Merge branch 'main' into feature/scale-rot-mesh-converter

.github/workflows/docs.yaml

@@ -2,12 +2,33 @@ name: Build & deploy docs
 
 on:
   push:
+    branches:
+      - main
   pull_request:
+    types: [opened, synchronize, reopened]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
+  check-secrets:
+    name: Check secrets
+    runs-on: ubuntu-latest
+    outputs:
+      trigger-deploy: ${{ steps.trigger-deploy.outputs.defined }}
+    steps:
+    - id: trigger-deploy
+      env:
+        REPO_NAME: ${{ secrets.REPO_NAME }}
+        BRANCH_REF: ${{ secrets.BRANCH_REF }}
+      if: "${{ github.repository == env.REPO_NAME && github.ref == env.BRANCH_REF }}"
+      run: echo "defined=true" >> "$GITHUB_OUTPUT"
+
   build-docs:
     name: Build Docs
     runs-on: ubuntu-latest
+    needs: [check-secrets]
 
     steps:
     - name: Checkout code
@@ -24,8 +45,8 @@ jobs:
       run: pip install -r requirements.txt
 
     - name: Check branch docs building
-      if: ${{ github.event_name == 'pull_request' }}
       working-directory: ./docs
+      if: needs.check-secrets.outputs.trigger-deploy != 'true'
       run: make current-docs
 
     - name: Generate multi-version docs
@@ -40,19 +61,6 @@ jobs:
         name: docs-html
         path: ./docs/_build
 
-  check-secrets:
-    name: Check secrets
-    runs-on: ubuntu-latest
-    outputs:
-      trigger-deploy: ${{ steps.trigger-deploy.outputs.defined }}
-    steps:
-    - id: trigger-deploy
-      env:
-        REPO_NAME: ${{ secrets.REPO_NAME }}
-        BRANCH_REF: ${{ secrets.BRANCH_REF }}
-      if: "${{ github.repository == env.REPO_NAME && github.ref == env.BRANCH_REF }}"
-      run: echo "defined=true" >> "$GITHUB_OUTPUT"
-
   deploy-docs:
     name: Deploy Docs
     runs-on: ubuntu-latest

CONTRIBUTING.md

@@ -5,4 +5,4 @@ the framework more mature and useful for everyone. These may happen in forms of
 design proposals and more.
 
 For general information on how to contribute see
-<https://isaac-sim.github.io/IsaacLab/source/refs/contributing.html>.
+<https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html>.

CONTRIBUTORS.md

@@ -42,16 +42,20 @@ Guidelines for modifications:
 * Calvin Yu
 * Chenyu Yang
 * David Yang
+* Dorsa Rohani
+* Felix Yu
 * Gary Lvov
 * Giulio Romualdi
 * HoJin Jeon
+* Jan Kerner
 * Jean Tampon
 * Jia Lin Yuan
 * Jingzhou Liu
 * Johnson Sun
 * Kaixi Bao
 * Kourosh Darvish
 * Lionel Gulich
+* Louis Le Lay
 * Lorenz Wellhausen
 * Masoud Moghani
 * Michael Gussert
@@ -70,6 +74,7 @@ Guidelines for modifications:
 * Zhengyu Zhang
 * Ziqi Fan
 * Qian Wan
+* Wei Yang
 
 ## Acknowledgements
 

README.md

@@ -25,11 +25,11 @@ installation steps, features, tutorials, and how to set up your project with Isa
 
 We wholeheartedly welcome contributions from the community to make this framework mature and useful for everyone.
 These may happen as bug reports, feature requests, or code contributions. For details, please check our
-[contribution guidelines](https://isaac-sim.github.io/IsaacLab/source/refs/contributing.html).
+[contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html).
 
 ## Troubleshooting
 
-Please see the [troubleshooting](https://isaac-sim.github.io/IsaacLab/source/refs/troubleshooting.html) section for
+Please see the [troubleshooting](https://isaac-sim.github.io/IsaacLab/main/source/refs/troubleshooting.html) section for
 common fixes or [submit an issue](https://github.com/isaac-sim/IsaacLab/issues).
 
 For issues related to Isaac Sim, we recommend checking its [documentation](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html)

docker/cluster/cluster_interface.sh

@@ -177,7 +177,7 @@ case $command in
     job)
         if [ $# -ge 1 ]; then
             passed_profile=$1
-            if [ -f ".env.$passed_profile" ]; then
+            if [ -f "$SCRIPT_DIR/../.env.$passed_profile" ]; then
                 profile=$passed_profile
                 shift
             fi

docs/conf.py

@@ -262,7 +262,7 @@
 
 def skip_member(app, what, name, obj, skip, options):
     # List the names of the functions you want to skip here
-    exclusions = ["from_dict", "to_dict", "replace", "copy", "__post_init__"]
+    exclusions = ["from_dict", "to_dict", "replace", "copy", "validate", "__post_init__"]
     if name in exclusions:
         return True
     return None

docs/index.rst

@@ -98,7 +98,6 @@ Table of Contents
    source/features/multi_gpu
    source/features/tiled_rendering
    source/features/reproducibility
-   .. source/features/motion_generators
 
 .. toctree::
    :maxdepth: 1

docs/source/api/lab/omni.isaac.lab.sensors.rst

@@ -31,6 +31,8 @@
     RayCasterCfg
     RayCasterCamera
     RayCasterCameraCfg
+    Imu
+    ImuCfg
 
 Sensor Base
 -----------
@@ -150,3 +152,17 @@ Ray-Cast Camera
     :inherited-members:
     :show-inheritance:
     :exclude-members: __init__, class_type
+
+Inertia Measurement Unit
+------------------------
+
+.. autoclass:: Imu
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: ImuCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type

docs/source/api/lab/omni.isaac.lab.sim.rst

@@ -19,6 +19,7 @@
     SimulationContext
     SimulationCfg
     PhysxCfg
+    RenderCfg
 
   .. rubric:: Functions
 
@@ -46,6 +47,11 @@ Simulation Configuration
   :show-inheritance:
   :exclude-members: __init__
 
+.. autoclass:: RenderCfg
+  :members:
+  :show-inheritance:
+  :exclude-members: __init__
+
 Simulation Context Builder
 --------------------------
 

docs/source/features/hydra.rst

@@ -89,8 +89,8 @@ Elements in dictionaries are handled as a parameters in the hierarchy. For examp
 
 .. literalinclude:: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py
     :language: python
-    :lines: 99-111
-    :emphasize-lines: 10
+    :lines: 90-114
+    :emphasize-lines: 11
 
 the ``position_range`` parameter can be modified with ``env.events.reset_cart_position.params.position_range="[-2.0, 2.0]"``.
 This example shows two noteworthy points:
@@ -112,7 +112,7 @@ For example, for the configuration of the Cartpole camera depth environment:
     :language: python
     :start-at: class CartpoleDepthCameraEnvCfg
     :end-at: tiled_camera.width
-    :emphasize-lines: 16
+    :emphasize-lines: 10, 15
 
 If the user were to modify the width of the camera, i.e. ``env.tiled_camera.width=128``, then the parameter
 ``env.observation_space=[80,128,1]`` must be updated and given as input as well.

docs/source/features/tiled_rendering.rst

@@ -8,7 +8,7 @@ Tiled-Camera Rendering
     This feature is only available from Isaac Sim version 4.2.0 onwards.
 
     Tiled rendering in combination with image processing networks require heavy memory resources, especially
-    at larger resolutions. We recommend running at 512 cameras in the scene on RTX 4090 GPUs or similar.
+    at larger resolutions. We recommend running 512 cameras in the scene on RTX 4090 GPUs or similar.
 
 
 Tiled rendering APIs provide a vectorized interface for collecting data from camera sensors.
@@ -129,3 +129,39 @@ Instance Segmentation
 - If ``colorize_instance_segmentation=True`` in the camera config, a 4-channel RGBA image will be returned with dimension (B, H, W, 4) and type ``torch.uint8``. The info ``idToLabels`` dictionary will be the mapping from color to USD prim path of that semantic entity. The info ``idToSemantics`` dictionary will be the mapping from color to semantic labels of that semantic entity.
 
 - If ``colorize_instance_segmentation=False``, a buffer of dimension (B, H, W, 1) of type ``torch.int32`` will be returned, containing the instance ID of each pixel. The info ``idToLabels`` dictionary will be the mapping from instance ID to USD prim path of that semantic entity. The info ``idToSemantics`` dictionary will be the mapping from instance ID to semantic labels of that semantic entity.
+
+
+Current Limitations
+-------------------
+
+Due to current limitations in the renderer, we can have only **one** :class:`~sensors.TiledCamera` instance in the scene.
+For use cases that require a setup with more than one camera, we can imitate the multi-camera behavior by moving the location
+of the camera in between render calls in a step.
+
+For example, in a stereo vision setup, the below snippet can be implemented:
+
+.. code-block:: python
+
+    # render image from "first" camera
+    camera_data_1 = self._tiled_camera.data.output["rgb"].clone() / 255.0
+    # update camera transform to the "second" camera location
+    self._tiled_camera.set_world_poses(
+        positions=pos,
+        orientations=rot,
+        convention="world"
+    )
+    # step the renderer
+    self.sim.render()
+    self._tiled_camera.update(0, force_recompute=True)
+    # render image from "second" camera
+    camera_data_2 = self._tiled_camera.data.output["rgb"].clone() / 255.0
+
+Note that this approach still limits the rendering resolution to be identical for all cameras. Currently, there is no workaround
+to achieve different resolution images using :class:`~sensors.TiledCamera`. The best approach is to use the largest resolution out of all of the
+desired resolutions and add additional scaling or cropping operations to the rendered output as a post-processing step.
+
+In addition, there may be visible quality differences when comparing render outputs of different numbers of environments.
+Currently, any combined resolution that has a width less than 265 pixels or height less than 265 will automatically switch
+to the DLAA anti-aliasing mode, which does not perform up-sampling during anti-aliasing. For resolutions larger than 265 in both
+width and height dimensions, we default to using the "performance" DLSS mode for anti-aliasing for performance benefits.
+Anti-aliasing modes and other rendering parameters can be specified in the :class:`~sim.RenderCfg`.

docs/source/overview/core-concepts/index.rst

@@ -9,3 +9,5 @@ This section we introduce core concepts in Isaac Lab.
 
   task_workflows
   actuators
+
+# motion_generators

docs/source/overview/environments.rst

@@ -61,6 +61,10 @@ Classic environments that are based on IsaacGymEnvs implementation of MuJoCo-sty
     |                  |                             |                                                                         |
     |                  | |cartpole-depth-direct-link||                                                                         |
     +------------------+-----------------------------+-------------------------------------------------------------------------+
+    | |cartpole|       | |cartpole-resnet-link|      | Move the cart to keep the pole upwards in the classic cartpole control  |
+    |                  |                             | based off of features extracted from perceptive inputs with pre-trained |
+    |                  | |cartpole-theia-link|       | frozen vision encoders                                                  |
+    +------------------+-----------------------------+-------------------------------------------------------------------------+
 
 .. |humanoid| image:: ../_static/tasks/classic/humanoid.jpg
 .. |ant| image:: ../_static/tasks/classic/ant.jpg
@@ -69,8 +73,11 @@ Classic environments that are based on IsaacGymEnvs implementation of MuJoCo-sty
 .. |humanoid-link| replace:: `Isaac-Humanoid-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/humanoid/humanoid_env_cfg.py>`__
 .. |ant-link| replace:: `Isaac-Ant-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/ant/ant_env_cfg.py>`__
 .. |cartpole-link| replace:: `Isaac-Cartpole-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py>`__
-.. |cartpole-rgb-link| replace:: `Isaac-Cartpole-RGB-Camera-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
-.. |cartpole-depth-link| replace:: `Isaac-Cartpole-Depth-Camera-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
+.. |cartpole-rgb-link| replace:: `Isaac-Cartpole-RGB-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
+.. |cartpole-depth-link| replace:: `Isaac-Cartpole-Depth-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
+.. |cartpole-resnet-link| replace:: `Isaac-Cartpole-RGB-ResNet18-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
+.. |cartpole-theia-link| replace:: `Isaac-Cartpole-RGB-TheiaTiny-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
+
 
 .. |humanoid-direct-link| replace:: `Isaac-Humanoid-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/humanoid/humanoid_env.py>`__
 .. |ant-direct-link| replace:: `Isaac-Ant-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/ant/ant_env.py>`__

docs/source/setup/installation/binaries_installation.rst

@@ -38,7 +38,7 @@ To check the minimum system requirements,refer to the documentation
          :sync: windows
 
          On Windows systems, by default,Isaac Sim is installed in the directory
-         ``C:\Users\%USERPROFILE%\AppData\Local\ov\pkg\isaac_sim-*``, with ``*`` corresponding to the Isaac Sim version.
+         ``%USERPROFILE%\AppData\Local\ov\pkg\isaac_sim-*``, with ``*`` corresponding to the Isaac Sim version.
 
 Verifying the Isaac Sim installation
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -66,7 +66,7 @@ variables to your terminal for the remaining of the installation instructions:
       .. code:: batch
 
          :: Isaac Sim root directory
-         set ISAACSIM_PATH="C:\Users\%USERPROFILE%\AppData\Local\ov\pkg\isaac-sim-4.2.0"
+         set ISAACSIM_PATH="%USERPROFILE%\AppData\Local\ov\pkg\isaac-sim-4.2.0"
          :: Isaac Sim python executable
          set ISAACSIM_PYTHON_EXE="%ISAACSIM_PATH:"=%\python.bat"
 

docs/source/tutorials/03_envs/create_manager_rl_env.rst

@@ -36,7 +36,7 @@ For this tutorial, we use the cartpole environment defined in ``omni.isaac.lab_t
 
    .. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py
       :language: python
-      :emphasize-lines: 63-68, 124-149, 152-162, 165-169, 187-192
+      :emphasize-lines: 117-141, 144-154, 172-174
       :linenos:
 
 The script for running the environment ``run_cartpole_rl_env.py`` is present in the
@@ -117,13 +117,8 @@ For various goal-conditioned tasks, it is useful to specify the goals or command
 handled through the :class:`managers.CommandManager`. The command manager handles resampling and updating the
 commands at each step. It can also be used to provide the commands as an observation to the agent.
 
-For this simple task, we do not use any commands. This is specified by using a command term with the
-:class:`envs.mdp.NullCommandCfg` configuration. However, you can see an example of command definitions in the
-locomotion or manipulation tasks.
-
-.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py
-   :language: python
-   :pyobject: CommandsCfg
+For this simple task, we do not use any commands. Hence, we leave this attribute as its default value, which is None.
+You can see an example of how to define a command manager in the other locomotion or manipulation tasks.
 
 Defining curriculum
 -------------------
@@ -134,11 +129,6 @@ we provide a :class:`managers.CurriculumManager` class that can be used to defin
 
 In this tutorial we don't implement a curriculum for simplicity, but you can see an example of a
 curriculum definition in the other locomotion or manipulation tasks.
-We use a simple pass-through curriculum to define a curriculum manager that does not modify the environment.
-
-.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py
-   :language: python
-   :pyobject: CurriculumCfg
 
 Tying it all together
 ---------------------

isaaclab.sh

@@ -350,7 +350,7 @@ while [[ $# -gt 0 ]]; do
             python_exe=$(extract_python_exe)
             echo "[INFO] Using python from: ${python_exe}"
             shift # past argument
-            ${python_exe} $@
+            ${python_exe} "$@"
             # exit neatly
             break
             ;;

pyproject.toml

@@ -36,6 +36,9 @@ extra_standard_library = [
     "toml",
     "trimesh",
     "tqdm",
+    "torchvision",
+    "transformers",
+    "einops" # Needed for transformers, doesn't always auto-install
 ]
 # Imports from Isaac Sim and Omniverse
 known_third_party = [

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

@@ -1,7 +1,8 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.25.2"
+
+version = "0.27.7"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"
@@ -13,7 +14,6 @@ keywords = ["kit", "robotics", "learning", "ai"]
 
 [dependencies]
 "omni.isaac.core" = {}
-"omni.isaac.ml_archive" = {}
 "omni.replicator.core" = {}
 
 [python.pipapi]