab.app.AppLauncher` envvar ``VIEWPORT_RECORD`` to the more descriptive |
| ``OFFSCREEN_RENDER``. |
|
|
|
|
| 0.9.19 (2023-10-25) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added Gym observation and action spaces for the :class:`isaaclab.envs.RLEnv` class. |
|
|
|
|
| 0.9.18 (2023-10-23) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Created :class:`isaaclab.sim.converters.asset_converter.AssetConverter` to serve as a base |
| class for all asset converters. |
| * Added :class:`isaaclab.sim.converters.mesh_converter.MeshConverter` to handle loading and conversion |
| of mesh files (OBJ, STL and FBX) into USD format. |
| * Added script ``convert_mesh.py`` to ``source/tools`` to allow users to convert a mesh to USD via command line arguments. |
| |
| Changed |
| ^^^^^^^ |
|
|
| * Renamed the submodule :mod:`isaaclab.sim.loaders` to :mod:`isaaclab.sim.converters` to be more |
| general with the functionality of the module. |
| * Updated ``check_instanceable.py`` script to convert relative paths to absolute paths. |
|
|
|
|
| 0.9.17 (2023-10-22) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added setters and getters for term configurations in the :class:`RandomizationManager`, :class:`RewardManager` |
| and :class:`TerminationManager` classes. This allows the user to modify the term configurations after the |
| manager has been created. |
| * Added the method :meth:`compute_group` to the :class:`isaaclab.managers.ObservationManager` class to |
| compute the observations for only a given group. |
| * Added the curriculum term for modifying reward weights after certain environment steps. |
|
|
|
|
| 0.9.16 (2023-10-22) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added support for keyword arguments for terms in the :class:`isaaclab.managers.ManagerBase`. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed resetting of buffers in the :class:`TerminationManager` class. Earlier, the values were being set |
| to ``0.0`` instead of ``False``. |
|
|
|
|
| 0.9.15 (2023-10-22) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added base yaw heading and body acceleration into :class:`isaaclab.assets.RigidObjectData` class. |
| These quantities are computed inside the :class:`RigidObject` class. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the :meth:`isaaclab.assets.RigidObject.set_external_force_and_torque` method to correctly |
| deal with the body indices. |
| * Fixed a bug in the :meth:`isaaclab.utils.math.wrap_to_pi` method to prevent self-assignment of |
| the input tensor. |
|
|
|
|
| 0.9.14 (2023-10-21) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added 2-D drift (i.e. along x and y) to the :class:`isaaclab.sensors.RayCaster` class. |
| * Added flags to the :class:`isaaclab.sensors.ContactSensorCfg` to optionally obtain the |
| sensor origin and air time information. Since these are not required by default, they are |
| disabled by default. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the handling of contact sensor history buffer in the :class:`isaaclab.sensors.ContactSensor` class. |
| Earlier, the buffer was not being updated correctly. |
|
|
|
|
| 0.9.13 (2023-10-20) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the issue with double :obj:`Ellipsis` when indexing tensors with multiple dimensions. |
| The fix now uses :obj:`slice(None)` instead of :obj:`Ellipsis` to index the tensors. |
|
|
|
|
| 0.9.12 (2023-10-18) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed bugs in actuator model implementation for actuator nets. Earlier the DC motor clipping was not working. |
| * Fixed bug in applying actuator model in the :class:`isaaclab.asset.Articulation` class. The new |
| implementation caches the outputs from explicit actuator model into the ``joint_pos_*_sim`` buffer to |
| avoid feedback loops in the tensor operation. |
|
|
|
|
| 0.9.11 (2023-10-17) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the support for semantic tags into the :class:`isaaclab.sim.spawner.SpawnerCfg` class. This allows |
| the user to specify the semantic tags for a prim when spawning it into the scene. It follows the same format as |
| Omniverse Replicator. |
|
|
|
|
| 0.9.10 (2023-10-16) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added ``--livestream`` and ``--ros`` CLI args to :class:`isaaclab.app.AppLauncher` class. |
| * Added a static function :meth:`isaaclab.app.AppLauncher.add_app_launcher_args`, which |
| appends the arguments needed for :class:`isaaclab.app.AppLauncher` to the argument parser. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Within :class:`isaaclab.app.AppLauncher`, removed ``REMOTE_DEPLOYMENT`` env-var processing |
| in the favor of ``HEADLESS`` and ``LIVESTREAM`` env-vars. These have clearer uses and better parity |
| with the CLI args. |
|
|
|
|
| 0.9.9 (2023-10-12) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the property :attr:`isaaclab.assets.Articulation.is_fixed_base` to the articulation class to |
| check if the base of the articulation is fixed or floating. |
| * Added the task-space action term corresponding to the differential inverse-kinematics controller. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Simplified the :class:`isaaclab.controllers.DifferentialIKController` to assume that user provides the |
| correct end-effector poses and Jacobians. Earlier it was doing internal frame transformations which made the |
| code more complicated and error-prone. |
|
|
|
|
| 0.9.8 (2023-09-30) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the boundedness of class objects that register callbacks into the simulator. |
| These include devices, :class:`AssetBase`, :class:`SensorBase` and :class:`CommandGenerator`. |
| The fix ensures that object gets deleted when the user deletes the object. |
|
|
|
|
| 0.9.7 (2023-09-26) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Modified the :class:`isaaclab.markers.VisualizationMarkers` to use the |
| :class:`isaaclab.sim.spawner.SpawnerCfg` class instead of their |
| own configuration objects. This makes it consistent with the other ways to spawn assets in the scene. |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the method :meth:`copy` to configclass to allow copying of configuration objects. |
|
|
|
|
| 0.9.6 (2023-09-26) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Changed class-level configuration classes to refer to class types using ``class_type`` attribute instead |
| of ``cls`` or ``cls_name``. |
|
|
|
|
| 0.9.5 (2023-09-25) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Added future import of ``annotations`` to have a consistent behavior across Python versions. |
| * Removed the type-hinting from docstrings to simplify maintenance of the documentation. All type-hints are |
| now in the code itself. |
|
|
|
|
| 0.9.4 (2023-08-29) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`isaaclab.scene.InteractiveScene`, as the central scene unit that contains all entities |
| that are part of the simulation. These include the terrain, sensors, articulations, rigid objects etc. |
| The scene groups the common operations of these entities and allows to access them via their unique names. |
| * Added :mod:`isaaclab.envs` module that contains environment definitions that encapsulate the different |
| general (scene, action manager, observation manager) and RL-specific (reward and termination manager) managers. |
| * Added :class:`isaaclab.managers.SceneEntityCfg` to handle which scene elements are required by the |
| manager's terms. This allows the manager to parse useful information from the scene elements, such as the |
| joint and body indices, and pass them to the term. |
| * Added :class:`isaaclab.sim.SimulationContext.RenderMode` to handle different rendering modes based on |
| what the user wants to update (viewport, cameras, or UI elements). |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the :class:`isaaclab.command_generators.CommandGeneratorBase` to register a debug visualization |
| callback similar to how sensors and robots handle visualization. |
|
|
|
|
| 0.9.3 (2023-08-23) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Enabled the `faulthander <https://docs.python.org/3/library/faulthandler.html>`_ to catch segfaults and print |
| the stack trace. This is enabled by default in the :class:`isaaclab.app.AppLauncher` class. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Re-added the :mod:`isaaclab.utils.kit` to the ``compat`` directory and fixed all the references to it. |
| * Fixed the deletion of Replicator nodes for the :class:`isaaclab.sensors.Camera` class. Earlier, the |
| Replicator nodes were not being deleted when the camera was deleted. However, this does not prevent the random |
| crashes that happen when the camera is deleted. |
| * Fixed the :meth:`isaaclab.utils.math.convert_quat` to support both numpy and torch tensors. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Renamed all the scripts inside the ``test`` directory to follow the convention: |
|
|
| * ``test_<module_name>.py``: Tests for the module ``<module_name>`` using unittest. |
| * ``check_<module_name>``: Check for the module ``<module_name>`` using python main function. |
|
|
|
|
| 0.9.2 (2023-08-22) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the ability to color meshes in the :class:`isaaclab.terrain.TerrainGenerator` class. Currently, |
| it only supports coloring the mesh randomly (``"random"``), based on the terrain height (``"height"``), and |
| no coloring (``"none"``). |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Modified the :class:`isaaclab.terrain.TerrainImporter` class to configure visual and physics materials |
| based on the configuration object. |
|
|
|
|
| 0.9.1 (2023-08-18) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Introduced three different rotation conventions in the :class:`isaaclab.sensors.Camera` class. These |
| conventions are: |
|
|
| * ``opengl``: the camera is looking down the -Z axis with the +Y axis pointing up |
| * ``ros``: the camera is looking down the +Z axis with the +Y axis pointing down |
| * ``world``: the camera is looking along the +X axis with the -Z axis pointing down |
|
|
| These can be used to declare the camera offset in :class:`isaaclab.sensors.CameraCfg.OffsetCfg` class |
| and in :meth:`isaaclab.sensors.Camera.set_world_pose` method. Additionally, all conventions are |
| saved to :class:`isaaclab.sensors.CameraData` class for easy access. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Adapted all the sensor classes to follow a structure similar to the :class:`isaaclab.assets.AssetBase`. |
| Hence, the spawning and initialization of sensors manually by the users is avoided. |
| * Removed the :meth:`debug_vis` function since that this functionality is handled by a render callback automatically |
| (based on the passed configuration for the :class:`isaaclab.sensors.SensorBaseCfg.debug_vis` flag). |
|
|
|
|
| 0.9.0 (2023-08-18) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Introduces a new set of asset interfaces. These interfaces simplify the spawning of assets into the scene |
| and initializing the physics handle by putting that inside post-startup physics callbacks. With this, users |
| no longer need to worry about the :meth:`spawn` and :meth:`initialize` calls. |
| * Added utility methods to :mod:`isaaclab.utils.string` module that resolve regex expressions based |
| on passed list of target keys. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Renamed all references of joints in an articulation from "dof" to "joint". This makes it consistent with the |
| terminology used in robotics. |
|
|
| Deprecated |
| ^^^^^^^^^^ |
|
|
| * Removed the previous modules for objects and robots. Instead the :class:`Articulation` and :class:`RigidObject` |
| should be used. |
|
|
|
|
| 0.8.12 (2023-08-18) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added other properties provided by ``PhysicsScene`` to the :class:`isaaclab.sim.SimulationContext` |
| class to allow setting CCD, solver iterations, etc. |
| * Added commonly used functions to the :class:`SimulationContext` class itself to avoid having additional |
| imports from Isaac Sim when doing simple tasks such as setting camera view or retrieving the simulation settings. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Switched the notations of default buffer values in :class:`isaaclab.sim.PhysxCfg` from multiplication |
| to scientific notation to avoid confusion with the values. |
|
|
|
|
| 0.8.11 (2023-08-18) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Adds utility functions and configuration objects in the :mod:`isaaclab.sim.spawners` |
| to create the following prims in the scene: |
|
|
| * :mod:`isaaclab.sim.spawners.from_file`: Create a prim from a USD/URDF file. |
| * :mod:`isaaclab.sim.spawners.shapes`: Create USDGeom prims for shapes (box, sphere, cylinder, capsule, etc.). |
| * :mod:`isaaclab.sim.spawners.materials`: Create a visual or physics material prim. |
| * :mod:`isaaclab.sim.spawners.lights`: Create a USDLux prim for different types of lights. |
| * :mod:`isaaclab.sim.spawners.sensors`: Create a USD prim for supported sensors. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Modified the :class:`SimulationContext` class to take the default physics material using the material spawn |
| configuration object. |
|
|
|
|
| 0.8.10 (2023-08-17) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added methods for defining different physics-based schemas in the :mod:`isaaclab.sim.schemas` module. |
| These methods allow creating the schema if it doesn't exist at the specified prim path and modify |
| its properties based on the configuration object. |
|
|
|
|
| 0.8.9 (2023-08-09) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Moved the :class:`isaaclab.asset_loader.UrdfLoader` class to the :mod:`isaaclab.sim.loaders` |
| module to make it more accessible to the user. |
|
|
|
|
| 0.8.8 (2023-08-09) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added configuration classes and functions for setting different physics-based schemas in the |
| :mod:`isaaclab.sim.schemas` module. These allow modifying properties of the physics solver |
| on the asset using configuration objects. |
|
|
|
|
| 0.8.7 (2023-08-03) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Added support for `__post_init__ <https://docs.python.org/3/library/dataclasses.html#post-init-processing>`_ in |
| the :class:`isaaclab.utils.configclass` decorator. |
|
|
|
|
| 0.8.6 (2023-08-03) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added support for callable classes in the :class:`isaaclab.managers.ManagerBase`. |
|
|
|
|
| 0.8.5 (2023-08-03) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the :class:`isaaclab.markers.Visualizationmarkers` class so that the markers are not visible in camera rendering mode. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Simplified the creation of the point instancer in the :class:`isaaclab.markers.Visualizationmarkers` class. It now creates a new |
| prim at the next available prim path if a prim already exists at the given path. |
|
|
|
|
| 0.8.4 (2023-08-02) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the :class:`isaaclab.sim.SimulationContext` class to the :mod:`isaaclab.sim` module. |
| This class inherits from the :class:`isaacsim.core.api.simulation_context.SimulationContext` class and adds |
| the ability to create a simulation context from a configuration object. |
|
|
|
|
| 0.8.3 (2023-08-02) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Moved the :class:`ActuatorBase` class to the :mod:`isaaclab.actuators.actuator_base` module. |
| * Renamed the :mod:`isaaclab.actuators.actuator` module to :mod:`isaaclab.actuators.actuator_pd` |
| to make it more explicit that it contains the PD actuator models. |
|
|
|
|
| 0.8.2 (2023-08-02) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Cleaned up the :class:`isaaclab.terrain.TerrainImporter` class to take all the parameters from the configuration |
| object. This makes it consistent with the other classes in the package. |
| * Moved the configuration classes for terrain generator and terrain importer into separate files to resolve circular |
| dependency issues. |
|
|
|
|
| 0.8.1 (2023-08-02) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Added a hack into :class:`isaaclab.app.AppLauncher` class to remove Isaac Lab packages from the path before launching |
| the simulation application. This prevents the warning messages that appears when the user launches the ``SimulationApp``. |
|
|
| Added |
| ^^^^^ |
|
|
| * Enabled necessary viewport extensions in the :class:`isaaclab.app.AppLauncher` class itself if ``VIEWPORT_ENABLED`` |
| flag is true. |
|
|
|
|
| 0.8.0 (2023-07-26) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the :class:`ActionManager` class to the :mod:`isaaclab.managers` module to handle actions in the |
| environment through action terms. |
| * Added contact force history to the :class:`isaaclab.sensors.ContactSensor` class. The history is stored |
| in the ``net_forces_w_history`` attribute of the sensor data. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Implemented lazy update of buffers in the :class:`isaaclab.sensors.SensorBase` class. This allows the user |
| to update the sensor data only when required, i.e. when the data is requested by the user. This helps avoid double |
| computation of sensor data when a reset is called in the environment. |
|
|
| Deprecated |
| ^^^^^^^^^^ |
|
|
| * Removed the support for different backends in the sensor class. We only use Pytorch as the backend now. |
| * Removed the concept of actuator groups. They are now handled by the :class:`isaaclab.managers.ActionManager` |
| class. The actuator models are now directly handled by the robot class itself. |
|
|
|
|
| 0.7.4 (2023-07-26) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed the behavior of the :class:`isaaclab.terrains.TerrainImporter` class. It now expects the terrain |
| type to be specified in the configuration object. This allows the user to specify everything in the configuration |
| object and not have to do an explicit call to import a terrain. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed setting of quaternion orientations inside the :class:`isaaclab.markers.Visualizationmarkers` class. |
| Earlier, the orientation was being set into the point instancer in the wrong order (``wxyz`` instead of ``xyzw``). |
|
|
|
|
| 0.7.3 (2023-07-25) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the issue with multiple inheritance in the :class:`isaaclab.utils.configclass` decorator. |
| Earlier, if the inheritance tree was more than one level deep and the lowest level configuration class was |
| not updating its values from the middle level classes. |
|
|
|
|
| 0.7.2 (2023-07-24) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the method :meth:`replace` to the :class:`isaaclab.utils.configclass` decorator to allow |
| creating a new configuration object with values replaced from keyword arguments. This function internally |
| calls the `dataclasses.replace <https://docs.python.org/3/library/dataclasses.html#dataclasses.replace>`_. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the handling of class types as member values in the :meth:`isaaclab.utils.configclass`. Earlier it was |
| throwing an error since class types were skipped in the if-else block. |
|
|
|
|
| 0.7.1 (2023-07-22) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the :class:`TerminationManager`, :class:`CurriculumManager`, and :class:`RandomizationManager` classes |
| to the :mod:`isaaclab.managers` module to handle termination, curriculum, and randomization respectively. |
|
|
|
|
| 0.7.0 (2023-07-22) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Created a new :mod:`isaaclab.managers` module for all the managers related to the environment / scene. |
| This includes the :class:`isaaclab.managers.ObservationManager` and :class:`isaaclab.managers.RewardManager` |
| classes that were previously in the :mod:`isaaclab.utils.mdp` module. |
| * Added the :class:`isaaclab.managers.ManagerBase` class to handle the creation of managers. |
| * Added configuration classes for :class:`ObservationTermCfg` and :class:`RewardTermCfg` to allow easy creation of |
| observation and reward terms. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed the behavior of :class:`ObservationManager` and :class:`RewardManager` classes to accept the key ``func`` |
| in each configuration term to be a callable. This removes the need to inherit from the base class |
| and allows more reusability of the functions across different environments. |
| * Moved the old managers to the :mod:`isaaclab.compat.utils.mdp` module. |
| * Modified the necessary scripts to use the :mod:`isaaclab.compat.utils.mdp` module. |
|
|
|
|
| 0.6.2 (2023-07-21) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the :mod:`isaaclab.command_generators` to generate different commands based on the desired task. |
| It allows the user to generate commands for different tasks in the same environment without having to write |
| custom code for each task. |
|
|
|
|
| 0.6.1 (2023-07-16) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the :meth:`isaaclab.utils.math.quat_apply_yaw` to compute the yaw quaternion correctly. |
|
|
| Added |
| ^^^^^ |
|
|
| * Added functions to convert string and callable objects in :mod:`isaaclab.utils.string`. |
|
|
|
|
| 0.6.0 (2023-07-16) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the argument :attr:`sort_keys` to the :meth:`isaaclab.utils.io.yaml.dump_yaml` method to allow |
| enabling/disabling of sorting of keys in the output yaml file. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the ordering of terms in :mod:`isaaclab.utils.configclass` to be consistent in the order in which |
| they are defined. Previously, the ordering was done alphabetically which made it inconsistent with the order in which |
| the parameters were defined. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed the default value of the argument :attr:`sort_keys` in the :meth:`isaaclab.utils.io.yaml.dump_yaml` |
| method to ``False``. |
| * Moved the old config classes in :mod:`isaaclab.utils.configclass` to |
| :mod:`isaaclab.compat.utils.configclass` so that users can still run their old code where alphabetical |
| ordering was used. |
|
|
|
|
| 0.5.0 (2023-07-04) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added a generalized :class:`isaaclab.sensors.SensorBase` class that leverages the ideas of views to |
| handle multiple sensors in a single class. |
| * Added the classes :class:`isaaclab.sensors.RayCaster`, :class:`isaaclab.sensors.ContactSensor`, |
| and :class:`isaaclab.sensors.Camera` that output a batched tensor of sensor data. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Renamed the parameter ``sensor_tick`` to ``update_freq`` to make it more intuitive. |
| * Moved the old sensors in :mod:`isaaclab.sensors` to :mod:`isaaclab.compat.sensors`. |
| * Modified the standalone scripts to use the :mod:`isaaclab.compat.sensors` module. |
|
|
|
|
| 0.4.4 (2023-07-05) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the :meth:`isaaclab.terrains.trimesh.utils.make_plane` method to handle the case when the |
| plane origin does not need to be centered. |
| * Added the :attr:`isaaclab.terrains.TerrainGeneratorCfg.seed` to make generation of terrains reproducible. |
| The default value is ``None`` which means that the seed is not set. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed the saving of ``origins`` in :class:`isaaclab.terrains.TerrainGenerator` class to be in CSV format |
| instead of NPY format. |
|
|
|
|
| 0.4.3 (2023-06-28) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the :class:`isaaclab.markers.PointInstancerMarker` class that wraps around |
| `UsdGeom.PointInstancer <https://graphics.pixar.com/usd/dev/api/class_usd_geom_point_instancer.html>`_ |
| to directly work with torch and numpy arrays. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Moved the old markers in :mod:`isaaclab.markers` to :mod:`isaaclab.compat.markers`. |
| * Modified the standalone scripts to use the :mod:`isaaclab.compat.markers` module. |
|
|
|
|
| 0.4.2 (2023-06-28) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the sub-module :mod:`isaaclab.terrains` to allow procedural generation of terrains and supporting |
| importing of terrains from different sources (meshes, usd files or default ground plane). |
|
|
|
|
| 0.4.1 (2023-06-27) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| * Added the :class:`isaaclab.app.AppLauncher` class to allow controlled instantiation of |
| the SimulationApp and extension loading for remote deployment and ROS bridges. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Modified all standalone scripts to use the :class:`isaaclab.app.AppLauncher` class. |
|
|
|
|
| 0.4.0 (2023-05-27) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added a helper class :class:`isaaclab.asset_loader.UrdfLoader` that converts a URDF file to instanceable USD |
| file based on the input configuration object. |
|
|
|
|
| 0.3.2 (2023-04-27) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Added safe-printing of functions while using the :meth:`isaaclab.utils.dict.print_dict` function. |
|
|
|
|
| 0.3.1 (2023-04-23) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added a modified version of ``lula_franka_gen.urdf`` which includes an end-effector frame. |
| * Added a standalone script ``play_rmpflow.py`` to show RMPFlow controller. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the splitting of commands in the :meth:`ActuatorGroup.compute` method. Earlier it was reshaping the |
| commands to the shape ``(num_actuators, num_commands)`` which was causing the commands to be split incorrectly. |
| * Fixed the processing of actuator command in the :meth:`RobotBase._process_actuators_cfg` to deal with multiple |
| command types when using "implicit" actuator group. |
|
|
| 0.3.0 (2023-04-20) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Added the destructor to the keyboard devices to unsubscribe from carb. |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the :class:`Se2Gamepad` and :class:`Se3Gamepad` for gamepad teleoperation support. |
|
|
|
|
| 0.2.8 (2023-04-10) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed bugs in :meth:`axis_angle_from_quat` in the ``isaaclab.utils.math`` to handle quaternion with negative w component. |
| * Fixed bugs in :meth:`subtract_frame_transforms` in the ``isaaclab.utils.math`` by adding the missing final rotation. |
|
|
|
|
| 0.2.7 (2023-04-07) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed repetition in applying mimic multiplier for "p_abs" in the :class:`GripperActuatorGroup` class. |
| * Fixed bugs in :meth:`reset_buffers` in the :class:`RobotBase` and :class:`LeggedRobot` classes. |
|
|
| 0.2.6 (2023-03-16) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added the :class:`CollisionPropertiesCfg` to rigid/articulated object and robot base classes. |
| * Added the :class:`PhysicsMaterialCfg` to the :class:`SingleArm` class for tool sites. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed the default control mode of the :obj:`PANDA_HAND_MIMIC_GROUP_CFG` to be from ``"v_abs"`` to ``"p_abs"``. |
| Using velocity control for the mimic group can cause the hand to move in a jerky manner. |
|
|
|
|
| 0.2.5 (2023-03-08) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the indices used for the Jacobian and dynamics quantities in the :class:`MobileManipulator` class. |
|
|
|
|
| 0.2.4 (2023-03-04) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :meth:`apply_nested_physics_material` to the ``isaaclab.utils.kit``. |
| * Added the :meth:`sample_cylinder` to sample points from a cylinder's surface. |
| * Added documentation about the issue in using instanceable asset as markers. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Simplified the physics material application in the rigid object and legged robot classes. |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed the ``geom_prim_rel_path`` argument in the :class:`RigidObjectCfg.MetaInfoCfg` class. |
|
|
|
|
| 0.2.3 (2023-02-24) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the end-effector body index used for getting the Jacobian in the :class:`SingleArm` and :class:`MobileManipulator` classes. |
|
|
|
|
| 0.2.2 (2023-01-27) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the :meth:`set_world_pose_ros` and :meth:`set_world_pose_from_view` in the :class:`Camera` class. |
|
|
| Deprecated |
| ^^^^^^^^^^ |
|
|
| * Removed the :meth:`set_world_pose_from_ypr` method from the :class:`Camera` class. |
|
|
|
|
| 0.2.1 (2023-01-26) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the :class:`Camera` class to support different fisheye projection types. |
|
|
|
|
| 0.2.0 (2023-01-25) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added support for warp backend in camera utilities. |
| * Extended the ``play_camera.py`` with ``--gpu`` flag to use GPU replicator backend. |
|
|
| 0.1.1 (2023-01-24) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed setting of physics material on the ground plane when using :meth:`isaaclab.utils.kit.create_ground_plane` function. |
|
|
|
|
| 0.1.0 (2023-01-17) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Initial release of the extension with experimental API. |
| * Available robot configurations: |
|
|
| * **Quadrupeds:** Unitree A1, ANYmal B, ANYmal C |
| * **Single-arm manipulators:** Franka Emika arm, UR5 |
| * **Mobile manipulators:** Clearpath Ridgeback with Franka Emika arm or UR5 |
|
|
