Merge branch 'main' into main

Signed-off-by: Hongyu Li <[email protected]>
isaac-sim · Dec 18, 2024 · da0a686 · da0a686
2 parents 7a5ce12 + 874b7b6
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diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -38,7 +38,7 @@ repos:
       - id: pyupgrade
         args: ["--py310-plus"]
         # FIXME: This is a hack because Pytorch does not like: torch.Tensor | dict aliasing
-        exclude: "source/extensions/omni.isaac.lab/omni/isaac/lab/envs/common.py"
+        exclude: "source/extensions/omni.isaac.lab/omni/isaac/lab/envs/common.py|source/extensions/omni.isaac.lab/omni/isaac/lab/ui/widgets/image_plot.py"
   - repo: https://github.com/codespell-project/codespell
     rev: v2.2.6
     hooks:

diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
@@ -51,6 +51,7 @@ Guidelines for modifications:
 * HoJin Jeon
 * Hongwei Xiong
 * Hongyu Li
+* Iretiayo Akinola
 * Jan Kerner
 * Jean Tampon
 * Jia Lin Yuan
@@ -64,6 +65,7 @@ Guidelines for modifications:
 * Lorenz Wellhausen
 * Masoud Moghani
 * Michael Gussert
+* Michael Noseworthy
 * Muhong Guo
 * Nuralem Abizov
 * Oyindamola Omotuyi
@@ -92,3 +94,4 @@ Guidelines for modifications:
 * Gavriel State
 * Hammad Mazhar
 * Marco Hutter
+* Yashraj Narang
diff --git a/docs/source/_static/tasks/factory/gear_mesh.jpg b/docs/source/_static/tasks/factory/gear_mesh.jpg
diff --git a/docs/source/_static/tasks/factory/nut_thread.jpg b/docs/source/_static/tasks/factory/nut_thread.jpg
diff --git a/docs/source/_static/tasks/factory/peg_insert.jpg b/docs/source/_static/tasks/factory/peg_insert.jpg
diff --git a/docs/source/_static/tutorials/tutorial_operational_space_controller.jpg b/docs/source/_static/tutorials/tutorial_operational_space_controller.jpg
diff --git a/docs/source/api/lab/omni.isaac.lab.controllers.rst b/docs/source/api/lab/omni.isaac.lab.controllers.rst
@@ -9,6 +9,8 @@
 
     DifferentialIKController
     DifferentialIKControllerCfg
+    OperationalSpaceController
+    OperationalSpaceControllerCfg
 
 Differential Inverse Kinematics
 -------------------------------
@@ -23,3 +25,17 @@ Differential Inverse Kinematics
     :inherited-members:
     :show-inheritance:
     :exclude-members: __init__, class_type
+
+Operational Space controllers
+-----------------------------
+
+.. autoclass:: OperationalSpaceController
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: OperationalSpaceControllerCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
diff --git a/docs/source/migration/migrating_from_isaacgymenvs.rst b/docs/source/migration/migrating_from_isaacgymenvs.rst
@@ -814,9 +814,9 @@ The ``progress_buf`` variable has also been renamed to ``episode_length_buf``.
 |                                                                       |                                                                           |
 |                                                                       |     self.joint_pos[env_ids] = joint_pos                                   |
 |                                                                       |                                                                           |
-|                                                                       |     self.cartpole.write_root_pose_to_sim(                                 |
+|                                                                       |     self.cartpole.write_root_link_pose_to_sim(                            |
 |                                                                       |         default_root_state[:, :7], env_ids)                               |
-|                                                                       |     self.cartpole.write_root_velocity_to_sim(                             |
+|                                                                       |     self.cartpole.write_root_com_velocity_to_sim(                         |
 |                                                                       |         default_root_state[:, 7:], env_ids)                               |
 |                                                                       |     self.cartpole.write_joint_state_to_sim(                               |
 |                                                                       |         joint_pos, joint_vel, None, env_ids)                              |

diff --git a/docs/source/migration/migrating_from_omniisaacgymenvs.rst b/docs/source/migration/migrating_from_omniisaacgymenvs.rst
@@ -364,8 +364,8 @@ In Isaac Lab, ``root_pose`` and ``root_velocity`` have been combined into single
 
 .. code-block::python
 
-    self.cartpole.write_root_pose_to_sim(default_root_state[:, :7], env_ids)
-    self.cartpole.write_root_velocity_to_sim(default_root_state[:, 7:], env_ids)
+    self.cartpole.write_root_link_pose_to_sim(default_root_state[:, :7], env_ids)
+    self.cartpole.write_root_com_velocity_to_sim(default_root_state[:, 7:], env_ids)
 
 
 Creating a New Environment
@@ -738,9 +738,9 @@ reset the ``episode_length_buf`` buffer.
 |       1.0 - 2.0 * torch.rand(num_resets, device=self._device))   |     self.joint_pos[env_ids] = joint_pos                                  |
 |                                                                  |     self.joint_vel[env_ids] = joint_vel                                  |
 |   # apply resets                                                 |                                                                          |
-|   indices = env_ids.to(dtype=torch.int32)                        |     self.cartpole.write_root_pose_to_sim(                                |
+|   indices = env_ids.to(dtype=torch.int32)                        |     self.cartpole.write_root_link_pose_to_sim(                           |
 |   self._cartpoles.set_joint_positions(dof_pos, indices=indices)  |         default_root_state[:, :7], env_ids)                              |
-|   self._cartpoles.set_joint_velocities(dof_vel, indices=indices) |     self.cartpole.write_root_velocity_to_sim(                            |
+|   self._cartpoles.set_joint_velocities(dof_vel, indices=indices) |     self.cartpole.write_root_com_velocity_to_sim(                        |
 |                                                                  |         default_root_state[:, 7:], env_ids)                              |
 |   # bookkeeping                                                  |     self.cartpole.write_joint_state_to_sim(                              |
 |   self.reset_buf[env_ids] = 0                                    |         joint_pos, joint_vel, None, env_ids)                             |

diff --git a/docs/source/overview/environments.rst b/docs/source/overview/environments.rst
@@ -91,7 +91,7 @@ Manipulation
 Environments based on fixed-arm manipulation tasks.
 
 For many of these tasks, we include configurations with different arm action spaces. For example,
-for the reach environment:
+for the lift-cube environment:
 
 * |lift-cube-link|: Franka arm with joint position control
 * |lift-cube-ik-abs-link|: Franka arm with absolute IK control
@@ -134,7 +134,7 @@ for the reach environment:
 .. |cabi-franka| image:: ../_static/tasks/manipulation/franka_open_drawer.jpg
 .. |cube-allegro| image:: ../_static/tasks/manipulation/allegro_cube.jpg
 .. |cube-shadow| image:: ../_static/tasks/manipulation/shadow_cube.jpg
-.. |stack-franka| image:: ../_static/tasks/manipulation/franka_stack.jpg
+.. |stack-cube| image:: ../_static/tasks/manipulation/franka_stack.jpg
 
 .. |reach-franka-link| replace:: `Isaac-Reach-Franka-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/franka/joint_pos_env_cfg.py>`__
 .. |reach-ur10-link| replace:: `Isaac-Reach-UR10-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/ur_10/joint_pos_env_cfg.py>`__
@@ -152,6 +152,39 @@ for the reach environment:
 .. |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>`__
 .. |cube-shadow-vis-link| replace:: `Isaac-Repose-Cube-Shadow-Vision-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_vision_env.py>`__
 
+Contact-rich Manipulation
+~~~~~~~~~~~~
+
+Environments based on contact-rich manipulation tasks such as peg insertion, gear meshing and nut-bolt fastening.
+
+These tasks share the same task configurations and control options. You can switch between them by specifying the task name.
+For example:
+
+* |factory-peg-link|: Peg insertion with the Franka arm
+* |factory-gear-link|: Gear meshing with the Franka arm
+* |factory-nut-link|: Nut-Bolt fastening with the Franka arm
+
+.. table::
+    :widths: 33 37 30
+
+    +--------------------+-------------------------+-----------------------------------------------------------------------------+
+    | World              | Environment ID          | Description                                                                 |
+    +====================+=========================+=============================================================================+
+    | |factory-peg|      | |factory-peg-link|      | Insert peg into the socket with the Franka robot                            |
+    +--------------------+-------------------------+-----------------------------------------------------------------------------+
+    | |factory-gear|     | |factory-gear-link|     | Insert and mesh gear into the base with other gears, using the Franka robot |
+    +--------------------+-------------------------+-----------------------------------------------------------------------------+
+    | |factory-nut|      | |factory-nut-link|      | Thread the nut onto the first 2 threads of the bolt, using the Franka robot |
+    +--------------------+-------------------------+-----------------------------------------------------------------------------+
+
+.. |factory-peg| image:: ../_static/tasks/factory/peg_insert.jpg
+.. |factory-gear| image:: ../_static/tasks/factory/gear_mesh.jpg
+.. |factory-nut| image:: ../_static/tasks/factory/nut_thread.jpg
+
+.. |factory-peg-link| replace:: `Isaac-Factory-PegInsert-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/factory/factory_env_cfg.py>`__
+.. |factory-gear-link| replace:: `Isaac-Factory-GearMesh-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/factory/factory_env_cfg.py>`__
+.. |factory-nut-link| replace:: `Isaac-Factory-NutThread-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/factory/factory_env_cfg.py>`__
+
 Locomotion
 ~~~~~~~~~~
 
@@ -369,6 +402,18 @@ Comprehensive List of Environments
       -
       - Manager Based
       - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO), **sb3** (PPO)
+    * - Isaac-Factory-GearMesh-Direct-v0
+      -
+      - Direct
+      - **rl_games** (PPO)
+    * - Isaac-Factory-NutThread-Direct-v0
+      -
+      - Direct
+      - **rl_games** (PPO)
+    * - Isaac-Factory-PegInsert-Direct-v0
+      -
+      - Direct
+      - **rl_games** (PPO)
     * - Isaac-Franka-Cabinet-Direct-v0
       -
       - Direct
@@ -421,6 +466,10 @@ Comprehensive List of Environments
       -
       - Manager Based
       -
+    * - Isaac-Reach-Franka-OSC-v0
+      - Isaac-Reach-Franka-OSC-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO)
     * - Isaac-Reach-Franka-v0
       - Isaac-Reach-Franka-Play-v0
       - Manager Based

diff --git a/docs/source/overview/sensors/ray_caster.rst b/docs/source/overview/sensors/ray_caster.rst
@@ -42,6 +42,7 @@ Using a ray caster sensor requires a **pattern** and a parent xform to be attach
           update_period = 1/60,
           offset=RayCasterCfg.OffsetCfg(pos=(0,0,0.5)),
           mesh_prim_paths=["/World/Ground"],
+          attach_yaw_only=True,
           pattern_cfg=patterns.LidarPatternCfg(
             channels = 100,
             vertical_fov_range=[-90, 90],

diff --git a/docs/source/tutorials/01_assets/run_articulation.rst b/docs/source/tutorials/01_assets/run_articulation.rst
@@ -66,8 +66,8 @@ Similar to a rigid object, an articulation also has a root state. This state cor
 articulation tree. On top of the root state, an articulation also has joint states. These states correspond to the
 joint positions and velocities.
 
-To reset the articulation, we first set the root state by calling the :meth:`Articulation.write_root_state_to_sim`
-method. Similarly, we set the joint states by calling the :meth:`Articulation.write_joint_state_to_sim` method.
+To reset the articulation, we first set the root state by calling the :meth:`Articulation.write_root_link_pose_to_sim` and :meth:`Articulation.write_root_com_velocity_to_sim`
+methods. Similarly, we set the joint states by calling the :meth:`Articulation.write_joint_state_to_sim` method.
 Finally, we call the :meth:`Articulation.reset` method to reset any internal buffers and caches.
 
 .. literalinclude:: ../../../../source/standalone/tutorials/01_assets/run_articulation.py

diff --git a/docs/source/tutorials/01_assets/run_deformable_object.rst b/docs/source/tutorials/01_assets/run_deformable_object.rst
@@ -149,7 +149,7 @@ the average position of all the nodes in the mesh.
 .. literalinclude:: ../../../../source/standalone/tutorials/01_assets/run_deformable_object.py
    :language: python
    :start-at: # update buffers
-   :end-at: print(f"Root position (in world): {cube_object.data.root_pos_w[:, :3]}")
+   :end-at: print(f"Root position (in world): {cube_object.data.root_link_pos_w[:, :3]}")
 
 
 The Code Execution

diff --git a/docs/source/tutorials/01_assets/run_rigid_object.rst b/docs/source/tutorials/01_assets/run_rigid_object.rst
@@ -96,7 +96,7 @@ desired state of the rigid object prim into the world frame before setting it.
 We use the :attr:`assets.RigidObject.data.default_root_state` attribute to get the default root state of the
 spawned rigid object prims. This default state can be configured from the :attr:`assets.RigidObjectCfg.init_state`
 attribute, which we left as identity in this tutorial. We then randomize the translation of the root state and
-set the desired state of the rigid object prim using the :meth:`assets.RigidObject.write_root_state_to_sim` method.
+set the desired state of the rigid object prim using the :meth:`assets.RigidObject.write_root_link_pose_to_sim` and :meth:`assets.RigidObject.write_root_com_velocity_to_sim` methods.
 As the name suggests, this method writes the root state of the rigid object prim into the simulation buffer.
 
 .. literalinclude:: ../../../../source/standalone/tutorials/01_assets/run_rigid_object.py

diff --git a/docs/source/tutorials/05_controllers/run_diff_ik.rst b/docs/source/tutorials/05_controllers/run_diff_ik.rst
@@ -79,7 +79,7 @@ joint positions, current end-effector pose, and the Jacobian matrix.
 
 While the attribute :attr:`assets.ArticulationData.joint_pos` provides the joint positions,
 we only want the joint positions of the robot's arm, and not the gripper. Similarly, while
-the attribute :attr:`assets.ArticulationData.body_state_w` provides the state of all the
+the attribute :attr:`assets.ArticulationData.body_link_state_w` provides the state of all the
 robot's bodies, we only want the state of the robot's end-effector. Thus, we need to
 index into these arrays to obtain the desired quantities.