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# Description Adds `6` to the joint indices when indexing the Jacobian tensor in floating base systems. This is required because, in floating base articulations, the first 6 elements of the last dimensions are w.r.t to the root pose, not the joints. Fixes #1032 ## 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] 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
# Description This MR swaps the keyboard command (X, Z) for yaw in the `Se2Keyboard` class to have the following mapping: - Z - positive yaw - X - negative yaw It also corrects the docstring of the `Se2Keyboard` class. Fixes #1029 _Note:_ I double checked the `Se3Keyboard` class and the implementation there is correct. ## 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 run all the tests with `./isaaclab.sh --test` and they pass - [ ] 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
…to_camera depth image (#976)
# Description Adds manager based cartpole vision example environments. Also uses the`convert_perspective_depth_to_orthogonal_depth ` functionality introduced in #976 , contains a duplicate copy of the method and test for completeness of the PR. Will be synced with main to remove this duplicate copy once #976 is merged into main, or #976 will be synced with main if this PR is merged first ## Type of change - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## 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 - [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 ## Testing Training converged in both RGB and Depth at similar rates to the direct environments --------- Signed-off-by: garylvov <[email protected]> Signed-off-by: glvov-bdai <[email protected]> Co-authored-by: garylvov <[email protected]> Co-authored-by: garylvov <[email protected]> Co-authored-by: James Smith <[email protected]>
# Description This pull request fixes a bug that prevented setting the seed from CLI arguments. The issue was caused by an extra pair of quotation marks in the `hasattr` check for `args_cli`. Removing these allows the seed to be correctly set via CLI. ## 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 - [ ] 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
#1114) # Description This pull request fixes an issue where the device was being parsed by the app launcher but not set into the scripts. This change ensures that the device is correctly passed from CLI arguments to the simulation configuration in standalone scripts. ## 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 - [ ] 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
# Description Fix small typos in the documentation and comments ## 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 - [ ] 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
# Description Adds the `enable_cameras` flag to tutorials requiring cameras. ## 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 - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description For all observation-related terms, we follow the noun name for the function. However, the camera one was called `grab_images`. This MR renames it to `image` to make it consistent with the others. Also the docstring for the math-utils were messed up. According to Google's docstyle, the first line should be a short summary and a detailed summary should move to the next paragraph. This MR fixes that as well. Lastly, the name of the function `convert_perspective_depth_to_orthoginal_depth` has too much redundancy. The MR renames it to `orthogonalize_perpsective_depth`. All these are breaking changes with no backwards compatibility (since they were added post-last release anyway). ## Type of change - 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 - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Mayank Mittal <[email protected]>
# Description It seems that `pxr.Semantics` module is now deprecated. Instead the `Semantics` module should be used directly. This MR makes changes to the affected modules. Verified for Isaac Sim 4.2. ## 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 - [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: Mayank Mittal <[email protected]>
# Description A typo in the code was preventing the `size` parameter in GroundPlaneCfg from being parsed and applied to the default ground plane. In addition, some errors are being thrown with the kit command use to apply the scale. This change fixes the typo and switches to use isaac sim core APIs for applying scale. ## 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
# Description This change adds support to the train.py workflow scripts to support setting seed=-1 to generate a random seed. Previously, setting seed to -1 would cause errors to be thrown from RL libraries due to negative seed values. ## 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 - [ ] 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
…rms (#858) # Description Update FrameTransformer to handle 2 new functionalities: * Target frames that aren't children of the source frame prim_path * Target frames that are based upon the source frame prim_path These new changes mean that the frame names will most likely be different than the configured order - but this was always a possibility to the way the regex is parsed. To be safe, users need to use `frame_names` to determine indexing into `FrameTransformerData`. Test cases have been added for both of these new functionalities - thanks @Mayankm96! Also, the run script has been updated slightly as the previous indexing was off by 1. Fixes #857 #294 ## Type of change - 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` - [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
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Description
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pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there