Merge branch 'main' into mrahme/isaacsim_5_0_joint_pos_out_of_limit_bug

Author: moribots

.github/CODEOWNERS

@@ -19,48 +19,67 @@
 /apps/ @kellyguo11 @hhansen-bdai @Mayankm96
 
 # Core Framework
-/source/isaaclab/ @Mayankm96 @kellyguo11
 /source/isaaclab/isaaclab/actuators @Mayankm96 @jtigue-bdai
 /source/isaaclab/isaaclab/app @hhansen-bdai @kellyguo11
 /source/isaaclab/isaaclab/assets @kellyguo11 @Mayankm96 @jtigue-bdai
-/source/isaaclab/isaaclab/assets/deformable_object @kellyguo11 @Mayankm96 @masoudmoghani
+/source/isaaclab/isaaclab/assets/deformable_object @masoudmoghani @ooctipus
 /source/isaaclab/isaaclab/controllers @Mayankm96
-/source/isaaclab/isaaclab/envs @kellyguo11 @Mayankm96
-/source/isaaclab/isaaclab/envs/manager_based_* @Mayankm96 @jtigue-bdai
+/source/isaaclab/isaaclab/envs/manager_based_* @Mayankm96 @jtigue-bdai @ooctipus
 /source/isaaclab/isaaclab/envs/direct_* @kellyguo11
-/source/isaaclab/isaaclab/managers @jtigue-bdai @Mayankm96
-/source/isaaclab/isaaclab/sensors @pascal-roth @Mayankm96 @jtigue-bdai
+/source/isaaclab/isaaclab/envs/mdp @ooctipus
+/source/isaaclab/isaaclab/envs/mimic_* @peterd-NV
+/source/isaaclab/isaaclab/envs/ui @ooctipus @ossamaAhmed
+/source/isaaclab/isaaclab/envs/utils @Toni-SM
+/source/isaaclab/isaaclab/managers @jtigue-bdai @Mayankm96 @ooctipus
+/source/isaaclab/isaaclab/sensors/sensor_base* @pascal-roth
 /source/isaaclab/isaaclab/sensors/camera @kellyguo11 @pascal-roth
-/source/isaaclab/isaaclab/sensors/contact_sensor @jtigue-bdai
+/source/isaaclab/isaaclab/sensors/contact_sensor @jtigue-bdai @ooctipus
 /source/isaaclab/isaaclab/sensors/imu @jtigue-bdai @pascal-roth
 /source/isaaclab/isaaclab/sensors/ray_caster @pascal-roth
-/source/isaaclab/isaaclab/sim @Mayankm96 @jtigue-bdai
-/source/isaaclab/isaaclab/sim/simulation_context.py @kellyguo11
+/source/isaaclab/isaaclab/sensors/frame_transformer @jtigue-bdai
+/source/isaaclab/isaaclab/sim/converters @Mayankm96 @jtigue-bdai @kellyguo11
+/source/isaaclab/isaaclab/sim/schemas @Mayankm96 @jtigue-bdai @kellyguo11
+/source/isaaclab/isaaclab/sim/spawners @Mayankm96 @jtigue-bdai @ooctipus
+/source/isaaclab/isaaclab/sim/simulation_* @matthewtrepte @ossamaAhmed @kellyguo11
 /source/isaaclab/isaaclab/terrains @Mayankm96
-/source/isaaclab/isaaclab/utils @Mayankm96 @jtigue-bdai
-/source/isaaclab/isaaclab/utils/modifiers @jtigue-bdai
+/source/isaaclab/isaaclab/ui @pascal-roth @jtigue-bdai
+/source/isaaclab/isaaclab/utils/buffers @ooctipus @jtigue-bdai
+/source/isaaclab/isaaclab/utils/datasets @Peter-NV
 /source/isaaclab/isaaclab/utils/interpolation @jtigue-bdai
+/source/isaaclab/isaaclab/utils/io @ooctipus
+/source/isaaclab/isaaclab/utils/modifiers @jtigue-bdai
 /source/isaaclab/isaaclab/utils/noise @jtigue-bdai @kellyguo11
 /source/isaaclab/isaaclab/utils/warp @pascal-roth
 /source/isaaclab/isaaclab/utils/assets.py @kellyguo11 @Mayankm96
 /source/isaaclab/isaaclab/utils/math.py @jtigue-bdai @Mayankm96
 /source/isaaclab/isaaclab/utils/configclass.py @Mayankm96
+/source/isaaclab/isaaclab/utils/sensors.py @kellyguo11 @pascal-roth
 
 # RL Environment
-/source/isaaclab_tasks/ @Mayankm96 @kellyguo11
 /source/isaaclab_tasks/isaaclab_tasks/direct @kellyguo11
 /source/isaaclab_tasks/isaaclab_tasks/manager_based @Mayankm96
+/source/isaaclab_tasks/isaaclab_tasks/utils @Mayankm96
 
 # Assets
 /source/isaaclab_assets/isaaclab_assets/ @pascal-roth
 
+# Mimic
+/source/isaaclab_mimic/isaaclab_mimic @peterd-NV
+
+# RL
+/source/isaaclab_rl/isaaclab_rl/rsl_rl @Mayankm96 @ClemensSchwarke
+/source/isaaclab_rl/isaaclab_rl/rl_games @Toni-SM
+/source/isaaclab_rl/isaaclab_rl/sb3 @Toni-SM
+/source/isaaclab_rl/isaaclab_rl/skrl @Toni-SM
+
 # Standalone Scripts
-/scripts/demos/ @jtigue-bdai @kellyguo11 @Mayankm96
-/scripts/environments/ @Mayankm96
+/scripts/benchmarks/ @ooctipus @kellyguo11
+/scripts/demos/ @ooctipus
+/scripts/environments/ @ooctipus
+/scripts/imitation_learning/ @Peter-NV
+/scripts/reinforcement_learning/ @ooctipus @Toni-NV
 /scripts/tools/ @jtigue-bdai @Mayankm96
-/scripts/tutorials/ @jtigue-bdai @pascal-roth @kellyguo11 @Mayankm96
-/scripts/reinforcement_learning/ @jtigue-bdai @kellyguo11 @Mayankm96
-/scripts/imitation_learning/ @jtigue-bdai @kellyguo11 @Mayankm96
+/scripts/tutorials/ @jtigue-bdai @pascal-roth
 
 # Github Actions
 # This list is for people wanting to be notified every time there's a change

CONTRIBUTORS.md

@@ -59,6 +59,7 @@ Guidelines for modifications:
 * David Yang
 * Dhananjay Shendre
 * Dorsa Rohani
+* Emily Sturman
 * Fabian Jenelten
 * Felipe Mohr
 * Felix Yu

apps/isaaclab.python.headless.rendering.kit

@@ -88,6 +88,9 @@ app.audio.enabled = false
 # Enable Vulkan - avoids torch+cu12 error on windows
 app.vulkan = true
 
+# Disables rate limit in runloop
+app.runLoops.main.rateLimitEnabled=false
+
 # disable replicator orchestrator for better runtime perf
 exts."omni.replicator.core".Orchestrator.enabled = false
 

docs/index.rst

@@ -33,7 +33,7 @@ Isaac lab is developed with specific robot assets that are now **Batteries-inclu
 - **Humanoids**: Unitree H1, Unitree G1
 - **Quadcopter**: Crazyflie
 
-The platform is also designed so that you can add your own robots! please refer to the
+The platform is also designed so that you can add your own robots! Please refer to the
 :ref:`how-to` section for details.
 
 For more information about the framework, please refer to the `paper <https://arxiv.org/abs/2301.04195>`_
@@ -48,12 +48,13 @@ For more information about the framework, please refer to the `paper <https://ar
 License
 =======
 
-The Isaac Lab framework is open-sourced under the BSD-3-Clause license.
-Please refer to :ref:`license` for more details.
+The Isaac Lab framework is open-sourced under the BSD-3-Clause license,
+with certain parts under Apache-2.0 license. Please refer to :ref:`license` for more details.
 
 Acknowledgement
 ===============
-Isaac Lab development initiated from the `Orbit <https://isaac-orbit.github.io/>`_ framework. We would appreciate if you would cite it in academic publications as well:
+Isaac Lab development initiated from the `Orbit <https://isaac-orbit.github.io/>`_ framework.
+We would appreciate if you would cite it in academic publications as well:
 
 .. code:: bibtex
 

docs/source/api/lab_rl/isaaclab_rl.rst

@@ -1,4 +1,6 @@
-isaaclab_rl
+.. _api-isaaclab-rl:
+
+isaaclab_rl
 ===========
 
 .. automodule:: isaaclab_rl

docs/source/how-to/add_own_library.rst

@@ -68,7 +68,7 @@ Isaac Lab, you will first need to make a wrapper for the library, as explained i
 
 The following steps can be followed to integrate a new library with Isaac Lab:
 
-1. Add your library as an extra-dependency in the ``setup.py`` for the extension ``isaaclab_tasks``.
+1. Add your library as an extra-dependency in the ``setup.py`` for the extension ``isaaclab_rl``.
    This will ensure that the library is installed when you install Isaac Lab or it will complain if the library is not
    installed or available.
 2. Install your library in the Python environment used by Isaac Lab. You can do this by following the steps mentioned
@@ -86,6 +86,15 @@ works as expected and can guide users on how to use the wrapper.
 * Add some tests to ensure that the wrapper works as expected and remains compatible with the library.
   These tests can be added to the ``source/isaaclab_rl/test`` directory.
 * Add some documentation for the wrapper. You can add the API documentation to the
-  ``docs/source/api/lab_tasks/isaaclab_rl.rst`` file.
+  :ref:`API documentation<api-isaaclab-rl>` for the ``isaaclab_rl`` module.
+
+
+Configuring an RL Agent
+-----------------------
+
+Once you have integrated a new library with Isaac Lab, you can configure the example environment to use the new library.
+You can check the :ref:`tutorial-configure-rl-training` for an example of how to configure the training process to use a
+different library.
+
 
 .. _rsl-rl: https://github.com/leggedrobotics/rsl_rl

docs/source/overview/reinforcement-learning/rl_existing_scripts.rst

@@ -65,7 +65,7 @@ RSL-RL
             # run script for training
             ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Reach-Franka-v0 --headless
             # run script for playing with 32 environments
-            ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --load_run run_folder_name --checkpoint model.pt
+            ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --load_run run_folder_name --checkpoint /PATH/TO/model.pt
             # run script for playing a pre-trained checkpoint with 32 environments
             ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --use_pretrained_checkpoint
             # run script for recording video of a trained agent (requires installing `ffmpeg`)
@@ -81,7 +81,7 @@ RSL-RL
             :: run script for training
             isaaclab.bat -p scripts\reinforcement_learning\rsl_rl\train.py --task Isaac-Reach-Franka-v0 --headless
             :: run script for playing with 32 environments
-            isaaclab.bat -p scripts\reinforcement_learning\rsl_rl\play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --load_run run_folder_name --checkpoint model.pt
+            isaaclab.bat -p scripts\reinforcement_learning\rsl_rl\play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --load_run run_folder_name --checkpoint /PATH/TO/model.pt
             :: run script for playing a pre-trained checkpoint with 32 environments
             isaaclab.bat -p scripts\reinforcement_learning\rsl_rl\play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --use_pretrained_checkpoint
             :: run script for recording video of a trained agent (requires installing `ffmpeg`)

docs/source/refs/release_notes.rst

@@ -154,7 +154,7 @@ Improvements
 ------------
 
 Core API
-^^^^^^^^
+~~~~~~~~
 
 * **Actuator Interfaces**
   * Fixes implicit actuator limits configs for assets by @ooctipus
@@ -198,7 +198,7 @@ Core API
   * Allows slicing from list values in dicts by @LinghengMeng @kellyguo11
 
 Tasks API
-^^^^^^^^^
+~~~~~~~~~
 
 * Adds support for ``module:task`` and gymnasium >=1.0 by @kellyguo11
 * Adds RL library error hints by @Toni-SM
@@ -212,7 +212,7 @@ Tasks API
 * Pre-processes SB3 env image obs-space for CNN pipeline by @ooctipus
 
 Infrastructure
-^^^^^^^^^^^^^^^
+~~~~~~~~~~~~~~
 
 * **Dependencies**
   * Updates torch to 2.7.0 with CUDA 12.8 by @kellyguo11
@@ -239,7 +239,7 @@ Bug Fixes
 ---------
 
 Core API
-^^^^^^^^
+~~~~~~~~
 
 * **Actuator Interfaces**
   * Fixes DCMotor clipping for negative power by @jtigue-bdai
@@ -267,12 +267,12 @@ Core API
   * Fixes ``quat_inv()`` implementation by @ozhanozen
 
 Tasks API
-^^^^^^^^^
+~~~~~~~~~
 
 * Fixes LSTM to ONNX export by @jtigue-bdai
 
 Example Tasks
-^^^^^^^^^^^^^
+~~~~~~~~~~~~~
 
 * Removes contact termination redundancy by @louislelay
 * Fixes memory leak in SDF by @leondavi

docs/source/setup/ecosystem.rst

@@ -83,15 +83,46 @@ be the single robot learning framework for Isaac Sim. Previously released framew
 and we encourage users to follow our migration guides to transition over to Isaac Lab.
 
 
+Is Isaac Lab a simulator?
+-------------------------
+
+Often, when people think of simulators, they think of various commonly available engines, such as
+`MuJoCo`_, `Bullet`_, and `Flex`_. These engines are powerful and have been used in a number of
+research projects. However, they are not designed to be a general purpose simulator for robotics.
+Rather they are primarily physics engines that are used to simulate the dynamics of rigid and
+deformable bodies. They are shipped with some basic rendering capabilities to visualize the
+simulation and provide parsing capabilities of different scene description formats.
+
+Various recent works combine these physics engines with different rendering engines to provide
+a more complete simulation environment. They include APIs that allow reading and writing to the
+physics and rendering engines. In some cases, they support ROS and hardware-in-the-loop simulation
+for more robotic-specific applications. An example of these include `AirSim`_, `DoorGym`_, `ManiSkill`_,
+`ThreeDWorld`_ and lastly, `Isaac Sim`_.
+
+At its core, Isaac Lab is **not** a robotics simulator, but a framework for building robot learning
+applications on top of Isaac Sim. An equivalent example of such a framework is `RoboSuite`_, which
+is built on top of `MuJoCo`_ and is specific to fixed-base robots. Other examples include
+`MuJoCo Playground`_ and `Isaac Gym`_ which use `MJX`_ and `PhysX`_ respectively. They
+include a number of pre-built tasks with separated out stand-alone implementations for individual
+tasks. While this is a good starting point (and often convenient), a lot of code
+repetition occurs across different task implementations, which can reduce code-reuse for larger
+projects and teams.
+
+The main goal of Isaac Lab is to provide a unified framework for robot learning that includes
+a variety of tooling and features that are required for robot learning, while being easy to
+use and extend. It includes design patterns that simplify many of the common requirements for
+robotics research. These include simulating sensors at different frequencies, connecting to different
+teleoperation interfaces for data collection, switching action spaces for policy learning,
+using Hydra for configuration management, supporting different learning libraries and more.
+Isaac Lab supports designing tasks using *manager-based (modularized)* and *direct (single-script
+similar to Isaac Gym)* patterns, leaving it up to the user to choose the best approach for their
+use-case. For each of these patterns, Isaac Lab includes a number of pre-built tasks that can be
+used for benchmarking and research.
+
+
 Why should I use Isaac Lab?
 ---------------------------
 
-Since Isaac Sim remains closed-sourced, it is difficult for users to contribute to the simulator and build a
-common framework for research. On its current path, we see the community using the simulator will simply
-develop their own frameworks that will result in scattered efforts with a lot of duplication of work.
-This has happened in the past with other simulators, and we believe that it is not the best way to move
-forward as a community.
-
 Isaac Lab provides an open-sourced platform for the community to drive progress with consolidated efforts
 toward designing benchmarks and robot learning systems as a joint initiative. This allows us to reuse
 existing components and algorithms, and to build on top of each other's work. Doing so not only saves
@@ -113,3 +144,12 @@ to Isaac Lab, please reach out to us.
 .. _OmniIsaacGymEnvs: https://github.com/isaac-sim/OmniIsaacGymEnvs
 .. _Orbit: https://isaac-orbit.github.io/
 .. _Isaac Automator: https://github.com/isaac-sim/IsaacAutomator
+.. _AirSim: https://microsoft.github.io/AirSim/
+.. _DoorGym: https://github.com/PSVL/DoorGym/
+.. _ManiSkill: https://github.com/haosulab/ManiSkill
+.. _ThreeDWorld: https://www.threedworld.org/
+.. _RoboSuite: https://robosuite.ai/
+.. _MuJoCo Playground: https://playground.mujoco.org/
+.. _MJX: https://mujoco.readthedocs.io/en/stable/mjx.html
+.. _Bullet: https://github.com/bulletphysics/bullet3
+.. _Flex: https://developer.nvidia.com/flex

docs/source/setup/walkthrough/project_setup.rst

@@ -69,7 +69,7 @@ used as the default output directories for tasks run by this project.
 
 
 Project Structure
-------------------------------
+-----------------
 
 There are four nested structures you need to be aware of when working in the direct workflow with an Isaac Lab template
 project: the **Project**, the **Extension**, the **Modules**, and the **Task**.