Adds perceptive navigation example #3467
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Add the efficient multi-mesh raycasting function implemented in Orbit. Moreover, this PR fixes the test of it. The new raycaster allows to raycast against multiple objects, which can be located at different positions in each environment. The positions can be tracked over time if enabled in the config. - New feature (non-breaking change which adds functionality) - [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 - [x] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by: zrene <[email protected]>
…ssion (isaac-sim#48) Fixes number of meshes in the `RayCaster` when raycasting dynamically against a regex expression of multiple objects in the scene. - Bug fix (non-breaking change which fixes an issue) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
Change Mulit-mesh raycaster and raycaster camera to own files, restore the ones of main to simplify the merge. NOTE: test of the camera is currently failing, similar as on public main at that time, should be fixed after update to latest main - Breaking change (fix or feature that would cause existing functionality to not work as expected) - [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 - [ ] 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
…d fixes tests (isaac-sim#65) ClassVar not correctly destroyed, thus removing it (follow changes of original RayCaster). Fixing tests to comply with changes of our internal code with 1.4.1. - Bug fix (non-breaking change which fixes an issue) - Breaking change (fix or feature that would cause existing functionality to not work as expected) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by: zrene <[email protected]>
…_meshes for now
…nstances to benchmark. Fix callback issues for mulit mesh
…egg/IsaacLab into upstream/feature/multi-mesh-ray-caster
…egg/IsaacLab into feature/multi-mesh-ray-caster
…egg/IsaacLab into feature/multi-mesh-ray-caster
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Description
STILL NEEDS TO BE TUNED
Adds a perceptive navigation example with ANYmal. The policy trains in a pillar environment with depth camera observations. The example introdcues multiple important terms for navigation, mostly taken from https://github.com/leggedrobotics/nav-suite.
This change depends on leggedrobotics/rsl_rl#114
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pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there