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@kellyguo11 kellyguo11 released this 20 Dec 16:10
· 1 commit to main since this release
v1.4.0
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Learn about vigilant mode.

👀 Overview

Due to a great amount of amazing updates, we are putting out one more Isaac Lab release based off of Isaac Sim 4.2. This release contains many great new additions and bug fixes, including several new environments, distributed training and hyperparameter support with Ray, new live plot feature for Manager-based environments, and more.

We will now spend more focus on the next Isaac Lab release geared towards the new Isaac Sim 4.5 release coming soon. The upcoming release will contain breaking changes in both Isaac Lab and Isaac Sim and breaks backwards compatibility, but will come with many great fixes and improvements.

Full Changelog: v1.3.0...v1.4.0

✨ New Features

  • Adds Factory contact-rich manipulation tasks to IsaacLab by @noseworm in #1520
  • Adds a Franka stacking ManagerBasedRLEnv by @peterd-NV in #1494
  • Adds recorder manager in manager-based environments by @nvcyc in #1336
  • Adds Ray Workflow: Multiple Run Support, Distributed Hyperparameter Tuning, and Consistent Setup Across Local/Cloud by @glvov-bdai in #1301
  • Adds OperationSpaceController to docs and tests and implement corresponding action/action_cfg classes by @ozhanozen in #913
  • Adds null-space control option within OperationSpaceController by @ozhanozen in #1557
  • Adds observation term history support to Observation Manager by @jtigue-bdai in #1439
  • Adds live plots to managers by @pascal-roth in #893

🔧 Improvements

  • Adds documentation and example scripts for sensors by @mpgussert in #1443
  • Removes duplicated TerminationsCfg code in G1 and H1 RoughEnvCfg by @fan-ziqi in #1484
  • Adds option to change the clipping behavior for all Cameras and unifies the default by @pascal-roth in #891
  • Adds check that no articulation root API is applied on rigid bodies by @lgulich in #1358
  • Adds RayCaster rough terrain base height to reward by @Andy-xiong6 in #1525
  • Adds position threshold check for state transitions by @DorsaRoh in #1544
  • Adds clip range for JointAction by @fan-ziqi in #1476

🐛 Bug Fixes

  • Fixes noise_model initialized in direct_marl_env by @NoneJou072 in #1480
  • Fixes entry_point and kwargs in isaaclab_tasks README by @fan-ziqi in #1485
  • Fixes syntax for checking if pre-commit is installed in isaaclab.sh by @louislelay in #1422
  • Corrects fisheye camera projection types in spawner configuration by @command-z-z in #1361
  • Fixes actuator velocity limits propagation down the articulation root_physx_view by @jtigue-bdai in #1509
  • Computes Jacobian in the root frame inside the DifferentialInverseKinematicsAction class by @zoctipus in #967
  • Adds transform for mesh_prim of ray caster sensor by @clearsky-mio in #1448
  • Fixes configclass dict conversion for torch tensors by @lgulich in #1530
  • Fixes error in apply_actions method in NonHolonomicAction action term. by @KyleM73 in #1513
  • Fixes outdated sensor data after reset by @kellyguo11 in #1276
  • Fixes order of logging metrics and sampling commands in command manager by @Mayankm96 in #1352

💔 Breaking Changes

  • Refactors pose and velocities to link frame and COM frame APIs by @jtigue-bdai in #966

🤗 New Contributors

Contributors

noseworm, kellyguo11, and 18 other contributors
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