Merge branch 'main' into main

Author: gursi26

.pre-commit-config.yaml

@@ -45,6 +45,7 @@ repos:
       - id: codespell
         additional_dependencies:
         - tomli
+        exclude: "CONTRIBUTORS.md"
   # FIXME: Figure out why this is getting stuck under VPN.
   # - repo: https://github.com/RobertCraigie/pyright-python
   #   rev: v1.1.315

CONTRIBUTORS.md

@@ -62,6 +62,7 @@ Guidelines for modifications:
 * Lionel Gulich
 * Louis Le Lay
 * Lorenz Wellhausen
+* Manuel Schweiger
 * Masoud Moghani
 * Michael Gussert
 * Michael Noseworthy

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

@@ -34,7 +34,7 @@ maximum effort:
 
 .. math::
 
-    \tau_{j, computed} & = k_p * (q - q_{des}) + k_d * (\dot{q} - \dot{q}_{des}) + \tau_{ff} \\
+    \tau_{j, computed} & = k_p * (q_{des} - q) + k_d * (\dot{q}_{des} - \dot{q}) + \tau_{ff} \\
     \tau_{j, applied} & = clip(\tau_{computed}, -\tau_{j, max}, \tau_{j, max})
 
 

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

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.30.3"
+version = "0.30.4"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/extensions/omni.isaac.lab/docs/CHANGELOG.rst

@@ -1,6 +1,16 @@
 Changelog
 ---------
 
+0.30.4 (2025-01-08)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* fixed docstring in articulation data :class:`omni.isaac.lab.assets.ArticulationData`.
+  In body properties sections, the second dimension should be num_bodies but was documented as 1.
+
+
 0.30.3 (2025-01-02)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py

@@ -385,11 +385,13 @@ def write_root_com_pose_to_sim(self, root_pose: torch.Tensor, env_ids: Sequence[
             env_ids: Environment indices. If None, then all indices are used.
         """
         # resolve all indices
+        physx_env_ids = env_ids
         if env_ids is None:
-            local_env_ids = slice(None)
+            env_ids = slice(None)
+            physx_env_ids = self._ALL_INDICES
 
-        com_pos = self.data.com_pos_b[local_env_ids, 0, :]
-        com_quat = self.data.com_quat_b[local_env_ids, 0, :]
+        com_pos = self.data.com_pos_b[env_ids, 0, :]
+        com_quat = self.data.com_quat_b[env_ids, 0, :]
 
         root_link_pos, root_link_quat = math_utils.combine_frame_transforms(
             root_pose[..., :3],
@@ -399,7 +401,7 @@ def write_root_com_pose_to_sim(self, root_pose: torch.Tensor, env_ids: Sequence[
         )
 
         root_link_pose = torch.cat((root_link_pos, root_link_quat), dim=-1)
-        self.write_root_link_pose_to_sim(root_pose=root_link_pose, env_ids=env_ids)
+        self.write_root_link_pose_to_sim(root_pose=root_link_pose, env_ids=physx_env_ids)
 
     def write_root_velocity_to_sim(self, root_velocity: torch.Tensor, env_ids: Sequence[int] | None = None):
         """Set the root center of mass velocity over selected environment indices into the simulation.
@@ -458,18 +460,20 @@ def write_root_link_velocity_to_sim(self, root_velocity: torch.Tensor, env_ids:
             env_ids: Environment indices. If None, then all indices are used.
         """
         # resolve all indices
+        physx_env_ids = env_ids
         if env_ids is None:
-            local_env_ids = slice(None)
+            env_ids = slice(None)
+            physx_env_ids = self._ALL_INDICES
 
         root_com_velocity = root_velocity.clone()
-        quat = self.data.root_link_state_w[local_env_ids, 3:7]
-        com_pos_b = self.data.com_pos_b[local_env_ids, 0, :]
+        quat = self.data.root_link_state_w[env_ids, 3:7]
+        com_pos_b = self.data.com_pos_b[env_ids, 0, :]
         # transform given velocity to center of mass
         root_com_velocity[:, :3] += torch.linalg.cross(
             root_com_velocity[:, 3:], math_utils.quat_rotate(quat, com_pos_b), dim=-1
         )
         # write center of mass velocity to sim
-        self.write_root_com_velocity_to_sim(root_velocity=root_com_velocity, env_ids=env_ids)
+        self.write_root_com_velocity_to_sim(root_velocity=root_com_velocity, env_ids=physx_env_ids)
 
     def write_joint_state_to_sim(
         self,

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py

@@ -747,7 +747,7 @@ def body_ang_acc_w(self) -> torch.Tensor:
 
     @property
     def body_link_pos_w(self) -> torch.Tensor:
-        """Positions of all bodies in simulation world frame. Shape is (num_instances, 1, 3).
+        """Positions of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).
 
         This quantity is the position of the rigid bodies' actor frame relative to the world.
         """
@@ -760,7 +760,7 @@ def body_link_pos_w(self) -> torch.Tensor:
 
     @property
     def body_link_quat_w(self) -> torch.Tensor:
-        """Orientation (w, x, y, z) of all bodies in simulation world frame. Shape is (num_instances, 1, 4).
+        """Orientation (w, x, y, z) of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 4).
 
         This quantity is the orientation of the rigid bodies' actor frame  relative to the world.
         """
@@ -774,7 +774,7 @@ def body_link_quat_w(self) -> torch.Tensor:
 
     @property
     def body_link_vel_w(self) -> torch.Tensor:
-        """Velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 6).
+        """Velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 6).
 
         This quantity contains the linear and angular velocities of the rigid bodies' center of mass frame
         relative to the world.
@@ -783,15 +783,15 @@ def body_link_vel_w(self) -> torch.Tensor:
 
     @property
     def body_link_lin_vel_w(self) -> torch.Tensor:
-        """Linear velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).
+        """Linear velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).
 
         This quantity is the linear velocity of the rigid bodies' center of mass frame relative to the world.
         """
         return self.body_link_state_w[..., 7:10]
 
     @property
     def body_link_ang_vel_w(self) -> torch.Tensor:
-        """Angular velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).
+        """Angular velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).
 
         This quantity is the angular velocity of the rigid bodies' center of mass frame relative to the world.
         """
@@ -803,7 +803,7 @@ def body_link_ang_vel_w(self) -> torch.Tensor:
 
     @property
     def body_com_pos_w(self) -> torch.Tensor:
-        """Positions of all bodies in simulation world frame. Shape is (num_instances, 1, 3).
+        """Positions of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).
 
         This quantity is the position of the rigid bodies' actor frame.
         """
@@ -813,13 +813,13 @@ def body_com_pos_w(self) -> torch.Tensor:
     def body_com_quat_w(self) -> torch.Tensor:
         """Orientation (w, x, y, z) of the prinicple axies of inertia of all bodies in simulation world frame.
 
-        Shape is (num_instances, 1, 4). This quantity is the orientation of the rigid bodies' actor frame.
+        Shape is (num_instances, num_bodies, 4). This quantity is the orientation of the rigid bodies' actor frame.
         """
         return self.body_com_state_w[..., 3:7]
 
     @property
     def body_com_vel_w(self) -> torch.Tensor:
-        """Velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 6).
+        """Velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 6).
 
         This quantity contains the linear and angular velocities of the rigid bodies' center of mass frame.
         """
@@ -832,7 +832,7 @@ def body_com_vel_w(self) -> torch.Tensor:
 
     @property
     def body_com_lin_vel_w(self) -> torch.Tensor:
-        """Linear velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).
+        """Linear velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).
 
         This quantity is the linear velocity of the rigid bodies' center of mass frame.
         """
@@ -845,7 +845,7 @@ def body_com_lin_vel_w(self) -> torch.Tensor:
 
     @property
     def body_com_ang_vel_w(self) -> torch.Tensor:
-        """Angular velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).
+        """Angular velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).
 
         This quantity is the angular velocity of the rigid bodies' center of mass frame.
         """

source/extensions/omni.isaac.lab/test/assets/test_articulation.py

@@ -1088,6 +1088,7 @@ def test_write_root_state(self):
                                 # make quaternion a unit vector
                                 rand_state[..., 3:7] = torch.nn.functional.normalize(rand_state[..., 3:7], dim=-1)
 
+                                env_idx = env_idx.to(device)
                                 for i in range(10):
 
                                     # perform step
@@ -1096,9 +1097,15 @@ def test_write_root_state(self):
                                     articulation.update(sim.cfg.dt)
 
                                     if state_location == "com":
-                                        articulation.write_root_com_state_to_sim(rand_state)
+                                        if i % 2 == 0:
+                                            articulation.write_root_com_state_to_sim(rand_state)
+                                        else:
+                                            articulation.write_root_com_state_to_sim(rand_state, env_ids=env_idx)
                                     elif state_location == "link":
-                                        articulation.write_root_link_state_to_sim(rand_state)
+                                        if i % 2 == 0:
+                                            articulation.write_root_link_state_to_sim(rand_state)
+                                        else:
+                                            articulation.write_root_link_state_to_sim(rand_state, env_ids=env_idx)
 
                                     if state_location == "com":
                                         torch.testing.assert_close(rand_state, articulation.data.root_com_state_w)

source/extensions/omni.isaac.lab/test/utils/test_configclass.py

@@ -143,6 +143,16 @@ class BasicDemoTorchCfg:
     some_tensor: torch.Tensor = torch.Tensor([1, 2, 3])
 
 
+@configclass
+class BasicActuatorCfg:
+    """Dummy configuration class for ActuatorBase config."""
+
+    joint_names_expr: list[str] = ["some_string"]
+    joint_parameter_lookup: list[list[float]] = [[1, 2, 3], [4, 5, 6]]
+    stiffness: float = 1.0
+    damping: float = 2.0
+
+
 """
 Dummy configuration to check type annotations ordering.
 """
@@ -530,6 +540,18 @@ def test_dict_conversion(self):
         self.assertEqual(torch_cfg_dict["some_number"], 0)
         self.assertTrue(torch.all(torch_cfg_dict["some_tensor"] == torch.tensor([1, 2, 3])))
 
+    def test_actuator_cfg_dict_conversion(self):
+        """Test dict conversion of ActuatorConfig."""
+        # create a basic RemotizedPDActuator config
+        actuator_cfg = BasicActuatorCfg()
+        # return writable attributes of config object
+        actuator_cfg_dict_attr = actuator_cfg.__dict__
+        # check if __dict__ attribute of config is not empty
+        self.assertTrue(len(actuator_cfg_dict_attr) > 0)
+        # class_to_dict utility function should return a primitive dictionary
+        actuator_cfg_dict = class_to_dict(actuator_cfg)
+        self.assertTrue(isinstance(actuator_cfg_dict, dict))
+
     def test_dict_conversion_order(self):
         """Tests that order is conserved when converting to dictionary."""
         true_outer_order = ["device_id", "env", "robot_default_state", "list_config"]

source/standalone/tools/check_instanceable.py

@@ -82,12 +82,12 @@ def main():
     sim = SimulationContext(
         stage_units_in_meters=1.0, physics_dt=0.01, rendering_dt=0.01, backend="torch", device="cuda:0"
     )
-    # enable flatcache which avoids passing data over to USD structure
+    # enable fabric which avoids passing data over to USD structure
     # this speeds up the read-write operation of GPU buffers
     if sim.get_physics_context().use_gpu_pipeline:
-        sim.get_physics_context().enable_flatcache(True)
+        sim.get_physics_context().enable_fabric(True)
     # enable hydra scene-graph instancing
-    # this is needed to visualize the scene when flatcache is enabled
+    # this is needed to visualize the scene when fabric is enabled
     set_carb_setting(sim._settings, "/persistent/omnihydra/useSceneGraphInstancing", True)
 
     # Create interface to clone the scene