From 33e686593f92211fa10a681f22d81b11b7d26693 Mon Sep 17 00:00:00 2001 From: Kelly Guo Date: Tue, 17 Jun 2025 06:57:22 -0700 Subject: [PATCH 01/28] Fixes deprecation warning for pxr.Semantics (#2721) # Description pxr.Semantics was deprecated in Isaac Sim 4.2 and is now Semantics. This PR replaces imports of pxr.Semantics with Semantics if available. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --- .../isaaclab/sim/spawners/from_files/from_files.py | 8 +++++++- source/isaaclab/test/sensors/test_tiled_camera.py | 8 +++++++- 2 files changed, 14 insertions(+), 2 deletions(-) diff --git a/source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py b/source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py index 26643df3408..c10cdf7c92f 100644 --- a/source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py +++ b/source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py @@ -11,7 +11,13 @@ import isaacsim.core.utils.stage as stage_utils import omni.kit.commands import omni.log -from pxr import Gf, Sdf, Semantics, Usd +from pxr import Gf, Sdf, Usd + +# from Isaac Sim 4.2 onwards, pxr.Semantics is deprecated +try: + import Semantics +except ModuleNotFoundError: + from pxr import Semantics from isaaclab.sim import converters, schemas from isaaclab.sim.utils import bind_physics_material, bind_visual_material, clone, select_usd_variants diff --git a/source/isaaclab/test/sensors/test_tiled_camera.py b/source/isaaclab/test/sensors/test_tiled_camera.py index a00bc44a2d6..79f70a78809 100644 --- a/source/isaaclab/test/sensors/test_tiled_camera.py +++ b/source/isaaclab/test/sensors/test_tiled_camera.py @@ -25,7 +25,13 @@ import omni.replicator.core as rep import pytest from isaacsim.core.prims import SingleGeometryPrim, SingleRigidPrim -from pxr import Gf, Semantics, UsdGeom +from pxr import Gf, UsdGeom + +# from Isaac Sim 4.2 onwards, pxr.Semantics is deprecated +try: + import Semantics +except ModuleNotFoundError: + from pxr import Semantics import isaaclab.sim as sim_utils from isaaclab.sensors.camera import Camera, CameraCfg, TiledCamera, TiledCameraCfg From 91ad4944f2b7fad29d52c04a5264a082bcaad71d Mon Sep 17 00:00:00 2001 From: YunLiu <55491388+KumoLiu@users.noreply.github.com> Date: Tue, 17 Jun 2025 22:57:14 +0000 Subject: [PATCH 02/28] Fixes visual prims handling during texture randomization. (#2476) # Description Fixed potential issues in :func:`~isaaclab.envs.mdp.events.randomize_visual_texture_material` related to handling visual prims during texture randomization. Fixes # (issue) ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: YunLiu <55491388+KumoLiu@users.noreply.github.com> --- source/isaaclab/config/extension.toml | 2 +- source/isaaclab/docs/CHANGELOG.rst | 9 ++ source/isaaclab/isaaclab/envs/mdp/events.py | 22 ++++- .../test/envs/test_texture_randomization.py | 94 +++++++++++++++++++ 4 files changed, 123 insertions(+), 4 deletions(-) diff --git a/source/isaaclab/config/extension.toml b/source/isaaclab/config/extension.toml index ed7c2997613..aa5e112813c 100644 --- a/source/isaaclab/config/extension.toml +++ b/source/isaaclab/config/extension.toml @@ -1,7 +1,7 @@ [package] # Note: Semantic Versioning is used: https://semver.org/ -version = "0.40.5" +version = "0.40.6" # Description title = "Isaac Lab framework for Robot Learning" diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst index f515d3411ae..aa1cb1bc068 100644 --- a/source/isaaclab/docs/CHANGELOG.rst +++ b/source/isaaclab/docs/CHANGELOG.rst @@ -1,6 +1,15 @@ Changelog --------- +0.40.6 (2025-06-12) +~~~~~~~~~~~~~~~~~~~ + +Fixed +^^^^^ + +* Fixed potential issues in :func:`~isaaclab.envs.mdp.events.randomize_visual_texture_material` related to handling visual prims during texture randomization. + + 0.40.5 (2025-05-22) ~~~~~~~~~~~~~~~~~~~ diff --git a/source/isaaclab/isaaclab/envs/mdp/events.py b/source/isaaclab/isaaclab/envs/mdp/events.py index 120dbd70d53..296135175e9 100644 --- a/source/isaaclab/isaaclab/envs/mdp/events.py +++ b/source/isaaclab/isaaclab/envs/mdp/events.py @@ -1229,8 +1229,25 @@ def __init__(self, cfg: EventTermCfg, env: ManagerBasedEnv): body_names_regex = ".*" # create the affected prim path - # TODO: Remove the hard-coded "/visuals" part. - prim_path = f"{asset.cfg.prim_path}/{body_names_regex}/visuals" + # Check if the pattern with '/visuals' yields results when matching `body_names_regex`. + # If not, fall back to a broader pattern without '/visuals'. + asset_main_prim_path = asset.cfg.prim_path + # Try the pattern with '/visuals' first for the generic case + pattern_with_visuals = f"{asset_main_prim_path}/{body_names_regex}/visuals" + # Use sim_utils to check if any prims currently match this pattern + matching_prims = sim_utils.find_matching_prim_paths(pattern_with_visuals) + if matching_prims: + # If matches are found, use the pattern with /visuals + prim_path = pattern_with_visuals + else: + # If no matches found, fall back to the broader pattern without /visuals + # This pattern (e.g., /World/envs/env_.*/Table/.*) should match visual prims + # whether they end in /visuals or have other structures. + prim_path = f"{asset_main_prim_path}/.*" + carb.log_info( + f"Pattern '{pattern_with_visuals}' found no prims. Falling back to '{prim_path}' for texture" + " randomization." + ) # Create the omni-graph node for the randomization term def rep_texture_randomization(): @@ -1240,7 +1257,6 @@ def rep_texture_randomization(): rep.randomizer.texture( textures=texture_paths, project_uvw=True, texture_rotate=rep.distribution.uniform(*texture_rotation) ) - return prims_group.node # Register the event to the replicator diff --git a/source/isaaclab/test/envs/test_texture_randomization.py b/source/isaaclab/test/envs/test_texture_randomization.py index a034929f145..2f8fc580e26 100644 --- a/source/isaaclab/test/envs/test_texture_randomization.py +++ b/source/isaaclab/test/envs/test_texture_randomization.py @@ -20,6 +20,7 @@ import math import torch import unittest +from unittest.mock import patch import omni.usd @@ -127,6 +128,36 @@ class EventCfg: ) +@configclass +class EventCfgFallback: + """Configuration for events that tests the fallback mechanism.""" + + # Test fallback when /visuals pattern doesn't match + test_fallback_texture_randomizer = EventTerm( + func=mdp.randomize_visual_texture_material, + mode="reset", + params={ + "asset_cfg": SceneEntityCfg("robot", body_names=["slider"]), + "texture_paths": [ + f"{NVIDIA_NUCLEUS_DIR}/Materials/Base/Wood/Bamboo_Planks/Bamboo_Planks_BaseColor.png", + f"{NVIDIA_NUCLEUS_DIR}/Materials/Base/Wood/Cherry/Cherry_BaseColor.png", + ], + "event_name": "test_fallback_texture_randomizer", + "texture_rotation": (0.0, 0.0), + }, + ) + + reset_cart_position = EventTerm( + func=mdp.reset_joints_by_offset, + mode="reset", + params={ + "asset_cfg": SceneEntityCfg("robot", joint_names=["slider_to_cart"]), + "position_range": (-1.0, 1.0), + "velocity_range": (-0.1, 0.1), + }, + ) + + @configclass class CartpoleEnvCfg(ManagerBasedEnvCfg): """Configuration for the cartpole environment.""" @@ -150,6 +181,29 @@ def __post_init__(self): self.sim.dt = 0.005 # sim step every 5ms: 200Hz +@configclass +class CartpoleEnvCfgFallback(ManagerBasedEnvCfg): + """Configuration for the cartpole environment that tests fallback mechanism.""" + + # Scene settings + scene = CartpoleSceneCfg(env_spacing=2.5) + + # Basic settings + actions = ActionsCfg() + observations = ObservationsCfg() + events = EventCfgFallback() + + def __post_init__(self): + """Post initialization.""" + # viewer settings + self.viewer.eye = (4.5, 0.0, 6.0) + self.viewer.lookat = (0.0, 0.0, 2.0) + # step settings + self.decimation = 4 # env step every 4 sim steps: 200Hz / 4 = 50Hz + # simulation settings + self.sim.dt = 0.005 # sim step every 5ms: 200Hz + + class TestTextureRandomization(unittest.TestCase): """Test for texture randomization""" @@ -186,6 +240,46 @@ def test_texture_randomization(self): env.close() + def test_texture_randomization_fallback(self): + """Test texture randomization fallback mechanism when /visuals pattern doesn't match.""" + + def mock_find_matching_prim_paths(pattern): + """Mock function that simulates a case where /visuals pattern doesn't match.""" + # If the pattern contains '/visuals', return empty list to trigger fallback + if pattern.endswith("/visuals"): + return [] + return None + + for device in ["cpu", "cuda"]: + with self.subTest(device=device): + # create a new stage + omni.usd.get_context().new_stage() + + # set the arguments - use fallback config + env_cfg = CartpoleEnvCfgFallback() + env_cfg.scene.num_envs = 16 + env_cfg.scene.replicate_physics = False + env_cfg.sim.device = device + + with patch.object( + mdp.events.sim_utils, "find_matching_prim_paths", side_effect=mock_find_matching_prim_paths + ): + # This should trigger the fallback mechanism and log the fallback message + env = ManagerBasedEnv(cfg=env_cfg) + + # simulate physics + with torch.inference_mode(): + for count in range(20): # shorter test for fallback + # reset every few steps to check nothing breaks + if count % 10 == 0: + env.reset() + # sample random actions + joint_efforts = torch.randn_like(env.action_manager.action) + # step the environment + env.step(joint_efforts) + + env.close() + def test_texture_randomization_failure_replicate_physics(self): """Test texture randomization failure when replicate physics is set to True.""" # create a new stage From cf61e981ea3fedcc79ad8d608f360f2535924ee2 Mon Sep 17 00:00:00 2001 From: robotsfan Date: Tue, 24 Jun 2025 00:11:44 +0800 Subject: [PATCH 03/28] Fixes link in `training_jetbot_gt.rst` (#2699) # Description Fix the link ## Type of change - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there Signed-off-by: robotsfan --- docs/source/setup/walkthrough/training_jetbot_gt.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/source/setup/walkthrough/training_jetbot_gt.rst b/docs/source/setup/walkthrough/training_jetbot_gt.rst index f31684a78c0..05e89ef4564 100644 --- a/docs/source/setup/walkthrough/training_jetbot_gt.rst +++ b/docs/source/setup/walkthrough/training_jetbot_gt.rst @@ -104,7 +104,7 @@ Next, we need to expand the initialization and setup steps to construct the data Most of this is setting up the book keeping for the commands and markers, but the command initialization and the yaw calculations are worth diving into. The commands are sampled from a multivariate normal distribution via ``torch.randn`` with the z component fixed to zero and then normalized to unit length. In order to point our -command markers along these vectors, we need to rotate the base arrow mesh appropriately. This means we need to define a `quaternion `_` that will rotate the arrow +command markers along these vectors, we need to rotate the base arrow mesh appropriately. This means we need to define a `quaternion `_ that will rotate the arrow prim about the z axis by some angle defined by the command. By convention, rotations about the z axis are called a "yaw" rotation (akin to roll and pitch). Luckily for us, Isaac Lab provides a utility to generate a quaternion from an axis of rotation and an angle: :func:`isaaclab.utils.math.quat_from_axis_angle`, so the only From 68d96a5b4cf3529feff29835a307e540ac9f03e6 Mon Sep 17 00:00:00 2001 From: Michael Gussert Date: Tue, 24 Jun 2025 16:40:06 +0000 Subject: [PATCH 04/28] Fixes walkthrough path to in text for jetbot env (#2770) Fixes link to python script in walkthrough tutorial Fixes #2740 ## Checklist - [X] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [X] I have made corresponding changes to the documentation - [X] My changes generate no new warnings - [X] I have added tests that prove my fix is effective or that my feature works - [X] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [X] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --- docs/source/setup/walkthrough/api_env_design.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/source/setup/walkthrough/api_env_design.rst b/docs/source/setup/walkthrough/api_env_design.rst index 4f4967aee63..a2fbb070e59 100644 --- a/docs/source/setup/walkthrough/api_env_design.rst +++ b/docs/source/setup/walkthrough/api_env_design.rst @@ -78,7 +78,7 @@ the prim path with ``/World/envs/env_.*/Robot`` we are implicitly saying that ev The Environment ----------------- -Next, let's take a look at the contents of the other python file in our task directory: ``isaac_lab_tutorial_env_cfg.py`` +Next, let's take a look at the contents of the other python file in our task directory: ``isaac_lab_tutorial_env.py`` .. code-block:: python From 9980e66531191f9939bf61d390ec8d05a8173ed4 Mon Sep 17 00:00:00 2001 From: yijieg Date: Tue, 24 Jun 2025 14:43:58 -0700 Subject: [PATCH 05/28] Adds print info in disassembly direct environment (#2750) # Description Add more information in the print out message, when generating disassembly paths. ## Type of change - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) ## Checklist - [ x ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ x ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ x ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --- .../isaaclab_tasks/direct/automate/disassembly_env.py | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/automate/disassembly_env.py b/source/isaaclab_tasks/isaaclab_tasks/direct/automate/disassembly_env.py index 8c79914f76c..c74b5da124b 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/automate/disassembly_env.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/automate/disassembly_env.py @@ -555,7 +555,7 @@ def _move_gripper_to_eef_pose(self, env_ids, goal_pos, goal_quat, sim_steps, if_ for _ in range(sim_steps): if if_log: self._log_robot_state_per_timestep() - # print('finger', self.fingertip_midpoint_pos[0], 'goal', goal_pos[0]) + # Compute error to target. pos_error, axis_angle_error = fc.get_pose_error( fingertip_midpoint_pos=self.fingertip_midpoint_pos[env_ids], @@ -567,10 +567,7 @@ def _move_gripper_to_eef_pose(self, env_ids, goal_pos, goal_quat, sim_steps, if_ ) delta_hand_pose = torch.cat((pos_error, axis_angle_error), dim=-1) - # print('delta hand pose', delta_hand_pose[0]) self.actions *= 0.0 - # print('action shape', self.actions[env_ids, :6].shape) - # print('delta hand shape', delta_hand_pose.shape) self.actions[env_ids, :6] = delta_hand_pose is_rendering = self.sim.has_gui() or self.sim.has_rtx_sensors() @@ -746,7 +743,6 @@ def _disassemble_plug_from_socket(self): if_intersect = (self.held_pos[:, 2] < self.fixed_pos[:, 2] + self.disassembly_dists).cpu().numpy() env_ids = np.argwhere(if_intersect == 0).reshape(-1) - # print('env ids', env_ids) self._randomize_gripper_pose(self.cfg_task.move_gripper_sim_steps, env_ids) def _lift_gripper(self, lift_distance, sim_steps, env_ids=None): @@ -880,6 +876,9 @@ def _save_log_traj(self): with open(log_filename, "w+") as out_file: json.dump(log_item, out_file, indent=6) + print(f"Trajectory collection complete! Collected {len(self.log_arm_dof_pos)} trajectories!") exit(0) else: - print("current logging item num: ", len(self.log_arm_dof_pos)) + print( + f"Collected {len(self.log_arm_dof_pos)} trajectories so far (target: > {self.cfg_task.num_log_traj})." + ) From ad14a674eeecfe663709cad0db4ce3041d78c3b8 Mon Sep 17 00:00:00 2001 From: Antonin RAFFIN Date: Wed, 25 Jun 2025 03:29:40 +0200 Subject: [PATCH 06/28] Adds optimizations and additional training configs for SB3 (#2022) # Description Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context. List any dependencies that are required for this change. Implement part of https://github.com/isaac-sim/IsaacLab/issues/1769 (optimization) This is a breaking change because the fast variant is now enabled by default. I also improve sb3 training script, fixed loading of normalization and fixed the humanoid hyperparameters to be similar to rsl-rl, so we can compare apples to apples in terms of training speed. I will probably open another PR for the rest of the proposals. ## Type of change - Bug fix (non-breaking change which fixes an issue) - Breaking change (fix or feature that would cause existing functionality to not work as expected) - This change requires a documentation update With respect to testing, how do you run a single test? and is there anything I should add? ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Antonin RAFFIN Signed-off-by: Kelly Guo Co-authored-by: Kelly Guo --- CONTRIBUTORS.md | 1 + docs/source/overview/environments.rst | 4 +- .../rl_existing_scripts.rst | 20 +++-- .../reinforcement-learning/rl_frameworks.rst | 7 +- .../reinforcement_learning/rl_games/play.py | 2 +- scripts/reinforcement_learning/sb3/play.py | 38 ++++++--- scripts/reinforcement_learning/sb3/train.py | 81 ++++++++++++++----- source/isaaclab_rl/config/extension.toml | 2 +- source/isaaclab_rl/docs/CHANGELOG.rst | 9 +++ source/isaaclab_rl/isaaclab_rl/sb3.py | 80 +++++++++++++----- source/isaaclab_rl/setup.py | 2 +- .../classic/humanoid/agents/sb3_ppo_cfg.yaml | 26 +++--- .../locomotion/velocity/config/a1/__init__.py | 4 + .../config/a1/agents/sb3_ppo_cfg.yaml | 23 ++++++ 14 files changed, 218 insertions(+), 81 deletions(-) create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/agents/sb3_ppo_cfg.yaml diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md index 90b9befa261..2f6eefbfb1b 100644 --- a/CONTRIBUTORS.md +++ b/CONTRIBUTORS.md @@ -40,6 +40,7 @@ Guidelines for modifications: * Amr Mousa * Andrej Orsula * Anton Bjørndahl Mortensen +* Antonin Raffin * Arjun Bhardwaj * Ashwin Varghese Kuruttukulam * Bikram Pandit diff --git a/docs/source/overview/environments.rst b/docs/source/overview/environments.rst index 2f41da00066..0a9bd4c5e02 100644 --- a/docs/source/overview/environments.rst +++ b/docs/source/overview/environments.rst @@ -884,7 +884,7 @@ Comprehensive List of Environments * - Isaac-Velocity-Flat-Unitree-A1-v0 - Isaac-Velocity-Flat-Unitree-A1-Play-v0 - Manager Based - - **rsl_rl** (PPO), **skrl** (PPO) + - **rsl_rl** (PPO), **skrl** (PPO), **sb3** (PPO) * - Isaac-Velocity-Flat-Unitree-Go1-v0 - Isaac-Velocity-Flat-Unitree-Go1-Play-v0 - Manager Based @@ -924,7 +924,7 @@ Comprehensive List of Environments * - Isaac-Velocity-Rough-Unitree-A1-v0 - Isaac-Velocity-Rough-Unitree-A1-Play-v0 - Manager Based - - **rsl_rl** (PPO), **skrl** (PPO) + - **rsl_rl** (PPO), **skrl** (PPO), **sb3** (PPO) * - Isaac-Velocity-Rough-Unitree-Go1-v0 - Isaac-Velocity-Rough-Unitree-Go1-Play-v0 - Manager Based diff --git a/docs/source/overview/reinforcement-learning/rl_existing_scripts.rst b/docs/source/overview/reinforcement-learning/rl_existing_scripts.rst index b48fb494b9c..4ff23a7a7b7 100644 --- a/docs/source/overview/reinforcement-learning/rl_existing_scripts.rst +++ b/docs/source/overview/reinforcement-learning/rl_existing_scripts.rst @@ -187,7 +187,7 @@ Stable-Baselines3 - Training an agent with `Stable-Baselines3 `__ - on ``Isaac-Cartpole-v0``: + on ``Isaac-Velocity-Flat-Unitree-A1-v0``: .. tab-set:: :sync-group: os @@ -200,14 +200,13 @@ Stable-Baselines3 # install python module (for stable-baselines3) ./isaaclab.sh -i sb3 # run script for training - # note: we set the device to cpu since SB3 doesn't optimize for GPU anyway - ./isaaclab.sh -p scripts/reinforcement_learning/sb3/train.py --task Isaac-Cartpole-v0 --headless --device cpu + ./isaaclab.sh -p scripts/reinforcement_learning/sb3/train.py --task Isaac-Velocity-Flat-Unitree-A1-v0 --headless # run script for playing with 32 environments - ./isaaclab.sh -p scripts/reinforcement_learning/sb3/play.py --task Isaac-Cartpole-v0 --num_envs 32 --checkpoint /PATH/TO/model.zip + ./isaaclab.sh -p scripts/reinforcement_learning/sb3/play.py --task Isaac-Velocity-Flat-Unitree-A1-v0 --num_envs 32 --checkpoint /PATH/TO/model.zip # run script for playing a pre-trained checkpoint with 32 environments - ./isaaclab.sh -p scripts/reinforcement_learning/sb3/play.py --task Isaac-Cartpole-v0 --num_envs 32 --use_pretrained_checkpoint + ./isaaclab.sh -p scripts/reinforcement_learning/sb3/play.py --task Isaac-Velocity-Flat-Unitree-A1-v0 --num_envs 32 --use_pretrained_checkpoint # run script for recording video of a trained agent (requires installing `ffmpeg`) - ./isaaclab.sh -p scripts/reinforcement_learning/sb3/play.py --task Isaac-Cartpole-v0 --headless --video --video_length 200 + ./isaaclab.sh -p scripts/reinforcement_learning/sb3/play.py --task Isaac-Velocity-Flat-Unitree-A1-v0 --headless --video --video_length 200 .. tab-item:: :icon:`fa-brands fa-windows` Windows :sync: windows @@ -217,14 +216,13 @@ Stable-Baselines3 :: install python module (for stable-baselines3) isaaclab.bat -i sb3 :: run script for training - :: note: we set the device to cpu since SB3 doesn't optimize for GPU anyway - isaaclab.bat -p scripts\reinforcement_learning\sb3\train.py --task Isaac-Cartpole-v0 --headless --device cpu + isaaclab.bat -p scripts\reinforcement_learning\sb3\train.py --task Isaac-Velocity-Flat-Unitree-A1-v0 --headless :: run script for playing with 32 environments - isaaclab.bat -p scripts\reinforcement_learning\sb3\play.py --task Isaac-Cartpole-v0 --num_envs 32 --checkpoint /PATH/TO/model.zip + isaaclab.bat -p scripts\reinforcement_learning\sb3\play.py --task Isaac-Velocity-Flat-Unitree-A1-v0 --num_envs 32 --checkpoint /PATH/TO/model.zip :: run script for playing a pre-trained checkpoint with 32 environments - isaaclab.bat -p scripts\reinforcement_learning\sb3\play.py --task Isaac-Cartpole-v0 --num_envs 32 --use_pretrained_checkpoint + isaaclab.bat -p scripts\reinforcement_learning\sb3\play.py --task Isaac-Velocity-Flat-Unitree-A1-v0 --num_envs 32 --use_pretrained_checkpoint :: run script for recording video of a trained agent (requires installing `ffmpeg`) - isaaclab.bat -p scripts\reinforcement_learning\sb3\play.py --task Isaac-Cartpole-v0 --headless --video --video_length 200 + isaaclab.bat -p scripts\reinforcement_learning\sb3\play.py --task Isaac-Velocity-Flat-Unitree-A1-v0 --headless --video --video_length 200 All the scripts above log the training progress to `Tensorboard`_ in the ``logs`` directory in the root of the repository. The logs directory follows the pattern ``logs///``, where ```` diff --git a/docs/source/overview/reinforcement-learning/rl_frameworks.rst b/docs/source/overview/reinforcement-learning/rl_frameworks.rst index 00ceb8bb458..dc3f1e2d93f 100644 --- a/docs/source/overview/reinforcement-learning/rl_frameworks.rst +++ b/docs/source/overview/reinforcement-learning/rl_frameworks.rst @@ -71,9 +71,12 @@ Training Performance -------------------- We performed training with each RL library on the same ``Isaac-Humanoid-v0`` environment -with ``--headless`` on a single RTX 4090 GPU +with ``--headless`` on a single RTX 4090 GPU using 4096 environments and logged the total training time for 65.5M steps for each RL library. +.. + Note: SB3 need to be re-run (current number comes from a GeForce RTX 3070) + +--------------------+-----------------+ | RL Library | Time in seconds | +====================+=================+ @@ -83,5 +86,5 @@ and logged the total training time for 65.5M steps for each RL library. +--------------------+-----------------+ | RSL RL | 207 | +--------------------+-----------------+ -| Stable-Baselines3 | 6320 | +| Stable-Baselines3 | 550 | +--------------------+-----------------+ diff --git a/scripts/reinforcement_learning/rl_games/play.py b/scripts/reinforcement_learning/rl_games/play.py index fae93845c92..38c8061d6a4 100644 --- a/scripts/reinforcement_learning/rl_games/play.py +++ b/scripts/reinforcement_learning/rl_games/play.py @@ -188,7 +188,7 @@ def main(): s[:, dones, :] = 0.0 if args_cli.video: timestep += 1 - # Exit the play loop after recording one video + # exit the play loop after recording one video if timestep == args_cli.video_length: break diff --git a/scripts/reinforcement_learning/sb3/play.py b/scripts/reinforcement_learning/sb3/play.py index 78b958b31ca..010f0f1e615 100644 --- a/scripts/reinforcement_learning/sb3/play.py +++ b/scripts/reinforcement_learning/sb3/play.py @@ -8,6 +8,7 @@ """Launch Isaac Sim Simulator first.""" import argparse +from pathlib import Path from isaaclab.app import AppLauncher @@ -32,6 +33,12 @@ help="When no checkpoint provided, use the last saved model. Otherwise use the best saved model.", ) parser.add_argument("--real-time", action="store_true", default=False, help="Run in real-time, if possible.") +parser.add_argument( + "--keep_all_info", + action="store_true", + default=False, + help="Use a slower SB3 wrapper but keep all the extra training info.", +) # append AppLauncher cli args AppLauncher.add_app_launcher_args(parser) # parse the arguments @@ -47,7 +54,6 @@ """Rest everything follows.""" import gymnasium as gym -import numpy as np import os import time import torch @@ -57,12 +63,13 @@ from isaaclab.envs import DirectMARLEnv, multi_agent_to_single_agent from isaaclab.utils.dict import print_dict +from isaaclab.utils.io import load_yaml from isaaclab.utils.pretrained_checkpoint import get_published_pretrained_checkpoint from isaaclab_rl.sb3 import Sb3VecEnvWrapper, process_sb3_cfg import isaaclab_tasks # noqa: F401 -from isaaclab_tasks.utils.parse_cfg import get_checkpoint_path, load_cfg_from_registry, parse_env_cfg +from isaaclab_tasks.utils.parse_cfg import get_checkpoint_path, parse_env_cfg # PLACEHOLDER: Extension template (do not remove this comment) @@ -73,7 +80,6 @@ def main(): env_cfg = parse_env_cfg( args_cli.task, device=args_cli.device, num_envs=args_cli.num_envs, use_fabric=not args_cli.disable_fabric ) - agent_cfg = load_cfg_from_registry(args_cli.task, "sb3_cfg_entry_point") task_name = args_cli.task.split(":")[-1] @@ -87,6 +93,7 @@ def main(): print("[INFO] Unfortunately a pre-trained checkpoint is currently unavailable for this task.") return elif args_cli.checkpoint is None: + # FIXME: last checkpoint doesn't seem to really use the last one' if args_cli.use_last_checkpoint: checkpoint = "model_.*.zip" else: @@ -96,12 +103,14 @@ def main(): checkpoint_path = args_cli.checkpoint log_dir = os.path.dirname(checkpoint_path) - # post-process agent configuration - agent_cfg = process_sb3_cfg(agent_cfg) - # create isaac environment env = gym.make(args_cli.task, cfg=env_cfg, render_mode="rgb_array" if args_cli.video else None) + # load the exact config used for training (instead of the default config) + agent_cfg = load_yaml(os.path.join(log_dir, "params", "agent.yaml")) + # post-process agent configuration + agent_cfg = process_sb3_cfg(agent_cfg, env.unwrapped.num_envs) + # convert to single-agent instance if required by the RL algorithm if isinstance(env.unwrapped, DirectMARLEnv): env = multi_agent_to_single_agent(env) @@ -118,18 +127,25 @@ def main(): print_dict(video_kwargs, nesting=4) env = gym.wrappers.RecordVideo(env, **video_kwargs) # wrap around environment for stable baselines - env = Sb3VecEnvWrapper(env) + env = Sb3VecEnvWrapper(env, fast_variant=not args_cli.keep_all_info) + + vec_norm_path = checkpoint_path.replace("/model", "/model_vecnormalize").replace(".zip", ".pkl") + vec_norm_path = Path(vec_norm_path) # normalize environment (if needed) - if "normalize_input" in agent_cfg: + if vec_norm_path.exists(): + print(f"Loading saved normalization: {vec_norm_path}") + env = VecNormalize.load(vec_norm_path, env) + # do not update them at test time + env.training = False + # reward normalization is not needed at test time + env.norm_reward = False + elif "normalize_input" in agent_cfg: env = VecNormalize( env, training=True, norm_obs="normalize_input" in agent_cfg and agent_cfg.pop("normalize_input"), - norm_reward="normalize_value" in agent_cfg and agent_cfg.pop("normalize_value"), clip_obs="clip_obs" in agent_cfg and agent_cfg.pop("clip_obs"), - gamma=agent_cfg["gamma"], - clip_reward=np.inf, ) # create agent from stable baselines diff --git a/scripts/reinforcement_learning/sb3/train.py b/scripts/reinforcement_learning/sb3/train.py index b4ab9fe8e7f..0b723d51d57 100644 --- a/scripts/reinforcement_learning/sb3/train.py +++ b/scripts/reinforcement_learning/sb3/train.py @@ -3,17 +3,16 @@ # # SPDX-License-Identifier: BSD-3-Clause -"""Script to train RL agent with Stable Baselines3. -Since Stable-Baselines3 does not support buffers living on GPU directly, -we recommend using smaller number of environments. Otherwise, -there will be significant overhead in GPU->CPU transfer. -""" +"""Script to train RL agent with Stable Baselines3.""" """Launch Isaac Sim Simulator first.""" import argparse +import contextlib +import signal import sys +from pathlib import Path from isaaclab.app import AppLauncher @@ -25,7 +24,14 @@ parser.add_argument("--num_envs", type=int, default=None, help="Number of environments to simulate.") parser.add_argument("--task", type=str, default=None, help="Name of the task.") parser.add_argument("--seed", type=int, default=None, help="Seed used for the environment") +parser.add_argument("--log_interval", type=int, default=100_000, help="Log data every n timesteps.") parser.add_argument("--max_iterations", type=int, default=None, help="RL Policy training iterations.") +parser.add_argument( + "--keep_all_info", + action="store_true", + default=False, + help="Use a slower SB3 wrapper but keep all the extra training info.", +) # append AppLauncher cli args AppLauncher.add_app_launcher_args(parser) # parse the arguments @@ -41,6 +47,24 @@ app_launcher = AppLauncher(args_cli) simulation_app = app_launcher.app + +def cleanup_pbar(*args): + """ + A small helper to stop training and + cleanup progress bar properly on ctrl+c + """ + import gc + + tqdm_objects = [obj for obj in gc.get_objects() if "tqdm" in type(obj).__name__] + for tqdm_object in tqdm_objects: + if "tqdm_rich" in type(tqdm_object).__name__: + tqdm_object.close() + raise KeyboardInterrupt + + +# disable KeyboardInterrupt override +signal.signal(signal.SIGINT, cleanup_pbar) + """Rest everything follows.""" import gymnasium as gym @@ -50,8 +74,7 @@ from datetime import datetime from stable_baselines3 import PPO -from stable_baselines3.common.callbacks import CheckpointCallback -from stable_baselines3.common.logger import configure +from stable_baselines3.common.callbacks import CheckpointCallback, LogEveryNTimesteps from stable_baselines3.common.vec_env import VecNormalize from isaaclab.envs import ( @@ -104,8 +127,12 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen dump_pickle(os.path.join(log_dir, "params", "env.pkl"), env_cfg) dump_pickle(os.path.join(log_dir, "params", "agent.pkl"), agent_cfg) + # save command used to run the script + command = " ".join(sys.orig_argv) + (Path(log_dir) / "command.txt").write_text(command) + # post-process agent configuration - agent_cfg = process_sb3_cfg(agent_cfg) + agent_cfg = process_sb3_cfg(agent_cfg, env_cfg.scene.num_envs) # read configurations about the agent-training policy_arch = agent_cfg.pop("policy") n_timesteps = agent_cfg.pop("n_timesteps") @@ -130,31 +157,49 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen env = gym.wrappers.RecordVideo(env, **video_kwargs) # wrap around environment for stable baselines - env = Sb3VecEnvWrapper(env) + env = Sb3VecEnvWrapper(env, fast_variant=not args_cli.keep_all_info) + + norm_keys = {"normalize_input", "normalize_value", "clip_obs"} + norm_args = {} + for key in norm_keys: + if key in agent_cfg: + norm_args[key] = agent_cfg.pop(key) - if "normalize_input" in agent_cfg: + if norm_args and norm_args.get("normalize_input"): + print(f"Normalizing input, {norm_args=}") env = VecNormalize( env, training=True, - norm_obs="normalize_input" in agent_cfg and agent_cfg.pop("normalize_input"), - norm_reward="normalize_value" in agent_cfg and agent_cfg.pop("normalize_value"), - clip_obs="clip_obs" in agent_cfg and agent_cfg.pop("clip_obs"), + norm_obs=norm_args["normalize_input"], + norm_reward=norm_args.get("normalize_value", False), + clip_obs=norm_args.get("clip_obs", 100.0), gamma=agent_cfg["gamma"], clip_reward=np.inf, ) # create agent from stable baselines - agent = PPO(policy_arch, env, verbose=1, **agent_cfg) - # configure the logger - new_logger = configure(log_dir, ["stdout", "tensorboard"]) - agent.set_logger(new_logger) + agent = PPO(policy_arch, env, verbose=1, tensorboard_log=log_dir, **agent_cfg) # callbacks for agent checkpoint_callback = CheckpointCallback(save_freq=1000, save_path=log_dir, name_prefix="model", verbose=2) + callbacks = [checkpoint_callback, LogEveryNTimesteps(n_steps=args_cli.log_interval)] + # train the agent - agent.learn(total_timesteps=n_timesteps, callback=checkpoint_callback) + with contextlib.suppress(KeyboardInterrupt): + agent.learn( + total_timesteps=n_timesteps, + callback=callbacks, + progress_bar=True, + log_interval=None, + ) # save the final model agent.save(os.path.join(log_dir, "model")) + print("Saving to:") + print(os.path.join(log_dir, "model.zip")) + + if isinstance(env, VecNormalize): + print("Saving normalization") + env.save(os.path.join(log_dir, "model_vecnormalize.pkl")) # close the simulator env.close() diff --git a/source/isaaclab_rl/config/extension.toml b/source/isaaclab_rl/config/extension.toml index 6eeca9c1a97..c5876e60b7a 100644 --- a/source/isaaclab_rl/config/extension.toml +++ b/source/isaaclab_rl/config/extension.toml @@ -1,7 +1,7 @@ [package] # Note: Semantic Versioning is used: https://semver.org/ -version = "0.1.4" +version = "0.1.5" # Description title = "Isaac Lab RL" diff --git a/source/isaaclab_rl/docs/CHANGELOG.rst b/source/isaaclab_rl/docs/CHANGELOG.rst index 9ade85682f0..0d1e42ba3ff 100644 --- a/source/isaaclab_rl/docs/CHANGELOG.rst +++ b/source/isaaclab_rl/docs/CHANGELOG.rst @@ -1,6 +1,15 @@ Changelog --------- +0.1.5 (2025-04-11) +~~~~~~~~~~~~~~~~~~ + +Changed +^^^^^^^ +* Optimized Stable-Baselines3 wrapper ``Sb3VecEnvWrapper`` (now 4x faster) by using Numpy buffers and only logging episode and truncation information by default. +* Upgraded minimum SB3 version to 2.6.0 and added optional dependencies for progress bar + + 0.1.4 (2025-04-10) ~~~~~~~~~~~~~~~~~~ diff --git a/source/isaaclab_rl/isaaclab_rl/sb3.py b/source/isaaclab_rl/isaaclab_rl/sb3.py index d4974c4c3d1..46322a154f6 100644 --- a/source/isaaclab_rl/isaaclab_rl/sb3.py +++ b/source/isaaclab_rl/isaaclab_rl/sb3.py @@ -22,6 +22,7 @@ import numpy as np import torch import torch.nn as nn # noqa: F401 +import warnings from typing import Any from stable_baselines3.common.utils import constant_fn @@ -29,16 +30,20 @@ from isaaclab.envs import DirectRLEnv, ManagerBasedRLEnv +# remove SB3 warnings because PPO with bigger net actually benefits from GPU +warnings.filterwarnings("ignore", message="You are trying to run PPO on the GPU") + """ Configuration Parser. """ -def process_sb3_cfg(cfg: dict) -> dict: +def process_sb3_cfg(cfg: dict, num_envs: int) -> dict: """Convert simple YAML types to Stable-Baselines classes/components. Args: cfg: A configuration dictionary. + num_envs: the number of parallel environments (used to compute `batch_size` for a desired number of minibatches) Returns: A dictionary containing the converted configuration. @@ -54,19 +59,24 @@ def update_dict(hyperparams: dict[str, Any]) -> dict[str, Any]: else: if key in ["policy_kwargs", "replay_buffer_class", "replay_buffer_kwargs"]: hyperparams[key] = eval(value) - elif key in ["learning_rate", "clip_range", "clip_range_vf", "delta_std"]: + elif key in ["learning_rate", "clip_range", "clip_range_vf"]: if isinstance(value, str): _, initial_value = value.split("_") initial_value = float(initial_value) hyperparams[key] = lambda progress_remaining: progress_remaining * initial_value elif isinstance(value, (float, int)): - # Negative value: ignore (ex: for clipping) + # negative value: ignore (ex: for clipping) if value < 0: continue hyperparams[key] = constant_fn(float(value)) else: raise ValueError(f"Invalid value for {key}: {hyperparams[key]}") + # Convert to a desired batch_size (n_steps=2048 by default for SB3 PPO) + if "n_minibatches" in hyperparams: + hyperparams["batch_size"] = (hyperparams.get("n_steps", 2048) * num_envs) // hyperparams["n_minibatches"] + del hyperparams["n_minibatches"] + return hyperparams # parse agent configuration and convert to classes @@ -89,8 +99,8 @@ class Sb3VecEnvWrapper(VecEnv): Note: While Stable-Baselines3 supports Gym 0.26+ API, their vectorized environment - still uses the old API (i.e. it is closer to Gym 0.21). Thus, we implement - the old API for the vectorized environment. + uses their own API (i.e. it is closer to Gym 0.21). Thus, we implement + the API for the vectorized environment. We also add monitoring functionality that computes the un-discounted episode return and length. This information is added to the info dicts under key `episode`. @@ -123,12 +133,13 @@ class Sb3VecEnvWrapper(VecEnv): """ - def __init__(self, env: ManagerBasedRLEnv | DirectRLEnv): + def __init__(self, env: ManagerBasedRLEnv | DirectRLEnv, fast_variant: bool = True): """Initialize the wrapper. Args: env: The environment to wrap around. - + fast_variant: Use fast variant for processing info + (Only episodic reward, lengths and truncation info are included) Raises: ValueError: When the environment is not an instance of :class:`ManagerBasedRLEnv` or :class:`DirectRLEnv`. """ @@ -140,6 +151,7 @@ def __init__(self, env: ManagerBasedRLEnv | DirectRLEnv): ) # initialize the wrapper self.env = env + self.fast_variant = fast_variant # collect common information self.num_envs = self.unwrapped.num_envs self.sim_device = self.unwrapped.device @@ -156,8 +168,8 @@ def __init__(self, env: ManagerBasedRLEnv | DirectRLEnv): # initialize vec-env VecEnv.__init__(self, self.num_envs, observation_space, action_space) # add buffer for logging episodic information - self._ep_rew_buf = torch.zeros(self.num_envs, device=self.sim_device) - self._ep_len_buf = torch.zeros(self.num_envs, device=self.sim_device) + self._ep_rew_buf = np.zeros(self.num_envs) + self._ep_len_buf = np.zeros(self.num_envs) def __str__(self): """Returns the wrapper name and the :attr:`env` representation string.""" @@ -190,11 +202,11 @@ def unwrapped(self) -> ManagerBasedRLEnv | DirectRLEnv: def get_episode_rewards(self) -> list[float]: """Returns the rewards of all the episodes.""" - return self._ep_rew_buf.cpu().tolist() + return self._ep_rew_buf.tolist() def get_episode_lengths(self) -> list[int]: """Returns the number of time-steps of all the episodes.""" - return self._ep_len_buf.cpu().tolist() + return self._ep_len_buf.tolist() """ Operations - MDP @@ -206,8 +218,8 @@ def seed(self, seed: int | None = None) -> list[int | None]: # noqa: D102 def reset(self) -> VecEnvObs: # noqa: D102 obs_dict, _ = self.env.reset() # reset episodic information buffers - self._ep_rew_buf.zero_() - self._ep_len_buf.zero_() + self._ep_rew_buf = np.zeros(self.num_envs) + self._ep_len_buf = np.zeros(self.num_envs) # convert data types to numpy depending on backend return self._process_obs(obs_dict) @@ -224,28 +236,30 @@ def step_async(self, actions): # noqa: D102 def step_wait(self) -> VecEnvStepReturn: # noqa: D102 # record step information obs_dict, rew, terminated, truncated, extras = self.env.step(self._async_actions) - # update episode un-discounted return and length - self._ep_rew_buf += rew - self._ep_len_buf += 1 # compute reset ids dones = terminated | truncated - reset_ids = (dones > 0).nonzero(as_tuple=False) # convert data types to numpy depending on backend # note: ManagerBasedRLEnv uses torch backend (by default). obs = self._process_obs(obs_dict) - rew = rew.detach().cpu().numpy() + rewards = rew.detach().cpu().numpy() terminated = terminated.detach().cpu().numpy() truncated = truncated.detach().cpu().numpy() dones = dones.detach().cpu().numpy() + + reset_ids = dones.nonzero()[0] + + # update episode un-discounted return and length + self._ep_rew_buf += rewards + self._ep_len_buf += 1 # convert extra information to list of dicts infos = self._process_extras(obs, terminated, truncated, extras, reset_ids) # reset info for terminated environments - self._ep_rew_buf[reset_ids] = 0 + self._ep_rew_buf[reset_ids] = 0.0 self._ep_len_buf[reset_ids] = 0 - return obs, rew, dones, infos + return obs, rewards, dones, infos def close(self): # noqa: D102 self.env.close() @@ -279,7 +293,8 @@ def env_method(self, method_name: str, *method_args, indices=None, **method_kwar return env_method(*method_args, indices=indices, **method_kwargs) def env_is_wrapped(self, wrapper_class, indices=None): # noqa: D102 - raise NotImplementedError("Checking if environment is wrapped is not supported.") + # fake implementation to be able to use `evaluate_policy()` helper + return [False] def get_images(self): # noqa: D102 raise NotImplementedError("Getting images is not supported.") @@ -306,6 +321,29 @@ def _process_extras( self, obs: np.ndarray, terminated: np.ndarray, truncated: np.ndarray, extras: dict, reset_ids: np.ndarray ) -> list[dict[str, Any]]: """Convert miscellaneous information into dictionary for each sub-environment.""" + # faster version: only process env that terminated and add bootstrapping info + if self.fast_variant: + infos = [{} for _ in range(self.num_envs)] + + for idx in reset_ids: + # fill-in episode monitoring info + infos[idx]["episode"] = { + "r": self._ep_rew_buf[idx], + "l": self._ep_len_buf[idx], + } + + # fill-in bootstrap information + infos[idx]["TimeLimit.truncated"] = truncated[idx] and not terminated[idx] + + # add information about terminal observation separately + if isinstance(obs, dict): + terminal_obs = {key: value[idx] for key, value in obs.items()} + else: + terminal_obs = obs[idx] + infos[idx]["terminal_observation"] = terminal_obs + + return infos + # create empty list of dictionaries to fill infos: list[dict[str, Any]] = [dict.fromkeys(extras.keys()) for _ in range(self.num_envs)] # fill-in information for each sub-environment diff --git a/source/isaaclab_rl/setup.py b/source/isaaclab_rl/setup.py index 5cff8720605..ac96139a86f 100644 --- a/source/isaaclab_rl/setup.py +++ b/source/isaaclab_rl/setup.py @@ -41,7 +41,7 @@ # Extra dependencies for RL agents EXTRAS_REQUIRE = { - "sb3": ["stable-baselines3>=2.1"], + "sb3": ["stable-baselines3>=2.6", "tqdm", "rich"], # tqdm/rich for progress bar "skrl": ["skrl>=1.4.2"], "rl-games": ["rl-games==1.6.1", "gym"], # rl-games still needs gym :( "rsl-rl": ["rsl-rl-lib==2.3.3"], diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/humanoid/agents/sb3_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/humanoid/agents/sb3_ppo_cfg.yaml index b6db545ff22..0259e5240f8 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/humanoid/agents/sb3_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/humanoid/agents/sb3_ppo_cfg.yaml @@ -1,22 +1,22 @@ -# Reference: https://github.com/DLR-RM/rl-baselines3-zoo/blob/master/hyperparams/ppo.yml#L245 +# Adapted from rsl_rl config seed: 42 - -policy: 'MlpPolicy' +policy: "MlpPolicy" n_timesteps: !!float 5e7 -batch_size: 256 -n_steps: 512 +# For 4 minibatches with 4096 envs +# batch_size = (n_envs * n_steps) / n_minibatches = 32768 +n_minibatches: 4 +n_steps: 32 gamma: 0.99 -learning_rate: !!float 2.5e-4 +learning_rate: !!float 5e-4 ent_coef: 0.0 clip_range: 0.2 -n_epochs: 10 +n_epochs: 5 gae_lambda: 0.95 max_grad_norm: 1.0 vf_coef: 0.5 -device: "cuda:0" policy_kwargs: "dict( - log_std_init=-1, - ortho_init=False, - activation_fn=nn.ReLU, - net_arch=dict(pi=[256, 256], vf=[256, 256]) - )" + activation_fn=nn.ELU, + net_arch=[400, 200, 100], + optimizer_kwargs=dict(eps=1e-8), + ortho_init=False, + )" diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/__init__.py index 6f9591a9466..8a89b4bb5c1 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/__init__.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/__init__.py @@ -19,6 +19,7 @@ "env_cfg_entry_point": f"{__name__}.flat_env_cfg:UnitreeA1FlatEnvCfg", "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeA1FlatPPORunnerCfg", "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml", + "sb3_cfg_entry_point": f"{agents.__name__}:sb3_ppo_cfg.yaml", }, ) @@ -30,6 +31,7 @@ "env_cfg_entry_point": f"{__name__}.flat_env_cfg:UnitreeA1FlatEnvCfg_PLAY", "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeA1FlatPPORunnerCfg", "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml", + "sb3_cfg_entry_point": f"{agents.__name__}:sb3_ppo_cfg.yaml", }, ) @@ -41,6 +43,7 @@ "env_cfg_entry_point": f"{__name__}.rough_env_cfg:UnitreeA1RoughEnvCfg", "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeA1RoughPPORunnerCfg", "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml", + "sb3_cfg_entry_point": f"{agents.__name__}:sb3_ppo_cfg.yaml", }, ) @@ -52,5 +55,6 @@ "env_cfg_entry_point": f"{__name__}.rough_env_cfg:UnitreeA1RoughEnvCfg_PLAY", "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeA1RoughPPORunnerCfg", "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml", + "sb3_cfg_entry_point": f"{agents.__name__}:sb3_ppo_cfg.yaml", }, ) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/agents/sb3_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/agents/sb3_ppo_cfg.yaml new file mode 100644 index 00000000000..bbaa36c2fb7 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/agents/sb3_ppo_cfg.yaml @@ -0,0 +1,23 @@ +# Adapted from rsl_rl config +seed: 42 +n_timesteps: !!float 5e7 +policy: 'MlpPolicy' +n_steps: 24 +n_minibatches: 4 # batch_size=24576 for n_envs=4096 and n_steps=24 +gae_lambda: 0.95 +gamma: 0.99 +n_epochs: 5 +ent_coef: 0.005 +learning_rate: !!float 1e-3 +clip_range: !!float 0.2 +policy_kwargs: "dict( + activation_fn=nn.ELU, + net_arch=[512, 256, 128], + optimizer_kwargs=dict(eps=1e-8), + ortho_init=False, + )" +vf_coef: 1.0 +max_grad_norm: 1.0 +normalize_input: True +normalize_value: False +clip_obs: 10.0 From ea717fa52a397cd68f7d489a13cba095892bfbe4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=C3=96zhan=20=C3=96zen?= <41010165+ozhanozen@users.noreply.github.com> Date: Wed, 25 Jun 2025 22:36:14 +0200 Subject: [PATCH 07/28] Integrates `NoiseModel` to manager-based workflows (#2755) # Description This PR adds `NoiseModel` support for manager-based workflows. To achieve this, I have: - Added `NoiseModel` lifecycle management to `ObservationManager`. - Added a `Callable` field, `func`, to `NoiseModelCfg`, which `ObservationManager` uses to assign the class instance within, similar to how it is done for `ModifierBase`. - Renamed `apply()` to be `__call()__`, to be consistent with function-based noises and `ModifierBase`. Fixes #2715 and #1864. Note: I left the changelog with the entry [Unreleased] until the PR is given the green light. ## Type of change - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --- source/isaaclab/config/extension.toml | 2 +- source/isaaclab/docs/CHANGELOG.rst | 14 ++++++++++ .../isaaclab/isaaclab/envs/direct_marl_env.py | 4 +-- .../isaaclab/isaaclab/envs/direct_rl_env.py | 4 +-- .../isaaclab/managers/manager_term_cfg.py | 4 +-- .../isaaclab/managers/observation_manager.py | 28 +++++++++++++++---- .../isaaclab/utils/noise/noise_cfg.py | 13 +++++++++ .../isaaclab/utils/noise/noise_model.py | 6 ++-- 8 files changed, 59 insertions(+), 16 deletions(-) diff --git a/source/isaaclab/config/extension.toml b/source/isaaclab/config/extension.toml index aa5e112813c..28c2225b213 100644 --- a/source/isaaclab/config/extension.toml +++ b/source/isaaclab/config/extension.toml @@ -1,7 +1,7 @@ [package] # Note: Semantic Versioning is used: https://semver.org/ -version = "0.40.6" +version = "0.40.7" # Description title = "Isaac Lab framework for Robot Learning" diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst index aa1cb1bc068..fffe6a58a70 100644 --- a/source/isaaclab/docs/CHANGELOG.rst +++ b/source/isaaclab/docs/CHANGELOG.rst @@ -1,6 +1,20 @@ Changelog --------- +0.40.7 (2025-06-24) +~~~~~~~~~~~~~~~~~~~ + +Added +^^^^^ + +* :class:`NoiseModel` support for manager-based workflows. + +Changed +^^^^^^^ + +* Renamed :func:`~isaaclab.utils.noise.NoiseModel.apply` method to :func:`~isaaclab.utils.noise.NoiseModel.__call__`. + + 0.40.6 (2025-06-12) ~~~~~~~~~~~~~~~~~~~ diff --git a/source/isaaclab/isaaclab/envs/direct_marl_env.py b/source/isaaclab/isaaclab/envs/direct_marl_env.py index 3f4867bb864..81f06b7cec7 100644 --- a/source/isaaclab/isaaclab/envs/direct_marl_env.py +++ b/source/isaaclab/isaaclab/envs/direct_marl_env.py @@ -356,7 +356,7 @@ def step(self, actions: dict[AgentID, ActionType]) -> EnvStepReturn: if self.cfg.action_noise_model: for agent, action in actions.items(): if agent in self._action_noise_model: - actions[agent] = self._action_noise_model[agent].apply(action) + actions[agent] = self._action_noise_model[agent](action) # process actions self._pre_physics_step(actions) @@ -409,7 +409,7 @@ def step(self, actions: dict[AgentID, ActionType]) -> EnvStepReturn: if self.cfg.observation_noise_model: for agent, obs in self.obs_dict.items(): if agent in self._observation_noise_model: - self.obs_dict[agent] = self._observation_noise_model[agent].apply(obs) + self.obs_dict[agent] = self._observation_noise_model[agent](obs) # return observations, rewards, resets and extras return self.obs_dict, self.reward_dict, self.terminated_dict, self.time_out_dict, self.extras diff --git a/source/isaaclab/isaaclab/envs/direct_rl_env.py b/source/isaaclab/isaaclab/envs/direct_rl_env.py index 81d7b02ebfc..147bc31ef4e 100644 --- a/source/isaaclab/isaaclab/envs/direct_rl_env.py +++ b/source/isaaclab/isaaclab/envs/direct_rl_env.py @@ -329,7 +329,7 @@ def step(self, action: torch.Tensor) -> VecEnvStepReturn: action = action.to(self.device) # add action noise if self.cfg.action_noise_model: - action = self._action_noise_model.apply(action) + action = self._action_noise_model(action) # process actions self._pre_physics_step(action) @@ -386,7 +386,7 @@ def step(self, action: torch.Tensor) -> VecEnvStepReturn: # add observation noise # note: we apply no noise to the state space (since it is used for critic networks) if self.cfg.observation_noise_model: - self.obs_buf["policy"] = self._observation_noise_model.apply(self.obs_buf["policy"]) + self.obs_buf["policy"] = self._observation_noise_model(self.obs_buf["policy"]) # return observations, rewards, resets and extras return self.obs_buf, self.reward_buf, self.reset_terminated, self.reset_time_outs, self.extras diff --git a/source/isaaclab/isaaclab/managers/manager_term_cfg.py b/source/isaaclab/isaaclab/managers/manager_term_cfg.py index 9927f91ce1a..137d91aae59 100644 --- a/source/isaaclab/isaaclab/managers/manager_term_cfg.py +++ b/source/isaaclab/isaaclab/managers/manager_term_cfg.py @@ -14,7 +14,7 @@ from isaaclab.utils import configclass from isaaclab.utils.modifiers import ModifierCfg -from isaaclab.utils.noise import NoiseCfg +from isaaclab.utils.noise import NoiseCfg, NoiseModelCfg from .scene_entity_cfg import SceneEntityCfg @@ -165,7 +165,7 @@ class ObservationTermCfg(ManagerTermBaseCfg): For more information on modifiers, see the :class:`~isaaclab.utils.modifiers.ModifierCfg` class. """ - noise: NoiseCfg | None = None + noise: NoiseCfg | NoiseModelCfg | None = None """The noise to add to the observation. Defaults to None, in which case no noise is added.""" clip: tuple[float, float] | None = None diff --git a/source/isaaclab/isaaclab/managers/observation_manager.py b/source/isaaclab/isaaclab/managers/observation_manager.py index 3524260b241..9b3f5fcaa2a 100644 --- a/source/isaaclab/isaaclab/managers/observation_manager.py +++ b/source/isaaclab/isaaclab/managers/observation_manager.py @@ -14,7 +14,7 @@ from prettytable import PrettyTable from typing import TYPE_CHECKING -from isaaclab.utils import class_to_dict, modifiers +from isaaclab.utils import class_to_dict, modifiers, noise from isaaclab.utils.buffers import CircularBuffer from .manager_base import ManagerBase, ManagerTermBase @@ -239,7 +239,7 @@ def reset(self, env_ids: Sequence[int] | None = None) -> dict[str, float]: if term_name in self._group_obs_term_history_buffer[group_name]: self._group_obs_term_history_buffer[group_name][term_name].reset(batch_ids=env_ids) # call all modifiers that are classes - for mod in self._group_obs_class_modifiers: + for mod in self._group_obs_class_instances: mod.reset(env_ids=env_ids) # nothing to log here @@ -320,8 +320,10 @@ def compute_group(self, group_name: str) -> torch.Tensor | dict[str, torch.Tenso if term_cfg.modifiers is not None: for modifier in term_cfg.modifiers: obs = modifier.func(obs, **modifier.params) - if term_cfg.noise: + if isinstance(term_cfg.noise, noise.NoiseCfg): obs = term_cfg.noise.func(obs, term_cfg.noise) + elif isinstance(term_cfg.noise, noise.NoiseModelCfg) and term_cfg.noise.func is not None: + obs = term_cfg.noise.func(obs) if term_cfg.clip: obs = obs.clip_(min=term_cfg.clip[0], max=term_cfg.clip[1]) if term_cfg.scale is not None: @@ -384,9 +386,9 @@ def _prepare_terms(self): self._group_obs_concatenate_dim: dict[str, int] = dict() self._group_obs_term_history_buffer: dict[str, dict] = dict() - # create a list to store modifiers that are classes + # create a list to store classes instances, e.g., for modifiers and noise models # we store it as a separate list to only call reset on them and prevent unnecessary calls - self._group_obs_class_modifiers: list[modifiers.ModifierBase] = list() + self._group_obs_class_instances: list[modifiers.ModifierBase | noise.NoiseModel] = list() # make sure the simulation is playing since we compute obs dims which needs asset quantities if not self._env.sim.is_playing(): @@ -497,7 +499,7 @@ def _prepare_terms(self): mod_cfg.func = mod_cfg.func(cfg=mod_cfg, data_dim=obs_dims, device=self._env.device) # add to list of class modifiers - self._group_obs_class_modifiers.append(mod_cfg.func) + self._group_obs_class_instances.append(mod_cfg.func) else: raise TypeError( f"Modifier configuration '{mod_cfg}' of observation term '{term_name}' is not of" @@ -527,6 +529,20 @@ def _prepare_terms(self): f" and optional parameters: {args_with_defaults}, but received: {term_params}." ) + # prepare noise model classes + if term_cfg.noise is not None and isinstance(term_cfg.noise, noise.NoiseModelCfg): + noise_model_cls = term_cfg.noise.class_type + if not issubclass(noise_model_cls, noise.NoiseModel): + raise TypeError( + f"Class type for observation term '{term_name}' NoiseModelCfg" + f" is not a subclass of 'NoiseModel'. Received: '{type(noise_model_cls)}'." + ) + # initialize func to be the noise model class instance + term_cfg.noise.func = noise_model_cls( + term_cfg.noise, num_envs=self._env.num_envs, device=self._env.device + ) + self._group_obs_class_instances.append(term_cfg.noise.func) + # create history buffers and calculate history term dimensions if term_cfg.history_length > 0: group_entry_history_buffer[term_name] = CircularBuffer( diff --git a/source/isaaclab/isaaclab/utils/noise/noise_cfg.py b/source/isaaclab/isaaclab/utils/noise/noise_cfg.py index 2f996af92d0..508dff69654 100644 --- a/source/isaaclab/isaaclab/utils/noise/noise_cfg.py +++ b/source/isaaclab/isaaclab/utils/noise/noise_cfg.py @@ -78,6 +78,19 @@ class NoiseModelCfg: noise_cfg: NoiseCfg = MISSING """The noise configuration to use.""" + func: Callable[[torch.Tensor], torch.Tensor] | None = None + """Function or callable class used by this noise model. + + The function must take a single `torch.Tensor` (the batch of observations) as input + and return a `torch.Tensor` of the same shape with noise applied. + + It also supports `callable classes `_, + i.e. classes that implement the ``__call__()`` method. In this case, the class should inherit from the + :class:`NoiseModel` class and implement the required methods. + + This field is used internally by :class:ObservationManager and is not meant to be set directly. + """ + @configclass class NoiseModelWithAdditiveBiasCfg(NoiseModelCfg): diff --git a/source/isaaclab/isaaclab/utils/noise/noise_model.py b/source/isaaclab/isaaclab/utils/noise/noise_model.py index 6a6d4973237..8f5569ff706 100644 --- a/source/isaaclab/isaaclab/utils/noise/noise_model.py +++ b/source/isaaclab/isaaclab/utils/noise/noise_model.py @@ -130,7 +130,7 @@ def reset(self, env_ids: Sequence[int] | None = None): """ pass - def apply(self, data: torch.Tensor) -> torch.Tensor: + def __call__(self, data: torch.Tensor) -> torch.Tensor: """Apply the noise to the data. Args: @@ -170,7 +170,7 @@ def reset(self, env_ids: Sequence[int] | None = None): # reset the bias term self._bias[env_ids] = self._bias_noise_cfg.func(self._bias[env_ids], self._bias_noise_cfg) - def apply(self, data: torch.Tensor) -> torch.Tensor: + def __call__(self, data: torch.Tensor) -> torch.Tensor: """Apply bias noise to the data. Args: @@ -179,4 +179,4 @@ def apply(self, data: torch.Tensor) -> torch.Tensor: Returns: The data with the noise applied. Shape is the same as the input data. """ - return super().apply(data) + self._bias + return super().__call__(data) + self._bias From c75bc5c56d0d18fc810a8b462a96c8ffe7e149bb Mon Sep 17 00:00:00 2001 From: ooctipus Date: Wed, 25 Jun 2025 13:40:24 -0700 Subject: [PATCH 08/28] Fixes inconsistent data reading in body, link, com for RigidObject, RigidObjectCollection and Articulation (#2736) # Description When WriteState, WriteLink, WriteCOM, WriteJoint are invoked, there is a inconsistency when reading values of ReadState, ReadLink, ReadCOM. The Source of the bug is because of missing timestamp invalidation of relative data or missing update to the related data within the write function. Below I list the all functions that is problematics RigitObject: write_root_link_pose_to_sim write_root_com_velocity_to_sim RigitObjectCollection: write_object_link_pose_to_sim write_object_com_velocity_to_sim Articulation: write_joint_state_to_sim The bug if fixed by invalidating the relevant data timestamps in write_joint_state_to_sim function for articulation, and added direct update to the dependent data in write_(state|link|com)_to_sim of RigitObject and RigitObjectCollection. I have added the tests cases that checks the consistency among ReadState, ReadLink, ReadCOM when either WriteState, WriteLink, WriteCOM, WriteJoint is called and passed all tests. Fixes #2534 #2702 ## Type of change Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Kelly Guo Co-authored-by: Kelly Guo --- source/isaaclab/config/extension.toml | 2 +- source/isaaclab/docs/CHANGELOG.rst | 12 ++ .../assets/articulation/articulation.py | 6 + .../assets/rigid_object/rigid_object.py | 14 +- .../rigid_object_collection.py | 14 ++ .../isaaclab/test/assets/test_articulation.py | 83 +++++++++++ .../isaaclab/test/assets/test_rigid_object.py | 116 ++++++++++++++- .../assets/test_rigid_object_collection.py | 136 +++++++++++++++++- 8 files changed, 377 insertions(+), 6 deletions(-) diff --git a/source/isaaclab/config/extension.toml b/source/isaaclab/config/extension.toml index 28c2225b213..2360ea9c310 100644 --- a/source/isaaclab/config/extension.toml +++ b/source/isaaclab/config/extension.toml @@ -1,7 +1,7 @@ [package] # Note: Semantic Versioning is used: https://semver.org/ -version = "0.40.7" +version = "0.40.8" # Description title = "Isaac Lab framework for Robot Learning" diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst index fffe6a58a70..c482c426cf1 100644 --- a/source/isaaclab/docs/CHANGELOG.rst +++ b/source/isaaclab/docs/CHANGELOG.rst @@ -1,6 +1,18 @@ Changelog --------- +0.40.8 (2025-06-18) +~~~~~~~~~~~~~~~~~~~ + +Fixed +^^^^^ + +* Fixed data inconsistency between read_body, read_link, read_com when write_body, write_com, write_joint performed, in + :class:`~isaaclab.assets.Articulation`, :class:`~isaaclab.assets.RigidObject`, and + :class:`~isaaclab.assets.RigidObjectCollection` +* added pytest that check against these data consistencies + + 0.40.7 (2025-06-24) ~~~~~~~~~~~~~~~~~~~ diff --git a/source/isaaclab/isaaclab/assets/articulation/articulation.py b/source/isaaclab/isaaclab/assets/articulation/articulation.py index f12e9abbf10..44b0315e946 100644 --- a/source/isaaclab/isaaclab/assets/articulation/articulation.py +++ b/source/isaaclab/isaaclab/assets/articulation/articulation.py @@ -517,6 +517,12 @@ def write_joint_position_to_sim( # set into internal buffers self._data.joint_pos[env_ids, joint_ids] = position # Need to invalidate the buffer to trigger the update with the new root pose. + self._data._body_com_vel_w.timestamp = -1.0 + self._data._body_link_vel_w.timestamp = -1.0 + self._data._body_com_pose_b.timestamp = -1.0 + self._data._body_com_pose_w.timestamp = -1.0 + self._data._body_link_pose_w.timestamp = -1.0 + self._data._body_state_w.timestamp = -1.0 self._data._body_link_state_w.timestamp = -1.0 self._data._body_com_state_w.timestamp = -1.0 diff --git a/source/isaaclab/isaaclab/assets/rigid_object/rigid_object.py b/source/isaaclab/isaaclab/assets/rigid_object/rigid_object.py index ba0f2e5f0a8..f348f4b9193 100644 --- a/source/isaaclab/isaaclab/assets/rigid_object/rigid_object.py +++ b/source/isaaclab/isaaclab/assets/rigid_object/rigid_object.py @@ -220,11 +220,18 @@ def write_root_link_pose_to_sim(self, root_pose: torch.Tensor, env_ids: Sequence self._data.root_link_state_w[env_ids, :7] = self._data.root_link_pose_w[env_ids] if self._data._root_state_w.data is not None: self._data.root_state_w[env_ids, :7] = self._data.root_link_pose_w[env_ids] - + if self._data._root_com_state_w.data is not None: + expected_com_pos, expected_com_quat = math_utils.combine_frame_transforms( + self._data.root_link_pose_w[env_ids, :3], + self._data.root_link_pose_w[env_ids, 3:7], + self.data.body_com_pos_b[env_ids, 0, :], + self.data.body_com_quat_b[env_ids, 0, :], + ) + self._data.root_com_state_w[env_ids, :3] = expected_com_pos + self._data.root_com_state_w[env_ids, 3:7] = expected_com_quat # convert root quaternion from wxyz to xyzw root_poses_xyzw = self._data.root_link_pose_w.clone() root_poses_xyzw[:, 3:] = math_utils.convert_quat(root_poses_xyzw[:, 3:], to="xyzw") - # set into simulation self.root_physx_view.set_transforms(root_poses_xyzw, indices=physx_env_ids) @@ -301,9 +308,10 @@ def write_root_com_velocity_to_sim(self, root_velocity: torch.Tensor, env_ids: S self._data.root_com_state_w[env_ids, 7:] = self._data.root_com_vel_w[env_ids] if self._data._root_state_w.data is not None: self._data.root_state_w[env_ids, 7:] = self._data.root_com_vel_w[env_ids] + if self._data._root_link_state_w.data is not None: + self._data.root_link_state_w[env_ids, 7:] = self._data.root_com_vel_w[env_ids] # make the acceleration zero to prevent reporting old values self._data.body_com_acc_w[env_ids] = 0.0 - # set into simulation self.root_physx_view.set_velocities(self._data.root_com_vel_w, indices=physx_env_ids) diff --git a/source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection.py b/source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection.py index e719c7cdb0e..aad72582bd0 100644 --- a/source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection.py +++ b/source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection.py @@ -317,6 +317,18 @@ def write_object_link_pose_to_sim( self._data.object_link_state_w[env_ids[:, None], object_ids, :7] = object_pose.clone() if self._data._object_state_w.data is not None: self._data.object_state_w[env_ids[:, None], object_ids, :7] = object_pose.clone() + if self._data._object_com_state_w.data is not None: + # get CoM pose in link frame + com_pos_b = self.data.object_com_pos_b[env_ids[:, None], object_ids] + com_quat_b = self.data.object_com_quat_b[env_ids[:, None], object_ids] + com_pos, com_quat = math_utils.combine_frame_transforms( + object_pose[..., :3], + object_pose[..., 3:7], + com_pos_b, + com_quat_b, + ) + self._data.object_com_state_w[env_ids[:, None], object_ids, :3] = com_pos + self._data.object_com_state_w[env_ids[:, None], object_ids, 3:7] = com_quat # convert the quaternion from wxyz to xyzw poses_xyzw = self._data.object_link_pose_w.clone() @@ -415,6 +427,8 @@ def write_object_com_velocity_to_sim( self._data.object_com_state_w[env_ids[:, None], object_ids, 7:] = object_velocity.clone() if self._data._object_state_w.data is not None: self._data.object_state_w[env_ids[:, None], object_ids, 7:] = object_velocity.clone() + if self._data._object_link_state_w.data is not None: + self._data.object_link_state_w[env_ids[:, None], object_ids, 7:] = object_velocity.clone() # make the acceleration zero to prevent reporting old values self._data.object_com_acc_w[env_ids[:, None], object_ids] = 0.0 diff --git a/source/isaaclab/test/assets/test_articulation.py b/source/isaaclab/test/assets/test_articulation.py index 33ec8ec7537..5f8a3b7847a 100644 --- a/source/isaaclab/test/assets/test_articulation.py +++ b/source/isaaclab/test/assets/test_articulation.py @@ -1608,5 +1608,88 @@ def test_setting_invalid_articulation_root_prim_path(self): sim.reset() +@pytest.mark.parametrize("num_articulations", [1, 2]) +@pytest.mark.parametrize("device", ["cuda:0", "cpu"]) +@pytest.mark.parametrize("gravity_enabled", [False]) +def test_write_joint_state_data_consistency(sim, num_articulations, device, gravity_enabled): + """Test the setters for root_state using both the link frame and center of mass as reference frame. + + This test verifies that after write_joint_state_to_sim operations: + 1. state, com_state, link_state value consistency + 2. body_pose, link + Args: + sim: The simulation fixture + num_articulations: Number of articulations to test + device: The device to run the simulation on + """ + sim._app_control_on_stop_handle = None + articulation_cfg = generate_articulation_cfg(articulation_type="anymal") + articulation, env_pos = generate_articulation(articulation_cfg, num_articulations, device) + env_idx = torch.tensor([x for x in range(num_articulations)]) + + # Play sim + sim.reset() + + limits = torch.zeros(num_articulations, articulation.num_joints, 2, device=device) + limits[..., 0] = (torch.rand(num_articulations, articulation.num_joints, device=device) + 5.0) * -1.0 + limits[..., 1] = torch.rand(num_articulations, articulation.num_joints, device=device) + 5.0 + articulation.write_joint_position_limit_to_sim(limits) + + from torch.distributions import Uniform + + pos_dist = Uniform(articulation.data.joint_pos_limits[..., 0], articulation.data.joint_pos_limits[..., 1]) + vel_dist = Uniform(-articulation.data.joint_vel_limits, articulation.data.joint_vel_limits) + + original_body_states = articulation.data.body_state_w.clone() + + rand_joint_pos = pos_dist.sample() + rand_joint_vel = vel_dist.sample() + + articulation.write_joint_state_to_sim(rand_joint_pos, rand_joint_vel) + articulation.root_physx_view.get_jacobians() + # make sure valued updated + assert torch.count_nonzero(original_body_states[:, 1:] != articulation.data.body_state_w[:, 1:]) > ( + len(original_body_states[:, 1:]) / 2 + ) + # validate body - link consistency + torch.testing.assert_close(articulation.data.body_state_w[..., :7], articulation.data.body_link_state_w[..., :7]) + # skip 7:10 because they differs from link frame, this should be fine because we are only checking + # if velocity update is triggered, which can be determined by comparing angular velocity + torch.testing.assert_close(articulation.data.body_state_w[..., 10:], articulation.data.body_link_state_w[..., 10:]) + + # validate link - com conistency + expected_com_pos, expected_com_quat = math_utils.combine_frame_transforms( + articulation.data.body_link_state_w[..., :3].view(-1, 3), + articulation.data.body_link_state_w[..., 3:7].view(-1, 4), + articulation.data.body_com_pos_b.view(-1, 3), + articulation.data.body_com_quat_b.view(-1, 4), + ) + torch.testing.assert_close(expected_com_pos.view(len(env_idx), -1, 3), articulation.data.body_com_pos_w) + torch.testing.assert_close(expected_com_quat.view(len(env_idx), -1, 4), articulation.data.body_com_quat_w) + + # validate body - com consistency + torch.testing.assert_close(articulation.data.body_state_w[..., 7:10], articulation.data.body_com_lin_vel_w) + torch.testing.assert_close(articulation.data.body_state_w[..., 10:], articulation.data.body_com_ang_vel_w) + + # validate pos_w, quat_w, pos_b, quat_b is consistent with pose_w and pose_b + expected_com_pose_w = torch.cat((articulation.data.body_com_pos_w, articulation.data.body_com_quat_w), dim=2) + expected_com_pose_b = torch.cat((articulation.data.body_com_pos_b, articulation.data.body_com_quat_b), dim=2) + expected_body_pose_w = torch.cat((articulation.data.body_pos_w, articulation.data.body_quat_w), dim=2) + expected_body_link_pose_w = torch.cat( + (articulation.data.body_link_pos_w, articulation.data.body_link_quat_w), dim=2 + ) + torch.testing.assert_close(articulation.data.body_com_pose_w, expected_com_pose_w) + torch.testing.assert_close(articulation.data.body_com_pose_b, expected_com_pose_b) + torch.testing.assert_close(articulation.data.body_pose_w, expected_body_pose_w) + torch.testing.assert_close(articulation.data.body_link_pose_w, expected_body_link_pose_w) + + # validate pose_w is consistent state[..., :7] + torch.testing.assert_close(articulation.data.body_pose_w, articulation.data.body_state_w[..., :7]) + torch.testing.assert_close(articulation.data.body_vel_w, articulation.data.body_state_w[..., 7:]) + torch.testing.assert_close(articulation.data.body_link_pose_w, articulation.data.body_link_state_w[..., :7]) + torch.testing.assert_close(articulation.data.body_com_pose_w, articulation.data.body_com_state_w[..., :7]) + torch.testing.assert_close(articulation.data.body_vel_w, articulation.data.body_state_w[..., 7:]) + + if __name__ == "__main__": pytest.main([__file__, "-v", "--maxfail=1"]) diff --git a/source/isaaclab/test/assets/test_rigid_object.py b/source/isaaclab/test/assets/test_rigid_object.py index 5a11f15d165..6dc7b0b7d77 100644 --- a/source/isaaclab/test/assets/test_rigid_object.py +++ b/source/isaaclab/test/assets/test_rigid_object.py @@ -28,7 +28,15 @@ from isaaclab.sim import build_simulation_context from isaaclab.sim.spawners import materials from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR -from isaaclab.utils.math import default_orientation, quat_apply_inverse, quat_mul, random_orientation +from isaaclab.utils.math import ( + combine_frame_transforms, + default_orientation, + quat_apply_inverse, + quat_inv, + quat_mul, + quat_rotate, + random_orientation, +) def generate_cubes_scene( @@ -910,3 +918,109 @@ def test_write_root_state(num_cubes, device, with_offset, state_location): torch.testing.assert_close(rand_state, cube_object.data.root_com_state_w) elif state_location == "link": torch.testing.assert_close(rand_state, cube_object.data.root_link_state_w) + + +@pytest.mark.parametrize("num_cubes", [1, 2]) +@pytest.mark.parametrize("device", ["cuda:0", "cpu"]) +@pytest.mark.parametrize("with_offset", [True]) +@pytest.mark.parametrize("state_location", ["com", "link", "root"]) +def test_write_state_functions_data_consistency(num_cubes, device, with_offset, state_location): + """Test the setters for root_state using both the link frame and center of mass as reference frame.""" + with build_simulation_context(device=device, gravity_enabled=False, auto_add_lighting=True) as sim: + sim._app_control_on_stop_handle = None + # Create a scene with random cubes + cube_object, env_pos = generate_cubes_scene(num_cubes=num_cubes, height=0.0, device=device) + env_idx = torch.tensor([x for x in range(num_cubes)]) + + # Play sim + sim.reset() + + # Check if cube_object is initialized + assert cube_object.is_initialized + + # change center of mass offset from link frame + if with_offset: + offset = torch.tensor([0.1, 0.0, 0.0], device=device).repeat(num_cubes, 1) + else: + offset = torch.tensor([0.0, 0.0, 0.0], device=device).repeat(num_cubes, 1) + + com = cube_object.root_physx_view.get_coms() + com[..., :3] = offset.to("cpu") + cube_object.root_physx_view.set_coms(com, env_idx) + + # check ceter of mass has been set + torch.testing.assert_close(cube_object.root_physx_view.get_coms(), com) + + rand_state = torch.rand_like(cube_object.data.root_state_w) + # rand_state[..., :7] = cube_object.data.default_root_state[..., :7] + rand_state[..., :3] += env_pos + # make quaternion a unit vector + rand_state[..., 3:7] = torch.nn.functional.normalize(rand_state[..., 3:7], dim=-1) + + env_idx = env_idx.to(device) + + # perform step + sim.step() + # update buffers + cube_object.update(sim.cfg.dt) + + if state_location == "com": + cube_object.write_root_com_state_to_sim(rand_state) + elif state_location == "link": + cube_object.write_root_link_state_to_sim(rand_state) + elif state_location == "root": + cube_object.write_root_state_to_sim(rand_state) + + if state_location == "com": + expected_root_link_pos, expected_root_link_quat = combine_frame_transforms( + cube_object.data.root_com_state_w[:, :3], + cube_object.data.root_com_state_w[:, 3:7], + quat_rotate( + quat_inv(cube_object.data.body_com_pose_b[:, 0, 3:7]), -cube_object.data.body_com_pose_b[:, 0, :3] + ), + quat_inv(cube_object.data.body_com_pose_b[:, 0, 3:7]), + ) + expected_root_link_pose = torch.cat((expected_root_link_pos, expected_root_link_quat), dim=1) + # test both root_pose and root_link_state_w successfully updated when root_com_state_w updates + torch.testing.assert_close(expected_root_link_pose, cube_object.data.root_link_state_w[:, :7]) + # skip 7:10 because they differs from link frame, this should be fine because we are only checking + # if velocity update is triggered, which can be determined by comparing angular velocity + torch.testing.assert_close( + cube_object.data.root_com_state_w[:, 10:], cube_object.data.root_link_state_w[:, 10:] + ) + torch.testing.assert_close(expected_root_link_pose, cube_object.data.root_state_w[:, :7]) + torch.testing.assert_close(cube_object.data.root_com_state_w[:, 10:], cube_object.data.root_state_w[:, 10:]) + elif state_location == "link": + expected_com_pos, expected_com_quat = combine_frame_transforms( + cube_object.data.root_link_state_w[:, :3], + cube_object.data.root_link_state_w[:, 3:7], + cube_object.data.body_com_pose_b[:, 0, :3], + cube_object.data.body_com_pose_b[:, 0, 3:7], + ) + expected_com_pose = torch.cat((expected_com_pos, expected_com_quat), dim=1) + # test both root_pose and root_com_state_w successfully updated when root_link_state_w updates + torch.testing.assert_close(expected_com_pose, cube_object.data.root_com_state_w[:, :7]) + # skip 7:10 because they differs from link frame, this should be fine because we are only checking + # if velocity update is triggered, which can be determined by comparing angular velocity + torch.testing.assert_close( + cube_object.data.root_link_state_w[:, 10:], cube_object.data.root_com_state_w[:, 10:] + ) + torch.testing.assert_close(cube_object.data.root_link_state_w[:, :7], cube_object.data.root_state_w[:, :7]) + torch.testing.assert_close( + cube_object.data.root_link_state_w[:, 10:], cube_object.data.root_state_w[:, 10:] + ) + elif state_location == "root": + expected_com_pos, expected_com_quat = combine_frame_transforms( + cube_object.data.root_state_w[:, :3], + cube_object.data.root_state_w[:, 3:7], + cube_object.data.body_com_pose_b[:, 0, :3], + cube_object.data.body_com_pose_b[:, 0, 3:7], + ) + expected_com_pose = torch.cat((expected_com_pos, expected_com_quat), dim=1) + # test both root_com_state_w and root_link_state_w successfully updated when root_pose updates + torch.testing.assert_close(expected_com_pose, cube_object.data.root_com_state_w[:, :7]) + torch.testing.assert_close(cube_object.data.root_state_w[:, 7:], cube_object.data.root_com_state_w[:, 7:]) + torch.testing.assert_close(cube_object.data.root_state_w[:, :7], cube_object.data.root_link_state_w[:, :7]) + torch.testing.assert_close( + cube_object.data.root_state_w[:, 10:], cube_object.data.root_link_state_w[:, 10:] + ) diff --git a/source/isaaclab/test/assets/test_rigid_object_collection.py b/source/isaaclab/test/assets/test_rigid_object_collection.py index 21e5d832ee8..eb690a19d42 100644 --- a/source/isaaclab/test/assets/test_rigid_object_collection.py +++ b/source/isaaclab/test/assets/test_rigid_object_collection.py @@ -26,7 +26,16 @@ from isaaclab.assets import RigidObjectCfg, RigidObjectCollection, RigidObjectCollectionCfg from isaaclab.sim import build_simulation_context from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR -from isaaclab.utils.math import default_orientation, quat_apply_inverse, quat_mul, random_orientation +from isaaclab.utils.math import ( + combine_frame_transforms, + default_orientation, + quat_apply_inverse, + quat_inv, + quat_mul, + quat_rotate, + random_orientation, + subtract_frame_transforms, +) def generate_cubes_scene( @@ -601,3 +610,128 @@ def test_gravity_vec_w(sim, num_envs, num_cubes, device, gravity_enabled): # Check the body accelerations are correct torch.testing.assert_close(object_collection.data.object_acc_w, gravity) + + +@pytest.mark.parametrize("num_envs", [1, 3]) +@pytest.mark.parametrize("num_cubes", [1, 2]) +@pytest.mark.parametrize("device", ["cuda:0", "cpu"]) +@pytest.mark.parametrize("with_offset", [True]) +@pytest.mark.parametrize("state_location", ["com", "link", "root"]) +@pytest.mark.parametrize("gravity_enabled", [False]) +def test_write_object_state_functions_data_consistency( + sim, num_envs, num_cubes, device, with_offset, state_location, gravity_enabled +): + """Test the setters for object_state using both the link frame and center of mass as reference frame.""" + # Create a scene with random cubes + cube_object, env_pos = generate_cubes_scene(num_envs=num_envs, num_cubes=num_cubes, height=0.0, device=device) + view_ids = torch.tensor([x for x in range(num_cubes * num_cubes)]) + env_ids = torch.tensor([x for x in range(num_envs)]) + object_ids = torch.tensor([x for x in range(num_cubes)]) + + sim.reset() + + # Check if cube_object is initialized + assert cube_object.is_initialized + + # change center of mass offset from link frame + offset = ( + torch.tensor([0.1, 0.0, 0.0], device=device).repeat(num_envs, num_cubes, 1) + if with_offset + else torch.tensor([0.0, 0.0, 0.0], device=device).repeat(num_envs, num_cubes, 1) + ) + + com = cube_object.reshape_view_to_data(cube_object.root_physx_view.get_coms()) + com[..., :3] = offset.to("cpu") + cube_object.root_physx_view.set_coms(cube_object.reshape_data_to_view(com.clone()), view_ids) + + # check center of mass has been set + torch.testing.assert_close(cube_object.reshape_view_to_data(cube_object.root_physx_view.get_coms()), com) + + rand_state = torch.rand_like(cube_object.data.object_link_state_w) + rand_state[..., :3] += cube_object.data.object_link_pos_w + # make quaternion a unit vector + rand_state[..., 3:7] = torch.nn.functional.normalize(rand_state[..., 3:7], dim=-1) + + env_ids = env_ids.to(device) + object_ids = object_ids.to(device) + sim.step() + cube_object.update(sim.cfg.dt) + + object_link_to_com_pos, object_link_to_com_quat = subtract_frame_transforms( + cube_object.data.object_link_state_w[..., :3].view(-1, 3), + cube_object.data.object_link_state_w[..., 3:7].view(-1, 4), + cube_object.data.object_com_state_w[..., :3].view(-1, 3), + cube_object.data.object_com_state_w[..., 3:7].view(-1, 4), + ) + + if state_location == "com": + cube_object.write_object_com_state_to_sim(rand_state, env_ids=env_ids, object_ids=object_ids) + elif state_location == "link": + cube_object.write_object_link_state_to_sim(rand_state, env_ids=env_ids, object_ids=object_ids) + elif state_location == "root": + cube_object.write_object_state_to_sim(rand_state, env_ids=env_ids, object_ids=object_ids) + + if state_location == "com": + expected_root_link_pos, expected_root_link_quat = combine_frame_transforms( + cube_object.data.object_com_state_w[..., :3].view(-1, 3), + cube_object.data.object_com_state_w[..., 3:7].view(-1, 4), + quat_rotate(quat_inv(object_link_to_com_quat), -object_link_to_com_pos), + quat_inv(object_link_to_com_quat), + ) + # torch.testing.assert_close(rand_state, cube_object.data.object_com_state_w) + expected_object_link_pose = torch.cat((expected_root_link_pos, expected_root_link_quat), dim=1).view( + num_envs, -1, 7 + ) + # test both root_pose and root_link_state_w successfully updated when root_com_state_w updates + torch.testing.assert_close(expected_object_link_pose, cube_object.data.object_link_state_w[..., :7]) + # skip 7:10 because they differs from link frame, this should be fine because we are only checking + # if velocity update is triggered, which can be determined by comparing angular velocity + torch.testing.assert_close( + cube_object.data.object_com_state_w[..., 10:], cube_object.data.object_link_state_w[..., 10:] + ) + torch.testing.assert_close(expected_object_link_pose, cube_object.data.object_state_w[..., :7]) + torch.testing.assert_close( + cube_object.data.object_com_state_w[..., 10:], cube_object.data.object_state_w[..., 10:] + ) + elif state_location == "link": + expected_com_pos, expected_com_quat = combine_frame_transforms( + cube_object.data.object_link_state_w[..., :3].view(-1, 3), + cube_object.data.object_link_state_w[..., 3:7].view(-1, 4), + object_link_to_com_pos, + object_link_to_com_quat, + ) + expected_object_com_pose = torch.cat((expected_com_pos, expected_com_quat), dim=1).view(num_envs, -1, 7) + # test both root_pose and root_com_state_w successfully updated when root_link_state_w updates + torch.testing.assert_close(expected_object_com_pose, cube_object.data.object_com_state_w[..., :7]) + # skip 7:10 because they differs from link frame, this should be fine because we are only checking + # if velocity update is triggered, which can be determined by comparing angular velocity + torch.testing.assert_close( + cube_object.data.object_link_state_w[..., 10:], cube_object.data.object_com_state_w[..., 10:] + ) + torch.testing.assert_close( + cube_object.data.object_link_state_w[..., :7], cube_object.data.object_state_w[..., :7] + ) + torch.testing.assert_close( + cube_object.data.object_link_state_w[..., 10:], cube_object.data.object_state_w[..., 10:] + ) + elif state_location == "root": + expected_object_com_pos, expected_object_com_quat = combine_frame_transforms( + cube_object.data.object_state_w[..., :3].view(-1, 3), + cube_object.data.object_state_w[..., 3:7].view(-1, 4), + object_link_to_com_pos, + object_link_to_com_quat, + ) + expected_object_com_pose = torch.cat((expected_object_com_pos, expected_object_com_quat), dim=1).view( + num_envs, -1, 7 + ) + # test both root_com_state_w and root_link_state_w successfully updated when root_pose updates + torch.testing.assert_close(expected_object_com_pose, cube_object.data.object_com_state_w[..., :7]) + torch.testing.assert_close( + cube_object.data.object_state_w[..., 7:], cube_object.data.object_com_state_w[..., 7:] + ) + torch.testing.assert_close( + cube_object.data.object_state_w[..., :7], cube_object.data.object_link_state_w[..., :7] + ) + torch.testing.assert_close( + cube_object.data.object_state_w[..., 10:], cube_object.data.object_link_state_w[..., 10:] + ) From 0b377f62e552d57faf6016505434a0746c7a19d7 Mon Sep 17 00:00:00 2001 From: Kelly Guo Date: Wed, 25 Jun 2025 13:46:07 -0700 Subject: [PATCH 09/28] Updates documentation for conda, fabric, and inferencing (#2772) # Description Various minor updates to documentation to clarify a few concepts: - Adds note about source conda environment if installing from binaries using conda, but not using `./isaaclab.sh -c` option - Adds note that Fabric should be enabled for GPU simulation and that rendering will not update if Fabric is not enabled - Adds note about using the inference task names if available when running inferencing - Removes unneeded physics cudaDevice flag for distributed training ## Type of change - Bug fix (non-breaking change which fixes an issue) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --- README.md | 11 ++++++----- docs/source/overview/core-concepts/actuators.rst | 1 + docs/source/overview/environments.rst | 4 ++++ .../setup/installation/binaries_installation.rst | 4 ++++ source/isaaclab/isaaclab/app/app_launcher.py | 3 ++- source/isaaclab/isaaclab/sim/simulation_cfg.py | 5 +++++ 6 files changed, 22 insertions(+), 6 deletions(-) diff --git a/README.md b/README.md index 94fb5bddbea..aae3d840dd3 100644 --- a/README.md +++ b/README.md @@ -93,12 +93,13 @@ or opening a question on its [forums](https://forums.developer.nvidia.com/c/agx- ## Connect with the NVIDIA Omniverse Community -Have a project or resource you'd like to share more widely? We'd love to hear from you! Reach out to the -NVIDIA Omniverse Community team at OmniverseCommunity@nvidia.com to discuss potential opportunities -for broader dissemination of your work. +Do you have a project or resource you'd like to share more widely? We'd love to hear from you! +Reach out to the NVIDIA Omniverse Community team at OmniverseCommunity@nvidia.com to explore opportunities +to spotlight your work. -Join us in building a vibrant, collaborative ecosystem where creativity and technology intersect. Your -contributions can make a significant impact on the Isaac Lab community and beyond! +You can also join the conversation on the [Omniverse Discord](https://discord.com/invite/nvidiaomniverse) to +connect with other developers, share your projects, and help grow a vibrant, collaborative ecosystem +where creativity and technology intersect. Your contributions can make a meaningful impact on the Isaac Lab community and beyond! ## License diff --git a/docs/source/overview/core-concepts/actuators.rst b/docs/source/overview/core-concepts/actuators.rst index 4f874830036..72d686a632b 100644 --- a/docs/source/overview/core-concepts/actuators.rst +++ b/docs/source/overview/core-concepts/actuators.rst @@ -35,6 +35,7 @@ maximum effort: .. math:: \tau_{j, computed} & = k_p * (q_{des} - q) + k_d * (\dot{q}_{des} - \dot{q}) + \tau_{ff} \\ + \tau_{j, max} & = \gamma \times \tau_{motor, max} \\ \tau_{j, applied} & = clip(\tau_{computed}, -\tau_{j, max}, \tau_{j, max}) diff --git a/docs/source/overview/environments.rst b/docs/source/overview/environments.rst index 0a9bd4c5e02..db74162a354 100644 --- a/docs/source/overview/environments.rst +++ b/docs/source/overview/environments.rst @@ -554,6 +554,10 @@ Environments based on fixed-arm manipulation tasks. Comprehensive List of Environments ================================== +For environments that have a different task name listed under ``Inference Task Name``, please use the Inference Task Name +provided when running ``play.py`` or any inferencing workflows. These tasks provide more suitable configurations for +inferencing, including reading from an already trained checkpoint and disabling runtime perturbations used for training. + .. list-table:: :widths: 33 25 19 25 diff --git a/docs/source/setup/installation/binaries_installation.rst b/docs/source/setup/installation/binaries_installation.rst index 94ec856ed9e..5910fd151f7 100644 --- a/docs/source/setup/installation/binaries_installation.rst +++ b/docs/source/setup/installation/binaries_installation.rst @@ -451,6 +451,10 @@ On Windows machines, please terminate the process from Command Prompt using If you see this, then the installation was successful! |:tada:| +If you see an error ``ModuleNotFoundError: No module named 'isaacsim'``, ensure that the conda environment is activated +and ``source _isaac_sim/setup_conda_env.sh`` has been executed. + + Train a robot! ~~~~~~~~~~~~~~~ diff --git a/source/isaaclab/isaaclab/app/app_launcher.py b/source/isaaclab/isaaclab/app/app_launcher.py index 2bdeb427e83..2c47175614b 100644 --- a/source/isaaclab/isaaclab/app/app_launcher.py +++ b/source/isaaclab/isaaclab/app/app_launcher.py @@ -661,7 +661,8 @@ def _resolve_device_settings(self, launcher_args: dict): # pass command line variable to kit sys.argv.append(f"--/plugins/carb.tasking.plugin/threadCount={num_threads_per_process}") - # set physics and rendering device + # set rendering device. We do not need to set physics_gpu because it will automatically pick the same one + # as the active_gpu device. Setting physics_gpu explicitly may result in a different device to be used. launcher_args["physics_gpu"] = self.device_id launcher_args["active_gpu"] = self.device_id diff --git a/source/isaaclab/isaaclab/sim/simulation_cfg.py b/source/isaaclab/isaaclab/sim/simulation_cfg.py index 5a98a01e22c..e56389b3262 100644 --- a/source/isaaclab/isaaclab/sim/simulation_cfg.py +++ b/source/isaaclab/isaaclab/sim/simulation_cfg.py @@ -309,6 +309,11 @@ class SimulationCfg: Note: When enabled, the GUI will not update the physics parameters in real-time. To enable real-time updates, please set this flag to :obj:`False`. + + When using GPU simulation, it is required to enable Fabric to visualize updates in the renderer. + Transform updates are propagated to the renderer through Fabric. If Fabric is disabled with GPU simulation, + the renderer will not be able to render any updates in the simulation, although simulation will still be + running under the hood. """ physx: PhysxCfg = PhysxCfg() From 33b4973168ad9eecec13ac89ef5599ac0a53dc48 Mon Sep 17 00:00:00 2001 From: Wenguo Hou Date: Thu, 26 Jun 2025 04:47:43 +0800 Subject: [PATCH 10/28] Resets joint position/velocity targets in reset_scene_to_default() (#2692) Fix bug of reset joint initial state of articulation in event function `reset_scene_to_default` ref to: https://github.com/isaac-sim/IsaacLab/issues/2663, where the targets were not previously reset together with the joint positions. # Description ref: https://github.com/isaac-sim/IsaacLab/issues/2663 Signed-off-by: Wenguo Hou Co-authored-by: Kelly Guo --- source/isaaclab/isaaclab/envs/mdp/events.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/source/isaaclab/isaaclab/envs/mdp/events.py b/source/isaaclab/isaaclab/envs/mdp/events.py index 296135175e9..df2fdf15a88 100644 --- a/source/isaaclab/isaaclab/envs/mdp/events.py +++ b/source/isaaclab/isaaclab/envs/mdp/events.py @@ -1156,6 +1156,8 @@ def reset_scene_to_default(env: ManagerBasedEnv, env_ids: torch.Tensor): default_joint_pos = articulation_asset.data.default_joint_pos[env_ids].clone() default_joint_vel = articulation_asset.data.default_joint_vel[env_ids].clone() # set into the physics simulation + articulation_asset.set_joint_position_target(default_joint_pos, env_ids=env_ids) + articulation_asset.set_joint_velocity_target(default_joint_pos, env_ids=env_ids) articulation_asset.write_joint_state_to_sim(default_joint_pos, default_joint_vel, env_ids=env_ids) # deformable objects for deformable_object in env.scene.deformable_objects.values(): From 887342aec819df225a5660c0e2bd268d2c1a7d70 Mon Sep 17 00:00:00 2001 From: Kelly Guo Date: Wed, 25 Jun 2025 13:54:05 -0700 Subject: [PATCH 11/28] Updates locomotion configs to fix body_com error (#2655) # Description The body_com event term added to the base velocity cfg caused errors in some locomotion environments if the body was not named "base". This PR disables the event term for these environments. Fixes #2574 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --- .../locomotion/velocity/config/a1/rough_env_cfg.py | 1 + .../locomotion/velocity/config/cassie/rough_env_cfg.py | 2 ++ .../locomotion/velocity/config/g1/rough_env_cfg.py | 1 + .../locomotion/velocity/config/go1/rough_env_cfg.py | 1 + .../locomotion/velocity/config/go2/rough_env_cfg.py | 1 + .../locomotion/velocity/config/h1/rough_env_cfg.py | 1 + .../locomotion/velocity/config/spot/flat_env_cfg.py | 4 +--- 7 files changed, 8 insertions(+), 3 deletions(-) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/rough_env_cfg.py index 684ee2b6476..9501ea3603a 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/rough_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/rough_env_cfg.py @@ -82,3 +82,4 @@ def __post_init__(self): # remove random pushing event self.events.base_external_force_torque = None self.events.push_robot = None + self.events.base_com = None diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/rough_env_cfg.py index 7ab1f855eb5..ce44fa4f4eb 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/rough_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/rough_env_cfg.py @@ -112,3 +112,5 @@ def __post_init__(self): self.commands.base_velocity.ranges.heading = (0.0, 0.0) # disable randomization for play self.observations.policy.enable_corruption = False + # disable com randomization + self.events.base_com = None diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py index 5023ecc4dc6..54620f98435 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py @@ -178,3 +178,4 @@ def __post_init__(self): # remove random pushing self.events.base_external_force_torque = None self.events.push_robot = None + self.events.base_com = None diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/rough_env_cfg.py index bae64af0257..a1a68a607c5 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/rough_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/rough_env_cfg.py @@ -82,3 +82,4 @@ def __post_init__(self): # remove random pushing event self.events.base_external_force_torque = None self.events.push_robot = None + self.events.base_com = None diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/rough_env_cfg.py index 707b3f9a3f9..8fecaff6d65 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/rough_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/rough_env_cfg.py @@ -82,3 +82,4 @@ def __post_init__(self): # remove random pushing event self.events.base_external_force_torque = None self.events.push_robot = None + self.events.base_com = None diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py index bd3b96195b4..ca152b1c37e 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py @@ -142,3 +142,4 @@ def __post_init__(self): # remove random pushing self.events.base_external_force_torque = None self.events.push_robot = None + self.events.base_com = None diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/spot/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/spot/flat_env_cfg.py index 7afcb432fcc..4b2f5509bab 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/spot/flat_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/spot/flat_env_cfg.py @@ -296,7 +296,7 @@ class SpotTerminationsCfg: @configclass class SpotFlatEnvCfg(LocomotionVelocityRoughEnvCfg): - # Basic settings' + # Basic settings observations: SpotObservationsCfg = SpotObservationsCfg() actions: SpotActionsCfg = SpotActionsCfg() commands: SpotCommandsCfg = SpotCommandsCfg() @@ -375,5 +375,3 @@ def __post_init__(self) -> None: # disable randomization for play self.observations.policy.enable_corruption = False # remove random pushing event - # self.events.base_external_force_torque = None - # self.events.push_robot = None From 9655e620a5bc3736147a3e9e8d33d6843846b50f Mon Sep 17 00:00:00 2001 From: ooctipus Date: Wed, 25 Jun 2025 14:21:29 -0700 Subject: [PATCH 12/28] Adds env_cfg and agent_cfg to wandb in rl_games (#2771) # Description This PR logs env_cfg and agent_cfg to wandb in accordance how rl_games handles env_cfg and agent_cfg. Before env_cfg and agent_cfg is not observable from wandb run. ## Type of change - New feature (non-breaking change which adds functionality) ## Screenshots Please attach before and after screenshots of the change if applicable. ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --- scripts/reinforcement_learning/rl_games/train.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/scripts/reinforcement_learning/rl_games/train.py b/scripts/reinforcement_learning/rl_games/train.py index 79053fbc845..eb350382979 100644 --- a/scripts/reinforcement_learning/rl_games/train.py +++ b/scripts/reinforcement_learning/rl_games/train.py @@ -194,10 +194,11 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen entity=args_cli.wandb_entity, name=experiment_name, sync_tensorboard=True, - config=agent_cfg, monitor_gym=True, save_code=True, ) + wandb.config.update({"env_cfg": env_cfg.to_dict()}) + wandb.config.update({"agent_cfg": agent_cfg}) if args_cli.checkpoint is not None: runner.run({"train": True, "play": False, "sigma": train_sigma, "checkpoint": resume_path}) From 4f25c9d7941e0c2107cd435fb9aec4c4cc658a3a Mon Sep 17 00:00:00 2001 From: lgulich <22480644+lgulich@users.noreply.github.com> Date: Thu, 26 Jun 2025 05:44:37 +0200 Subject: [PATCH 13/28] Adds digit locomotion examples (#1892) # Description Add an example to train a locomotion and loco-manipulation controller for digit. This also serves as an example on how to train a robot with closed loops. ## Type of change - New feature (non-breaking change which adds functionality) ## Screenshots ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: lgulich <22480644+lgulich@users.noreply.github.com> Co-authored-by: Kelly Guo Co-authored-by: Kelly Guo --- .../tasks/locomotion/agility_digit_flat.jpg | Bin 0 -> 244944 bytes .../locomotion/agility_digit_loco_manip.jpg | Bin 0 -> 250841 bytes .../tasks/locomotion/agility_digit_rough.jpg | Bin 0 -> 240474 bytes docs/source/overview/environments.rst | 24 ++ source/isaaclab/isaaclab/envs/mdp/rewards.py | 10 + .../isaaclab_assets/robots/agility.py | 39 +++ .../loco_manipulation/__init__.py | 8 + .../loco_manipulation/tracking/__init__.py | 4 + .../tracking/config/__init__.py | 4 + .../tracking/config/digit/__init__.py | 32 +++ .../tracking/config/digit/agents/__init__.py | 4 + .../config/digit/agents/rsl_rl_ppo_cfg.py | 37 +++ .../config/digit/loco_manip_env_cfg.py | 250 ++++++++++++++++ .../velocity/config/a1/rough_env_cfg.py | 2 +- .../velocity/config/cassie/rough_env_cfg.py | 3 +- .../velocity/config/digit/__init__.py | 54 ++++ .../velocity/config/digit/agents/__init__.py | 4 + .../config/digit/agents/rsl_rl_ppo_cfg.py | 49 ++++ .../velocity/config/digit/flat_env_cfg.py | 37 +++ .../velocity/config/digit/rough_env_cfg.py | 266 ++++++++++++++++++ .../velocity/config/g1/rough_env_cfg.py | 2 +- .../velocity/config/go1/rough_env_cfg.py | 2 +- .../velocity/config/go2/rough_env_cfg.py | 2 +- .../velocity/config/h1/rough_env_cfg.py | 2 +- .../locomotion/velocity/mdp/rewards.py | 10 + 25 files changed, 838 insertions(+), 7 deletions(-) create mode 100644 docs/source/_static/tasks/locomotion/agility_digit_flat.jpg create mode 100644 docs/source/_static/tasks/locomotion/agility_digit_loco_manip.jpg create mode 100644 docs/source/_static/tasks/locomotion/agility_digit_rough.jpg create mode 100644 source/isaaclab_assets/isaaclab_assets/robots/agility.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/__init__.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/__init__.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/__init__.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/digit/__init__.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/digit/agents/__init__.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/digit/agents/rsl_rl_ppo_cfg.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/digit/loco_manip_env_cfg.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/__init__.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/agents/__init__.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/agents/rsl_rl_ppo_cfg.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/flat_env_cfg.py create mode 100644 source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/rough_env_cfg.py diff --git 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`Isaac-Velocity-Rough-Digit-v0 `__ +.. |tracking-loco-manip-digit-link| replace:: `Isaac-Tracking-Flat-Digit-v0 `__ .. |velocity-flat-anymal-b| image:: ../_static/tasks/locomotion/anymal_b_flat.jpg .. |velocity-rough-anymal-b| image:: ../_static/tasks/locomotion/anymal_b_rough.jpg @@ -336,6 +345,9 @@ Environments based on legged locomotion tasks. .. |velocity-rough-h1| image:: ../_static/tasks/locomotion/h1_rough.jpg .. |velocity-flat-g1| image:: ../_static/tasks/locomotion/g1_flat.jpg .. |velocity-rough-g1| image:: ../_static/tasks/locomotion/g1_rough.jpg +.. |velocity-flat-digit| image:: ../_static/tasks/locomotion/agility_digit_flat.jpg +.. |velocity-rough-digit| image:: ../_static/tasks/locomotion/agility_digit_rough.jpg +.. |tracking-loco-manip-digit| image:: ../_static/tasks/locomotion/agility_digit_loco_manip.jpg Navigation ~~~~~~~~~~ @@ -765,6 +777,10 @@ inferencing, including reading from an already trained checkpoint and disabling - - Manager Based - + * - Isaac-Tracking-LocoManip-Digit-v0 + - Isaac-Tracking-LocoManip-Digit-Play-v0 + - Manager Based + - **rsl_rl** (PPO) * - Isaac-Navigation-Flat-Anymal-C-v0 - Isaac-Navigation-Flat-Anymal-C-Play-v0 - Manager Based @@ -873,6 +889,10 @@ inferencing, including reading from an already trained checkpoint and disabling - Isaac-Velocity-Flat-Cassie-Play-v0 - Manager Based - **rsl_rl** (PPO), **skrl** (PPO) + * - Isaac-Velocity-Flat-Digit-v0 + - Isaac-Velocity-Flat-Digit-Play-v0 + - Manager Based + - **rsl_rl** (PPO) * - Isaac-Velocity-Flat-G1-v0 - Isaac-Velocity-Flat-G1-Play-v0 - Manager Based @@ -917,6 +937,10 @@ inferencing, including reading from an already trained checkpoint and disabling - Isaac-Velocity-Rough-Cassie-Play-v0 - Manager Based - **rsl_rl** (PPO), **skrl** (PPO) + * - Isaac-Velocity-Rough-Digit-v0 + - Isaac-Velocity-Rough-Digit-Play-v0 + - Manager Based + - **rsl_rl** (PPO) * - Isaac-Velocity-Rough-G1-v0 - Isaac-Velocity-Rough-G1-Play-v0 - Manager Based diff --git a/source/isaaclab/isaaclab/envs/mdp/rewards.py b/source/isaaclab/isaaclab/envs/mdp/rewards.py index 5f0cdda5836..20df2a557eb 100644 --- a/source/isaaclab/isaaclab/envs/mdp/rewards.py +++ b/source/isaaclab/isaaclab/envs/mdp/rewards.py @@ -268,6 +268,16 @@ def undesired_contacts(env: ManagerBasedRLEnv, threshold: float, sensor_cfg: Sce return torch.sum(is_contact, dim=1) +def desired_contacts(env, sensor_cfg: SceneEntityCfg, threshold: float = 1.0) -> torch.Tensor: + """Penalize if none of the desired contacts are present.""" + contact_sensor: ContactSensor = env.scene.sensors[sensor_cfg.name] + contacts = ( + contact_sensor.data.net_forces_w_history[:, :, sensor_cfg.body_ids, :].norm(dim=-1).max(dim=1)[0] > threshold + ) + zero_contact = (~contacts).all(dim=1) + return 1.0 * zero_contact + + def contact_forces(env: ManagerBasedRLEnv, threshold: float, sensor_cfg: SceneEntityCfg) -> torch.Tensor: """Penalize contact forces as the amount of violations of the net contact force.""" # extract the used quantities (to enable type-hinting) diff --git a/source/isaaclab_assets/isaaclab_assets/robots/agility.py b/source/isaaclab_assets/isaaclab_assets/robots/agility.py new file mode 100644 index 00000000000..090298d5996 --- /dev/null +++ b/source/isaaclab_assets/isaaclab_assets/robots/agility.py @@ -0,0 +1,39 @@ +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +import isaaclab.sim as sim_utils +from isaaclab.actuators import ImplicitActuatorCfg +from isaaclab.assets.articulation import ArticulationCfg +from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR + +LEG_JOINT_NAMES = [ + ".*_hip_roll", + ".*_hip_yaw", + ".*_hip_pitch", + ".*_knee", + ".*_toe_a", + ".*_toe_b", +] + +ARM_JOINT_NAMES = [".*_arm_.*"] + + +DIGIT_V4_CFG = ArticulationCfg( + spawn=sim_utils.UsdFileCfg( + usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Agility/Digit/digit_v4.usd", + activate_contact_sensors=True, + ), + init_state=ArticulationCfg.InitialStateCfg( + pos=(0.0, 0.0, 1.05), + ), + soft_joint_pos_limit_factor=0.9, + actuators={ + "all": ImplicitActuatorCfg( + joint_names_expr=".*", + stiffness=None, + damping=None, + ), + }, +) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/__init__.py new file mode 100644 index 00000000000..cb907a3f0c8 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/__init__.py @@ -0,0 +1,8 @@ +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Locomotion environments for legged robots.""" + +from .tracking import * # noqa diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/__init__.py new file mode 100644 index 00000000000..2e924fbf1b1 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/__init__.py @@ -0,0 +1,4 @@ +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/__init__.py new file mode 100644 index 00000000000..2e924fbf1b1 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/__init__.py @@ -0,0 +1,4 @@ +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/digit/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/digit/__init__.py new file mode 100644 index 00000000000..df0a1cfdf72 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/digit/__init__.py @@ -0,0 +1,32 @@ +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +import gymnasium as gym + +from . import agents + +## +# Register Gym environments. +## +gym.register( + id="Isaac-Tracking-LocoManip-Digit-v0", + entry_point="isaaclab.envs:ManagerBasedRLEnv", + disable_env_checker=True, + kwargs={ + "env_cfg_entry_point": f"{__name__}.loco_manip_env_cfg:DigitLocoManipEnvCfg", + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:DigitLocoManipPPORunnerCfg", + }, +) + + +gym.register( + id="Isaac-Tracking-LocoManip-Digit-Play-v0", + entry_point="isaaclab.envs:ManagerBasedRLEnv", + disable_env_checker=True, + kwargs={ + "env_cfg_entry_point": f"{__name__}.loco_manip_env_cfg:DigitLocoManipEnvCfg_PLAY", + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:DigitLocoManipPPORunnerCfg", + }, +) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/digit/agents/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/digit/agents/__init__.py new file mode 100644 index 00000000000..2e924fbf1b1 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/digit/agents/__init__.py @@ -0,0 +1,4 @@ +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/digit/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/digit/agents/rsl_rl_ppo_cfg.py new file mode 100644 index 00000000000..cb898b1e89c --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/digit/agents/rsl_rl_ppo_cfg.py @@ -0,0 +1,37 @@ +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +from isaaclab.utils import configclass + +from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg + + +@configclass +class DigitLocoManipPPORunnerCfg(RslRlOnPolicyRunnerCfg): + num_steps_per_env = 24 + max_iterations = 2000 + save_interval = 50 + experiment_name = "digit_loco_manip" + empirical_normalization = False + policy = RslRlPpoActorCriticCfg( + init_noise_std=1.0, + actor_hidden_dims=[256, 128, 128], + critic_hidden_dims=[256, 128, 128], + activation="elu", + ) + algorithm = RslRlPpoAlgorithmCfg( + value_loss_coef=1.0, + use_clipped_value_loss=True, + clip_param=0.2, + entropy_coef=0.01, + num_learning_epochs=5, + num_mini_batches=4, + learning_rate=1.0e-3, + schedule="adaptive", + gamma=0.99, + lam=0.95, + desired_kl=0.01, + max_grad_norm=1.0, + ) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/digit/loco_manip_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/digit/loco_manip_env_cfg.py new file mode 100644 index 00000000000..8a04320822b --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/digit/loco_manip_env_cfg.py @@ -0,0 +1,250 @@ +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +import math + +from isaaclab_assets.robots.agility import ARM_JOINT_NAMES, LEG_JOINT_NAMES + +from isaaclab.managers import EventTermCfg +from isaaclab.managers import ObservationGroupCfg as ObsGroup +from isaaclab.managers import ObservationTermCfg as ObsTerm +from isaaclab.managers import RewardTermCfg as RewTerm +from isaaclab.managers import SceneEntityCfg +from isaaclab.utils import configclass +from isaaclab.utils.noise import AdditiveUniformNoiseCfg as Unoise + +import isaaclab_tasks.manager_based.locomotion.velocity.mdp as mdp +import isaaclab_tasks.manager_based.manipulation.reach.mdp as manipulation_mdp +from isaaclab_tasks.manager_based.locomotion.velocity.config.digit.rough_env_cfg import DigitRewards, DigitRoughEnvCfg +from isaaclab_tasks.manager_based.locomotion.velocity.velocity_env_cfg import EventCfg + + +@configclass +class DigitLocoManipRewards(DigitRewards): + joint_deviation_arms = None + + joint_vel_hip_yaw = RewTerm( + func=mdp.joint_vel_l2, + weight=-0.001, + params={"asset_cfg": SceneEntityCfg("robot", joint_names=[".*_leg_hip_yaw"])}, + ) + + left_ee_pos_tracking = RewTerm( + func=manipulation_mdp.position_command_error, + weight=-2.0, + params={ + "asset_cfg": SceneEntityCfg("robot", body_names="left_arm_wrist_yaw"), + "command_name": "left_ee_pose", + }, + ) + + left_ee_pos_tracking_fine_grained = RewTerm( + func=manipulation_mdp.position_command_error_tanh, + weight=2.0, + params={ + "asset_cfg": SceneEntityCfg("robot", body_names="left_arm_wrist_yaw"), + "std": 0.05, + "command_name": "left_ee_pose", + }, + ) + + left_end_effector_orientation_tracking = RewTerm( + func=manipulation_mdp.orientation_command_error, + weight=-0.2, + params={ + "asset_cfg": SceneEntityCfg("robot", body_names="left_arm_wrist_yaw"), + "command_name": "left_ee_pose", + }, + ) + + right_ee_pos_tracking = RewTerm( + func=manipulation_mdp.position_command_error, + weight=-2.0, + params={ + "asset_cfg": SceneEntityCfg("robot", body_names="right_arm_wrist_yaw"), + "command_name": "right_ee_pose", + }, + ) + + right_ee_pos_tracking_fine_grained = RewTerm( + func=manipulation_mdp.position_command_error_tanh, + weight=2.0, + params={ + "asset_cfg": SceneEntityCfg("robot", body_names="right_arm_wrist_yaw"), + "std": 0.05, + "command_name": "right_ee_pose", + }, + ) + + right_end_effector_orientation_tracking = RewTerm( + func=manipulation_mdp.orientation_command_error, + weight=-0.2, + params={ + "asset_cfg": SceneEntityCfg("robot", body_names="right_arm_wrist_yaw"), + "command_name": "right_ee_pose", + }, + ) + + +@configclass +class DigitLocoManipObservations: + + @configclass + class PolicyCfg(ObsGroup): + base_lin_vel = ObsTerm( + func=mdp.base_lin_vel, + noise=Unoise(n_min=-0.1, n_max=0.1), + ) + base_ang_vel = ObsTerm( + func=mdp.base_ang_vel, + noise=Unoise(n_min=-0.2, n_max=0.2), + ) + projected_gravity = ObsTerm( + func=mdp.projected_gravity, + noise=Unoise(n_min=-0.05, n_max=0.05), + ) + velocity_commands = ObsTerm( + func=mdp.generated_commands, + params={"command_name": "base_velocity"}, + ) + left_ee_pose_command = ObsTerm( + func=mdp.generated_commands, + params={"command_name": "left_ee_pose"}, + ) + right_ee_pose_command = ObsTerm( + func=mdp.generated_commands, + params={"command_name": "right_ee_pose"}, + ) + joint_pos = ObsTerm( + func=mdp.joint_pos_rel, + params={"asset_cfg": SceneEntityCfg("robot", joint_names=LEG_JOINT_NAMES + ARM_JOINT_NAMES)}, + noise=Unoise(n_min=-0.01, n_max=0.01), + ) + joint_vel = ObsTerm( + func=mdp.joint_vel_rel, + params={"asset_cfg": SceneEntityCfg("robot", joint_names=LEG_JOINT_NAMES + ARM_JOINT_NAMES)}, + noise=Unoise(n_min=-1.5, n_max=1.5), + ) + actions = ObsTerm(func=mdp.last_action) + + def __post_init__(self): + self.enable_corruption = True + self.concatenate_terms = True + + policy = PolicyCfg() + + +@configclass +class DigitLocoManipCommands: + base_velocity = mdp.UniformVelocityCommandCfg( + asset_name="robot", + resampling_time_range=(10.0, 10.0), + rel_standing_envs=0.25, + rel_heading_envs=1.0, + heading_command=True, + debug_vis=True, + ranges=mdp.UniformVelocityCommandCfg.Ranges( + lin_vel_x=(-1.0, 1.0), + lin_vel_y=(-1.0, 1.0), + ang_vel_z=(-1.0, 1.0), + heading=(-math.pi, math.pi), + ), + ) + + left_ee_pose = mdp.UniformPoseCommandCfg( + asset_name="robot", + body_name="left_arm_wrist_yaw", + resampling_time_range=(1.0, 3.0), + debug_vis=True, + ranges=mdp.UniformPoseCommandCfg.Ranges( + pos_x=(0.10, 0.50), + pos_y=(0.05, 0.50), + pos_z=(-0.20, 0.20), + roll=(-0.1, 0.1), + pitch=(-0.1, 0.1), + yaw=(math.pi / 2.0 - 0.1, math.pi / 2.0 + 0.1), + ), + ) + + right_ee_pose = mdp.UniformPoseCommandCfg( + asset_name="robot", + body_name="right_arm_wrist_yaw", + resampling_time_range=(1.0, 3.0), + debug_vis=True, + ranges=mdp.UniformPoseCommandCfg.Ranges( + pos_x=(0.10, 0.50), + pos_y=(-0.50, -0.05), + pos_z=(-0.20, 0.20), + roll=(-0.1, 0.1), + pitch=(-0.1, 0.1), + yaw=(-math.pi / 2.0 - 0.1, -math.pi / 2.0 + 0.1), + ), + ) + + +@configclass +class DigitEvents(EventCfg): + # Add an external force to simulate a payload being carried. + left_hand_force = EventTermCfg( + func=mdp.apply_external_force_torque, + mode="interval", + interval_range_s=(10.0, 15.0), + params={ + "asset_cfg": SceneEntityCfg("robot", body_names="left_arm_wrist_yaw"), + "force_range": (-10.0, 10.0), + "torque_range": (-1.0, 1.0), + }, + ) + + right_hand_force = EventTermCfg( + func=mdp.apply_external_force_torque, + mode="interval", + interval_range_s=(10.0, 15.0), + params={ + "asset_cfg": SceneEntityCfg("robot", body_names="right_arm_wrist_yaw"), + "force_range": (-10.0, 10.0), + "torque_range": (-1.0, 1.0), + }, + ) + + +@configclass +class DigitLocoManipEnvCfg(DigitRoughEnvCfg): + rewards: DigitLocoManipRewards = DigitLocoManipRewards() + observations: DigitLocoManipObservations = DigitLocoManipObservations() + commands: DigitLocoManipCommands = DigitLocoManipCommands() + + def __post_init__(self): + super().__post_init__() + + self.episode_length_s = 14.0 + + # Rewards: + self.rewards.flat_orientation_l2.weight = -10.5 + self.rewards.termination_penalty.weight = -100.0 + + # Change terrain to flat. + self.scene.terrain.terrain_type = "plane" + self.scene.terrain.terrain_generator = None + # Remove height scanner. + self.scene.height_scanner = None + self.observations.policy.height_scan = None + # Remove terrain curriculum. + self.curriculum.terrain_levels = None + + +class DigitLocoManipEnvCfg_PLAY(DigitLocoManipEnvCfg): + + def __post_init__(self) -> None: + super().__post_init__() + + # Make a smaller scene for play. + self.scene.num_envs = 50 + self.scene.env_spacing = 2.5 + # Disable randomization for play. + self.observations.policy.enable_corruption = False + # Remove random pushing. + self.randomization.base_external_force_torque = None + self.randomization.push_robot = None diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/rough_env_cfg.py index 9501ea3603a..238e3bd03ea 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/rough_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/rough_env_cfg.py @@ -46,6 +46,7 @@ def __post_init__(self): "yaw": (0.0, 0.0), }, } + self.events.base_com = None # rewards self.rewards.feet_air_time.params["sensor_cfg"].body_names = ".*_foot" @@ -82,4 +83,3 @@ def __post_init__(self): # remove random pushing event self.events.base_external_force_torque = None self.events.push_robot = None - self.events.base_com = None diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/rough_env_cfg.py index ce44fa4f4eb..f99f36f642d 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/rough_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/rough_env_cfg.py @@ -77,6 +77,7 @@ def __post_init__(self): "yaw": (0.0, 0.0), }, } + self.events.base_com = None # terminations self.terminations.base_contact.params["sensor_cfg"].body_names = [".*pelvis"] @@ -112,5 +113,3 @@ def __post_init__(self): self.commands.base_velocity.ranges.heading = (0.0, 0.0) # disable randomization for play self.observations.policy.enable_corruption = False - # disable com randomization - self.events.base_com = None diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/__init__.py new file mode 100644 index 00000000000..1f9915fb27e --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/__init__.py @@ -0,0 +1,54 @@ +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +import gymnasium as gym + +from . import agents + +## +# Register Gym environments. +## +gym.register( + id="Isaac-Velocity-Flat-Digit-v0", + entry_point="isaaclab.envs:ManagerBasedRLEnv", + disable_env_checker=True, + kwargs={ + "env_cfg_entry_point": f"{__name__}.flat_env_cfg:DigitFlatEnvCfg", + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:DigitFlatPPORunnerCfg", + }, +) + + +gym.register( + id="Isaac-Velocity-Flat-Digit-Play-v0", + entry_point="isaaclab.envs:ManagerBasedRLEnv", + disable_env_checker=True, + kwargs={ + "env_cfg_entry_point": f"{__name__}.flat_env_cfg:DigitFlatEnvCfg_PLAY", + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:DigitFlatPPORunnerCfg", + }, +) + + +gym.register( + id="Isaac-Velocity-Rough-Digit-v0", + entry_point="isaaclab.envs:ManagerBasedRLEnv", + disable_env_checker=True, + kwargs={ + "env_cfg_entry_point": f"{__name__}.rough_env_cfg:DigitRoughEnvCfg", + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:DigitRoughPPORunnerCfg", + }, +) + + +gym.register( + id="Isaac-Velocity-Rough-Digit-Play-v0", + entry_point="isaaclab.envs:ManagerBasedRLEnv", + disable_env_checker=True, + kwargs={ + "env_cfg_entry_point": f"{__name__}.rough_env_cfg:DigitRoughEnvCfg_PLAY", + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:DigitRoughPPORunnerCfg", + }, +) diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/agents/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/agents/__init__.py new file mode 100644 index 00000000000..2e924fbf1b1 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/agents/__init__.py @@ -0,0 +1,4 @@ +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/agents/rsl_rl_ppo_cfg.py new file mode 100644 index 00000000000..ab23e2c7b71 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/agents/rsl_rl_ppo_cfg.py @@ -0,0 +1,49 @@ +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +from isaaclab.utils import configclass + +from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg + + +@configclass +class DigitRoughPPORunnerCfg(RslRlOnPolicyRunnerCfg): + num_steps_per_env = 24 + max_iterations = 3000 + save_interval = 50 + experiment_name = "digit_rough" + empirical_normalization = False + policy = RslRlPpoActorCriticCfg( + init_noise_std=1.0, + actor_hidden_dims=[512, 256, 128], + critic_hidden_dims=[512, 256, 128], + activation="elu", + ) + algorithm = RslRlPpoAlgorithmCfg( + value_loss_coef=1.0, + use_clipped_value_loss=True, + clip_param=0.2, + entropy_coef=0.01, + num_learning_epochs=5, + num_mini_batches=4, + learning_rate=1.0e-3, + schedule="adaptive", + gamma=0.99, + lam=0.95, + desired_kl=0.01, + max_grad_norm=1.0, + ) + + +@configclass +class DigitFlatPPORunnerCfg(DigitRoughPPORunnerCfg): + def __post_init__(self): + super().__post_init__() + + self.max_iterations = 2000 + self.experiment_name = "digit_flat" + + self.policy.actor_hidden_dims = [128, 128, 128] + self.policy.critic_hidden_dims = [128, 128, 128] diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/flat_env_cfg.py new file mode 100644 index 00000000000..5d94e7008a8 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/flat_env_cfg.py @@ -0,0 +1,37 @@ +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +from isaaclab.utils import configclass + +from .rough_env_cfg import DigitRoughEnvCfg + + +@configclass +class DigitFlatEnvCfg(DigitRoughEnvCfg): + def __post_init__(self): + super().__post_init__() + + # Change terrain to flat. + self.scene.terrain.terrain_type = "plane" + self.scene.terrain.terrain_generator = None + # Remove height scanner. + self.scene.height_scanner = None + self.observations.policy.height_scan = None + # Remove terrain curriculum. + self.curriculum.terrain_levels = None + + +class DigitFlatEnvCfg_PLAY(DigitFlatEnvCfg): + def __post_init__(self) -> None: + super().__post_init__() + + # Make a smaller scene for play. + self.scene.num_envs = 50 + self.scene.env_spacing = 2.5 + # Disable randomization for play. + self.observations.policy.enable_corruption = False + # Remove random pushing. + self.randomization.base_external_force_torque = None + self.randomization.push_robot = None diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/rough_env_cfg.py new file mode 100644 index 00000000000..524e03c6fe8 --- /dev/null +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/rough_env_cfg.py @@ -0,0 +1,266 @@ +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +import math + +from isaaclab_assets.robots.agility import ARM_JOINT_NAMES, DIGIT_V4_CFG, LEG_JOINT_NAMES + +from isaaclab.managers import ObservationGroupCfg, ObservationTermCfg, RewardTermCfg, SceneEntityCfg, TerminationTermCfg +from isaaclab.utils import configclass +from isaaclab.utils.noise import AdditiveUniformNoiseCfg as Unoise + +import isaaclab_tasks.manager_based.locomotion.velocity.mdp as mdp +from isaaclab_tasks.manager_based.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg + + +@configclass +class DigitRewards: + termination_penalty = RewardTermCfg( + func=mdp.is_terminated, + weight=-100.0, + ) + track_lin_vel_xy_exp = RewardTermCfg( + func=mdp.track_lin_vel_xy_yaw_frame_exp, + weight=1.0, + params={"command_name": "base_velocity", "std": math.sqrt(0.25)}, + ) + track_ang_vel_z_exp = RewardTermCfg( + func=mdp.track_ang_vel_z_world_exp, + weight=1.0, + params={ + "command_name": "base_velocity", + "std": math.sqrt(0.25), + }, + ) + feet_air_time = RewardTermCfg( + func=mdp.feet_air_time_positive_biped, + weight=0.25, + params={ + "sensor_cfg": SceneEntityCfg("contact_forces", body_names=".*_leg_toe_roll"), + "threshold": 0.8, + "command_name": "base_velocity", + }, + ) + feet_slide = RewardTermCfg( + func=mdp.feet_slide, + weight=-0.25, + params={ + "sensor_cfg": SceneEntityCfg("contact_forces", body_names=".*_leg_toe_roll"), + "asset_cfg": SceneEntityCfg("robot", body_names=".*_leg_toe_roll"), + }, + ) + dof_torques_l2 = RewardTermCfg( + func=mdp.joint_torques_l2, + weight=-1.0e-6, + ) + dof_acc_l2 = RewardTermCfg( + func=mdp.joint_acc_l2, + weight=-2.0e-7, + params={"asset_cfg": SceneEntityCfg("robot", joint_names=LEG_JOINT_NAMES + ARM_JOINT_NAMES)}, + ) + action_rate_l2 = RewardTermCfg( + func=mdp.action_rate_l2, + weight=-0.008, + ) + flat_orientation_l2 = RewardTermCfg( + func=mdp.flat_orientation_l2, + weight=-2.5, + ) + stand_still = RewardTermCfg( + func=mdp.stand_still_joint_deviation_l1, + weight=-0.4, + params={ + "command_name": "base_velocity", + "asset_cfg": SceneEntityCfg("robot", joint_names=LEG_JOINT_NAMES), + }, + ) + lin_vel_z_l2 = RewardTermCfg( + func=mdp.lin_vel_z_l2, + weight=-2.0, + ) + ang_vel_xy_l2 = RewardTermCfg( + func=mdp.ang_vel_xy_l2, + weight=-0.1, + ) + no_jumps = RewardTermCfg( + func=mdp.desired_contacts, + weight=-0.5, + params={"sensor_cfg": SceneEntityCfg("contact_forces", body_names=[".*_leg_toe_roll"])}, + ) + dof_pos_limits = RewardTermCfg( + func=mdp.joint_pos_limits, + weight=-1.0, + params={"asset_cfg": SceneEntityCfg("robot", joint_names=[".*_leg_toe_roll", ".*_leg_toe_pitch", ".*_tarsus"])}, + ) + joint_deviation_hip_roll = RewardTermCfg( + func=mdp.joint_deviation_l1, + weight=-0.1, + params={"asset_cfg": SceneEntityCfg("robot", joint_names=".*_leg_hip_roll")}, + ) + joint_deviation_hip_yaw = RewardTermCfg( + func=mdp.joint_deviation_l1, + weight=-0.2, + params={"asset_cfg": SceneEntityCfg("robot", joint_names=".*_leg_hip_yaw")}, + ) + joint_deviation_knee = RewardTermCfg( + func=mdp.joint_deviation_l1, + weight=-0.2, + params={"asset_cfg": SceneEntityCfg("robot", joint_names=".*_tarsus")}, + ) + joint_deviation_feet = RewardTermCfg( + func=mdp.joint_deviation_l1, + weight=-0.1, + params={"asset_cfg": SceneEntityCfg("robot", joint_names=[".*_toe_a", ".*_toe_b"])}, + ) + joint_deviation_arms = RewardTermCfg( + func=mdp.joint_deviation_l1, + weight=-0.2, + params={ + "asset_cfg": SceneEntityCfg("robot", joint_names=".*_arm_.*"), + }, + ) + + undesired_contacts = RewardTermCfg( + func=mdp.undesired_contacts, + weight=-0.1, + params={ + "sensor_cfg": SceneEntityCfg("contact_forces", body_names=[".*_rod", ".*_tarsus"]), + "threshold": 1.0, + }, + ) + + +@configclass +class DigitObservations: + @configclass + class PolicyCfg(ObservationGroupCfg): + base_lin_vel = ObservationTermCfg( + func=mdp.base_lin_vel, + noise=Unoise(n_min=-0.1, n_max=0.1), + ) + base_ang_vel = ObservationTermCfg( + func=mdp.base_ang_vel, + noise=Unoise(n_min=-0.2, n_max=0.2), + ) + projected_gravity = ObservationTermCfg( + func=mdp.projected_gravity, + noise=Unoise(n_min=-0.05, n_max=0.05), + ) + velocity_commands = ObservationTermCfg( + func=mdp.generated_commands, + params={"command_name": "base_velocity"}, + ) + joint_pos = ObservationTermCfg( + func=mdp.joint_pos_rel, + params={"asset_cfg": SceneEntityCfg("robot", joint_names=LEG_JOINT_NAMES + ARM_JOINT_NAMES)}, + noise=Unoise(n_min=-0.01, n_max=0.01), + ) + joint_vel = ObservationTermCfg( + func=mdp.joint_vel_rel, + params={"asset_cfg": SceneEntityCfg("robot", joint_names=LEG_JOINT_NAMES + ARM_JOINT_NAMES)}, + noise=Unoise(n_min=-1.5, n_max=1.5), + ) + actions = ObservationTermCfg(func=mdp.last_action) + height_scan = ObservationTermCfg( + func=mdp.height_scan, + params={"sensor_cfg": SceneEntityCfg("height_scanner")}, + noise=Unoise(n_min=-0.1, n_max=0.1), + clip=(-1.0, 1.0), + ) + + def __post_init__(self): + self.enable_corruption = True + self.concatenate_terms = True + + # Observation groups: + policy: PolicyCfg = PolicyCfg() + + +@configclass +class TerminationsCfg: + """Termination terms for the MDP.""" + + time_out = TerminationTermCfg(func=mdp.time_out, time_out=True) + base_contact = TerminationTermCfg( + func=mdp.illegal_contact, + params={ + "sensor_cfg": SceneEntityCfg("contact_forces", body_names=["torso_base"]), + "threshold": 1.0, + }, + ) + base_orientation = TerminationTermCfg( + func=mdp.bad_orientation, + params={"limit_angle": 0.7}, + ) + + +@configclass +class ActionsCfg: + """Action specifications for the MDP.""" + + joint_pos = mdp.JointPositionActionCfg( + asset_name="robot", + joint_names=LEG_JOINT_NAMES + ARM_JOINT_NAMES, + scale=0.5, + use_default_offset=True, + ) + + +@configclass +class DigitRoughEnvCfg(LocomotionVelocityRoughEnvCfg): + rewards: DigitRewards = DigitRewards() + observations: DigitObservations = DigitObservations() + terminations: TerminationsCfg = TerminationsCfg() + actions: ActionsCfg = ActionsCfg() + + def __post_init__(self): + super().__post_init__() + self.decimation = 4 + self.sim.dt = 0.005 + + # Scene + self.scene.robot = DIGIT_V4_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot") + self.scene.height_scanner.prim_path = "{ENV_REGEX_NS}/Robot/torso_base" + self.scene.contact_forces.history_length = self.decimation + self.scene.contact_forces.update_period = self.sim.dt + self.scene.height_scanner.update_period = self.decimation * self.sim.dt + + # Events: + self.events.add_base_mass.params["asset_cfg"] = SceneEntityCfg("robot", body_names="torso_base") + self.events.base_external_force_torque.params["asset_cfg"] = SceneEntityCfg("robot", body_names="torso_base") + # Don't randomize the initial joint positions because we have closed loops. + self.events.reset_robot_joints.params["position_range"] = (1.0, 1.0) + # remove COM randomization + self.events.base_com = None + + # Commands + self.commands.base_velocity.ranges.lin_vel_x = (-0.8, 0.8) + self.commands.base_velocity.ranges.lin_vel_y = (-0.5, 0.5) + self.commands.base_velocity.ranges.ang_vel_z = (-1.0, 1.0) + self.commands.base_velocity.rel_standing_envs = 0.1 + self.commands.base_velocity.resampling_time_range = (3.0, 8.0) + + +@configclass +class DigitRoughEnvCfg_PLAY(DigitRoughEnvCfg): + def __post_init__(self): + super().__post_init__() + + # Make a smaller scene for play. + self.scene.num_envs = 50 + self.scene.env_spacing = 2.5 + # Spawn the robot randomly in the grid (instead of their terrain levels). + self.scene.terrain.max_init_terrain_level = None + # Reduce the number of terrains to save memory. + if self.scene.terrain.terrain_generator is not None: + self.scene.terrain.terrain_generator.num_rows = 5 + self.scene.terrain.terrain_generator.num_cols = 5 + self.scene.terrain.terrain_generator.curriculum = False + + # Disable randomization for play. + self.observations.policy.enable_corruption = False + # Remove random pushing. + self.randomization.base_external_force_torque = None + self.randomization.push_robot = None diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py index 54620f98435..4ef14c81542 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py @@ -127,6 +127,7 @@ def __post_init__(self): "yaw": (0.0, 0.0), }, } + self.events.base_com = None # Rewards self.rewards.lin_vel_z_l2.weight = 0.0 @@ -178,4 +179,3 @@ def __post_init__(self): # remove random pushing self.events.base_external_force_torque = None self.events.push_robot = None - self.events.base_com = None diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/rough_env_cfg.py index a1a68a607c5..01236ae7d69 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/rough_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/rough_env_cfg.py @@ -46,6 +46,7 @@ def __post_init__(self): "yaw": (0.0, 0.0), }, } + self.events.base_com = None # rewards self.rewards.feet_air_time.params["sensor_cfg"].body_names = ".*_foot" @@ -82,4 +83,3 @@ def __post_init__(self): # remove random pushing event self.events.base_external_force_torque = None self.events.push_robot = None - self.events.base_com = None diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/rough_env_cfg.py index 8fecaff6d65..22fb69cff44 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/rough_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/rough_env_cfg.py @@ -46,6 +46,7 @@ def __post_init__(self): "yaw": (0.0, 0.0), }, } + self.events.base_com = None # rewards self.rewards.feet_air_time.params["sensor_cfg"].body_names = ".*_foot" @@ -82,4 +83,3 @@ def __post_init__(self): # remove random pushing event self.events.base_external_force_torque = None self.events.push_robot = None - self.events.base_com = None diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py index ca152b1c37e..48ddb6677a7 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py @@ -95,6 +95,7 @@ def __post_init__(self): "yaw": (0.0, 0.0), }, } + self.events.base_com = None # Terminations self.terminations.base_contact.params["sensor_cfg"].body_names = [".*torso_link"] @@ -142,4 +143,3 @@ def __post_init__(self): # remove random pushing self.events.base_external_force_torque = None self.events.push_robot = None - self.events.base_com = None diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/mdp/rewards.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/mdp/rewards.py index 52383e43045..7a1fc12a1db 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/mdp/rewards.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/mdp/rewards.py @@ -14,6 +14,7 @@ import torch from typing import TYPE_CHECKING +from isaaclab.envs import mdp from isaaclab.managers import SceneEntityCfg from isaaclab.sensors import ContactSensor from isaaclab.utils.math import quat_apply_inverse, yaw_quat @@ -104,3 +105,12 @@ def track_ang_vel_z_world_exp( asset = env.scene[asset_cfg.name] ang_vel_error = torch.square(env.command_manager.get_command(command_name)[:, 2] - asset.data.root_ang_vel_w[:, 2]) return torch.exp(-ang_vel_error / std**2) + + +def stand_still_joint_deviation_l1( + env, command_name: str, command_threshold: float = 0.06, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot") +) -> torch.Tensor: + """Penalize offsets from the default joint positions when the command is very small.""" + command = env.command_manager.get_command(command_name) + # Penalize motion when command is nearly zero. + return mdp.joint_deviation_l1(env, asset_cfg) * (torch.norm(command[:, :2], dim=1) < command_threshold) From 34cda4f772c155bcc2f07ef5ff36831f785315a9 Mon Sep 17 00:00:00 2001 From: Kelly Guo Date: Thu, 26 Jun 2025 00:24:03 -0700 Subject: [PATCH 14/28] Fixes typo in reset_scene_to_default (#2778) # Description Fixes typo in reset_scene_to_default that was recently added where joint position was incorrectly set to velocity targets. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --- source/isaaclab/isaaclab/envs/mdp/events.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/isaaclab/isaaclab/envs/mdp/events.py b/source/isaaclab/isaaclab/envs/mdp/events.py index df2fdf15a88..22b7a995212 100644 --- a/source/isaaclab/isaaclab/envs/mdp/events.py +++ b/source/isaaclab/isaaclab/envs/mdp/events.py @@ -1157,7 +1157,7 @@ def reset_scene_to_default(env: ManagerBasedEnv, env_ids: torch.Tensor): default_joint_vel = articulation_asset.data.default_joint_vel[env_ids].clone() # set into the physics simulation articulation_asset.set_joint_position_target(default_joint_pos, env_ids=env_ids) - articulation_asset.set_joint_velocity_target(default_joint_pos, env_ids=env_ids) + articulation_asset.set_joint_velocity_target(default_joint_vel, env_ids=env_ids) articulation_asset.write_joint_state_to_sim(default_joint_pos, default_joint_vel, env_ids=env_ids) # deformable objects for deformable_object in env.scene.deformable_objects.values(): From 1ad83e1b1eba7b542c523a1d9d24c57e8aec0c33 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=C3=96zhan=20=C3=96zen?= <41010165+ozhanozen@users.noreply.github.com> Date: Thu, 26 Jun 2025 22:11:01 +0200 Subject: [PATCH 15/28] Updates `NoiseModelWithAdditiveBias` to apply per-feature bias sampling (#2760) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit # Description This PR updates the `NoiseModelWithAdditiveBias` to apply per-feature bias sampling. Previously, the model sampled a single scalar bias per episode and applied it uniformly across all feature dimensions (i.e., axis 1 of a (`num_env`, `feature_dim`) tensor). This PR changes the behavior to instead sample a separate bias value for each feature dimension, making the model more suitable for structured inputs such as positions, velocities, or multi-DOF actions. ### Notes Structured inputs typically contain semantically distinct components, like [x, y, z] coordinates, where applying the same bias across all components introduces unrealistic, fully correlated noise. Independent per-dimension bias sampling leads to more realistic and robust policy training, especially for sim-to-real transfer. I’ve replaced the previous behavior with this new default, as I believe the original implementation could be misleading and not well-suited for many practical scenarios. However, if desired, I can make both behaviors available via a configuration flag (e.g., `per_feature_bias=True`), to retain backward compatibility. Fixes #2759. ## Type of change - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by: Kelly Guo --- source/isaaclab/config/extension.toml | 2 +- source/isaaclab/docs/CHANGELOG.rst | 10 ++++++++++ source/isaaclab/isaaclab/utils/noise/noise_cfg.py | 6 ++++++ source/isaaclab/isaaclab/utils/noise/noise_model.py | 9 +++++++++ 4 files changed, 26 insertions(+), 1 deletion(-) diff --git a/source/isaaclab/config/extension.toml b/source/isaaclab/config/extension.toml index 2360ea9c310..82a900e5540 100644 --- a/source/isaaclab/config/extension.toml +++ b/source/isaaclab/config/extension.toml @@ -1,7 +1,7 @@ [package] # Note: Semantic Versioning is used: https://semver.org/ -version = "0.40.8" +version = "0.40.9" # Description title = "Isaac Lab framework for Robot Learning" diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst index c482c426cf1..12778b61d38 100644 --- a/source/isaaclab/docs/CHANGELOG.rst +++ b/source/isaaclab/docs/CHANGELOG.rst @@ -1,6 +1,16 @@ Changelog --------- +0.40.9 (2025-06-25) +~~~~~~~~~~~~~~~~~~~ + +Added +^^^^^ + +* Added ``sample_bias_per_component`` flag to :class:`~isaaclab.utils.noise.noise_model.NoiseModelWithAdditiveBias` to enable independent per-component bias + sampling, which is now the default behavior. If set to False, the previous behavior of sharing the same bias value across all components is retained. + + 0.40.8 (2025-06-18) ~~~~~~~~~~~~~~~~~~~ diff --git a/source/isaaclab/isaaclab/utils/noise/noise_cfg.py b/source/isaaclab/isaaclab/utils/noise/noise_cfg.py index 508dff69654..0c49828b3ff 100644 --- a/source/isaaclab/isaaclab/utils/noise/noise_cfg.py +++ b/source/isaaclab/isaaclab/utils/noise/noise_cfg.py @@ -103,3 +103,9 @@ class NoiseModelWithAdditiveBiasCfg(NoiseModelCfg): Based on this configuration, the bias is sampled at every reset of the noise model. """ + + sample_bias_per_component: bool = True + """Whether to sample a separate bias for each data component. + + Defaults to True. + """ diff --git a/source/isaaclab/isaaclab/utils/noise/noise_model.py b/source/isaaclab/isaaclab/utils/noise/noise_model.py index 8f5569ff706..dae36b55c72 100644 --- a/source/isaaclab/isaaclab/utils/noise/noise_model.py +++ b/source/isaaclab/isaaclab/utils/noise/noise_model.py @@ -154,6 +154,8 @@ def __init__(self, noise_model_cfg: noise_cfg.NoiseModelWithAdditiveBiasCfg, num # store the bias noise configuration self._bias_noise_cfg = noise_model_cfg.bias_noise_cfg self._bias = torch.zeros((num_envs, 1), device=self._device) + self._num_components: int | None = None + self._sample_bias_per_component = noise_model_cfg.sample_bias_per_component def reset(self, env_ids: Sequence[int] | None = None): """Reset the noise model. @@ -179,4 +181,11 @@ def __call__(self, data: torch.Tensor) -> torch.Tensor: Returns: The data with the noise applied. Shape is the same as the input data. """ + # if sample_bias_per_component, on first apply, expand bias to match last dim of data + if self._sample_bias_per_component and self._num_components is None: + *_, self._num_components = data.shape + # expand bias from (num_envs,1) to (num_envs, num_components) + self._bias = self._bias.repeat(1, self._num_components) + # now re-sample that expanded bias in-place + self.reset() return super().__call__(data) + self._bias From 25f7a5daf06376baff9d7a37f4903b197e240970 Mon Sep 17 00:00:00 2001 From: Louis LE LAY Date: Thu, 26 Jun 2025 16:13:13 -0400 Subject: [PATCH 16/28] Removes redundant contact termination assignment in `H1RoughEnvCfg` (#1748) # Description In the `H1RoughEnvCfg` class, the `body_names` assignment for contact termination was initialized twice, which was redundant. This PR removes the duplicate assignment. ``` # Terminations self.terminations.base_contact.params["sensor_cfg"].body_names = [".*torso_link"] # Rewards self.rewards.undesired_contacts = None self.rewards.flat_orientation_l2.weight = -1.0 self.rewards.dof_torques_l2.weight = 0.0 self.rewards.action_rate_l2.weight = -0.005 self.rewards.dof_acc_l2.weight = -1.25e-7 # Commands self.commands.base_velocity.ranges.lin_vel_x = (0.0, 1.0) self.commands.base_velocity.ranges.lin_vel_y = (0.0, 0.0) self.commands.base_velocity.ranges.ang_vel_z = (-1.0, 1.0) # terminations self.terminations.base_contact.params["sensor_cfg"].body_names = ".*torso_link" ``` ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Kelly Guo Signed-off-by: Kelly Guo Co-authored-by: Kelly Guo Co-authored-by: Kelly Guo --- source/isaaclab_tasks/config/extension.toml | 2 +- source/isaaclab_tasks/docs/CHANGELOG.rst | 9 +++++++++ .../locomotion/velocity/config/h1/rough_env_cfg.py | 5 +---- 3 files changed, 11 insertions(+), 5 deletions(-) diff --git a/source/isaaclab_tasks/config/extension.toml b/source/isaaclab_tasks/config/extension.toml index 12b09689da3..4c081f500c5 100644 --- a/source/isaaclab_tasks/config/extension.toml +++ b/source/isaaclab_tasks/config/extension.toml @@ -1,7 +1,7 @@ [package] # Note: Semantic Versioning is used: https://semver.org/ -version = "0.10.34" +version = "0.10.35" # Description title = "Isaac Lab Environments" diff --git a/source/isaaclab_tasks/docs/CHANGELOG.rst b/source/isaaclab_tasks/docs/CHANGELOG.rst index ed2cc69e1a1..9cddf3f184a 100644 --- a/source/isaaclab_tasks/docs/CHANGELOG.rst +++ b/source/isaaclab_tasks/docs/CHANGELOG.rst @@ -1,6 +1,15 @@ Changelog --------- +0.10.35 (2025-05-22) +~~~~~~~~~~~~~~~~~~~~ + +Fixed +^^^^^ + +* Fixed redundant body_names assignment in rough_env_cfg.py for H1 robot. + + 0.10.34 (2025-06-16) ~~~~~~~~~~~~~~~~~~~~ diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py index 48ddb6677a7..31864701c47 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py @@ -97,9 +97,6 @@ def __post_init__(self): } self.events.base_com = None - # Terminations - self.terminations.base_contact.params["sensor_cfg"].body_names = [".*torso_link"] - # Rewards self.rewards.undesired_contacts = None self.rewards.flat_orientation_l2.weight = -1.0 @@ -112,7 +109,7 @@ def __post_init__(self): self.commands.base_velocity.ranges.lin_vel_y = (0.0, 0.0) self.commands.base_velocity.ranges.ang_vel_z = (-1.0, 1.0) - # terminations + # Terminations self.terminations.base_contact.params["sensor_cfg"].body_names = ".*torso_link" From d7fac0554cc99cf9e5fd758dedea807968ee93d4 Mon Sep 17 00:00:00 2001 From: Shaoshu Su <100821008+ShaoshuSu@users.noreply.github.com> Date: Thu, 26 Jun 2025 20:53:23 -0400 Subject: [PATCH 17/28] Improves the implementation of euler_xyz_from_quat (#2365) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit ## Description Previously, `euler_xyz_from_quat` returned Euler angles in the [0, 2π) range, which is uncommon in robotics applications. As a result, several users implemented their own workarounds to adjust the angle range to (−π, π]. Examples include: - **Isaac-RL-Two-wheel-Legged-Bot**: Custom unwrapping implemented in [`rewards.py#L17`](https://github.com/jaykorea/Isaac-RL-Two-wheel-Legged-Bot/blob/057f81ed3aa4aff91551fce5c54256e47cece29a/lab/flamingo/tasks/constraint_based/locomotion/velocity/mdp/rewards.py#L17). - **lorenzo-bianchi/IsaacLab**: Manual angle shifting in [`quadcopter_env_v1.py#L219`](https://github.com/lorenzo-bianchi/IsaacLab/blob/247f66db3691046ecdfecb311268eccc729048ec/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/quadcopter/quadcopter_env_v1.py#L219). - **kscalelabs/klab**: Custom angle normalization in [`imu.py#L17`](https://github.com/kscalelabs/klab/blob/edf749f5177ba296a076d13380cd0fb1e5846e3f/exts/zbot2/zbot2/tasks/locomotion/velocity/mdp/imu.py#L17). To address this issue, we have updated the default angle range from [0, 2π) to (−π, π] by removing the `% (2 * torch.pi)` operation at the return statement, since the [atan2 function](https://en.wikipedia.org/wiki/Atan2) naturally outputs angles within the (−π, π] range. We also introduced a new parameter, `wrap_to_2pi: bool = False`. Setting this parameter to `True` will maintain the previous behavior: - **Default (`wrap_to_2pi=False`)**: Angles returned in the range (−π, π]. - **Optional (`wrap_to_2pi=True`)**: Angles wrapped in the original [0, 2π) range. Additionally, multiple test samples have been added to evaluate and ensure performance and accuracy across different scenarios. ### What’s Changed - **Default behavior** updated to (−π, π] (non-breaking). - **New argument** `wrap_to_2pi` for optional wrapping. - **Unit tests** added for both wrapped and unwrapped outputs. --- Fixes https://github.com/isaac-sim/IsaacLab/issues/2364 ## Type of Change - **Enhancement** (non-breaking addition of functionality) --- ## Checklist - [x] Ran `./isaaclab.sh --format` and all pre-commit checks pass - [x] Updated docstrings to describe `wrap_to_2pi` parameter - [x] Added tests covering both wrapped and unwrapped outputs - [x] No new warnings introduced - [ ] Updated changelog and bumped version in `config/extension.toml` - [x] Confirmed my name is listed in `CONTRIBUTORS.md` --------- Co-authored-by: Kelly Guo --- CONTRIBUTORS.md | 1 + source/isaaclab/isaaclab/utils/math.py | 11 ++++- source/isaaclab/test/utils/test_math.py | 54 +++++++++++++++++++++++++ 3 files changed, 64 insertions(+), 2 deletions(-) diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md index 2f6eefbfb1b..736aba5afce 100644 --- a/CONTRIBUTORS.md +++ b/CONTRIBUTORS.md @@ -103,6 +103,7 @@ Guidelines for modifications: * Rosario Scalise * Ryley McCarroll * Shafeef Omar +* Shaoshu Su * Shundo Kishi * Stefan Van de Mosselaer * Stephan Pleines diff --git a/source/isaaclab/isaaclab/utils/math.py b/source/isaaclab/isaaclab/utils/math.py index 23d31bda5dc..062394a55e4 100644 --- a/source/isaaclab/isaaclab/utils/math.py +++ b/source/isaaclab/isaaclab/utils/math.py @@ -429,7 +429,9 @@ def matrix_from_euler(euler_angles: torch.Tensor, convention: str) -> torch.Tens @torch.jit.script -def euler_xyz_from_quat(quat: torch.Tensor) -> tuple[torch.Tensor, torch.Tensor, torch.Tensor]: +def euler_xyz_from_quat( + quat: torch.Tensor, wrap_to_2pi: bool = False +) -> tuple[torch.Tensor, torch.Tensor, torch.Tensor]: """Convert rotations given as quaternions to Euler angles in radians. Note: @@ -437,6 +439,9 @@ def euler_xyz_from_quat(quat: torch.Tensor) -> tuple[torch.Tensor, torch.Tensor, Args: quat: The quaternion orientation in (w, x, y, z). Shape is (N, 4). + wrap_to_2pi (bool): Whether to wrap output Euler angles into [0, 2π). If + False, angles are returned in the default range (−π, π]. Defaults to + False. Returns: A tuple containing roll-pitch-yaw. Each element is a tensor of shape (N,). @@ -459,7 +464,9 @@ def euler_xyz_from_quat(quat: torch.Tensor) -> tuple[torch.Tensor, torch.Tensor, cos_yaw = 1 - 2 * (q_y * q_y + q_z * q_z) yaw = torch.atan2(sin_yaw, cos_yaw) - return roll % (2 * torch.pi), pitch % (2 * torch.pi), yaw % (2 * torch.pi) # TODO: why not wrap_to_pi here ? + if wrap_to_2pi: + return roll % (2 * torch.pi), pitch % (2 * torch.pi), yaw % (2 * torch.pi) + return roll, pitch, yaw @torch.jit.script diff --git a/source/isaaclab/test/utils/test_math.py b/source/isaaclab/test/utils/test_math.py index a78d735fb13..0705af7f882 100644 --- a/source/isaaclab/test/utils/test_math.py +++ b/source/isaaclab/test/utils/test_math.py @@ -847,3 +847,57 @@ def test_interpolate_rotations(): # Assert that the result is almost equal to the expected quaternion np.testing.assert_array_almost_equal(result_axis_angle.cpu(), expected, decimal=DECIMAL_PRECISION) + + +def test_euler_xyz_from_quat(): + """Test euler_xyz_from_quat function. + + This test checks the output from the :meth:`~isaaclab.utils.math_utils.euler_xyz_from_quat` function + against the expected output for various quaternions. + The test includes quaternions representing different rotations around the x, y, and z axes. + The test is performed for both the default output range (-π, π] and the wrapped output range [0, 2π). + """ + quats = [ + torch.Tensor([[1.0, 0.0, 0.0, 0.0]]), # 0° around x, y, z + torch.Tensor([ + [0.9238795, 0.3826834, 0.0, 0.0], # 45° around x + [0.9238795, 0.0, -0.3826834, 0.0], # -45° around y + [0.9238795, 0.0, 0.0, -0.3826834], # -45° around z + ]), + torch.Tensor([ + [0.7071068, -0.7071068, 0.0, 0.0], # -90° around x + [0.7071068, 0.0, 0.0, -0.7071068], # -90° around z + ]), + torch.Tensor([ + [0.3826834, -0.9238795, 0.0, 0.0], # -135° around x + [0.3826834, 0.0, 0.0, -0.9238795], # -135° around y + ]), + ] + + expected_euler_angles = [ + torch.Tensor([[0.0, 0.0, 0.0]]), # identity + torch.Tensor([ + [torch.pi / 4, 0.0, 0.0], # 45° about x + [0.0, -torch.pi / 4, 0.0], # -45° about y + [0.0, 0.0, -torch.pi / 4], # -45° about z + ]), + torch.Tensor([ + [-torch.pi / 2, 0.0, 0.0], # -90° about x + [0.0, 0.0, -torch.pi / 2], # -90° about z + ]), + torch.Tensor([ + [-3 * torch.pi / 4, 0.0, 0.0], # -135° about x + [0.0, 0.0, -3 * torch.pi / 4], # -135° about y + ]), + ] + + # Test 1: default no-wrap range from (-π, π] + for quat, expected in zip(quats, expected_euler_angles): + output = torch.stack(math_utils.euler_xyz_from_quat(quat), dim=-1) + torch.testing.assert_close(output, expected) + + # Test 2: wrap to [0, 2π) + for quat, expected in zip(quats, expected_euler_angles): + wrapped = expected % (2 * torch.pi) + output = torch.stack(math_utils.euler_xyz_from_quat(quat, wrap_to_2pi=True), dim=-1) + torch.testing.assert_close(output, wrapped) From 3d82782b219eaaef9782b30788bc7efcbec77ef2 Mon Sep 17 00:00:00 2001 From: Norbert Cygiert <107721774+norbertcygiert@users.noreply.github.com> Date: Fri, 27 Jun 2025 02:53:48 +0200 Subject: [PATCH 18/28] Fixes typo in the docs for adding your own library (#2520) # Description Fix the small stylistic mistake in the documentation. ## Type of change - Bug fix (non-breaking change which fixes an issue) (docs fix) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Norbert Cygiert <107721774+norbertcygiert@users.noreply.github.com> Co-authored-by: Kelly Guo --- CONTRIBUTORS.md | 1 + docs/source/how-to/add_own_library.rst | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md index 736aba5afce..de4d8bdc5f2 100644 --- a/CONTRIBUTORS.md +++ b/CONTRIBUTORS.md @@ -87,6 +87,7 @@ Guidelines for modifications: * Miguel Alonso Jr * Muhong Guo * Nicola Loi +* Norbert Cygiert * Nuoyan Chen (Alvin) * Nuralem Abizov * Ori Gadot diff --git a/docs/source/how-to/add_own_library.rst b/docs/source/how-to/add_own_library.rst index e1ca232704e..2606abe9a13 100644 --- a/docs/source/how-to/add_own_library.rst +++ b/docs/source/how-to/add_own_library.rst @@ -63,7 +63,7 @@ Integrating a new library Adding a new library to Isaac Lab is similar to using a different version of a library. You can install the library in your Python environment and use it in your experiments. However, if you want to integrate the library with -Isaac Lab, you can will first need to make a wrapper for the library, as explained in +Isaac Lab, you will first need to make a wrapper for the library, as explained in :ref:`how-to-env-wrappers`. The following steps can be followed to integrate a new library with Isaac Lab: From fa8612ff2a1f59ac393d518ce0f57dfd94d2f3d2 Mon Sep 17 00:00:00 2001 From: David Date: Fri, 27 Jun 2025 01:55:22 +0100 Subject: [PATCH 19/28] Fixes memory leak in SDF calculation - warp doesn't free memory (#2680) # Description Thanks to Matteo Grimaldi, Saleh Nabi and Wonju Lee for identifying the source of this memory leak. Add garbage collector calls since warp doesn't handle well the free memory. Fixes #2679 ## Type of change - Bug fix ## Screenshots Before this change - the experiment hasn't been completed on 64GB RAM machines. After this change it requires less than 12GB RAM. ![Screenshot 2025-06-12 at 18 31 38](https://github.com/user-attachments/assets/695de828-2f9d-4714-aae3-5d9831ae6e77) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: David Signed-off-by: Kelly Guo Co-authored-by: Kelly Guo --- CONTRIBUTORS.md | 1 + .../direct/automate/industreal_algo_utils.py | 8 ++++++++ 2 files changed, 9 insertions(+) diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md index de4d8bdc5f2..1d64f029b46 100644 --- a/CONTRIBUTORS.md +++ b/CONTRIBUTORS.md @@ -122,6 +122,7 @@ Guidelines for modifications: * Zhengyu Zhang * Ziqi Fan * Zoe McCarthy +* David Leon ## Acknowledgements diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/automate/industreal_algo_utils.py b/source/isaaclab_tasks/isaaclab_tasks/direct/automate/industreal_algo_utils.py index 6acd883017f..89cf4d2553d 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/automate/industreal_algo_utils.py +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/automate/industreal_algo_utils.py @@ -38,6 +38,8 @@ Not intended to be executed as a standalone script. """ +# Force garbage collection for large arrays +import gc import numpy as np import os @@ -150,8 +152,14 @@ def get_sdf_reward( sdf_reward[i] = torch.mean(sdf_dist) + del mesh_copy + del mesh_points + del mesh_indices + del sampled_points + sdf_reward = -torch.log(sdf_reward) + gc.collect() # Force garbage collection to free memory return sdf_reward From 394a1629a2dca699fa8db3a83aeaa5c59ccb52fa Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=C3=96zhan=20=C3=96zen?= <41010165+ozhanozen@users.noreply.github.com> Date: Fri, 27 Jun 2025 02:57:38 +0200 Subject: [PATCH 20/28] Modifies `update_class_from_dict()` to wholesale replace flat Iterables (#2511) # Description Currently, `update_class_from_dict()` does not allow updating the configclass Iterable elements with Hydra, when the provided Iterable length differs from the default value. Such a feature is nevertheless needed when changing the network layer depth on the go, e.g., while using learning libraries that utilize configclass (see #2456 for details). This PR modifies `update_class_from_dict()` such that if an element is a flat Iterable (e.g., flat list), it is replaced wholesale, without checking the lengths. Moreover, the PR modifies the robustness of the function against a few edge cases that might break the execution, and adds comments to make it easier to follow the logic flow. Note: I left the changelog entry as `[Unreleased]` until a green light is given. Fixes #2456. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Kelly Guo Signed-off-by: Kelly Guo Co-authored-by: Kelly Guo Co-authored-by: Kelly Guo --- source/isaaclab/config/extension.toml | 2 +- source/isaaclab/docs/CHANGELOG.rst | 9 ++++ source/isaaclab/isaaclab/utils/dict.py | 50 +++++++++++++++---- .../isaaclab/test/utils/test_configclass.py | 22 ++++++++ 4 files changed, 73 insertions(+), 10 deletions(-) diff --git a/source/isaaclab/config/extension.toml b/source/isaaclab/config/extension.toml index 82a900e5540..249c71e86be 100644 --- a/source/isaaclab/config/extension.toml +++ b/source/isaaclab/config/extension.toml @@ -1,7 +1,7 @@ [package] # Note: Semantic Versioning is used: https://semver.org/ -version = "0.40.9" +version = "0.40.10" # Description title = "Isaac Lab framework for Robot Learning" diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst index 12778b61d38..bfd39a9524d 100644 --- a/source/isaaclab/docs/CHANGELOG.rst +++ b/source/isaaclab/docs/CHANGELOG.rst @@ -1,6 +1,15 @@ Changelog --------- +0.40.10 (2025-06-25) +~~~~~~~~~~~~~~~~~~~~ + +Fixed +^^^^^ + +* Fixed :meth:`omni.isaac.lab.utils.dict.update_class_from_dict` preventing setting flat Iterables with different lengths. + + 0.40.9 (2025-06-25) ~~~~~~~~~~~~~~~~~~~ diff --git a/source/isaaclab/isaaclab/utils/dict.py b/source/isaaclab/isaaclab/utils/dict.py index fe178b54573..bbf961aad24 100644 --- a/source/isaaclab/isaaclab/utils/dict.py +++ b/source/isaaclab/isaaclab/utils/dict.py @@ -9,7 +9,7 @@ import hashlib import json import torch -from collections.abc import Iterable, Mapping +from collections.abc import Iterable, Mapping, Sized from typing import Any from .array import TENSOR_TYPE_CONVERSIONS, TENSOR_TYPES @@ -90,47 +90,79 @@ def update_class_from_dict(obj, data: dict[str, Any], _ns: str = "") -> None: for key, value in data.items(): # key_ns is the full namespace of the key key_ns = _ns + "/" + key - # check if key is present in the object - if hasattr(obj, key) or isinstance(obj, dict): + + # -- A) if key is present in the object ------------------------------------ + if hasattr(obj, key) or (isinstance(obj, dict) and key in obj): obj_mem = obj[key] if isinstance(obj, dict) else getattr(obj, key) + + # -- 1) nested mapping → recurse --------------------------- if isinstance(value, Mapping): # recursively call if it is a dictionary update_class_from_dict(obj_mem, value, _ns=key_ns) continue + + # -- 2) iterable (list / tuple / etc.) --------------------- if isinstance(value, Iterable) and not isinstance(value, str): - # check length of value to be safe - if len(obj_mem) != len(value) and obj_mem is not None: + + # ---- 2a) flat iterable → replace wholesale ---------- + if all(not isinstance(el, Mapping) for el in value): + out_val = tuple(value) if isinstance(obj_mem, tuple) else value + if isinstance(obj, dict): + obj[key] = out_val + else: + setattr(obj, key, out_val) + continue + + # ---- 2b) existing value is None → abort ------------- + if obj_mem is None: + raise ValueError( + f"[Config]: Cannot merge list under namespace: {key_ns} because the existing value is None." + ) + + # ---- 2c) length mismatch → abort ------------------- + if isinstance(obj_mem, Sized) and isinstance(value, Sized) and len(obj_mem) != len(value): raise ValueError( f"[Config]: Incorrect length under namespace: {key_ns}." f" Expected: {len(obj_mem)}, Received: {len(value)}." ) + + # ---- 2d) keep tuple/list parity & recurse ---------- if isinstance(obj_mem, tuple): value = tuple(value) else: set_obj = True - # recursively call if iterable contains dictionaries + # recursively call if iterable contains Mappings for i in range(len(obj_mem)): - if isinstance(value[i], dict): + if isinstance(value[i], Mapping): update_class_from_dict(obj_mem[i], value[i], _ns=key_ns) set_obj = False # do not set value to obj, otherwise it overwrites the cfg class with the dict if not set_obj: continue + + # -- 3) callable attribute → resolve string -------------- elif callable(obj_mem): # update function name value = string_to_callable(value) - elif isinstance(value, type(obj_mem)) or value is None: + + # -- 4) simple scalar / explicit None --------------------- + elif value is None or isinstance(value, type(obj_mem)): pass + + # -- 5) type mismatch → abort ----------------------------- else: raise ValueError( f"[Config]: Incorrect type under namespace: {key_ns}." f" Expected: {type(obj_mem)}, Received: {type(value)}." ) - # set value + + # -- 6) final assignment --------------------------------- if isinstance(obj, dict): obj[key] = value else: setattr(obj, key, value) + + # -- B) if key is not present ------------------------------------ else: raise KeyError(f"[Config]: Key not found under namespace: {key_ns}.") diff --git a/source/isaaclab/test/utils/test_configclass.py b/source/isaaclab/test/utils/test_configclass.py index 81e876bd97e..6fbfb4ee8f9 100644 --- a/source/isaaclab/test/utils/test_configclass.py +++ b/source/isaaclab/test/utils/test_configclass.py @@ -643,6 +643,28 @@ def test_config_update_nested_dict(): assert isinstance(cfg.list_1[1].viewer, ViewerCfg) +def test_config_update_different_iterable_lengths(): + """Iterables are whole replaced, even if their lengths are different.""" + + # original cfg has length-6 tuple and list + cfg = RobotDefaultStateCfg() + assert cfg.dof_pos == (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) + assert cfg.dof_vel == [0.0, 0.0, 0.0, 0.0, 0.0, 1.0] + + # patch uses different lengths + patch = { + "dof_pos": (1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0), # longer tuple + "dof_vel": [9.0, 8.0, 7.0], # shorter list + } + + # should not raise + update_class_from_dict(cfg, patch) + + # whole sequences are replaced + assert cfg.dof_pos == (1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0) + assert cfg.dof_vel == [9.0, 8.0, 7.0] + + def test_config_update_dict_using_internal(): """Test updating configclass from a dictionary using configclass method.""" cfg = BasicDemoCfg() From 05c22bebd5619b39756f0909f4e3a2cc4b6c78d2 Mon Sep 17 00:00:00 2001 From: Kris Wilson Date: Thu, 26 Jun 2025 20:56:03 -0700 Subject: [PATCH 21/28] Removes protobuf upper version pin (#2726) # Description This PR relaxes the upper range of allowed protobuf versions so that IsaacLab can be installed in a modern python environment without downgrading or conflicting with modern protobuf versions. The original reason for pinning this to <5 was apparently due to transitive breakage in tensorboard, which also had this pinned to <5 - so pinning this in IsaacLab itself would not be necessary if both deps were composed together. Tensorboard has since (in Aug 2024) unpinned this here: https://github.com/tensorflow/tensorboard/pull/6888 So, the original concern should, afaict, be obviated now. # Fixes This should repair any case where someone wants to install IsaacLab into a modern python environment that uses any of the Google ecosystem (gRPC/protobuf et al) without conflict or forced down-rev'ing to older versions (current version of protobuf is 6.31.1). ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --- CONTRIBUTORS.md | 1 + source/isaaclab_rl/config/extension.toml | 2 +- source/isaaclab_rl/docs/CHANGELOG.rst | 10 +++++++++- source/isaaclab_rl/setup.py | 4 +--- source/isaaclab_tasks/config/extension.toml | 2 +- source/isaaclab_tasks/docs/CHANGELOG.rst | 9 +++++++++ source/isaaclab_tasks/setup.py | 4 +--- 7 files changed, 23 insertions(+), 9 deletions(-) diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md index 1d64f029b46..4cba9ac8724 100644 --- a/CONTRIBUTORS.md +++ b/CONTRIBUTORS.md @@ -75,6 +75,7 @@ Guidelines for modifications: * Jinqi Wei * Johnson Sun * Kaixi Bao +* Kris Wilson * Kourosh Darvish * Kousheek Chakraborty * Lionel Gulich diff --git a/source/isaaclab_rl/config/extension.toml b/source/isaaclab_rl/config/extension.toml index c5876e60b7a..9e2c873573f 100644 --- a/source/isaaclab_rl/config/extension.toml +++ b/source/isaaclab_rl/config/extension.toml @@ -1,7 +1,7 @@ [package] # Note: Semantic Versioning is used: https://semver.org/ -version = "0.1.5" +version = "0.1.6" # Description title = "Isaac Lab RL" diff --git a/source/isaaclab_rl/docs/CHANGELOG.rst b/source/isaaclab_rl/docs/CHANGELOG.rst index 0d1e42ba3ff..c39bed61f50 100644 --- a/source/isaaclab_rl/docs/CHANGELOG.rst +++ b/source/isaaclab_rl/docs/CHANGELOG.rst @@ -1,6 +1,15 @@ Changelog --------- +0.1.6 (2025-06-26) +~~~~~~~~~~~~~~~~~~ + +Fixed +^^^^^ + +* Relaxed upper range pin for protobuf python dependency for more permissive installation. + + 0.1.5 (2025-04-11) ~~~~~~~~~~~~~~~~~~ @@ -9,7 +18,6 @@ Changed * Optimized Stable-Baselines3 wrapper ``Sb3VecEnvWrapper`` (now 4x faster) by using Numpy buffers and only logging episode and truncation information by default. * Upgraded minimum SB3 version to 2.6.0 and added optional dependencies for progress bar - 0.1.4 (2025-04-10) ~~~~~~~~~~~~~~~~~~ diff --git a/source/isaaclab_rl/setup.py b/source/isaaclab_rl/setup.py index ac96139a86f..057ba7b8d1b 100644 --- a/source/isaaclab_rl/setup.py +++ b/source/isaaclab_rl/setup.py @@ -22,9 +22,7 @@ "numpy", "torch==2.5.1", "torchvision>=0.14.1", # ensure compatibility with torch 1.13.1 - # 5.26.0 introduced a breaking change, so we restricted it for now. - # See issue https://github.com/tensorflow/tensorboard/issues/6808 for details. - "protobuf>=3.20.2, < 5.0.0", + "protobuf>=3.20.2,!=5.26.0", # configuration management "hydra-core", # data collection diff --git a/source/isaaclab_tasks/config/extension.toml b/source/isaaclab_tasks/config/extension.toml index 4c081f500c5..d827c066495 100644 --- a/source/isaaclab_tasks/config/extension.toml +++ b/source/isaaclab_tasks/config/extension.toml @@ -1,7 +1,7 @@ [package] # Note: Semantic Versioning is used: https://semver.org/ -version = "0.10.35" +version = "0.10.36" # Description title = "Isaac Lab Environments" diff --git a/source/isaaclab_tasks/docs/CHANGELOG.rst b/source/isaaclab_tasks/docs/CHANGELOG.rst index 9cddf3f184a..d5f59b1b7ac 100644 --- a/source/isaaclab_tasks/docs/CHANGELOG.rst +++ b/source/isaaclab_tasks/docs/CHANGELOG.rst @@ -1,6 +1,15 @@ Changelog --------- +0.10.36 (2025-06-26) +~~~~~~~~~~~~~~~~~~~~ + +Fixed +^^^^^ + +* Relaxed upper range pin for protobuf python dependency for more permissive installation. + + 0.10.35 (2025-05-22) ~~~~~~~~~~~~~~~~~~~~ diff --git a/source/isaaclab_tasks/setup.py b/source/isaaclab_tasks/setup.py index 31933298a75..2bb2687ec66 100644 --- a/source/isaaclab_tasks/setup.py +++ b/source/isaaclab_tasks/setup.py @@ -21,9 +21,7 @@ "numpy", "torch==2.5.1", "torchvision>=0.14.1", # ensure compatibility with torch 1.13.1 - # 5.26.0 introduced a breaking change, so we restricted it for now. - # See issue https://github.com/tensorflow/tensorboard/issues/6808 for details. - "protobuf>=3.20.2, < 5.0.0", + "protobuf>=3.20.2,!=5.26.0", # basic logger "tensorboard", # automate From 66cc743e24ec3a99274d2e5cc285d8f584e2506a Mon Sep 17 00:00:00 2001 From: Kelly Guo Date: Thu, 26 Jun 2025 21:47:59 -0700 Subject: [PATCH 22/28] Updates play script for SB3 and RL library benchmarks (#2789) # Description Minor fixes for SB3 play script to accommodate for inference task names and updates profiling numbers for the RL library comparison. ## Type of change - Bug fix (non-breaking change which fixes an issue) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --- docs/source/overview/environments.rst | 6 ++++++ .../reinforcement-learning/rl_frameworks.rst | 12 +++++------- scripts/reinforcement_learning/sb3/play.py | 7 ++++--- 3 files changed, 15 insertions(+), 10 deletions(-) diff --git a/docs/source/overview/environments.rst b/docs/source/overview/environments.rst index 4135842b74e..476b571a732 100644 --- a/docs/source/overview/environments.rst +++ b/docs/source/overview/environments.rst @@ -214,6 +214,12 @@ We provide environments for both disassembly and assembly. wget https://developer.download.nvidia.com/compute/cuda/12.8.0/local_installers/cuda_12.8.0_570.86.10_linux.run sudo sh cuda_12.8.0_570.86.10_linux.run + When using conda, cuda toolkit can be installed with: + + .. code-block:: bash + + conda install cudatoolkit + For addition instructions and Windows installation, please refer to the `CUDA installation page `_. * |disassembly-link|: The plug starts inserted in the socket. A low-level controller lifts the plug out and moves it to a random position. This process is purely scripted and does not involve any learned policy. Therefore, it does not require policy training or evaluation. The resulting trajectories serve as demonstrations for the reverse process, i.e., learning to assemble. To run disassembly for a specific task: ``python source/isaaclab_tasks/isaaclab_tasks/direct/automate/run_disassembly_w_id.py --assembly_id=ASSEMBLY_ID --disassembly_dir=DISASSEMBLY_DIR``. All generated trajectories are saved to a local directory ``DISASSEMBLY_DIR``. diff --git a/docs/source/overview/reinforcement-learning/rl_frameworks.rst b/docs/source/overview/reinforcement-learning/rl_frameworks.rst index dc3f1e2d93f..34d47c17cdc 100644 --- a/docs/source/overview/reinforcement-learning/rl_frameworks.rst +++ b/docs/source/overview/reinforcement-learning/rl_frameworks.rst @@ -71,20 +71,18 @@ Training Performance -------------------- We performed training with each RL library on the same ``Isaac-Humanoid-v0`` environment -with ``--headless`` on a single RTX 4090 GPU using 4096 environments +with ``--headless`` on a single RTX PRO 6000 GPU using 4096 environments and logged the total training time for 65.5M steps for each RL library. -.. - Note: SB3 need to be re-run (current number comes from a GeForce RTX 3070) +--------------------+-----------------+ | RL Library | Time in seconds | +====================+=================+ -| RL-Games | 203 | +| RL-Games | 207 | +--------------------+-----------------+ -| SKRL | 204 | +| SKRL | 208 | +--------------------+-----------------+ -| RSL RL | 207 | +| RSL RL | 199 | +--------------------+-----------------+ -| Stable-Baselines3 | 550 | +| Stable-Baselines3 | 322 | +--------------------+-----------------+ diff --git a/scripts/reinforcement_learning/sb3/play.py b/scripts/reinforcement_learning/sb3/play.py index 010f0f1e615..0c3246a327e 100644 --- a/scripts/reinforcement_learning/sb3/play.py +++ b/scripts/reinforcement_learning/sb3/play.py @@ -82,13 +82,14 @@ def main(): ) task_name = args_cli.task.split(":")[-1] + train_task_name = task_name.replace("-Play", "") # directory for logging into - log_root_path = os.path.join("logs", "sb3", task_name) + log_root_path = os.path.join("logs", "sb3", train_task_name) log_root_path = os.path.abspath(log_root_path) # checkpoint and log_dir stuff if args_cli.use_pretrained_checkpoint: - checkpoint_path = get_published_pretrained_checkpoint("sb3", task_name) + checkpoint_path = get_published_pretrained_checkpoint("sb3", train_task_name) if not checkpoint_path: print("[INFO] Unfortunately a pre-trained checkpoint is currently unavailable for this task.") return @@ -98,7 +99,7 @@ def main(): checkpoint = "model_.*.zip" else: checkpoint = "model.zip" - checkpoint_path = get_checkpoint_path(log_root_path, ".*", checkpoint) + checkpoint_path = get_checkpoint_path(log_root_path, ".*", checkpoint, sort_alpha=False) else: checkpoint_path = args_cli.checkpoint log_dir = os.path.dirname(checkpoint_path) From 4a7d15db0af6b42220fa8692ea8b953d28028f9b Mon Sep 17 00:00:00 2001 From: Brian Bingham Date: Fri, 27 Jun 2025 14:06:24 -0700 Subject: [PATCH 23/28] Updates training_jetbot_reward_exploration.rst (#2788) # Description This is a small change to the Walkthrough documentation to make it explicit to change the observation space dimension in the second half of the Exploring the RL problem tutorial. Fixes #2787 ## Type of change - This change is exclusively documentation --------- Signed-off-by: Brian Bingham Signed-off-by: Michael Gussert Co-authored-by: Michael Gussert --- CONTRIBUTORS.md | 1 + .../setup/walkthrough/training_jetbot_reward_exploration.rst | 2 ++ 2 files changed, 3 insertions(+) diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md index 4cba9ac8724..fe4b06dd263 100644 --- a/CONTRIBUTORS.md +++ b/CONTRIBUTORS.md @@ -46,6 +46,7 @@ Guidelines for modifications: * Bikram Pandit * Bingjie Tang * Brayden Zhang +* Brian Bingham * Cameron Upright * Calvin Yu * Cheng-Rong Lai diff --git a/docs/source/setup/walkthrough/training_jetbot_reward_exploration.rst b/docs/source/setup/walkthrough/training_jetbot_reward_exploration.rst index 25f39ee8c93..bf9d734270b 100644 --- a/docs/source/setup/walkthrough/training_jetbot_reward_exploration.rst +++ b/docs/source/setup/walkthrough/training_jetbot_reward_exploration.rst @@ -75,6 +75,8 @@ from linear algebra! Replace the contents of ``_get_observations`` with the foll observations = {"policy": obs} return observations +We also need to **edit the ``IsaacLabTutorialEnvCfg`` to set the observation space back to 3** which includes the dot product, the z component of the cross product, and the forward speed. + The dot or inner product tells us how aligned two vectors are as a single scalar quantity. If they are very aligned and pointed in the same direction, then the inner product will be large and positive, but if they are aligned and in opposite directions, it will be large and negative. If two vectors are perpendicular, the inner product is zero. This means that the inner product between the forward vector and the command vector can tell us From 3d6f55b9858dc1595c956d904577a364818f77bd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=C3=96zhan=20=C3=96zen?= <41010165+ozhanozen@users.noreply.github.com> Date: Sat, 28 Jun 2025 02:04:05 +0200 Subject: [PATCH 24/28] Fixes the implementation of `quat_inv()` (#2797) # Description Corrects `quat_inv()` in utils/math.py: the inverse is now computed as: `quat_conjugate(q) / q.pow(2).sum(dim=-1, keepdim=True).clamp(min=eps)` ensuring correct results for **non-unit** quaternions. Fixes #1263 (see discussion for details). Also updated `CHANGELOG.rst` and corrected a few minor typos within. ## Type of change - Bug fix (non-breaking change which fixes an issue) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by: Kelly Guo --- source/isaaclab/config/extension.toml | 2 +- source/isaaclab/docs/CHANGELOG.rst | 24 +++++++++++++++----- source/isaaclab/isaaclab/utils/math.py | 7 +++--- source/isaaclab/test/utils/test_math.py | 29 +++++++++++++++++++++++++ 4 files changed, 53 insertions(+), 9 deletions(-) diff --git a/source/isaaclab/config/extension.toml b/source/isaaclab/config/extension.toml index 249c71e86be..cf769e34cfb 100644 --- a/source/isaaclab/config/extension.toml +++ b/source/isaaclab/config/extension.toml @@ -1,7 +1,7 @@ [package] # Note: Semantic Versioning is used: https://semver.org/ -version = "0.40.10" +version = "0.40.11" # Description title = "Isaac Lab framework for Robot Learning" diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst index bfd39a9524d..7dfe075a3a4 100644 --- a/source/isaaclab/docs/CHANGELOG.rst +++ b/source/isaaclab/docs/CHANGELOG.rst @@ -1,13 +1,27 @@ Changelog --------- +0.40.11 (2025-06-27) +~~~~~~~~~~~~~~~~~~~~ + +Added +^^^^^ + +* Added unit test for :func:`~isaaclab.utils.math.quat_inv`. + +Fixed +^^^^^ + +* Fixed the implementation mistake in :func:`~isaaclab.utils.math.quat_inv`. + + 0.40.10 (2025-06-25) ~~~~~~~~~~~~~~~~~~~~ Fixed ^^^^^ -* Fixed :meth:`omni.isaac.lab.utils.dict.update_class_from_dict` preventing setting flat Iterables with different lengths. +* Fixed :func:`~isaaclab.utils.dict.update_class_from_dict` preventing setting flat Iterables with different lengths. 0.40.9 (2025-06-25) @@ -17,7 +31,7 @@ Added ^^^^^ * Added ``sample_bias_per_component`` flag to :class:`~isaaclab.utils.noise.noise_model.NoiseModelWithAdditiveBias` to enable independent per-component bias - sampling, which is now the default behavior. If set to False, the previous behavior of sharing the same bias value across all components is retained. + sampling, which is now the default behavior. If set to False, the previous behavior of sharing the same bias value across all components is retained. 0.40.8 (2025-06-18) @@ -27,8 +41,8 @@ Fixed ^^^^^ * Fixed data inconsistency between read_body, read_link, read_com when write_body, write_com, write_joint performed, in - :class:`~isaaclab.assets.Articulation`, :class:`~isaaclab.assets.RigidObject`, and - :class:`~isaaclab.assets.RigidObjectCollection` + :class:`~isaaclab.assets.Articulation`, :class:`~isaaclab.assets.RigidObject`, and + :class:`~isaaclab.assets.RigidObjectCollection` * added pytest that check against these data consistencies @@ -38,7 +52,7 @@ Fixed Added ^^^^^ -* :class:`NoiseModel` support for manager-based workflows. +* :class:`~isaaclab.utils.noise.NoiseModel` support for manager-based workflows. Changed ^^^^^^^ diff --git a/source/isaaclab/isaaclab/utils/math.py b/source/isaaclab/isaaclab/utils/math.py index 062394a55e4..c1e879a87a4 100644 --- a/source/isaaclab/isaaclab/utils/math.py +++ b/source/isaaclab/isaaclab/utils/math.py @@ -254,16 +254,17 @@ def quat_conjugate(q: torch.Tensor) -> torch.Tensor: @torch.jit.script -def quat_inv(q: torch.Tensor) -> torch.Tensor: - """Compute the inverse of a quaternion. +def quat_inv(q: torch.Tensor, eps: float = 1e-9) -> torch.Tensor: + """Computes the inverse of a quaternion. Args: q: The quaternion orientation in (w, x, y, z). Shape is (N, 4). + eps: A small value to avoid division by zero. Defaults to 1e-9. Returns: The inverse quaternion in (w, x, y, z). Shape is (N, 4). """ - return normalize(quat_conjugate(q)) + return quat_conjugate(q) / q.pow(2).sum(dim=-1, keepdim=True).clamp(min=eps) @torch.jit.script diff --git a/source/isaaclab/test/utils/test_math.py b/source/isaaclab/test/utils/test_math.py index 0705af7f882..b159182121f 100644 --- a/source/isaaclab/test/utils/test_math.py +++ b/source/isaaclab/test/utils/test_math.py @@ -593,6 +593,35 @@ def test_quat_apply_inverse(device): torch.testing.assert_close(scipy_result.to(device=device), apply_result, atol=2e-4, rtol=2e-4) +@pytest.mark.parametrize("device", ["cpu", "cuda:0"]) +def test_quat_inv(device): + """Test for quat_inv method. + + For random unit and non-unit quaternions q, the Hamilton products + q ⊗ q⁻¹ and q⁻¹ ⊗ q must both equal the identity quaternion (1,0,0,0) + within numerical precision. + """ + num = 2048 + + # -------- non-unit sample (average ‖q‖ ≈ 10) -------- + q_nonunit = torch.randn(num, 4, device=device) * 5.0 + + # -------- unit sample (‖q‖ = 1) -------- + q_unit = torch.randn(num, 4, device=device) + q_unit = q_unit / q_unit.norm(dim=-1, keepdim=True) + + identity = torch.tensor([1.0, 0.0, 0.0, 0.0], device=device) + + for q in (q_nonunit, q_unit): + q_inv = math_utils.quat_inv(q) + + id_batch = identity.expand_as(q) + + # left and right products must both be identity + torch.testing.assert_close(math_utils.quat_mul(q, q_inv), id_batch, atol=1e-4, rtol=1e-4) + torch.testing.assert_close(math_utils.quat_mul(q_inv, q), id_batch, atol=1e-4, rtol=1e-4) + + def test_quat_apply_benchmarks(): """Test for quat_apply and quat_apply_inverse methods compared to old methods using torch.bmm and torch.einsum. The new implementation uses :meth:`torch.einsum` instead of `torch.bmm` which allows From 752be19bade88c1f1e2a06a1ca6519baafbba216 Mon Sep 17 00:00:00 2001 From: Masoud Moghani Date: Tue, 1 Jul 2025 10:26:07 -0700 Subject: [PATCH 25/28] Sets robomimic version to v0.4.0 (#2814) # Description This MR fixes compatibility issues with robomimic by setting its installation version to v0.4.0. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --- source/isaaclab_mimic/setup.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/isaaclab_mimic/setup.py b/source/isaaclab_mimic/setup.py index e8bc75b4ab2..510e16a8dba 100644 --- a/source/isaaclab_mimic/setup.py +++ b/source/isaaclab_mimic/setup.py @@ -29,7 +29,7 @@ # Check if the platform is Linux and add the dependency if platform.system() == "Linux": - EXTRAS_REQUIRE["robomimic"].append("robomimic@git+https://github.com/ARISE-Initiative/robomimic.git") + EXTRAS_REQUIRE["robomimic"].append("robomimic@git+https://github.com/ARISE-Initiative/robomimic.git@v0.4.0") # Cumulation of all extra-requires EXTRAS_REQUIRE["all"] = list(itertools.chain.from_iterable(EXTRAS_REQUIRE.values())) From 367925cb5b64802001230532e1ca5c89e94f6992 Mon Sep 17 00:00:00 2001 From: Kelly Guo Date: Mon, 7 Jul 2025 18:20:23 +0000 Subject: [PATCH 26/28] Allows slicing to be processed from lists (#2853) # Description replace_slices_with_strings() and replace_strings_with_slices() in [IsaacLab/source/isaaclab/isaaclab/utils/dict.py](https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab/isaaclab/utils/dict.py) are changed to allow slices being process if a list of dicts is passed in as input. Cherry picks changes from https://github.com/isaac-sim/IsaacLab/pull/2571 by @LinghengMeng Fixes #2481 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --- source/isaaclab/isaaclab/utils/dict.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/source/isaaclab/isaaclab/utils/dict.py b/source/isaaclab/isaaclab/utils/dict.py index bbf961aad24..6e3a3d71046 100644 --- a/source/isaaclab/isaaclab/utils/dict.py +++ b/source/isaaclab/isaaclab/utils/dict.py @@ -299,6 +299,8 @@ def replace_slices_with_strings(data: dict) -> dict: """ if isinstance(data, dict): return {k: replace_slices_with_strings(v) for k, v in data.items()} + elif isinstance(data, list): + return [replace_slices_with_strings(v) for v in data] elif isinstance(data, slice): return f"slice({data.start},{data.stop},{data.step})" else: @@ -316,6 +318,8 @@ def replace_strings_with_slices(data: dict) -> dict: """ if isinstance(data, dict): return {k: replace_strings_with_slices(v) for k, v in data.items()} + elif isinstance(data, list): + return [replace_strings_with_slices(v) for v in data] elif isinstance(data, str) and data.startswith("slice("): return string_to_slice(data) else: From 8d589fc837a1b487b8a6d110eb9448ac6e5313de Mon Sep 17 00:00:00 2001 From: ooctipus Date: Mon, 7 Jul 2025 16:55:14 -0700 Subject: [PATCH 27/28] Fixes numpy ver to <2 for isaaclab_rl and isaaclab_tasks (#2866) # Description This PR fixes the numpy version get upgraded to >2 when installing rl_packages dependencies ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --- source/isaaclab_rl/setup.py | 2 +- source/isaaclab_tasks/setup.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/source/isaaclab_rl/setup.py b/source/isaaclab_rl/setup.py index 057ba7b8d1b..8320cb866b0 100644 --- a/source/isaaclab_rl/setup.py +++ b/source/isaaclab_rl/setup.py @@ -19,7 +19,7 @@ # Minimum dependencies required prior to installation INSTALL_REQUIRES = [ # generic - "numpy", + "numpy<2", "torch==2.5.1", "torchvision>=0.14.1", # ensure compatibility with torch 1.13.1 "protobuf>=3.20.2,!=5.26.0", diff --git a/source/isaaclab_tasks/setup.py b/source/isaaclab_tasks/setup.py index 2bb2687ec66..3f17fd21016 100644 --- a/source/isaaclab_tasks/setup.py +++ b/source/isaaclab_tasks/setup.py @@ -18,7 +18,7 @@ # Minimum dependencies required prior to installation INSTALL_REQUIRES = [ # generic - "numpy", + "numpy<2", "torch==2.5.1", "torchvision>=0.14.1", # ensure compatibility with torch 1.13.1 "protobuf>=3.20.2,!=5.26.0", From 75824e8d8d323675951865cc313d6a381083c3ce Mon Sep 17 00:00:00 2001 From: Kelly Guo Date: Mon, 7 Jul 2025 17:46:03 -0700 Subject: [PATCH 28/28] Updates gymnasium to v1.2.0 (#2852) # Description Updates gymnasium to 1.2.0, which includes a fix for memory leak when recording videos during training with `--video`. Fixes #1996 ## Type of change - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) - Breaking change (fix or feature that would cause existing functionality to not work as expected) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --- source/isaaclab/config/extension.toml | 2 +- source/isaaclab/docs/CHANGELOG.rst | 10 ++++++++++ source/isaaclab/setup.py | 2 +- 3 files changed, 12 insertions(+), 2 deletions(-) diff --git a/source/isaaclab/config/extension.toml b/source/isaaclab/config/extension.toml index cf769e34cfb..b4719ba9424 100644 --- a/source/isaaclab/config/extension.toml +++ b/source/isaaclab/config/extension.toml @@ -1,7 +1,7 @@ [package] # Note: Semantic Versioning is used: https://semver.org/ -version = "0.40.11" +version = "0.40.12" # Description title = "Isaac Lab framework for Robot Learning" diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst index 7dfe075a3a4..d560029f05d 100644 --- a/source/isaaclab/docs/CHANGELOG.rst +++ b/source/isaaclab/docs/CHANGELOG.rst @@ -1,6 +1,16 @@ Changelog --------- +0.40.12 (2025-07-03) +~~~~~~~~~~~~~~~~~~~~ + +Changed +^^^^^^^ + +* Updated gymnasium to v1.2.0. This update includes fixes for a memory leak that appears when recording + videos with the ``--video`` flag. + + 0.40.11 (2025-06-27) ~~~~~~~~~~~~~~~~~~~~ diff --git a/source/isaaclab/setup.py b/source/isaaclab/setup.py index a5be0711a4a..6c972ab776d 100644 --- a/source/isaaclab/setup.py +++ b/source/isaaclab/setup.py @@ -27,7 +27,7 @@ # devices "hidapi==0.14.0.post2", # reinforcement learning - "gymnasium>=1.0", + "gymnasium==1.2.0", # procedural-generation "trimesh", "pyglet<2",