Extensions Changelog#
All notable changes to this project are documented in this file. The format is based on Keep a Changelog and this project adheres to Semantic Versioning. For a broader information about the changes in the framework, please refer to the release notes.
Each extension has its own changelog. The changelog for each extension is located in the
docs
directory of the extension. The changelog for each extension is also included in
this changelog to make it easier to find the changelog for a specific extension.
omni.isaac.lab#
Extension containing the core framework of Isaac Lab.
0.27.11 (2024-10-31)#
Added#
Added support to define tuple of floats to scale observation terms by expanding the
omni.isaac.lab.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
Articulation
class. This helps improve the processing time for the tendons.
0.27.9 (2024-11-01)#
Added#
Added the
omni.isaac.lab.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 inomni.isaac.lab.sensors.RayCasterCamera
to useself.meshes
instead of the undefinedRayCaster.meshes
.Fixed issue in
omni.isaac.lab.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 aconfigclass
. Earlier, the list of configclass objects were not converted to dictionary properly whento_dict
function was called.
0.27.2 (2024-10-21)#
Added#
Added
--kit_args
toAppLauncher
to allow passing command line arguments directly to Omniverse Kit SDK.
0.27.1 (2024-10-20)#
Added#
0.27.0 (2024-10-14)#
Added#
Added a method to
configclass
to check for attributes with values of typeMISSING
. 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
omni.isaac.lab.envs.ManagerBasedRLEnvCfg.commands
as None. Before, this had to be done using the classomni.isaac.lab.command_generators.NullCommandGenerator
.Moved the
meshes
attribute in theomni.isaac.lab.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
omni.isaac.lab.sensors.Imu
. The sensor comes with a configuration classomni.isaac.lab.sensors.ImuCfg
and data classomni.isaac.lab.sensors.ImuData
.Moved and renamed
omni.isaac.lab.sensors.camera.utils.convert_orientation_convention()
toomni.isaac.lab.utils.math.convert_camera_frame_orientation_convention()
Moved
omni.isaac.lab.sensors.camera.utils.create_rotation_matrix_from_view()
toomni.isaac.lab.utils.math.create_rotation_matrix_from_view()
0.25.2 (2024-10-16)#
Added#
Added support for different Gymnasium spaces (
Box
,Discrete
,MultiDiscrete
,Tuple
andDict
) to define observation, action and state spaces in the direct workflow.Added
sample_space()
to environment utils to sample supported spaces where data containers are torch tensors.
Changed#
Mark the
num_observations
,num_actions
andnum_states
inDirectRLEnvCfg
as deprecated in favor ofobservation_space
,action_space
andstate_space
respectively.Mark the
num_observations
,num_actions
andnum_states
inDirectMARLEnvCfg
as deprecated in favor ofobservation_spaces
,action_spaces
andstate_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
omni.isaac.lab.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 forGroundPlaneCfg
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 useSemantics
module directly.
0.24.16 (2024-10-03)#
Changed#
Renamed the observation function
grab_images()
toimage()
to follow convention of noun-based naming.Renamed the function
convert_perspective_depth_to_orthogonal_depth()
to a shorter nameomni.isaac.lab.utils.math.orthogonalize_perspective_depth()
.
0.24.15 (2024-09-20)#
Added#
Added
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
convert_perspective_depth_to_orthogonal_depth()
to convert perspective depth images to orthogonal depth images. This is useful for theunproject_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
inomni.isaac.lab.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. Similarlyupdate_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
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
omni.isaac.lab.envs.ManagerBasedEnvCfg
andomni.isaac.lab.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
quat_rotate_inverse()
operations to usetorch.einsum()
for faster processing of high dimensional input tensors.
0.24.7 (2024-09-06)#
Added#
Added support for property attributes in the :meth:
omni.isaac.lab.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
andD
button bindings insideomni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.sensors.Camera
andomni.isaac.lab.sensors.RayCasterCamera
.Added test to check
omni.isaac.lab.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
omni.isaac.lab.sim.spawner.sensors.PinholeCameraCfg
omni.isaac.lab.sensors.ray_caster.patterns_cfg.PinholeCameraPatternCfg
classes.
Fixed#
Fixed the ray direction in
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.sensors.camera.TiledCamera
class.
Changed#
Updated
omni.isaac.lab.sensors.TiledCamera
to latest RTX tiled rendering API.Single channel outputs for
omni.isaac.lab.sensors.TiledCamera
,omni.isaac.lab.sensors.Camera
andomni.isaac.lab.sensors.RayCasterCamera
now has shape (H, W, 1).Data type for RGB output for
omni.isaac.lab.sensors.TiledCamera
changed fromtorch.float
totorch.uint8
.Dimension of RGB output for
omni.isaac.lab.sensors.Camera
changed from (H, W, 4) to (H, W, 3). Use typergba
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
omni.isaac.lab.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
omni.isaac.lab.assets.DeformableObject
class.
0.22.0 (2024-08-14)#
Added#
Added
modifiers
module to provide framework for configurable and custom observation data modifiers.Adapted the
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
omni.isaac.lab.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
omni.isaac.lab.envs.mdp.JointAction
action term.
0.21.0 (2024-08-05)#
Added#
Added the command line argument
--device
inAppLauncher
. Valid options are:cpu
: Use CPU.cuda
: Use GPU with device ID0
.cuda:N
: Use GPU, where N is the device ID. For example,cuda:0
. The default value iscuda:0
.
Changed#
Simplified setting the device throughout the code by relying on
omni.isaac.lab.sim.SimulationCfg.device
to activate gpu/cpu pipelines.
Removed#
Removed the parameter
omni.isaac.lab.sim.SimulationCfg.use_gpu_pipeline
. This is now directly inferred fromomni.isaac.lab.sim.SimulationCfg.device
.Removed the command line input argument
--device_id
inAppLauncher
. 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
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
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
RigidObject
class toArticulation
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
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.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 theomni.isaac.lab.envs.mdp.randomize_rigid_body_mass()
method instead.The classes
managers.RandomizationManager
andmanagers.RandomizationTermCfg
are replaced withomni.isaac.lab.managers.EventManager
andomni.isaac.lab.managers.EventTermCfg
classes.The following properties in
omni.isaac.lab.sensors.FrameTransformerData
:target_rot_source
–>target_quat_w
target_rot_w
–>target_quat_source
source_rot_w
–>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
ManagerBasedEnv
class. Earlier, the “startup” events were not being called when the environment was initialized. This issue did not occur when using theManagerBasedRLEnv
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
omni.isaac.lab.sim.spawners.meshes
module.
0.19.2 (2024-07-05)#
Changed#
Modified cloning scheme based on the attribute
replicate_physics
to determine whether environment is homogeneous or heterogeneous.
0.19.1 (2024-07-05)#
Added#
Added a lidar pattern function
lidar_pattern()
with corresponding configLidarPatternCfg
.
0.19.0 (2024-07-04)#
Fixed#
Fixed parsing of articulations with nested rigid links while using the
omni.isaac.lab.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
body_physx_view
from theomni.isaac.lab.assets.Articulation
andomni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.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
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
omni.isaac.lab.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
omni.isaac.lab.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
andmax_num_time_lags
tomin_delay
andmax_delay
in theomni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.sim.SimulationCfg.substeps
toomni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.utils.buffers.TimestampedBuffer
to store timestamped data.
Changed#
Added time-stamped buffers in the classes
omni.isaac.lab.assets.RigidObjectData
andomni.isaac.lab.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
omni.isaac.lab.sensor.ContactSensor
not loading correctly in extension mode. Earlier, theomni.isaac.lab.sensor.ContactSensor.body_physx_view
was not initialized whenomni.isaac.lab.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 methodomni.isaac.lab.utils.configclass._return_f()
, which resulted in shared references such that modifications to compound objects were reflected across all instances generated from the samedefault_factory
method.
0.17.9 (2024-05-30)#
Added#
Added
variants
attribute to theomni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.utils.noise.NoiseCfg.operation
for the different operations.Renamed
constant_bias_noise
toomni.isaac.lab.utils.noise.constant_noise()
.Renamed
additive_uniform_noise
toomni.isaac.lab.utils.noise.uniform_noise()
.Renamed
additive_gaussian_noise
toomni.isaac.lab.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
todistribution_params
inevents.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
omni.isaac.lab.sim.converters.UrdfConverterCfg.override_joint_dynamics
to properly parse joint dynamics inomni.isaac.lab.sim.converters.UrdfConverter
.
0.17.0 (2024-05-07)#
Changed#
Renamed
BaseEnv
toomni.isaac.lab.envs.ManagerBasedEnv
.Renamed
base_env.py
tomanager_based_env.py
.Renamed
BaseEnvCfg
toomni.isaac.lab.envs.ManagerBasedEnvCfg
.Renamed
RLTaskEnv
toomni.isaac.lab.envs.ManagerBasedRLEnv
.Renamed
rl_task_env.py
tomanager_based_rl_env.py
.Renamed
RLTaskEnvCfg
toomni.isaac.lab.envs.ManagerBasedRLEnvCfg
.Renamed
rl_task_env_cfg.py
torl_env_cfg.py
.Renamed
OIGEEnv
toomni.isaac.lab.envs.DirectRLEnv
.Renamed
oige_env.py
todirect_rl_env.py
.Renamed
RLTaskEnvWindow
toomni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow
.Renamed
rl_task_env_window.py
tomanager_based_rl_env_window.py
.Renamed all references of
BaseEnv
,BaseEnvCfg
,RLTaskEnv
,RLTaskEnvCfg
,OIGEEnv
, andRLTaskEnvWindow
.
Added#
Added direct workflow base class
omni.isaac.lab.envs.DirectRLEnv
.
0.16.4 (2024-05-06)#
Changed#
Added
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.envs.mdp.EMAJointPositionToLimitsActionCfg
to smoothen the actions at environment frequency instead of simulation frequency.Renamed the following functions in
omni.isaac.lab.envs.mdp()
to avoid confusions:Observation:
joint_pos_norm()
->joint_pos_limit_normalized()
Action:
ExponentialMovingAverageJointPositionAction
->EMAJointPositionToLimitsAction
Termination:
base_height()
->root_height_below_minimum()
Termination:
joint_pos_limit()
->joint_pos_out_of_limit()
Termination:
joint_pos_manual_limit()
->joint_pos_out_of_manual_limit()
Termination:
joint_vel_limit()
->joint_vel_out_of_limit()
Termination:
joint_vel_manual_limit()
->joint_vel_out_of_manual_limit()
Termination:
joint_torque_limit()
->joint_effort_out_of_limit()
Deprecated#
Deprecated the function
omni.isaac.lab.envs.mdp.add_body_mass()
in favor ofomni.isaac.lab.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
toENABLE_CAMERAS
or--enable_cameras
respectively.
0.15.12 (2024-04-16)#
Changed#
Replaced calls to the
check_file_path
function in theomni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.managers.SceneEntityCfg
class, and the respectiveomni.isaac.lab.utils.string.resolve_matching_names_values()
andomni.isaac.lab.utils.string.resolve_matching_names()
functions.
0.15.6 (2024-03-28)#
Added#
Extended the
omni.isaac.lab.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
omni.isaac.lab.app.AppLauncher
class from the ones provided by Isaac Sim to the ones provided in Isaac Lab’ssource/apps
directory.
0.15.5 (2024-03-23)#
Fixed#
Fixed the env origins in
_compute_env_origins_grid()
ofomni.isaac.lab.terrain.TerrainImporter
to match that obtained from the Isaac Simomni.isaac.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
omni.isaac.lab.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
omni.isaac.lab.scene.InteractiveScene
entity data is not shared between separate instances.
Fixed#
Moved class variables in
omni.isaac.lab.scene.InteractiveScene
to correctly be assigned as instance variables.Removed custom
__del__
magic method fromomni.isaac.lab.scene.InteractiveScene
.
0.15.2 (2024-03-21)#
Fixed#
Added resolving of relative paths for the main asset USD file when using the
omni.isaac.lab.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
_term_dones
in theomni.isaac.lab.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
omni.isaac.lab.managers.RandomizationManager
toomni.isaac.lab.managers.EventManager
class for clarification as the manager takes care of events such as reset in addition to pure randomizations.Renamed
omni.isaac.lab.managers.RandomizationTermCfg
toomni.isaac.lab.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
omni.isaac.lab.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
body_physx_view
from theomni.isaac.lab.assets.RigidObject
andomni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.sensors.Camera
class:instance_segmentation_fast
andinstance_id_segmentation_fast
. These are GPU-supported annotations and are faster than the regular annotations.
Fixed#
Fixed handling of semantic filtering inside the
omni.isaac.lab.sensors.Camera
class. Earlier, the annotator was givensemanticTypes
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
omni.isaac.lab.sensors.Camera
class. Earlier, the images were always returned asint32
. Now, they are casted touint8
4-channel array before returning if colorization is enabled for the annotation type.
Removed#
Dropped support for
instance_segmentation
andinstance_id_segmentation
annotations in theomni.isaac.lab.sensors.Camera
class. Their “fast” counterparts should be used instead.Renamed the argument
omni.isaac.lab.sensors.CameraCfg.semantic_types
toomni.isaac.lab.sensors.CameraCfg.semantic_filter
. This is more aligned with Replicator’s terminology for semantic filter predicates.Replaced the argument
omni.isaac.lab.sensors.CameraCfg.colorize
with separate colorized arguments for each annotation type (colorize_instance_segmentation
,colorize_instance_id_segmentation
, andcolorize_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
omni.isaac.lab.app.AppLauncher
class to catch theSIGINT
signal and close the application gracefully. This is to prevent the application from crashing when the user pressesCtrl+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
omni.isaac.lab.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
omni.isaac.lab.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
sample_new_targets()
in the terrain importer. Instead the attributeomni.isaac.lab.terrains.TerrainImporter.flat_patches
should be used to sample new targets.
0.11.3 (2024-03-04)#
Fixed#
Corrects the functions
omni.isaac.lab.utils.math.axis_angle_from_quat()
andomni.isaac.lab.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
andbody_ids
fromNone
toslice(None)
in theomni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.sim.utils
are cast tostr
. Previously, we had handled path types as strings without casting.
0.10.24 (2024-02-26)#
Added#
Added tracking of contact time in the
omni.isaac.lab.sensors.ContactSensor
class. Previously, only the air time was being tracked.Added contact force threshold,
omni.isaac.lab.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
omni.isaac.lab.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
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
omni.isaac.lab.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#
0.10.17 (2024-02-02)#
Fixed#
Fixed carb setting
/app/livestream/enabled
to be set as False unless live-streaming is specified byomni.isaac.lab.app.AppLauncher
settings. This fixes the logic ofSimulationContext.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
omni.isaac.lab.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
replicate_physics`
flag is set to True.
0.10.12 (2024-01-10)#
Fixed#
Fixed indexing of source and target frames in the
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.envs.mdp.TerrainBasedPositionCommand
command term.Added a dummy function in
omni.isaac.lab.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
inomni.isaac.lab.sim.SimulationContext
when loading livestreaming by ensuring that the extensionomni.kit.viewport.window
is enabled inomni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.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 calledtorch.jit.load()
with the path to a policy (which would work for a local file), rather than callingomni.isaac.lab.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
omni.kit.widget.toolbar
extension is loaded.
0.10.3 (2023-12-12)#
Added#
Added the attribute
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.sim.utils
module.Added properties
omni.isaac.lab.assets.AssetBase.num_instances
andomni.isaac.lab.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
root_view
andbody_view
. Instead useroot_physx_view
andbody_physx_view
to access the underlying PhysX views.
0.9.55 (2023-12-03)#
Fixed#
Fixed the Nucleus directory path in the
omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR
. Earlier, it was referring to theNVIDIA/Assets
directory instead ofNVIDIA
.
0.9.54 (2023-11-29)#
Fixed#
Fixed pose computation in the
omni.isaac.lab.sensors.Camera
class to obtain them from XFormPrimView instead of usingUsdGeomCamera.ComputeLocalToWorldTransform
method. The latter is not updated correctly during GPU simulation.Fixed initialization of the annotator info in the class
omni.isaac.lab.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 theomni.isaac.lab.utils.array.convert_to_torch()
method. PyTorch does not support this type, so it is converted toint32
before converting to PyTorch tensor.Added render call inside
omni.isaac.lab.sim.SimulationContext.reset()
to initialize Replicator buffers when the simulation is reset.
0.9.53 (2023-11-29)#
Changed#
Changed the behavior of passing
None
to theomni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.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
AppLauncher
class when running the simulation in headless mode.Fixed a bug with
omni.isaac.lab.sim.utils.clone()
failing when the input prim path had no parent (example: “/Table”).
0.9.51 (2023-11-29)#
Changed#
Changed the
omni.isaac.lab.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
InteractiveScene
class.Added a warning message when the user tries to reference an invalid prim in the
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
omni.isaac.lab.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 pressCtrl+C
to close the simulation.
0.9.49 (2023-11-27)#
Added#
Added an interface class,
omni.isaac.lab.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
omni.isaac.lab.sensors.RayCasterCamera
class.
0.9.47 (2023-11-24)#
Fixed#
Automated identification of the root prim in the
omni.isaac.lab.assets.RigidObject
andomni.isaac.lab.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
omni.isaac.lab.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
reset()
andstep()
to theomni.isaac.lab.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
omni.isaac.lab.assets.AssetBase
andomni.isaac.lab.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
ActuatorBase
class. Earlier, the stiffness values were being set into damping when a dictionary configuration was passed to the actuator model.Added dealing with
int
andfloat
values in the configurations ofActuatorBase
. 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
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
default_root_state_w
todefault_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 theRigidObject
class to the publicbody_view
property. For a rigid object, the private variable is not defined.
0.9.38 (2023-11-07)#
Changed#
Upgraded the
omni.isaac.lab.envs.RLTaskEnv
class to support Gym 0.29.0 environment definition.
Added#
Added computation of
time_outs
andterminated
signals inside the termination manager. These follow the definition mentioned in Gym 0.29.0.Added proper handling of observation and action spaces in the
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.envs.BaseEnv
andomni.isaac.lab.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 theomni.isaac.lab.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 theomni.isaac.lab.utils.warp
module. This is needed to have a consistent behavior across Python versions.
0.9.33 (2023-11-02)#
Fixed#
Fixed the
omni.isaac.lab.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
omni.isaac.lab.envs.RLEnv
class toomni.isaac.lab.envs.RLTaskEnv
to avoid confusions in terminologies between environments and tasks.
0.9.31 (2023-11-02)#
Added#
Added the
omni.isaac.lab.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
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 theRLEnv
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
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.envs.ui
module to put all the UI-related classes in one place. This currently implements theomni.isaac.lab.envs.ui.BaseEnvWindow
andomni.isaac.lab.envs.ui.RLEnvWindow
classes. Users can inherit from these classes to create their own UI windows.Added the attribute
omni.isaac.lab.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
AssetBase
andSensorBase
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
omni.isaac.lab.command_generators.NullCommandGenerator
class for no command environments. This is easier to work with than having checks forNone
in the command generator.
Fixed#
Moved the randomization manager to the
omni.isaac.lab.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
omni.isaac.lab.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
SimulationContext.set_render_mode()
was erroring out.
0.9.20 (2023-10-25)#
Fixed#
Changed naming in
omni.isaac.lab.sim.SimulationContext.RenderMode
to useNO_GUI_OR_RENDERING
andNO_RENDERING
instead ofHEADLESS
for clarity.Changed
omni.isaac.lab.sim.SimulationContext
to be capable of handling livestreaming and offscreen rendering.Changed
omni.isaac.lab.app.AppLauncher
envvarVIEWPORT_RECORD
to the more descriptiveOFFSCREEN_RENDER
.
0.9.19 (2023-10-25)#
Added#
Added Gym observation and action spaces for the
omni.isaac.lab.envs.RLEnv
class.
0.9.18 (2023-10-23)#
Added#
Created
omni.isaac.lab.sim.converters.asset_converter.AssetConverter
to serve as a base class for all asset converters.Added
omni.isaac.lab.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
tosource/tools
to allow users to convert a mesh to USD via command line arguments.
Changed#
Renamed the submodule
omni.isaac.lab.sim.loaders
toomni.isaac.lab.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
RandomizationManager
,RewardManager
andTerminationManager
classes. This allows the user to modify the term configurations after the manager has been created.Added the method
compute_group()
to theomni.isaac.lab.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
omni.isaac.lab.managers.ManagerBase
.
Fixed#
Fixed resetting of buffers in the
TerminationManager
class. Earlier, the values were being set to0.0
instead ofFalse
.
0.9.15 (2023-10-22)#
Added#
Added base yaw heading and body acceleration into
omni.isaac.lab.assets.RigidObjectData
class. These quantities are computed inside theRigidObject
class.
Fixed#
Fixed the
omni.isaac.lab.assets.RigidObject.set_external_force_and_torque()
method to correctly deal with the body indices.Fixed a bug in the
omni.isaac.lab.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
omni.isaac.lab.sensors.RayCaster
class.Added flags to the
omni.isaac.lab.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
omni.isaac.lab.sensors.ContactSensor
class. Earlier, the buffer was not being updated correctly.
0.9.13 (2023-10-20)#
Fixed#
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
omni.isaac.lab.asset.Articulation
class. The new implementation caches the outputs from explicit actuator model into thejoint_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
omni.isaac.lab.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 toomni.isaac.lab.app.AppLauncher
class.Added a static function
omni.isaac.lab.app.AppLauncher.add_app_launcher_args()
, which appends the arguments needed foromni.isaac.lab.app.AppLauncher
to the argument parser.
Changed#
Within
omni.isaac.lab.app.AppLauncher
, removedREMOTE_DEPLOYMENT
env-var processing in the favor ofHEADLESS
andLIVESTREAM
env-vars. These have clearer uses and better parity with the CLI args.
0.9.9 (2023-10-12)#
Added#
Added the property
omni.isaac.lab.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
omni.isaac.lab.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,
AssetBase
,SensorBase
andCommandGenerator
. The fix ensures that object gets deleted when the user deletes the object.
0.9.7 (2023-09-26)#
Fixed#
Modified the
omni.isaac.lab.markers.VisualizationMarkers
to use theomni.isaac.lab.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
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 ofcls
orcls_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
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.sim.SimulationContext.RenderMode
to handle different rendering modes based on what the user wants to update (viewport, cameras, or UI elements).
Fixed#
Fixed the
omni.isaac.lab.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 to catch segfaults and print the stack trace. This is enabled by default in the
omni.isaac.lab.app.AppLauncher
class.
Fixed#
Re-added the
omni.isaac.lab.utils.kit
to thecompat
directory and fixed all the references to it.Fixed the deletion of Replicator nodes for the
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.sensors.Camera
class. These conventions are:opengl
: the camera is looking down the -Z axis with the +Y axis pointing upros
: the camera is looking down the +Z axis with the +Y axis pointing downworld
: the camera is looking along the +X axis with the -Z axis pointing down
These can be used to declare the camera offset in
omni.isaac.lab.sensors.CameraCfg.OffsetCfg
class and inomni.isaac.lab.sensors.Camera.set_world_pose()
method. Additionally, all conventions are saved toomni.isaac.lab.sensors.CameraData
class for easy access.
Changed#
Adapted all the sensor classes to follow a structure similar to the
omni.isaac.lab.assets.AssetBase
. Hence, the spawning and initialization of sensors manually by the users is avoided.Removed the
debug_vis()
function since that this functionality is handled by a render callback automatically (based on the passed configuration for theomni.isaac.lab.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
spawn()
andinitialize()
calls.Added utility methods to
omni.isaac.lab.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
Articulation
andRigidObject
should be used.
0.8.12 (2023-08-18)#
Added#
Added other properties provided by
PhysicsScene
to theomni.isaac.lab.sim.SimulationContext
class to allow setting CCD, solver iterations, etc.Added commonly used functions to the
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
omni.isaac.lab.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
omni.isaac.lab.sim.spawners
to create the following prims in the scene:omni.isaac.lab.sim.spawners.from_file
: Create a prim from a USD/URDF file.omni.isaac.lab.sim.spawners.shapes
: Create USDGeom prims for shapes (box, sphere, cylinder, capsule, etc.).omni.isaac.lab.sim.spawners.materials
: Create a visual or physics material prim.omni.isaac.lab.sim.spawners.lights
: Create a USDLux prim for different types of lights.omni.isaac.lab.sim.spawners.sensors
: Create a USD prim for supported sensors.
Changed#
Modified the
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
omni.isaac.lab.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
omni.isaac.lab.asset_loader.UrdfLoader
class to theomni.isaac.lab.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
omni.isaac.lab.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__ in the
omni.isaac.lab.utils.configclass
decorator.
0.8.6 (2023-08-03)#
Added#
Added support for callable classes in the
omni.isaac.lab.managers.ManagerBase
.
0.8.5 (2023-08-03)#
Fixed#
Fixed the
omni.isaac.lab.markers.Visualizationmarkers
class so that the markers are not visible in camera rendering mode.
Changed#
Simplified the creation of the point instancer in the
omni.isaac.lab.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
omni.isaac.lab.sim.SimulationContext
class to theomni.isaac.lab.sim
module. This class inherits from theomni.isaac.core.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
ActuatorBase
class to theomni.isaac.lab.actuators.actuator_base
module.Renamed the
omni.isaac.lab.actuators.actuator
module toomni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.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 theSimulationApp
.
Added#
Enabled necessary viewport extensions in the
omni.isaac.lab.app.AppLauncher
class itself ifVIEWPORT_ENABLED
flag is true.
0.8.0 (2023-07-26)#
Added#
Added the
ActionManager
class to theomni.isaac.lab.managers
module to handle actions in the environment through action terms.Added contact force history to the
omni.isaac.lab.sensors.ContactSensor
class. The history is stored in thenet_forces_w_history
attribute of the sensor data.
Changed#
Implemented lazy update of buffers in the
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.markers.Visualizationmarkers
class. Earlier, the orientation was being set into the point instancer in the wrong order (wxyz
instead ofxyzw
).
0.7.3 (2023-07-25)#
Fixed#
Fixed the issue with multiple inheritance in the
omni.isaac.lab.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
replace()
to theomni.isaac.lab.utils.configclass
decorator to allow creating a new configuration object with values replaced from keyword arguments. This function internally calls the dataclasses.replace.
Fixed#
Fixed the handling of class types as member values in the
omni.isaac.lab.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
TerminationManager
,CurriculumManager
, andRandomizationManager
classes to theomni.isaac.lab.managers
module to handle termination, curriculum, and randomization respectively.
0.7.0 (2023-07-22)#
Added#
Created a new
omni.isaac.lab.managers
module for all the managers related to the environment / scene. This includes theomni.isaac.lab.managers.ObservationManager
andomni.isaac.lab.managers.RewardManager
classes that were previously in theomni.isaac.lab.utils.mdp
module.Added the
omni.isaac.lab.managers.ManagerBase
class to handle the creation of managers.Added configuration classes for
ObservationTermCfg
andRewardTermCfg
to allow easy creation of observation and reward terms.
Changed#
Changed the behavior of
ObservationManager
andRewardManager
classes to accept the keyfunc
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
omni.isaac.lab.compat.utils.mdp
module.Modified the necessary scripts to use the
omni.isaac.lab.compat.utils.mdp
module.
0.6.2 (2023-07-21)#
Added#
Added the
omni.isaac.lab.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
omni.isaac.lab.utils.math.quat_apply_yaw()
to compute the yaw quaternion correctly.
Added#
Added functions to convert string and callable objects in
omni.isaac.lab.utils.string
.
0.6.0 (2023-07-16)#
Added#
Added the argument
sort_keys
to theomni.isaac.lab.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
omni.isaac.lab.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
sort_keys
in theomni.isaac.lab.utils.io.yaml.dump_yaml()
method toFalse
.Moved the old config classes in
omni.isaac.lab.utils.configclass
toomni.isaac.lab.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
omni.isaac.lab.sensors.SensorBase
class that leverages the ideas of views to handle multiple sensors in a single class.Added the classes
omni.isaac.lab.sensors.RayCaster
,omni.isaac.lab.sensors.ContactSensor
, andomni.isaac.lab.sensors.Camera
that output a batched tensor of sensor data.
Changed#
Renamed the parameter
sensor_tick
toupdate_freq
to make it more intuitive.Moved the old sensors in
omni.isaac.lab.sensors
toomni.isaac.lab.compat.sensors
.Modified the standalone scripts to use the
omni.isaac.lab.compat.sensors
module.
0.4.4 (2023-07-05)#
Fixed#
Fixed the
omni.isaac.lab.terrains.trimesh.utils.make_plane()
method to handle the case when the plane origin does not need to be centered.Added the
omni.isaac.lab.terrains.TerrainGeneratorCfg.seed
to make generation of terrains reproducible. The default value isNone
which means that the seed is not set.
Changed#
Changed the saving of
origins
inomni.isaac.lab.terrains.TerrainGenerator
class to be in CSV format instead of NPY format.
0.4.3 (2023-06-28)#
Added#
Added the
omni.isaac.lab.markers.PointInstancerMarker
class that wraps around UsdGeom.PointInstancer to directly work with torch and numpy arrays.
Changed#
Moved the old markers in
omni.isaac.lab.markers
toomni.isaac.lab.compat.markers
.Modified the standalone scripts to use the
omni.isaac.lab.compat.markers
module.
0.4.2 (2023-06-28)#
Added#
Added the sub-module
omni.isaac.lab.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
omni.isaac.lab.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
omni.isaac.lab.app.AppLauncher
class.
0.4.0 (2023-05-27)#
Added#
Added a helper class
omni.isaac.lab.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
omni.isaac.lab.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
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
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
Se2Gamepad
andSe3Gamepad
for gamepad teleoperation support.
0.2.8 (2023-04-10)#
Fixed#
Fixed bugs in
axis_angle_from_quat()
in theomni.isaac.lab.utils.math
to handle quaternion with negative w component.Fixed bugs in
subtract_frame_transforms()
in theomni.isaac.lab.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
GripperActuatorGroup
class.Fixed bugs in
reset_buffers()
in theRobotBase
andLeggedRobot
classes.
0.2.6 (2023-03-16)#
Added#
Added the
CollisionPropertiesCfg
to rigid/articulated object and robot base classes.Added the
PhysicsMaterialCfg
to theSingleArm
class for tool sites.
Changed#
Changed the default control mode of the
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
MobileManipulator
class.
0.2.4 (2023-03-04)#
Added#
Added
apply_nested_physics_material()
to theomni.isaac.lab.utils.kit
.Added the
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 theRigidObjectCfg.MetaInfoCfg
class.
0.2.3 (2023-02-24)#
Fixed#
Fixed the end-effector body index used for getting the Jacobian in the
SingleArm
andMobileManipulator
classes.
0.2.2 (2023-01-27)#
Fixed#
Fixed the
set_world_pose_ros()
andset_world_pose_from_view()
in theCamera
class.
Deprecated#
Removed the
set_world_pose_from_ypr()
method from theCamera
class.
0.2.1 (2023-01-26)#
Fixed#
Fixed the
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
omni.isaac.lab.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
omni.isaac.lab_assets#
Extension for configurations of various assets and sensors for Isaac Lab.
0.1.4 (2024-08-21)#
Added#
Added configuration for the Inverted Double Pendulum on a Cart robot.
0.1.2 (2024-04-03)#
Added#
Added configurations for different arms from Kinova Robotics and Rethink Robotics.
0.1.1 (2024-03-11)#
Added#
Added configurations for allegro and shadow hand assets.
0.1.0 (2023-12-20)#
Added#
Moved all assets’ configuration from
omni.isaac.lab
toomni.isaac.lab_assets
extension.
omni.isaac.lab_tasks#
Extension containing the environments built using Isaac Lab.
0.10.12 (2024-10-28)#
Changed#
Changed manager-based vision cartpole environment names from Isaac-Cartpole-RGB-Camera-v0 and Isaac-Cartpole-Depth-Camera-v0 to Isaac-Cartpole-RGB-v0 and Isaac-Cartpole-Depth-v0
0.10.11 (2024-10-28)#
Added#
Added feature extracted observation cartpole examples.
0.10.10 (2024-10-25)#
Fixed#
Fixed issues with defining Gymnasium spaces in Direct workflows due to Hydra/OmegaConf limitations with non-primitive types.
0.10.9 (2024-10-22)#
Changed#
Sets curriculum and commands to None in manager-based environment configurations when not needed. Earlier, this was done by making an empty configuration object, which is now unnecessary.
0.10.8 (2024-10-22)#
Fixed#
Fixed the wrong selection of body id’s in the
omni.isaac.lab_tasks.manager_based.locomotion.velocity.mdp.rewards.feet_slide()
reward function. This makes sure the right IDs are selected for the bodies.
0.10.7 (2024-10-02)#
Changed#
Replace deprecated
num_observations
,num_actions
andnum_states
in single-agent direct tasks byobservation_space
,action_space
andstate_space
respectively.Replace deprecated
num_observations
,num_actions
andnum_states
in multi-agent direct tasks byobservation_spaces
,action_spaces
andstate_space
respectively.
0.10.6 (2024-09-25)#
Added#
Added
Isaac-Cartpole-RGB-Camera-v0
andIsaac-Cartpole-Depth-Camera-v0
manager based camera cartpole environments.
0.10.5 (2024-09-11)#
Changed#
Updated the skrl RL library integration to the latest release (skrl-v1.3.0)
0.10.4 (2024-09-10)#
Added#
Added
Isaac-Repose-Cube-Shadow-Vision-Direct-v0
environment with heterogeneous proprioception and vision observations.
0.10.3 (2024-09-05)#
Added#
Added environment config flag
rerender_on_reset
to allow updating sensor data after a reset.
0.10.2 (2024-08-23)#
Added#
Added
Isaac-Shadow-Hand-Over-Direct-v0
multi-agent environment
0.10.1 (2024-08-21)#
Added#
Added
Isaac-Cart-Double-Pendulum-Direct-v0
multi-agent environment
Changed#
Update skrl wrapper to support multi-agent environments.
0.10.0 (2024-08-14)#
Added#
Added support for the Hydra configuration system to all the train scripts. As a result, parameters of the environment and the agent can be modified using command line arguments, for example
env.actions.joint_effort.scale=10
.
0.9.0 (2024-08-05)#
Changed#
Replaced the command line input
--cpu
with--device
in the train and play scripts. Running on cpu is supported by passing--device cpu
. Running on a specific gpu is now supported by passing--device cuda:<device_id>
, where<device_id>
is the id of the GPU to use, for example--device cuda:0
.
0.8.2 (2024-08-02)#
Added#
Added
Isaac-Repose-Cube-Allegro-Direct-v0
environment
Changed#
Renamed
Isaac-Shadow-Hand-Direct-v0
environments toIsaac-Repose-Cube-Shadow-Direct-v0
.Renamed
Isaac-Shadow-Hand-OpenAI-FF-Direct-v0
environments toIsaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0
.Renamed
Isaac-Shadow-Hand-OpenAI-LSTM-Direct-v0
environments toIsaac-Repose-Cube-Shadow-OpenAI-LSTM-Direct-v0
.
0.8.1 (2024-08-02)#
Changed#
Renamed the folder names for Unitree robots in the manager-based locomotion tasks. Earlier, there was an inconsistency in the folder names as some had
unitree_
prefix and some didn’t. Now, none of the folders have the prefix.
0.8.0 (2024-07-26)#
Removed#
Renamed the action term names inside the manager-based lift-manipulation task. Earlier, they were called
body_joint_pos
andgripper_joint_pos
. Now, they are calledarm_action
andgripper_action
.
0.7.10 (2024-07-02)#
Added#
Extended skrl wrapper to support training/evaluation using JAX.
0.7.9 (2024-07-01)#
Fixed#
Fixed the action space check in the Stable-Baselines3 wrapper. Earlier, the wrapper checked the action space via
gymnasium.spaces.Box.is_bounded()
method, which returned a bool value instead of a string.
0.7.8 (2024-06-26)#
Changed#
Updated the skrl RL library integration to the latest release (>= 1.2.0)
0.7.7 (2024-06-14)#
Changed#
Updated the tasks to use the renamed attribute
omni.isaac.lab.sim.SimulationCfg.render_interval
.
0.7.6 (2024-06-13)#
Added#
Added option to save images for Cartpole Camera environment.
0.7.5 (2024-05-31)#
Added#
Added exporting of empirical normalization layer to ONNX and JIT when exporting the model using
omni.isaac.lab.actuators.ActuatorNetMLP.export()
method. Previously, the normalization layer was not exported to the ONNX and JIT models. This caused the exported model to not work properly when used for inference.
0.7.5 (2024-05-28)#
Added#
Added a new environment
Isaac-Navigation-Flat-Anymal-C-v0
to navigate towards a target position on flat terrain.
0.7.4 (2024-05-21)#
Changed#
Made default device for RSL RL and SB3 configs to “cuda:0”.
0.7.3 (2024-05-21)#
Added#
Introduced
--max_iterations
argument to training scripts for specifying number of training iterations.
0.7.2 (2024-05-13)#
Added#
Added Shadow Hand environments:
Isaac-Shadow-Hand-Direct-v0
,Isaac-Shadow-Hand-OpenAI-FF-Direct-v0
, andIsaac-Shadow-Hand-OpenAI-LSTM-Direct-v0
.
0.7.1 (2024-05-09)#
Added#
Added the skrl agent configurations for the config and direct workflow tasks
0.7.0 (2024-05-07)#
Changed#
Renamed all references of
BaseEnv
,RLTaskEnv
, andOIGEEnv
toomni.isaac.lab.envs.ManagerBasedEnv
,omni.isaac.lab.envs.ManagerBasedRLEnv
, andomni.isaac.lab.envs.DirectRLEnv
respectively.Split environments into
manager_based
anddirect
folders.
Added#
Added direct workflow environments: *
Isaac-Cartpole-Direct-v0
,Isaac-Cartpole-Camera-Direct-v0
,Isaac-Ant-Direct-v0
,Isaac-Humanoid-Direct-v0
. *Isaac-Velocity-Flat-Anymal-C-Direct-v0
,Isaac-Velocity-Rough-Anymal-C-Direct-v0
,Isaac-Quadcopter-Direct-v0
.
0.6.1 (2024-04-16)#
Added#
Added a new environment
Isaac-Repose-Cube-Allegro-v0
andIsaac-Repose-Allegro-Cube-NoVelObs-v0
for the Allegro hand to reorient a cube. It is based on the IsaacGymEnvs Allegro hand environment.
0.6.0 (2024-03-10)#
Added#
Added a new environment
Isaac-Open-Drawer-Franka-v0
for the Franka arm to open a drawer. It is based on the IsaacGymEnvs cabinet environment.
Fixed#
Fixed logging of extra information for RL-Games wrapper. It expected the extra information to be under the key
"episode"
, but Isaac Lab used the key"log"
. The wrapper now remaps the key to"episode"
.
0.5.7 (2024-02-28)#
Fixed#
Updated the RL wrapper for the skrl library to the latest release (>= 1.1.0)
0.5.6 (2024-02-21)#
Fixed#
Fixed the configuration parsing to support a pre-initialized configuration object.
0.5.5 (2024-02-05)#
Fixed#
0.5.4 (2024-02-06)#
Added#
Added a check for the flag
omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon
in the RSL-RL and RL-Games wrappers to handle the finite horizon tasks properly. Earlier, the wrappers were always assuming the tasks to be infinite horizon tasks and returning a time-out signals when the episode length was reached.
0.5.3 (2023-11-16)#
Fixed#
Added raising of error in the
omni.isaac.lab_tasks.utils.importer.import_all()
method to make sure all the packages are imported properly. Previously, error was being caught and ignored.
0.5.2 (2023-11-08)#
Fixed#
Fixed the RL wrappers for Stable-Baselines3 and RL-Games. It now works with their most recent versions.
Fixed the
get_checkpoint_path()
to allow any in-between sub-folders between the run directory and the checkpoint directory.
0.5.1 (2023-11-04)#
Fixed#
Fixed the wrappers to different learning frameworks to use the new
omni.isaac.lab_tasks.ManagerBasedRLEnv
class. TheManagerBasedRLEnv
class inherits from thegymnasium.Env
class (Gym 0.29.0).Fixed the registration of tasks in the Gym registry based on Gym 0.29.0 API.
Changed#
Removed the inheritance of all the RL-framework specific wrappers from the
gymnasium.Wrapper
class. This is because the wrappers don’t comply with the new Gym 0.29.0 API. The wrappers are now only inherit from their respective RL-framework specific base classes.
0.5.0 (2023-10-30)#
Changed#
Changed the way agent configs are handled for environments and learning agents. Switched from yaml to configclasses.
Fixed#
Fixed the way package import automation is handled in the
omni.isaac.lab_tasks
module. Earlier it was not skipping the blacklisted packages properly.
0.4.3 (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.
0.4.2 (2023-08-29)#
Changed#
Moved the base environment definition to the
omni.isaac.lab.envs.RLEnv
class. TheRLEnv
contains RL-specific managers such as the reward, termination, randomization and curriculum managers. These are all configured using theomni.isaac.lab.envs.RLEnvConfig
class. TheRLEnv
class inherits from theomni.isaac.lab.envs.ManagerBasedEnv
andgym.Env
classes.
Fixed#
Adapted the wrappers to use the new
omni.isaac.lab.envs.RLEnv
class.
0.4.1 (2023-08-02)#
Changed#
Adapted the base
IsaacEnv
class to use theSimulationContext
class from theomni.isaac.lab.sim
module. This simplifies setting of simulation parameters.
0.4.0 (2023-07-26)#
Changed#
Removed the resetting of environment indices in the step call of the
IsaacEnv
class. This must be handled in the \(_step_impl`\) function by the inherited classes.Adapted the wrapper for RSL-RL library its new API.
Fixed#
Added handling of no checkpoint available error in the
get_checkpoint_path()
.Fixed the locomotion environment for rough terrain locomotion training.
0.3.2 (2023-07-22)#
Added#
Added a UI to the
IsaacEnv
class to enable/disable rendering of the viewport when not running in headless mode.
Fixed#
Fixed the the issue with environment returning transition tuples even when the simulation is paused.
Fixed the shutdown of the simulation when the environment is closed.
0.3.1 (2023-06-23)#
Changed#
Changed the argument
headless
inIsaacEnv
class torender
, in order to cause less confusion about rendering and headless-ness, i.e. that you can render while headless.
0.3.0 (2023-04-14)#
Added#
Added a new flag
viewport
to theIsaacEnv
class to enable/disable rendering of the viewport. If the flag is set toTrue
, the viewport is enabled and the environment is rendered in the background.Updated the training scripts in the
source/standalone/workflows
directory to use the new flagviewport
. If the CLI argument--video
is passed, videos are recorded in thevideos/train
directory using thegym.wrappers.RecordVideo
wrapper.
Changed#
The
IsaacEnv
class supports different rendering mode as referenced in OpenAI Gym’srender
method. These modes are:rgb_array
: Renders the environment in the background and returns the rendered image as a numpy array.human
: Renders the environment in the background and displays the rendered image in a window.
Changed the constructor in the classes inheriting from
IsaacEnv
to pass all the keyword arguments to the constructor ofIsaacEnv
class.
Fixed#
Clarified the documentation of
headless
flag in theIsaacEnv
class. It refers to whether or not to render at every sim step, not whether to render the viewport or not.Fixed the unit tests for running random agent on included environments.
0.2.3 (2023-03-06)#
Fixed#
Tuned the observations and rewards for
Isaac-Lift-Franka-v0
environment.
0.2.2 (2023-03-04)#
Fixed#
Fixed the issue with rigid object not working in the
Isaac-Lift-Franka-v0
environment.
0.2.1 (2023-03-01)#
Added#
Added a flag
disable_contact_processing
to theSimCfg
class to handle contact processing effectively when using TensorAPIs for contact reporting.Added verbosity flag to
export_policy_as_onnx()
to print model summary.
Fixed#
Clarified the documentation of flags in the
SimCfg
class.Added enabling of
omni.kit.viewport
andomni.replicator.isaac
extensions dynamically to maintain order in the startup of extensions.Corrected the experiment names in the configuration files for training environments with
rsl_rl
.
Changed#
Changed the default value of
enable_scene_query_support
inSimCfg
class to False. The flag is overridden to True insideIsaacEnv
class when running the simulation in non-headless mode.
0.2.0 (2023-01-25)#
Added#
Added environment wrapper and sequential trainer for the skrl RL library
Added training/evaluation configuration files for the skrl RL library
0.1.2 (2023-01-19)#
Fixed#
Added the flag
replicate_physics
to theSimCfg
class.Increased the default value of
gpu_found_lost_pairs_capacity
inPhysxCfg
class
0.1.1 (2023-01-18)#
Fixed#
Fixed a bug in
Isaac-Velocity-Anymal-C-v0
where the domain randomization is not applicable if cloning the environments withreplicate_physics=True
.
0.1.0 (2023-01-17)#
Added#
Initial release of the extension.
Includes the following environments:
Isaac-Cartpole-v0
: A cartpole environment with a continuous action space.Isaac-Ant-v0
: A 3D ant environment with a continuous action space.Isaac-Humanoid-v0
: A 3D humanoid environment with a continuous action space.Isaac-Reach-Franka-v0
: A end-effector pose tracking task for the Franka arm.Isaac-Lift-Franka-v0
: A 3D object lift and reposing task for the Franka arm.Isaac-Velocity-Anymal-C-v0
: An SE(2) velocity tracking task for legged robot on flat terrain.