Implement Fabric-aware get/set_local_poses via indexedfabricarray#2
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Implement Fabric-aware get/set_local_poses via indexedfabricarray#2pv-nvidia wants to merge 89 commits into
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…m#5473) # Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> Extend debug Visualization Markers, which are supported in the Kit Visualizer, to the Newton Visualizers. These Visualization Markers are various shapes and models which can be added to envs for debugging / showing extra information. Also added filtering for partial visualization (when we filtered which envs are shown the in the visualizer, we also filter the markers) For general USD mesh marker support in Newton, a followup PR will be required, once a Newton API for general USD -> Newton Mesh conversion is added (see newton-physics/newton#2667) Checked velocity arrows, dexcubes, raycasts, frames, goal markers <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) - Documentation update ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] 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 - [ ] 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: matthewtrepte <mtrepte@nvidia.com>
# Description - Increase the CI startup-hang grace period from 45s to 120s so slow but valid Kit startup is not killed prematurely. - Make `SurfaceGripper` fail fast on non-CPU simulation backends before loading the surface gripper extension. - Skip the CI-only `SurfaceGripperView` CPU initialization path that can deadlock, while keeping CUDA fail-fast coverage. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
…isaac-sim#5478) Follow-up to isaac-sim#5434 (fragment-based changelog system). Two contributor-facing references still pointed at the old "edit CHANGELOG.rst directly" workflow: - **`docs/source/refs/contributing.rst`** — *Maintaining a changelog and extension.toml* section described per-version editing of CHANGELOG.rst with manual SemVer bumps. - **`.github/PULL_REQUEST_TEMPLATE.md`** — checklist asked contributors to update the changelog and bump extension.toml directly. Replaced only the parts that talk about direct editing; section/style guidance (Added/Changed/Deprecated/Removed/Fixed, past tense, the sample bullets themselves) stays intact. ## Test plan - [x] Pre-commit clean - [ ] Verify Build Latest Docs CI step renders the new section correctly cc @kellyguo11 — addresses the doc gaps flagged after isaac-sim#5434 merged.
# Description Mark all RTX-based rendering test cases flaky until they can produce deterministic low-res camera outputs that pass golden image testing on every CI run. Fixes # (issue) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change - Test change ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: HuiDong Chen <huidongc@nvidia.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
…ic_write (isaac-sim#5380) ## Summary Replace the `sync_usd_on_fabric_write` workaround in `FabricFrameView` with proper `PrepareForReuse()` calls on the Fabric `PrimSelection`. This tells the renderer (FSD/Storm) that Fabric data has changed, so the next rendered frame reflects updated transforms — eliminating the need to copy Fabric writes back to USD. ## Motivation The existing `sync_usd_on_fabric_write` flag worked by mirroring every Fabric write back to USD, which defeated the performance benefits of Fabric. With `PrepareForReuse()`, the rendering pipeline is properly notified of Fabric data changes without any USD writeback. Additionally, the old code incorrectly fell back to USD for CPU devices — Warp handles CPU Fabric buffers correctly, so the fallback was unnecessary. This addresses two of the issues raised in @pbarejko Piotr's review of PR isaac-sim#4923: - **Issue #1** (USD write-back): Fabric writes no longer sync back to USD - **Issue #4** (PrepareForReuse): Renderer notification via `PrepareForReuse()` instead of USD writeback ## Changes ### Core (FabricFrameView) - Call `_prepare_for_reuse()` in write paths (`set_world_poses`, `set_scales`) to notify the renderer - Remove `sync_usd_on_fabric_write` parameter (accepted via `**kwargs` for backward compat) - Remove incorrect CPU/device fallback warnings — Warp handles CPU Fabric buffers correctly - Add `_rebuild_fabric_arrays()` for topology change recovery when `PrepareForReuse()` returns True, with assertion guarding the prim-count invariant ### Camera - Remove `sync_usd_on_fabric_write=True` from FrameView construction in `camera.py` ## Benchmark Results 1024 prims, 50 iterations, NVIDIA L40 GPU: | Operation | USD (ms) | Fabric (ms) | Speedup | |---|---|---|---| | Get World Poses | 14.71 | 0.07 | **203x** | | Set World Poses | 40.75 | 0.16 | **259x** | | Interleaved Set→Get | 55.90 | 0.24 | **232x** | | Get Local Poses | 11.08 | 11.12 | 1.0x | | Set Local Poses | 16.14 | 16.28 | 1.0x | Local poses fall back to USD (expected — Fabric only accelerates world poses via `omni:fabric:worldMatrix`). ## Tests Added | Test | What it validates | |------|------------------| | `test_camera_pose_update_reflected_in_render` | Camera pose changes propagate to rendered depth (close vs far) for CPU/GPU, tiled/non-tiled | | `test_fabric_set_world_does_not_write_back_to_usd` | Fabric writes stay in Fabric, USD prim unchanged | | `test_set_world_updates_local` (xfail) | Documents Issue #5: `set_world_poses` doesn't update local pose in Fabric mode | ## Test Results | Test Suite | Passed | Skipped | Xfailed | Total | |---|---|---|---|---| | Fabric contract tests (`test_views_xform_prim_fabric.py`) | 17 | 16 | 1 | 34 | | USD contract tests (`test_views_xform_prim.py`) | 45 | 0 | 0 | 45 | | Camera render test (`test_tiled_camera.py`) | 8 | 0 | 0 | 8 | ## Type of change - Performance improvement (removes redundant USD writeback on Fabric operations) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 *No doc changes needed (parameter wasn't referenced in any docs)*
…tation (isaac-sim#5506) # Description This PR changes the PyTorch3d installation command in the locomanipulation SDG policy training / rollout to use git and install pytorch3d from source. Fixes # (issue) NV bug 6115836 ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] 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 - [ ] 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
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# Description the camera config was importing `isaaclab_physx.renderers` because the default render_cfg was set to that config. this PR sets that to RendererConfig to remove the import, but provides a get_default_render_config method to the backend_utils to lazily import the config if needed. this is called __post_init__ on the camera config to replace the generic config as soon as possible to avoid downstream issues referencing the renderer config. this action can be moved to the factory if downstream references are cleaned up. ## Type of change - Refactor to remove imports in cfg class ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 --------- Co-authored-by: nvsekkin <72572910+nvsekkin@users.noreply.github.com>
…ields (isaac-sim#5275) # Description Splits IsaacLab's USD-physics cfg classes into solver-common base classes and backend-specific subclasses, and refactors the writers (`modify_*_properties`, `spawn_rigid_body_material`) so that schema application is data-driven rather than hard-coded per-class. Prepares the schema layer for multi-backend support (PhysX today, Newton/Mjc next) without polluting base classes with silently-ignored fields or stamping backend-specific schemas onto prims that didn't opt in. ## Architecture Two layered concepts: 1. **Per-declaring-class routing.** Each cfg field's USD namespace is determined by the class that declares it (walking the MRO). Base-class fields write under `physics:*`; subclass fields write under their own namespace (`physxRigidBody:*`, etc.). When a `PhysxRigidBodyPropertiesCfg` instance is written, base fields still go under `physics:*` because `_usd_namespace` is read from the declaring class via `__dict__`, not via `getattr` (which would hit the subclass override). 2. **Per-field exceptions.** Some "universal physics" fields have no USD path except through a backend-namespaced attribute today (e.g., `disable_gravity` only exists at `physxRigidBody:disableGravity`). These are declared as `_usd_field_exceptions = {applied_schema: (namespace, [fields...])}` on the base class; the writer applies the exception schema only when one of the listed fields is non-None. The single helper `_apply_namespaced_schemas(prim, cfg, cfg_dict)` in `schemas.py` does both passes for every writer (rigid body, collision, articulation root, joint drive, mesh collision, rigid-body material). ## Design constraints **One cfg class per spawner slot.** Spawners (`UsdFileCfg`, `MeshCuboidCfg`, etc.) carry a single field for each property group: `rigid_props: RigidBodyBaseCfg | None`, `collision_props: CollisionBaseCfg | None`, `joint_drive_props: JointDriveBaseCfg | None`, etc. The user cannot pass two cfgs into the same slot, so the cfg class hierarchy must be **single-rooted per spawner field** — one base class per group, with backend-specific subclasses below. This rules out a "PhysX cfg sits next to a Newton cfg as siblings" design and drives several placement decisions: | Constraint | Consequence | |---|---| | Universal-physics fields must be reachable from any backend's cfg | Goes on the **base** class, not a sibling backend cfg. Users on Newton-only deployments can use `RigidBodyBaseCfg(disable_gravity=True)` without importing `isaaclab_physx`. | | A PhysX-namespaced field whose semantics are universal (e.g., `disable_gravity`) | Lives on the base but routes to the PhysX namespace via `_usd_field_exceptions`. The base stays backend-clean; the writer dispatches the PhysX write only when the field is non-None. | | Writer logic must not branch on cfg subclass | Every writer is the same code path regardless of subclass. The cfg metadata (`_usd_namespace`, `_usd_applied_schema`, `_usd_field_exceptions`) drives behavior; the writer is a pure data interpreter. | | Adding a new backend (Newton, Mjc) | Requires a new subclass with its own `_usd_namespace` / `_usd_applied_schema`. No spawner-side changes, no writer-side changes, no base-cfg-side changes. | | A field has multiple USD paths today (one PhysX-namespaced, one Newton-namespaced) | Belongs on the **PhysX subclass**, not the base. A future `NewtonArticulationRootPropertiesCfg` will own the same conceptual field on the Newton side. ("Rule 2" — e.g., `enabled_self_collisions`.) | | A field has only one USD path today, namespaced under PhysX, but the conceptual quantity is universal | Belongs on the **base** with an `_usd_field_exceptions` entry. ("Rule 1" — e.g., `disable_gravity`, `articulation_enabled`, `contact_offset`, `rest_offset`, `max_joint_velocity`.) When Newton ships its own native attribute, the exception namespace switches transparently with no API change. | ## Field placement ### Base (solver-common) classes — `physics:*` namespace via `UsdPhysics.*API` | Cfg class | Field | USD attribute | |---|---|---| | `RigidBodyBaseCfg` | `rigid_body_enabled` | `physics:rigidBodyEnabled` | | `RigidBodyBaseCfg` | `kinematic_enabled` | `physics:kinematicEnabled` | | `CollisionBaseCfg` | `collision_enabled` | `physics:collisionEnabled` | | `MassPropertiesCfg` | `mass` | `physics:mass` | | `MassPropertiesCfg` | `density` | `physics:density` | | `RigidBodyMaterialBaseCfg` | `static_friction` | `physics:staticFriction` | | `RigidBodyMaterialBaseCfg` | `dynamic_friction` | `physics:dynamicFriction` | | `RigidBodyMaterialBaseCfg` | `restitution` | `physics:restitution` | | `JointDriveBaseCfg` | `drive_type` | `drive:<axis>:physics:type` | | `JointDriveBaseCfg` | `max_force` | `drive:<axis>:physics:maxForce` | | `JointDriveBaseCfg` | `stiffness` | `drive:<axis>:physics:stiffness` | | `JointDriveBaseCfg` | `damping` | `drive:<axis>:physics:damping` | | `MeshCollisionBaseCfg` | `mesh_approximation_name` | `physics:approximation` (token) | | `ArticulationRootBaseCfg` | `fix_root_link` | (synthesizes `UsdPhysics.FixedJoint`) | `JointDriveBaseCfg` and `MeshCollisionBaseCfg` use the typed `UsdPhysics.DriveAPI` / `UsdPhysics.MeshCollisionAPI` accessors at the writer level (multi-instance namespace and `TfToken` with `allowedTokens`, respectively); all other base fields flow through the helper's per-class routing. ### PhysX subclasses — `physx*:*` namespaces, `Physx*API` schemas | Cfg class | `_usd_namespace` | `_usd_applied_schema` | Adds fields | |---|---|---|---| | `PhysxRigidBodyPropertiesCfg` | `physxRigidBody` | `PhysxRigidBodyAPI` | `linear_damping`, `angular_damping`, `max_linear_velocity`, `max_angular_velocity`, `max_depenetration_velocity`, `max_contact_impulse`, `enable_gyroscopic_forces`, `retain_accelerations`, solver iter counts, sleep / stabilization thresholds | | `PhysxCollisionPropertiesCfg` | `physxCollision` | `PhysxCollisionAPI` | `torsional_patch_radius`, `min_torsional_patch_radius` | | `PhysxArticulationRootPropertiesCfg` | `physxArticulation` | `PhysxArticulationAPI` | `enabled_self_collisions`, solver iter counts, sleep / stabilization thresholds | | `PhysxJointDrivePropertiesCfg` | `physxJoint` | `PhysxJointAPI` | (currently empty; reserved for future PhysX-only knobs) | | `PhysxRigidBodyMaterialCfg` | `physxMaterial` | `PhysxMaterialAPI` | `compliant_contact_stiffness`, `compliant_contact_damping`, `friction_combine_mode`, `restitution_combine_mode` | | `PhysxConvexHullPropertiesCfg` | `physxConvexHullCollision` | `PhysxConvexHullCollisionAPI` | `hull_vertex_limit`, `min_thickness` | | `PhysxConvexDecompositionPropertiesCfg` | `physxConvexDecompositionCollision` | `PhysxConvexDecompositionCollisionAPI` | hull / voxel / shrink-wrap tunables | | `PhysxTriangleMeshPropertiesCfg` | `physxTriangleMeshCollision` | `PhysxTriangleMeshCollisionAPI` | `weld_tolerance` | | `PhysxTriangleMeshSimplificationPropertiesCfg` | `physxTriangleMeshSimplificationCollision` | `PhysxTriangleMeshSimplificationCollisionAPI` | `simplification_metric`, `weld_tolerance` | | `PhysxSDFMeshPropertiesCfg` | `physxSDFMeshCollision` | `PhysxSDFMeshCollisionAPI` | `sdf_margin`, `sdf_narrow_band_thickness`, `sdf_resolution`, etc. | ### `_usd_field_exceptions` table These fields are declared on a *base* class but the only USD path today goes through a non-base namespace. Each entry says: "if any listed field on this cfg is non-None, apply the exception schema and write that one attribute under the exception namespace." All other fields on the cfg follow the per-declaring-class routing rule. | Base cfg class | Exception schema | Namespace | Field(s) | Why on the base | |---|---|---|---|---| | `RigidBodyBaseCfg` | `PhysxRigidBodyAPI` | `physxRigidBody` | `disable_gravity` | Per-body gravity exclusion is universal physics; PhysX honors per-body, Newton consumes the same attribute via the bridge resolver (scene-level today; per-body fix is a Newton-side kernel change, not a cfg-API change) | | `CollisionBaseCfg` | `PhysxCollisionAPI` | `physxCollision` | `contact_offset`, `rest_offset` | Collision-pair generation distance and rest gap are universal physics; Newton importer consumes both via PhysX bridge to populate `Model.shape_collision_radius` / `_thickness` (`import_usd.py:2104, 2111`) | | `ArticulationRootBaseCfg` | `PhysxArticulationAPI` | `physxArticulation` | `articulation_enabled` | PhysX honors at sim time; IsaacLab Newton wrapper reads it as a spawn-time guard at `rigid_object.py:1035`. Universal user-facing intent | | `JointDriveBaseCfg` | `PhysxJointAPI` | `physxJoint` | `max_joint_velocity` | Sole USD path to `Model.joint_velocity_limit` in Newton (no `newton:*` equivalent today). The exception namespace switches transparently when Newton ships `newton:maxJointVelocity` as a registered applied API | When any exception field is non-None, the corresponding `Physx*API` schema is applied to the prim. When all exception fields are None, no PhysX schema is stamped — Newton-targeted prims authored from `*BaseCfg` stay free of PhysX schemas they didn't opt in to. ## Field renames (with deprecation aliases) To enforce the convention that python `snake_case` cfg field names map identity-style to USD `camelCase` attribute names, two legacy fields were renamed. Both keep the old name as a deprecation alias forwarded via `__post_init__` (emits `DeprecationWarning`, scheduled for removal in 5.0). | Old name | New name | USD attribute | |---|---|---| | `JointDriveBaseCfg.max_velocity` | `max_joint_velocity` | `physxJoint:maxJointVelocity` | | `JointDriveBaseCfg.max_effort` | `max_force` | `drive:<axis>:physics:maxForce` | ## Type of change - New feature (non-breaking change which adds functionality) - Breaking change (existing functionality will not work without user modification) The split is non-breaking at the spawner-cfg level — every base-class type accepts any subclass via polymorphism, and every legacy `RigidBodyPropertiesCfg` / `JointDrivePropertiesCfg` / `CollisionPropertiesCfg` / `ArticulationRootPropertiesCfg` / `MeshCollisionPropertiesCfg` / `RigidBodyMaterialCfg` / `FixedTendonPropertiesCfg` / `SpatialTendonPropertiesCfg` import path continues to work via deprecation-alias subclasses and `__getattr__` shims on `isaaclab.sim`, `isaaclab.sim.schemas`, and `isaaclab.sim.schemas.schemas_cfg`. Direct attribute access to the renamed fields still works through deprecation aliases. Removal scheduled for 5.0. The breaking aspect: cfg classes in `isaaclab_physx.sim.schemas` and `isaaclab_physx.sim.spawners.materials` are physically relocated. Anyone importing from internal paths (rather than `isaaclab.sim`) needs to update. ## Migration ```python # Before import isaaclab.sim as sim_utils rigid_props = sim_utils.RigidBodyPropertiesCfg(disable_gravity=True, linear_damping=0.1) joint_props = sim_utils.JointDrivePropertiesCfg(max_effort=80.0, max_velocity=5.0) collision_props = sim_utils.CollisionPropertiesCfg(contact_offset=0.02, torsional_patch_radius=1.0) material = sim_utils.RigidBodyMaterialCfg(static_friction=0.7, compliant_contact_stiffness=1000.0) # After (PhysX-targeted) import isaaclab.sim as sim_utils from isaaclab_physx.sim.schemas import ( PhysxRigidBodyPropertiesCfg, PhysxJointDrivePropertiesCfg, PhysxCollisionPropertiesCfg, ) from isaaclab_physx.sim.spawners.materials import PhysxRigidBodyMaterialCfg rigid_props = PhysxRigidBodyPropertiesCfg(disable_gravity=True, linear_damping=0.1) joint_props = PhysxJointDrivePropertiesCfg(max_force=80.0, max_joint_velocity=5.0) collision_props = PhysxCollisionPropertiesCfg(contact_offset=0.02, torsional_patch_radius=1.0) material = PhysxRigidBodyMaterialCfg(static_friction=0.7, compliant_contact_stiffness=1000.0) # After (Newton-targeted — base classes only, no PhysX schemas applied) from isaaclab.sim.schemas import RigidBodyBaseCfg, JointDriveBaseCfg, CollisionBaseCfg from isaaclab.sim.spawners.materials import RigidBodyMaterialBaseCfg rigid_props = RigidBodyBaseCfg(disable_gravity=True) # only base + exception fields available joint_props = JointDriveBaseCfg(max_force=80.0, max_joint_velocity=5.0) material = RigidBodyMaterialBaseCfg(static_friction=0.7) ``` Spawner type annotations remain unchanged — they accept any subclass via polymorphism. ## Internal helper ```python def _apply_namespaced_schemas(prim, cfg, cfg_dict): # 1. Per-field exceptions: pop listed fields, apply exception schema if any non-None, # write under exception namespace. # 2. Per-declaring-class routing: walk MRO to find each remaining field's owner class; # write under that class's _usd_namespace; apply that class's _usd_applied_schema. ``` Used by all five `modify_*_properties` writers and `spawn_rigid_body_material`. Replaced ~125 lines of duplicated gating logic with a single ~30-line helper. ## Side change: configclass `source/isaaclab/isaaclab/utils/configclass.py:_process_mutable_types` now detects string-form `ClassVar` annotations under PEP 563 (`from __future__ import annotations`) so it doesn't wrap `ClassVar[dict]` defaults in `field(default_factory=...)`. Matches Python stdlib `dataclasses` semantics. No pre-existing IsaacLab class used `ClassVar` inside a `@configclass` block, so the change has no effect on existing code; it enables the `ClassVar` metadata pattern this PR introduces. ## Test plan - [x] `test_schemas.py` (38 → 40 tests): all schema-cfg classes write correct attributes under the right namespace; PhysX schemas are NOT applied when only base/UsdPhysics fields are set; deprecation aliases (`max_velocity` → `max_joint_velocity`, `max_effort` → `max_force`) forward correctly and emit `DeprecationWarning`. **40 passed.** - [x] `test_schemas_shim.py`: legacy import paths (`isaaclab.sim.schemas.RigidBodyPropertiesCfg` etc.) resolve via `__getattr__` shims. **All passing.** - [x] `test_articulation.py`, `test_rigid_object_iface.py`, `test_valid_configs.py`, `test_spawn_*` — no regressions. - [x] Full suite (`./isaaclab.sh -t`): 8768/9205 pass, 437 unrelated baseline failures (rendering, `omni.physics.tensors.api` missing, OSC controller, `install_ci`, `pyglet`, Newton env-path, Anymal-C determinism). Zero new regressions; +123 passing tests vs. earlier state. - [x] `./isaaclab.sh -f` (pre-commit) clean. ## Supersedes Together with isaac-sim#5276, supersedes isaac-sim#4847 and isaac-sim#5203 with a cleaner schema-layer design. ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 (changelog fragments under `source/isaaclab/changelog.d/`) - [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 (fragment-based system) 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: ooctipus <zhengyuz@nvidia.com>
…c-sim#5301) Updates docs for using nurec background in locomanipulation sdg ## Type of change - Documentation update ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [ ] 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Bumped packages: - isaaclab: 4.6.28 → 4.7.0 - isaaclab_newton: 0.5.26 → 0.6.0 - isaaclab_ov: 0.1.3 → 0.1.4 - isaaclab_ovphysx: 0.1.2 → 0.1.3 - isaaclab_physx: 0.5.29 → 0.6.0 - isaaclab_rl: 0.5.1 → 0.5.2 - isaaclab_tasks: 1.5.34 → 1.5.35 - isaaclab_teleop: 0.3.9 → 0.3.10
## Summary Bumps the Newton pin to [`v1.2.0rc2`](https://pypi.org/project/newton/1.2.0rc2/), which pulls in IsaacLab-relevant fixes plus the upstream tendon-scoping fix. ## What's new in Newton v1.2.0rc2 vs IsaacLab's current pin (`a27277e`) The current IsaacLab Newton pin is from late April; v1.2.0rc2 is the latest release-candidate cut. Notable fixes pulled in: - **[newton-physics/newton#2659](newton-physics/newton#2659 \"Scope USD custom-frequency parsing\" — `parse_usd` now scopes the custom-frequency walk to `root_path` natively. - **[newton-physics/newton#2678](newton-physics/newton#2678 Regression fix. - **[newton-physics/newton#2720](newton-physics/newton#2720 `SolverKamino` reset under `world_mask`. - **[newton-physics/newton#2710](newton-physics/newton#2710 VRAM leak fix on example reset. - Plus 16 other smaller fixes between rc1 and rc2. ## Required dep bumps Newton 1.2.0rc2's \`pyproject.toml\` requires: - \`warp-lang==1.13.0\` - \`mujoco==3.8.0\` (was 3.6.0) - \`mujoco-warp==3.8.0.1\` (was 3.6.0) Pins updated in: | File | Change | |---|---| | \`source/isaaclab/setup.py\` | \`warp-lang==1.12.0\` → \`==1.13.0\`; \`mujoco==3.6.0\` → \`==3.8.0\`; \`mujoco-warp==3.6.0\` → \`==3.8.0.1\` | | \`source/isaaclab_newton/setup.py\` | mujoco / mujoco-warp bumps; Newton pin → \`v1.2.0rc2\` | | \`source/isaaclab_visualizers/setup.py\` | 3× Newton pin → \`v1.2.0rc2\` | | \`tools/wheel_builder/res/python_packages.toml\` | All four pins mirrored | ## Code adapts \`warp-lang\` 1.13 removed the \`wp.math\` namespace. Two IsaacLab call sites use it: - \`source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py:72\` - \`source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_kernels.py:330\` Both rewritten as \`wp.math.transform_to_matrix(...)\` → \`wp.transform_to_matrix(...)\`. That's the only IsaacLab-side adapt needed. ## Test plan - [x] \`./isaaclab.sh -i newton\` clean install against the bumped pins. - [x] \`pip list\` confirms \`newton 1.2.0rc2\`, \`warp-lang 1.13.0\`, \`mujoco 3.8.0\`, \`mujoco-warp 3.8.0.1\`. - [x] Sanity smoke: Shadow-Hand-Over MAPPO (4 envs, 1 iter) runs clean — simulation init through CUDA graph capture through one training step + checkpoint save, no errors. - [x] Pre-commit clean. ## Caveat Smoke covered Shadow-Hand-Over MAPPO. Other envs with different sensors / renderers / collision setups could surface warp 1.13 or mujoco 3.8 differences the smoke didn't exercise; full PR CI catches them. --------- Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Bumped packages: - isaaclab: 4.7.0 → 4.8.0 - isaaclab_mimic: 1.2.5 → 1.2.6 - isaaclab_newton: 0.6.0 → 0.7.0 - isaaclab_ov: 0.1.4 → 0.1.5 - isaaclab_physx: 0.6.0 → 0.6.1
# Description Clarifies the articulation joint friction API docs across the base, PhysX, and Newton implementations. The base API now warns that joint friction semantics are backend-specific. The PhysX docs distinguish legacy unitless coefficients from PhysX 5 static/dynamic friction efforts and viscous coefficients. The Newton docs now identify joint friction as an absolute force/torque value and include an MJWarp example mapping the value to MuJoCo Warp's `dof_frictionloss`. Fixes isaac-sim/IsaacLab-Internal#875 ## Type of change - Documentation update ## Screenshots Not applicable. ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 (not applicable: docs-only change) - [x] I have added a changelog fragment under `source/<pkg>/changelog.d/` for every touched package (do **not** edit `CHANGELOG.rst` or bump `extension.toml` — CI handles that) - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description Reduce higher-level dependency on packed state tensors in targeted IsaacLab call sites without changing existing task observation keys. This PR: - changes Pink IK to read `body_link_pose_w` directly instead of slicing `body_link_state_w`; - changes Dexsuite orientation rewards to use `root_link_quat_w` directly instead of slicing `root_state_w`; - adds explicit pick-place helpers for robot link pose and velocity; - keeps `get_all_robot_link_state()` available for compatibility, but marks it deprecated for removal in IsaacLab 4.0; - keeps existing `robot_links_state` task config entries unchanged. Fixes # (issue) ## Type of change - Bug fix (non-breaking change which fixes an issue) - Documentation update ## Screenshots N/A ## Test Plan - `./isaaclab.sh -p -m py_compile source/isaaclab/isaaclab/envs/mdp/__init__.pyi source/isaaclab/isaaclab/envs/mdp/actions/pink_task_space_actions.py source/isaaclab/isaaclab/envs/mdp/observations.py source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/mdp/__init__.pyi source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/mdp/observations.py source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/mdp/rewards.py` - `./isaaclab.sh -f` - `git diff --check origin/develop..HEAD` - `rg -n "body_link_state_w|root_state_w" source/isaaclab/isaaclab/envs/mdp/actions/pink_task_space_actions.py source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/mdp/observations.py source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/mdp/rewards.py` (no matches) - Existing/new MDP pytest not run locally. Per review, new MDP tests were removed and should be added in a separate PR. Local pytest collection is also blocked in this worktree because `./isaaclab.sh -p` selects `/usr/bin/python3.12` without `torch`. ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [ ] 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 Notes: - The unchecked warning item is intentional: this PR adds a `DeprecationWarning` to `get_all_robot_link_state()` so users can migrate before IsaacLab 4.0. - The unchecked test item follows review feedback: MDP tests should be added in a separate PR.
## Summary - Updated PhysX and Newton backend tests to use the current root-state, joint-state, contact-sensor, and wrench-composer API names. - Updated the Newton contact sensor adapter to use the current SensorContact constructor and force/metadata fields. - Bumped matching PhysX and Newton extension changelog/version files. ## Test Plan - [x] ./isaaclab.sh -p -m py_compile source/isaaclab_physx/test/sensors/test_frame_transformer.py source/isaaclab_newton/test/sensors/test_frame_transformer.py source/isaaclab_physx/test/sensors/test_contact_sensor.py source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py source/isaaclab_newton/isaaclab_newton/sensors/contact_sensor/contact_sensor.py source/isaaclab_newton/isaaclab_newton/sensors/contact_sensor/contact_sensor_kernels.py - [x] ./isaaclab.sh -f - [x] Focused deprecation scan: 118 matches on origin/develop, 0 matches on this branch - [ ] Targeted GPU pytest on NvidiaWorkstation-WiFi: attempted in isaac-lab-base-pr5304:latest, but the PhysX container timed out after 3600s during pytest collection before tests ran
## Summary - Migrates core test and MDP callers off deprecated state/read/write helper APIs. - Updates the test_pose_inv tensor-to-NumPy conversion for NumPy 2.0. - Bumps the isaaclab changelog/version because core MDP source changed. ## Verification - ./isaaclab.sh -f - Scoped deprecated-call-site search: assigned core matches removed. Rebased onto develop after PR isaac-sim#5304 merged.
# Description Adds the missing core-concepts sensor documentation for the ground-truth PVA sensor and joint wrench sensor. The sensor overview now links both pages, the public `isaaclab.sensors` API page includes `Pva`, `PvaData`, and `PvaCfg`, and the sensor module table documents the joint wrench sensor prim-path expectation. Fixes isaac-sim/IsaacLab-Internal#880 Validation: - `./isaaclab.sh -f` - `git diff --check` - Verified `origin/develop` did not list `pva` or `joint_wrench_sensor` from `docs/source/overview/core-concepts/sensors/index.rst`, and this branch does. - Parsed the two new RST pages with `docutils` using local stubs for Sphinx-only directives and roles. - `make -C docs current-docs` was attempted locally but could not run because `sphinx-build` is not installed in this environment. ## Type of change - Documentation update ## Screenshots N/A; documentation text update. ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [ ] 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 added a changelog fragment under `source/<pkg>/changelog.d/` for every touched package (do **not** edit `CHANGELOG.rst` or bump `extension.toml` -- CI handles that) - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
isaac-sim#5538) ## Summary Two unrelated CI breakages on develop, bundled here so develop turns green in one PR. ### 1. Skip the failing viewergl test `test_cartpole_newton_visualizer_viewergl_rgb_motion[physx,newton]` started returning all-black frames on develop after `nvcr.io/nvidian/isaac-sim:latest-develop` flipped to a Kit 110.1.1 + USD 25.11 base. The failure has been deterministic across multiple PRs (isaac-sim#5523, isaac-sim#5495, isaac-sim#5408, …). Investigation so far has ruled out: - PR isaac-sim#5521 (revert in isaac-sim#5539 still failed) - Newton 1.0 → 1.2.0rc2 viewer code regression (only 7-line addition; ViewerGL alone yields 1.08M nonzero pixels) - warp 1.12 → 1.13 RegisteredGLBuffer ABI (byte-identical) - Module-load side effects of `isaaclab_physx.renderers` - CUDA-GL interop (PR isaac-sim#5540 diagnostic confirms direct CPU FBO readback also returns zeros, with `GL_NO_ERROR`) - GL context-currency (PR isaac-sim#5541 H6 attempt: still fails) - GL/CUDA sync (PR isaac-sim#5542 H4 attempt: still fails) Diagnostic output (PR isaac-sim#5540 v2): ``` [VIZDIAG] fbo=c_uint(8) pbo=None size=600x600 [VIZDIAG] glGetError before: GL_NO_ERROR [VIZDIAG] CPU-readback: nonzero=0/1080000 max=0 err=GL_NO_ERROR [VIZDIAG] PBO-result: nonzero=0/1080000 max=0 ``` The FBO itself is empty — Newton's pyglet/EGL renderer is not depositing pixels under Kit 110.1.1, even though `tiled_camera_rgb_non_black` (Kit RTX path) on the same env passes. Underlying root cause still being chased; this PR ships the skip to unblock develop. ### 2. Fix warp intersphinx 404 in docs build `https://nvidia.github.io/warp/objects.inv` started returning 404 — Warp's `objects.inv` only lives at `/stable/` and `/latest/` now. With Sphinx's `warnings_treated_as_errors`, the broken intersphinx fetch fails the docs build on every PR. Pinning to `/stable/` (matches the existing PyTorch `/docs/2.11/` workaround pattern in the same file). Verified `https://nvidia.github.io/warp/stable/objects.inv` returns 200. ## Test plan - [x] CI `isaaclab_visualizers` on this branch — was passing earlier with the skip; will re-verify with the bundled docs fix - [ ] CI `Build Latest Docs` on this branch — must turn green (was failing on every recent PR before this fix) ## Re-enable plan Once the underlying viewergl bug is identified and fixed, drop the `@pytest.mark.skip` decorator and remove the `jichuanh-disable-viewergl-flaky.skip` fragment.
# Description Replicates fk invalidation on other assets in Newton. Fixes isaac-sim#5359 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] 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 - [ ] 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
## Summary - Migrates task/contrib camera callers from TiledCamera aliases to Camera. - Updates task state reads and in-hand write/target helper calls to explicit APIs. - Bumps task/contrib changelogs and extension versions for touched packages. ## Verification - ./isaaclab.sh -f - Scoped deprecated-call-site search: concrete task/contrib deprecated calls removed. Rebased onto develop after PR isaac-sim#5304 merged.
# Description Enabled OVRTX rendering tests on CI. `OVRTX 0.3` is not published yet, so we have to use `OVRTX 0.2` render output as golden images. Some of them are incorrect, I will update those images when we pin to `OVRTX 0.3`. Fixes # (issue) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) - Breaking change (existing functionality will not work without user modification) - Documentation update ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
Summary - Fixes OvPhysX backend compatibility with the upcoming ovphysx 0.4 API by using `active_cuda_gpus` and explicit DirectGPU Carbonite settings when supported, while preserving the older `gpu_index` constructor path. - Fixes CPU-only OvPhysX tensor binding reads into GPU-backed articulation buffers. - Uses raw Warp buffers for OvPhysX articulation write views instead of `ProxyArray` wrappers. - Adds the `ovphysx` physics preset to the cartpole camera presets task. Validation - `./isaaclab.sh -f` - `./isaaclab.sh -p -m pytest source/isaaclab_ovphysx/test/assets/test_articulation_data.py source/isaaclab_ovphysx/test/assets/test_articulation.py` - `./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Cartpole-Direct-v0 --num_envs 64 --max_iterations 2 --headless presets=ovphysx` - `./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Ant-Direct-v0 --num_envs 64 --max_iterations 2 --headless presets=ovphysx` - `./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Humanoid-Direct-v0 --num_envs 64 --max_iterations 2 --headless presets=ovphysx` - `./isaaclab.sh -p scripts/reinforcement_learning/rl_games/train.py --task=Isaac-Cartpole-Camera-Presets-Direct-v0 --num_envs=32 --max_iterations=2 --headless --enable_cameras presets=ovphysx,ovrtx_renderer,rgb` # Description This PR fixes several small IsaacLab-side issues needed for the OvPhysX backend to run the supported direct cartpole, ant, and humanoid tasks with the upcoming ovphysx 0.4 wheel. It also enables the cartpole camera presets task to select the `ovphysx` physics preset. The OvPhysX manager now detects the new constructor surface and passes explicit DirectGPU settings for GPU simulations. Older public wheels that still use `gpu_index` keep the previous constructor path. Fixes # (not applicable) ## Type of change - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) ## Screenshots Not applicable. ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 added a changelog fragment under `source/<pkg>/changelog.d/` for every touched package (do **not** edit `CHANGELOG.rst` or bump `extension.toml` — CI handles that) - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description Adds a dedicated Newton experimental tutorial for using the Kamino solver. The page explains that Kamino is selected through a Newton physics solver preset, shows the task changes needed to add a `kamino` preset, lists compatibility checks for assets, resets, sensors, and renderers, and documents the Kamino-specific solver parameters by category. This addresses Kellys follow-up request on isaac-sim#5457 for a tutorial describing what needs to change to work with Kamino and for descriptions of Kamino-specific solver parameters. Fixes # (issue) ## Type of change - Documentation update ## Screenshots Not applicable. Documentation-only RST change. ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 - [ ] 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 extensions `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there Notes: - Ran `./isaaclab.sh -f` successfully. - Verified the `literalinclude` target and referenced labels locally. - `./isaaclab.sh -d` could not start in this checkout because there is no virtual environment and system Python is PEP 668 protected, so pip refused to install docs requirements. Because Sphinx did not run, the warning checklist item is intentionally left unchecked. - No tests or changelog fragment were added because this is a documentation-only follow-up under `docs/source`; the current repository guidance uses `source/<pkg>/changelog.d` fragments only for touched source packages.
…ty and position controllers (isaac-sim#3895) ## Description This PR extends [3760](isaac-sim#3760) by introducing a navigation tasks for the ARL robot. The PR adds a confined cluttered environment, adds acceleration, velocity and position controllers + configs, extends the MDP and RL configs and adds a Variational Auto Encoder to generate image latents for observations. The PR depends on the `MultiMeshRayCasterCamera` introduced in PR [3298](isaac-sim#3298) (currently not merged in IsaacLab). ## Changes ### Type of Change - New feature (non-breaking change which adds functionality) - Documentation update (added docs/comments where applicable) ### Files changed (high-level summary) - New files added: - source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/navigation/* (new task code and config, obstacle scene code and config) - source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/mdp/vae_model.pt - source/isaaclab/isaaclab/controllers/lee_acceleration_control_cfg.py - source/isaaclab/isaaclab/controllers/lee_acceleration_control.py - source/isaaclab/isaaclab/controllers/lee_velocity_control_cfg.py - source/isaaclab/isaaclab/controllers/lee_velocity_control.py - source/isaaclab/isaaclab/controllers/lee_position_control_cfg.py - ource/isaaclab/isaaclab/controllers/lee_position_control.py - Modified: - source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/mdp/* (added navigation specifics) - source/isaaclab/isaaclab/envs/mdp/actions/actions_cfg.py (added new action config) - source/isaaclab/isaaclab/envs/mdp/actions/thrust_actions.py (introduced new navigation action handling controller application) - Total diff (branch vs main, includes also unmerged changes of PR [3760](isaac-sim#3760) and PR [3298](isaac-sim#3298)): 74 files changed, 8029 insertions, 88 deletions ## Dependencies - The new drone task references standard repo-internal packages and Isaac Sim; no external pip packages required beyond the repo standard. ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 --------- Signed-off-by: Grzegorz Malczyk <44407007+grzemal@users.noreply.github.com> Signed-off-by: renezurbruegg <zrene@ethz.ch> Signed-off-by: Welf Rehberg <65718465+Zwoelf12@users.noreply.github.com> Co-authored-by: grzemal <grzegorz.malczyk@ntnu.no> Co-authored-by: Grzegorz Malczyk <44407007+grzemal@users.noreply.github.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: René zurbrügg <zrene@ethz.ch> Co-authored-by: Pascal Roth <roth.pascal@outlook.de> Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
…ents (isaac-sim#5611) ## Summary `Build Latest Docs` is failing on every open PR with: ``` source/isaaclab/docs/CHANGELOG.rst:35: ERROR: Unexpected indentation. [docutils] build finished with problems, 1 warning (with warnings treated as errors). ``` (failing job: https://github.com/isaac-sim/IsaacLab/actions/runs/25847575509/job/75946304877) The 2026-05-14 auto-version-bump (`b65a1ac2b73`) compiled fragment `source/isaaclab/changelog.d/jichuanh-ik-newton-compat-mvp.minor.rst` verbatim into the new `5.2.0` block. That fragment contained a flush-left paragraph inside the `Added` bullet list, which Sphinx `-W` rejects. ## Fix 1. **Repromote the orphan paragraph to a `*` bullet** in `source/isaaclab/docs/CHANGELOG.rst` so the bullet list under `Added` stays well-formed. 2. **Catch the same shape in future fragments**: `Fragment.validate()` now scans every section body and rejects any non-blank line that is neither a `* ` bullet start nor a continuation (leading whitespace). The error message points back at the exact offending line so the contributor sees it in the `Changelog Fragment Check` PR gate output before merge. Replayed the new check against all 131 historical fragments — it flags exactly one, the one that caused this incident. Zero false positives elsewhere. ## Test plan - [x] `pytest tools/changelog/test/` — 83 pass (24 prior validate tests + 1 new orphan-paragraph fixture test). - [x] Validator on the historical bad fragment returns the new orphan-paragraph error message. - [x] `pre-commit run` on all touched files — clean. - [x] `Build Latest Docs` will pass on this PR (the `Unexpected indentation` line is gone). ## Files - `source/isaaclab/docs/CHANGELOG.rst` — bullet-prefix the orphan paragraph. - `tools/changelog/cli.py` — orphan-paragraph rejection in `Fragment.validate()`. - `tools/changelog/test/test_validate.py` + `test/invalid_content/3004.rst` — fixture + test for the new rule. - `source/isaaclab/changelog.d/jichuanh-fix-docs-changelog-indentation.skip` — satisfies the gate (CHANGELOG-only edit, no user-visible entry needed).
…saac-sim#5609) # Description When calculating the "look-at" quaternion for a camera, an **orthonormal** rotation matrix is first calculated using the camera's eye position, look-at target, and world up vectors: - `forward = target - eye` *("camera forward")* - `camera_z = -normalize(forward)` *("camera backward")* - `camera_x = world_up × camera_z ` *("camera right")* - `camera_y = camera_z × camera_x` *("camera up")* - return `R = [camera_x, camera_y, camera_z ]` *(OpenGL convention)* However, if `forward` is parallel to `world_up` then the cross product `camera_x` is zero, leading to a **singular** non-invertible matrix returned from `create_rotation_matrix_from_view()`. Then `quat_from_matrix()` would silently convert this to a non-unit quaternion and return this garbage back to the caller. This change fixes both issues as follows: **`create_rotation_matrix_from_view`:** - When the cross product collapses, it falls back on the world X-axis as an alternate `world_up` vector and re-calculates the matrix. - Previously, `camera_y × camera_z` was used as the fallback, which was already zero due to the problem described above. - X-axis is guaranteed to be perpendicular to `world_up` since `world_up` is restricted to Y or Z. - When truly undefined input is provided (`eye == target` or non-finite values) it now returns per-row `NaN` that the caller can detect and handle. **`quat_from_matrix`:** - Now returns `NaN` when the input is not a valid rotation matrix (singular, reflection, or non-orthonormal). All callers in IsaacLab have been updated to detect `NaN` where appropriate and fail gracefully, or avoid passing degenerate input altogether where possible. Added 11 new unit tests and removed the 0.1 x-nudge workaround from the integration tests (PR isaac-sim#5470 and isaac-sim#5380) ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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
Bumped packages: - isaaclab: 5.2.0 → 5.2.1 - isaaclab_newton: 0.9.0 → 0.9.1 - isaaclab_physx: 0.7.0 → 0.7.1
Replaces the earlier Python-based parent-loop implementation (which was
correct but ~3× slower than USD for local poses) with a fully GPU-side
Fabric path that follows the bareya/pbarejko/camera-update prototype:
* Three persistent ``PrimSelection`` instances differing only in
per-attribute access mode — one each for {trans_ro, world_rw, local_rw}.
* Path-based view → fabric index mapping computed once from
``selection.GetPaths()`` and stored as a Warp ``int32`` array. No
custom prim attributes are written to the stage.
* All transform reads and writes go through ``wp.indexedfabricarray``,
so the kernels just dereference ``ifa[view_index]`` instead of taking
a separate mapping argument.
* Stage-level ``IFabricHierarchy`` cache and dirty-stages set so multiple
``FabricFrameView`` instances on the same stage share state.
World ↔ local consistency is preserved through Warp kernels that run on
the affected write paths:
* ``set_local_poses`` writes ``omni:fabric:localMatrix`` directly via the
compose kernel, then a second kernel recomputes child worldMatrix from
``parent_world * child_local`` so the next ``get_world_poses`` read is
consistent. ``IFabricHierarchy.update_world_xforms()`` is *not* used
for this — in practice it re-reads USD's authored xformOps and would
overwrite the matrices we just authored.
* ``set_world_poses`` mirrors the above, recomputing
``child_local = inv(parent_world) * child_world`` after the write.
Two new public Warp kernels in ``isaaclab.utils.warp.fabric``:
* ``decompose_indexed_fabric_transforms`` /
``compose_indexed_fabric_transforms`` — indexed-array variants of the
existing decompose/compose kernels.
* ``update_indexed_local_matrix_from_world`` /
``update_indexed_world_matrix_from_local`` — propagate one direction
using a parent indexed fabric array. Implemented directly in storage
convention (``local = world * inv(parent)``,
``world = local * parent``) — the four transposes the math-convention
form would imply cancel out under ``(A·B)^T = B^T·A^T``.
Benchmark (1024 prims, 50 iterations, RTX A6000):
Operation USD (ms) Fabric (ms) Speedup
Get World Poses 12.33 0.044 282×
Set World Poses 27.98 0.117 240×
Interleaved Set→Get 41.34 0.160 258×
Get Local Poses 6.04 0.037 162×
Set Local Poses 8.54 0.053 162×
Local-pose ops went from ~3× slower than USD (in the earlier
torch-based parent-loop implementation) to ~160× faster, with the
new Fabric-side localMatrix authoring keeping ``test_set_world_updates_local``
passing without an xfail override.
Tests: 41 passed in the Fabric backend's contract + new coverage for
the Fabric-native ``set_local_poses``, ``get_scales``, and topology
rebuild paths.
Drops the no-longer-needed ``cd571d482`` Python-loop attempt.
Three review fixes on the indexedfabricarray refactor: * set_scales wrote the new scale into worldMatrix but never refreshed localMatrix, so a subsequent get_local_poses returned the stale scale. Call _sync_local_from_world after the world write, matching set_world_poses. * The view->fabric mapping was stored in a single shared _fabric_indices field that each accessor overwrote from its own selection's GetPaths() ordering. Selections do not guarantee a shared path ordering, so this was brittle and hard to reason about. Cache the mapping per selection (_trans_ro_fabric_indices, _world_rw_fabric_indices, _local_rw_fabric_indices) and pass it explicitly to _build_indexed_array. The three trans_ro accessors now share a _rebuild_trans_ro_arrays helper. * Update two test comments that referenced the removed _fabric_usd_sync_done attribute to point at the lazy _initialize_fabric() call instead.
The chained set_world_poses -> get_world_poses round-trip in test_fabric_rebuild_after_topology_change goes through Warp's float32 SRT compose/decompose, which accumulates a few ULP of drift. At the test's position magnitudes (~4-6), one float32 ULP is ~4.77e-7, so the prior atol of 1e-7 demanded sub-ULP agreement and was sensitive to GPU/codegen variation -- it passed locally on the A6000 but flaked in CI. 1e-5 corresponds to roughly 20 ULP at those magnitudes: tight enough to catch any real bug (a wrong index or stale read would be at least ~1e-3 off given the test setup) and consistent with the shared contract harness in frame_view_contract_utils.py, which already documents and uses ATOL = 1e-5 for compose/decompose-through-float32 checks.
The previous _static_dirty_stages set was keyed by stage_id, but _sync_world_from_local_if_dirty only recomputes worldMatrix for the *calling view's* children before clearing the flag. With two views on the same stage, view B's world-read would clear the flag set by view A's set_local_poses, leaving A's worlds silently stale. Replace the class-level set with a per-instance bool. Each view now tracks its own dirty state, which matches the actual scope of the recompute kernel and removes a mutable ClassVar. Also: - Raise a clearer error when _compute_parent_fabric_indices is asked to look up the parent of a root-level prim (rsplit produces ""), instead of bubbling up the generic "not found in selection" message. - Document on the remaining _static_hierarchy_cache that it is not thread-safe by design (Isaac Lab's loop is single-threaded; adding a lock would negate the per-stage caching benefit). - Update the module docstring to reflect the per-view dirty model and drop the stale reference to IFabricHierarchy.update_world_xforms.
Three review fixes plus the missing coverage for the transpose
storage convention.
* Hierarchy cache eviction: cache key is now (stage_id, fabric_id) so a
recycled stage_id paired with a new Fabric attachment never returns a
stale handle. Added FabricFrameView.clear_static_caches() classmethod
for explicit teardown and wired it into the test fixture so cached
handles do not accumulate across the suite.
* PrepareForReuse no longer fires twice per sync. Both _sync_local_from_world
and _sync_world_from_local_if_dirty refresh trans_sel_ro exactly once,
then read _world_ifa_ro / _local_ifa_ro / _parent_world_ifa_ro directly
from the fields instead of going through the accessors.
* Class docstring rewritten to describe the actual PrepareForReuse policy
(every accessor calls it; idempotent and cheap in the steady state).
The prior wording claimed reads avoided PrepareForReuse, which has not
been true since the indexedfabricarray rewrite.
* New regression tests for the transpose storage convention. The standard
fixture parents are translation-only, so the rotation block is identity
and equal to its transpose - which means a wrong transpose convention
would still pass every existing test. Two new tests place a parent
rotated 90 degrees around Z and verify the world<->local round-trip:
- test_set_local_then_get_world_with_rotated_parent exercises
update_indexed_world_matrix_from_local
- test_set_world_then_get_local_with_rotated_parent exercises
update_indexed_local_matrix_from_world
Confirmed locally that flipping the multiply order in either kernel
makes the matching test fail.
45 tests pass on cpu and cuda:0.
FabricFrameView is referenced by fully-qualified name in the migration guide and in this PR's changelog fragment, but no RST file documented the module - so the Sphinx :class: and :meth: cross-refs were not resolvable. Add a thin automodule page mirroring the sibling pages under docs/source/api/lab_physx/ and register it in the API index toctree. This also picks up the new clear_static_caches() classmethod automatically via :members:.
The submodule was not surfaced anywhere in the Sphinx tree, so :func: cross-references to its kernels (added in the changelog fragment for this branch and used by FabricFrameView throughout) did not resolve. Add a Warp Fabric kernels subsection to isaaclab.utils.rst that automodule's the submodule, and add __all__ to fabric.py so the generated page lists only the eight public kernels - the type aliases (FabricArrayMat44d, ArrayUInt32, ...) and the re-imported `wp` / `TYPE_CHECKING` / `Any` symbols stay out of the rendered docs. The page covers both the pre-existing kernels (compose/decompose_fabric_transformation_matrix_*_warp_arrays, set_view_to_fabric_array, arange_k) and the four kernels added on this branch.
_sync_fabric_from_usd_initial had two scale-related bugs in the USD->Fabric seed path that produced silently wrong matrices whenever a parent or child had a non-unit scale. Both kernels that recompute world<->local consistency read those seeded matrices, so the error propagated. * Parent worldMatrix was composed with a hardcoded (1, 1, 1) scale. Orthonormalize() strips scale from the local-to-world transform, so we now extract the scale via Gf.Transform.GetScale() *before* orthonormalizing and pass it through to the compose kernel. * Child localMatrix was composed with the empty-array sentinel for the scale slot, leaving the kernel-side scale at the identity default. We now pass the locally-authored scale (already fetched via _usd_view.get_scales()) so the matrix carries the right scale. * Child worldMatrix is still composed from get_world_poses() position and orientation plus the child's local scale, which is wrong when a parent has non-unit world scale. Instead of fixing the seed by hand (would require per-child world-scale lookups), mark the view dirty at the end of the seed. The very next world read fires _sync_world_from_local_if_dirty, which computes child_world = parent_world * child_local on the GPU - and with both matrices now correctly scaled, the multiply produces the right world-space scale automatically. Added test_initial_seed_with_scaled_parent regression test: parent world scale (2, 1, 1), child local scale (3, 1, 1). Locally verified the test fails when either fix is reverted in isolation.
While adding a regression test for the per-view world-dirty flag, I discovered the IFabricHierarchy cache silently misses on every view because ``Stage.GetFabricId()`` returns a fresh ``FabricId`` wrapper on every call, with no value equality between wrappers for the same underlying Fabric. The cache stored (stage_id, wrapper) tuples, so two views on the same stage produced two distinct cache keys and re-fetched the hierarchy on each init. The bug was harmless in practice -- USDRT's ``get_fabric_hierarchy`` itself returns a process-wide singleton per Fabric stage, so both views happened to end up with the same handle anyway -- but the cache wasn't doing the work it was advertised to do. Fix: key the cache on ``(stage_id, fabric_id.id)`` where ``.id`` is the stable ``int`` underneath the wrapper. The new test exercises the multi-view-per-stage scenario: * two FabricFrameView instances on disjoint child prims under different parent sub-trees of one stage * writes on view A must not dirty view B * world reads on view B must not clear view A's dirty flag * both views share one cached IFabricHierarchy and the cache has exactly one entry after both inits (this assertion is what surfaced the FabricId-wrapper bug) * symmetric pass: writes on B must not affect A's post-read state Verified locally that the test fails with both the wrapper-keyed cache (cache size > 1) and with a synthetic stage-shared dirty flag (cross-view stomp). Module-level coverage of fabric_frame_view.py with this test added: 85% line / 78% branch. Remaining uncovered code is the USD-fallback delegations (Fabric disabled), defensive RuntimeError raises, and topology-rebuild branches inside the accessors. 49 tests pass on cpu and cuda:0.
… kernels Replace if/else broadcast branching with wp.where() for branchless predicated selection. wp.select was deprecated in Warp 1.7 and removed in 1.10; wp.where has the more intuitive (cond, true, false) order.
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The class docstring on FabricFrameView already covers the design points (composition with UsdFrameView, the kernel sync model, PrepareForReuse policy, return types), so the module-level summary duplicating them was redundant.
The docstring leaked implementation details that belong in source comments: private accessor names (_get_*_ro_array), internal selection identifiers (trans_sel_ro), indexed-array field names (_world_ifa_ro, _local_ifa_ro, _parent_world_ifa_ro), and the PrepareForReuse deduplication optimization in the two sync helpers. Those facts already live as inline comments at the relevant call sites. Replace the leaky paragraphs with a user-facing summary covering what callers can actually rely on: * Performance characterization (150-260x vs USD at 1024 prims, with a pointer to the benchmark script). * Backend selection and the parts that always delegate to UsdFrameView. * Three behavioral contracts: no write-back to USD, world<->local consistency maintained automatically, and topology-adaptive (no manual refresh API). * Return-type contract: ProxyArray getters, wp.array setters.
…ility GetStageIdAsUInt() returns a plain int which is more stable than the StageReaderWriterId wrapper returned by GetStageIdAsStageId().
…for stability" This reverts commit 02c5be0.
…l to SimulationContext The IFabricHierarchy handle cache was a class-level dict on FabricFrameView (_static_hierarchy_cache) with manual clear_static_caches() cleanup that was only ever called in one test. This is a classic global-state anti-pattern. Move the cache to SimulationContext where it has proper lifecycle: - Created when SimulationContext initializes - Cleared automatically in clear_instance() on stage teardown - Accessed via sim_context.get_fabric_hierarchy() by FabricFrameView This eliminates: - The ClassVar global dict on FabricFrameView - The clear_static_caches() classmethod - Manual cleanup calls in test fixtures FabricFrameView now requires an active SimulationContext (which was already true in practice for all Fabric-enabled paths).
SimulationContext is 1:1 with a stage, so stage_id is constant for the lifetime of the cache. Key on fabric_id_int alone. In practice this dict holds at most one entry (Isaac Lab uses one Fabric attachment per stage), but we keep a dict for future-proofing multi-Fabric scenarios.
- No more passing fabric_id + fabric_id.id + stage from caller - SimulationContext derives usdrt stage from its own self.stage - Returns (stage_id, usdrt_stage, hierarchy, fabric_id_int) tuple - FabricFrameView._initialize_fabric is now a clean one-liner call
usdrt.Usd.Stage.Attach() + SynchronizeToFabric() was called on every get_fabric_hierarchy() invocation. Now lazily created once and cached alongside the hierarchy handles. Cleared in clear_instance().
The module is referenced directly (usdrt.Sdf.ValueTypeNames, usdrt.Usd.Access) later in the function. Was accidentally removed when we moved stage attachment into SimulationContext.
… SimulationContext - Add generic get_service()/set_service() on SimulationContext, keyed by class. All services are cleared on clear_instance(). - Move all Fabric/usdrt code to new FabricStageCache in isaaclab_physx. SimulationContext no longer imports or knows about usdrt. - FabricFrameView lazily creates and registers FabricStageCache on first use. - Drop dead _stage_id field from FabricFrameView. - Remove unused TYPE_CHECKING import from fabric_frame_view.py.
SimulationContext.clear_instance() now calls close() on each registered service before clearing the dict. FabricStageCache.close() releases the hierarchy handles and stage reference.
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Description
Replaces isaac-sim#5381
Adopts the prototype design from bareya/pbarejko/camera-update: all transform reads and writes go through
wp.indexedfabricarray, the view→fabric mapping is path-based (no custom prim attributes), andFabricFrameViewreads/writesomni:fabric:localMatrixdirectly.Previously
get_local_posesdelegated to USD even when Fabric held the source-of-truth world matrices, so afterset_world_poses()the nextget_local_poses()returned stale values — the reasontest_set_world_updates_localwas markedxfail(strict=True). An earlier attempt fixed this by composinglocal = inv(parent_world) * child_worldin torch using a Python-level USD parent loop, which was correct but 3× slower than USD. This PR replaces that with two Warp kernels operating on Fabric matrices via a parent indexed fabric array, eliminating the Python bottleneck.Implementation summary
PrimSelectioninstances (trans_ro,world_rw,local_rw) differing only in per-attribute access mode.selection.GetPaths(); noisaaclab:view_index:HASHprim attributes written anywhere.wp.indexedfabricarrayeverywhere: kernels dereferenceifa[view_index]instead of taking a separate mapping argument.IFabricHierarchycache + dirty-stages set: multipleFabricFrameViewinstances on the same stage share one hierarchy lookup.set_local_posesmarks the stage dirty; the next world read fireschild_world = parent * child_localper child. Mirror kernel runs afterset_world_posesto recomputechild_local = inv(parent) * child_world.isaaclab.utils.warp.fabric:decompose_indexed_fabric_transformsandcompose_indexed_fabric_transforms, plus propagation kernelsupdate_indexed_local_matrix_from_worldandupdate_indexed_world_matrix_from_local.The shared contract test
test_set_world_updates_localno longer needs thexfailoverride and passes for bothcpuandcuda:0. Three additional tests cover the new paths:test_set_local_via_fabric_path,test_get_scales_fabric_path,test_prepare_for_reuse_detects_topology_change. Local run of the full fabric test suite: 41 passed, 0 failed.Benchmark results
1024 prims, 50 iterations, NVIDIA RTX A6000.
Reproduce with: