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Release Notes

4.0.0 - May 31, 2024

PLEASE NOTE: This will be the last release of OmniIsaacGymEnvs. Moving forward, OmniIsaacGymEnvs will be merging with IsaacLab (https://github.com/isaac-sim/IsaacLab). All future updates will be available as part of the IsaacLab repository.

For tutorials on migrating to IsaacLab, please visit: https://isaac-sim.github.io/IsaacLab/source/migration/migrating_from_omniisaacgymenvs.html.

Additions

  • Add TargetFollowing example with wheeled robot.
  • Add new inherited View classes from omni.isaac.core for performance benefits for DeformableView.
  • Add extras argument to Hydra for specifying additional kit arguments (e.g. extras=[--reset-user]).
  • Enable scene graph instancing flag in SimConfig.

Changes

  • omni.isaac.core.utils.nucleus has been moved to omni.isaac.nucleus.
  • Increase GPU buffer dimensions for FrankaDeformable environment.
  • Use full omni.isaac.sim.python.kit app when running with viewer.
  • Remove deprecated flush() call in Factory environments.

2023.1.1a - March 14, 2024

Fixes

  • Add workaround for nucleus hang issue on startup
  • Fix USD update flags being reset after creating new stage. This should fix the long hang when running the Humanoid environment with headless=False.

Known Issues

  • A segmentation fault may occasionally occur at the end of a training run. This does not prevent the training from completing successfully.

2023.1.1 - December 12, 2023

Additions

  • Add support for viewport recording during training/inferencing using gym wrapper class RecordVideo
  • Add enable_recording, recording_interval, recording_length, and recording_fps, recording_dir arguments to config/command-line for video recording
  • Add moviepy as dependency for video recording
  • Add video tutorial for extension workflow, available at docs/framework/extension_workflow.md
  • Add camera clipping for CartpoleCamera to avoid seeing other environments in the background

Changes

  • Use rl_device for sampling random policy (#51)
  • Add FPS printouts for random policy
  • Use absolute path for default checkpoint folder for consistency between Python and extension workflows
  • Change camera creation API in CartpoleCamera to use USD APIs instead of rep.create

Fixes

  • Fix missing device in warp kernel launch for Ant and Humanoid
  • Fix typo for velocity iteration (#111)
  • Clean up private variable access in task classes in favour of property getters
  • Clean up private variable access in extension.py in favour of setter methods
  • Unregister replicator in extension workflow on training completion to allow for restart

2023.1.0b - November 02, 2023

Changes

  • Update docker scripts to Isaac Sim docker image 2023.1.0-hotfix.1
  • Use omniisaacgymenvs module root for app file parsing
  • Update FrankaDeformable physics dt for better training stability

Fixes

  • Fix CartpoleCamera num_observations value
  • Fix missing import in startup randomization for mass and density

2023.1.0a - October 20, 2023

Fixes

  • Fix extension loading error in camera app file

2023.1.0 - October 18, 2023

Additions

  • Add support for Warp backend task implementation
  • Add Warp-based RL examples: Cartpole, Ant, Humanoid
  • Add new Factory environments for place and screw: FactoryTaskNutBoltPlace and FactoryTaskNutBoltScrew
  • Add new camera-based Cartpole example: CartpoleCamera
  • Add new deformable environment showing Franka picking up a deformable tube: FrankaDeformable
  • Add support for running OIGE as an extension in Isaac Sim
  • Add options to filter collisions between environments and specify global collision filter paths to RLTask.set_to_scene()
  • Add multinode training support
  • Add dockerfile with OIGE
  • Add option to select kit app file from command line argument kit_app
  • Add rendering_dt parameter to the task config file for setting rendering dt. Defaults to the same value as the physics dt.

Changes

  • use_flatcache flag has been renamed to use_fabric
  • Update hydra-core version to 1.3.2, omegaconf version to 2.3.0
  • Update rlgames to version 1.6.1.
  • The get_force_sensor_forces API for articulations is now deprecated and replaced with get_measured_joint_forces
  • Remove unnecessary cloning of buffers in VecEnv classes
  • Only enable omni.replicator.isaac when domain randomization or cameras are enabled
  • The multi-threaded launch script rlgames_train_mt.py has been re-designed to support the extension workflow. This script can no longer be used to launch a training run from python. Please use rlgames_train.py instead.
  • Restructures for environments to support the new extension-based workflow
  • Add async workflow to factory pick environment to support extension-based workflow
  • Update docker scripts with cache directories

Fixes

  • Fix errors related to setting velocities to kinematic markers in Ingenuity and Quadcopter environments
  • Fix contact-related issues with quadruped assets
  • Fix errors in physics APIs when returning empty tensors
  • Fix orientation correctness issues when using some assets with omni.isaac.core. Additional orientations applied to accommodate for the error are no longer required (i.e. ShadowHand)
  • Updated the deprecated config name seq_len used with RNN networks to seq_length

2022.2.1 - March 16, 2023

Additions

  • Add FactoryTaskNutBoltPick example
  • Add Ant and Humanoid SAC training examples
  • Add multi-GPU support for training
  • Add utility scripts for launching Isaac Sim docker with OIGE
  • Add support for livestream through the Omniverse Streaming Client

Changes

  • Change rigid body fixed_base option to make_kinematic, avoiding creation of unnecessary articulations
  • Update ShadowHand, Ingenuity, Quadcopter and Crazyflie marker objects to use kinematics
  • Update ShadowHand GPU buffer parameters
  • Disable PyTorch nvFuser for better performance
  • Enable viewport and replicator extensions dynamically to maintain order of extension startup
  • Separate app files for headless environments with rendering (requires Isaac Sim update)
  • Update rl-games to v1.6.0

Fixes

  • Fix material property randomization at run-time, including friction and restitution (requires Isaac Sim update)
  • Fix a bug in contact reporting API where incorrect values were being reported (requires Isaac Sim update)
  • Enable render flag in Isaac Sim when enable_cameras is set to True
  • Add root pose and velocity reset to BallBalance environment

2.0.0 - December 15, 2022

Additions

  • Update to Viewport 2.0
  • Allow for runtime mass randomization on GPU pipeline
  • Add runtime mass randomization to ShadowHand environments
  • Introduce disable_contact_processing simulation parameter for faster contact processing
  • Use physics replication for cloning by default for faster load time

Changes

  • Update AnymalTerrain environment to use contact forces
  • Update Quadcopter example to apply local forces
  • Update training parameters for ShadowHandOpenAI_FF environment
  • Rename rlgames_play.py to rlgames_demo.py

Fixes

  • Remove fix_base option from articulation configs
  • Fix in_hand_manipulation random joint position sampling on reset
  • Fix mass and density randomization in MT training script
  • Fix actions/observations noise randomization in MT training script
  • Fix random seed when domain randomization is enabled
  • Check whether simulation is running before executing pre_physics_step logic

1.1.0 - August 22, 2022

Additions

  • Additional examples: Anymal, AnymalTerrain, BallBalance, Crazyflie, FrankaCabinet, Ingenuity, Quadcopter
  • Add OpenAI variantions for Feed-Forward and LSTM networks for ShadowHand
  • Add domain randomization framework using omni.replicator.isaac
  • Add AnymalTerrain interactable demo
  • Automatically disable omni.kit.window.viewport and omni.physx.flatcache extensions in headless mode to improve start-up load time
  • Introduce reset_xform_properties flag for initializing Views of cloned environments to reduce load time
  • Add WandB support
  • Update RL-Games version to 1.5.2

Fixes

  • Correctly sets simulation device for GPU simulation
  • Fix omni.client import order
  • Fix episode length reset condition for ShadowHand and AllegroHand

1.0.0 - June 03, 2022

  • Initial release for RL examples with Isaac Sim
  • Examples provided: AllegroHand, Ant, Cartpole, Humanoid, ShadowHand