rename hand envs

CONTRIBUTORS.md

@@ -44,6 +44,7 @@ Guidelines for modifications:
 * Johnson Sun
 * Kourosh Darvish
 * Lorenz Wellhausen
+* Masoud Moghani
 * Muhong Guo
 * Nuralem Abizov
 * Özhan Özen

README.md

@@ -8,8 +8,8 @@
 [![Python](https://img.shields.io/badge/python-3.10-blue.svg)](https://docs.python.org/3/whatsnew/3.10.html)
 [![Linux platform](https://img.shields.io/badge/platform-linux--64-orange.svg)](https://releases.ubuntu.com/20.04/)
 [![Windows platform](https://img.shields.io/badge/platform-windows--64-orange.svg)](https://www.microsoft.com/en-us/)
-[![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit&logoColor=white)](https://pre-commit.com/)
-[![Docs status](https://img.shields.io/badge/docs-passing-brightgreen.svg)](https://isaac-sim.github.io/IsaacLab)
+[![pre-commit](https://img.shields.io/github/actions/workflow/status/isaac-sim/IsaacLab/pre-commit.yaml?logo=pre-commit&logoColor=white&label=pre-commit&color=brightgreen)](https://github.com/isaac-sim/IsaacLab/actions/workflows/pre-commit.yaml)
+[![docs status](https://img.shields.io/github/actions/workflow/status/isaac-sim/IsaacLab/docs.yaml?label=docs&color=brightgreen)](https://github.com/isaac-sim/IsaacLab/actions/workflows/docs.yaml)
 [![License](https://img.shields.io/badge/license-BSD--3-yellow.svg)](https://opensource.org/licenses/BSD-3-Clause)
 
 

docker/container.sh

@@ -192,16 +192,19 @@ configure_x11() {
         install_xauth
     fi
     load_statefile_variable __ISAACLAB_TMP_XAUTH
+    __ISAACLAB_TMP_DIR=/tmp/isaaclab_tmp_xauth/
     # Create temp .xauth file to be mounted in the container
     if [ "$__ISAACLAB_TMP_XAUTH" = "null" ] || [ ! -f "$__ISAACLAB_TMP_XAUTH" ]; then
-        __ISAACLAB_TMP_XAUTH=$(mktemp --suffix=".xauth")
+        mkdir -p "${__ISAACLAB_TMP_DIR}"
+        __ISAACLAB_TMP_XAUTH=$(mktemp --suffix=".xauth" --tmpdir="${__ISAACLAB_TMP_DIR}")
         set_statefile_variable __ISAACLAB_TMP_XAUTH $__ISAACLAB_TMP_XAUTH
         # Extract MIT-MAGIC-COOKIE for current display | Change the 'connection family' to FamilyWild (ffff) | merge into tmp .xauth file
         # https://www.x.org/archive/X11R6.8.1/doc/Xsecurity.7.html#toc3
-        xauth_cookie= xauth nlist ${DISPLAY} | sed -e s/^..../ffff/ | xauth -f $__ISAACLAB_TMP_XAUTH nmerge -
+        xauth nlist ${DISPLAY} | sed -e s/^..../ffff/ | xauth -f $__ISAACLAB_TMP_XAUTH nmerge -
     fi
     # Export here so it's an envvar for the called Docker commands
     export __ISAACLAB_TMP_XAUTH
+    export __ISAACLAB_TMP_DIR
     add_yamls="$add_yamls --file x11.yaml "
     # TODO: Add check to make sure Xauth file is correct
 }
@@ -235,6 +238,24 @@ x11_check() {
     fi
 }
 
+x11_update() {
+    # Check if the MIT-MAGIC-COOKIE-1 in __ISAACLAB_TMP_XAUTH
+    # is the same as the current DISPLAY's. If not, generate
+    # a new .xauth file with the current MIT-MAGIC-COOKIE-1,
+    # using the same filename so that the bind-mount and
+    # XAUTHORITY var from build-time still work
+    load_statefile_variable __ISAACLAB_TMP_XAUTH
+    if ! [ "$__ISAACLAB_TMP_XAUTH" = "null" ] && [ -f "$__ISAACLAB_TMP_XAUTH" ]; then
+        tmp_cookie=$(xauth -f "$__ISAACLAB_TMP_XAUTH" list | awk '$2 == "MIT-MAGIC-COOKIE-1" {print $3; exit}')
+        current_cookie=$(xauth list "${DISPLAY}" | awk '$2 == "MIT-MAGIC-COOKIE-1" {print $3; exit}')
+        if ! [ "${tmp_cookie}" = "{$current_cookie}" ]; then
+            rm "$__ISAACLAB_TMP_XAUTH"
+            touch "$__ISAACLAB_TMP_XAUTH"
+            xauth nlist ${DISPLAY} | sed -e s/^..../ffff/ | xauth -f $__ISAACLAB_TMP_XAUTH nmerge -
+        fi
+    fi
+}
+
 x11_cleanup() {
     load_statefile_variable __ISAACLAB_TMP_XAUTH
     if ! [ "$__ISAACLAB_TMP_XAUTH" = "null" ] && [ -f "$__ISAACLAB_TMP_XAUTH" ]; then
@@ -323,9 +344,10 @@ case $mode in
     enter)
         # Check that desired container is running, exit if it isn't
         is_container_running isaac-lab-$container_profile
+        x11_update
         echo "[INFO] Entering the existing 'isaac-lab-$container_profile' container in a bash session..."
         pushd ${SCRIPT_DIR} > /dev/null 2>&1
-        docker exec --interactive --tty isaac-lab-$container_profile bash
+        docker exec --interactive --tty -e DISPLAY=$DISPLAY isaac-lab-$container_profile bash
         popd > /dev/null 2>&1
         ;;
     copy)

docker/x11.yaml

@@ -7,8 +7,8 @@ services:
       - XAUTHORITY=${__ISAACLAB_TMP_XAUTH}
     volumes:
     - type: bind
-      source: ${__ISAACLAB_TMP_XAUTH}
-      target: ${__ISAACLAB_TMP_XAUTH}
+      source: ${__ISAACLAB_TMP_DIR}
+      target: ${__ISAACLAB_TMP_DIR}
     - type: bind
       source: /tmp/.X11-unix
       target: /tmp/.X11-unix
@@ -25,8 +25,8 @@ services:
       - XAUTHORITY=${__ISAACLAB_TMP_XAUTH}
     volumes:
     - type: bind
-      source: ${__ISAACLAB_TMP_XAUTH}
-      target: ${__ISAACLAB_TMP_XAUTH}
+      source: ${__ISAACLAB_TMP_DIR}
+      target: ${__ISAACLAB_TMP_DIR}
     - type: bind
       source: /tmp/.X11-unix
       target: /tmp/.X11-unix

docs/source/features/environments.rst

@@ -99,11 +99,11 @@ for the reach environment:
 .. |lift-cube-ik-rel-link| replace:: `Isaac-Lift-Cube-Franka-IK-Rel-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/ik_rel_env_cfg.py>`__
 .. |cabi-franka-link| replace:: `Isaac-Open-Drawer-Franka-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/cabinet/config/franka/joint_pos_env_cfg.py>`__
 .. |cube-allegro-link| replace:: `Isaac-Repose-Cube-Allegro-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/inhand/config/allegro_hand/allegro_env_cfg.py>`__
-.. |allegro-direct-link| replace:: `Isaac-Allegro-Hand-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/allegro_hand/allegro_hand_env_cfg.py>`__
+.. |allegro-direct-link| replace:: `Isaac-Repose-Cube-Allegro-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/allegro_hand/allegro_hand_env_cfg.py>`__
 
-.. |cube-shadow-link| replace:: `Isaac-Shadow-Hand-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__
-.. |cube-shadow-ff-link| replace:: `Isaac-Shadow-Hand-OpenAI-FF-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__
-.. |cube-shadow-lstm-link| replace:: `Isaac-Shadow-Hand-OpenAI-LSTM-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__
+.. |cube-shadow-link| replace:: `Isaac-Repose-Cube-Shadow-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__
+.. |cube-shadow-ff-link| replace:: `Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__
+.. |cube-shadow-lstm-link| replace:: `Isaac-Repose-Cube-Shadow-OpenAI-LSTM-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__
 
 Locomotion
 ----------

source/apps/isaaclab.python.headless.kit

@@ -20,14 +20,11 @@ app.version = "4.1.0"
 # Omniverse related dependencies #
 ##################################
 [dependencies]
-"omni.kit.window.title" = {}
 "omni.physx" = {}
 "omni.physx.tensors" = {}
 "omni.physx.fabric" = {}
 "omni.warp.core" = {}
 "usdrt.scenegraph" = {}
-"omni.kit.primitive.mesh" = {}
-"omni.kit.mainwindow" = {}
 "omni.kit.telemetry" = {}
 
 

source/apps/isaaclab.python.headless.rendering.kit

@@ -55,6 +55,9 @@ rtx-transient.dlssg.enabled = false
 rtx.sceneDb.ambientLightIntensity = 1.0
 rtx.directLighting.sampledLighting.enabled = true
 
+# Avoids unnecessary GPU context initialization
+renderer.multiGpu.maxGpuCount=1
+
 # Force synchronous rendering to improve training results
 omni.replicator.asyncRendering = false
 

source/apps/isaaclab.python.kit

@@ -182,6 +182,9 @@ rtx.newDenoiser.enabled = true
 # Enable Iray and pxr by setting this to "rtx,iray,pxr"
 renderer.enabled = "rtx"
 
+# Avoids unnecessary GPU context initialization
+renderer.multiGpu.maxGpuCount=1
+
 ### async rendering settings
 omni.replicator.asyncRendering = false
 app.asyncRendering = false

source/apps/isaaclab.python.rendering.kit

@@ -55,6 +55,9 @@ rtx-transient.dlssg.enabled = false
 rtx.sceneDb.ambientLightIntensity = 1.0
 rtx.directLighting.sampledLighting.enabled = true
 
+# Avoids unnecessary GPU context initialization
+renderer.multiGpu.maxGpuCount=1
+
 # Force synchronous rendering to improve training results
 omni.replicator.asyncRendering = false
 

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

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.20.0"
+version = "0.20.6"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

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

@@ -1,6 +1,76 @@
 Changelog
 ---------
 
+0.20.6 (2024-08-02)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Removed the hierarchy from :class:`~omni.isaac.lab.assets.RigidObject` class to
+  :class:`~omni.isaac.lab.assets.Articulation` class. Previously, the articulation class overrode  almost
+  all the functions of the rigid object class making the hierarchy redundant. Now, the articulation class
+  is a standalone class that does not inherit from the rigid object class. This does add some code
+  duplication but the simplicity and clarity of the code is improved.
+
+
+0.20.5 (2024-08-02)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added :attr:`omni.isaac.lab.terrain.TerrainGeneratorCfg.border_height` to set the height of the border
+  around the terrain.
+
+
+0.20.4 (2024-08-02)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed the caching of terrains when using the :class:`omni.isaac.lab.terrains.TerrainGenerator` class.
+  Earlier, the random sampling of the difficulty levels led to different hash values for the same terrain
+  configuration. This caused the terrains to be re-generated even when the same configuration was used.
+  Now, the numpy random generator is seeded with the same seed to ensure that the difficulty levels are
+  sampled in the same order between different runs.
+
+
+0.20.3 (2024-08-02)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed the setting of translation and orientation when spawning a mesh prim. Earlier, the translation
+  and orientation was being applied both on the parent Xform and the mesh prim. This was causing the
+  mesh prim to be offset by the translation and orientation of the parent Xform, which is not the intended
+  behavior.
+
+
+0.20.2 (2024-08-02)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Modified the computation of body acceleration for rigid body data to use PhysX APIs instead of
+  numerical finite-differencing. This removes the need for computation of body acceleration at
+  every update call of the data buffer.
+
+
+0.20.1 (2024-07-30)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed the :meth:`omni.isaac.lab.utils.math.wrap_to_pi` method to handle the wrapping of angles correctly.
+  Earlier, the method was not wrapping the angles to the range [-pi, pi] correctly when the angles were outside
+  the range [-2*pi, 2*pi].
+
+
 0.20.0 (2024-07-26)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py

@@ -464,6 +464,16 @@ def _config_resolution(self, launcher_args: dict):
             if distributed_train:
                 self.device_id = self.local_rank
                 launcher_args["multi_gpu"] = False
+            # limit CPU threads to minimize thread context switching
+            # this ensures processes do not take up all available threads and fight for resources
+            num_cpu_cores = os.cpu_count()
+            num_threads_per_process = num_cpu_cores // int(os.getenv("WORLD_SIZE", 1))
+            # set environment variables to limit CPU threads
+            os.environ["PXR_WORK_THREAD_LIMIT"] = str(num_threads_per_process)
+            os.environ["OPENBLAS_NUM_THREADS"] = str(num_threads_per_process)
+            # pass command line variable to kit
+            sys.argv.append(f"--/plugins/carb.tasking.plugin/threadCount={num_threads_per_process}")
+
         # set physics and rendering device
         launcher_args["physics_gpu"] = self.device_id
         launcher_args["active_gpu"] = self.device_id