v1.1.0
版本发布时间: 2024-07-27 05:06:04
isaac-sim/IsaacLab最新发布版本:v1.1.0(2024-07-27 05:06:04)
👀 Overview
With the release of Isaac Sim 4.0 and 4.1, support for Isaac Sim 2023.1.1 has been discontinued. We strongly encourage all users to upgrade to Isaac Sim 4.1 to take advantage of the latest features and improvements. For detailed information on this upgrade, please refer to the release notes available here.
Besides the above, the Isaac Lab release brings new features and improvements, as detailed below. We thank all our contributors for their continued support.
Full Changelog: https://github.com/isaac-sim/IsaacLab/compare/v1.0.0...v1.1.0
✨ New Features
- Adds distributed multi-GPU learning support for skrl by @Toni-SM in https://github.com/isaac-sim/IsaacLab/pull/574
- Updates skrl integration to support training/evaluation using JAX by @Toni-SM in https://github.com/isaac-sim/IsaacLab/pull/592
- Adds lidar pattern for raycaster sensor by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/616
- Adds support for PBS job scheduler-based clusters by @shafeef901 in https://github.com/isaac-sim/IsaacLab/pull/605
- Adds APIs for spawning deformable meshes by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/613
🔧 Improvements
- Changes documentation color to the green theme by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/585
- Fixes sphinx tabs to make them work in dark theme by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/584
- Fixes VSCode settings to work with pip installation of Isaac Sim by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/628
- Fixes
isaaclab
scripts to deal with Isaac Sim pip installation by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/631 - Optimizes interactive scene for homogeneous cloning by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/636
- Improves docker X11 forwarding documentation by @j3soon in https://github.com/isaac-sim/IsaacLab/pull/685
🐛 Bug Fixes
- Reads gravity direction from simulation inside
RigidObjectData
by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/582 - Fixes reference count in asset instances due to circular references by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/580
- Fixes issue with asset deinitialization due to torch > 2.1 by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/640
- Fixes the rendering logic regression in environments by @Dhoeller19 in https://github.com/isaac-sim/IsaacLab/pull/614
- Fixes the check for action-space inside Stable-Baselines3 wrapper by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/610
- Fixes warning message in Articulation config processing by @locoxsoco in https://github.com/isaac-sim/IsaacLab/pull/699
- Fixes action term in the reach environment by @masoudmoghani in https://github.com/isaac-sim/IsaacLab/pull/710
- Fixes training UR10 reach with RL_GAMES and SKRL by @sudhirpratapyadav in https://github.com/isaac-sim/IsaacLab/pull/678
- Adds event manager call to simple manage-based env by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/666
💔 Breaking Changes
- Drops official support for Isaac Sim 2023.1.1
- Removes the use of body view inside the asset classes by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/643
- Renames
SimulationCfg.substeps
toSimulationCfg.render_interval
by @Dhoeller19 in https://github.com/isaac-sim/IsaacLab/pull/515
✈️ Migration Guide
Renaming of SimulationCfg.substeps
Previously, the users set both omni.isaac.lab.sim.SimulationCfg.dt
and omni.isaac.lab.sim.SimulationCfg.substeps
, which marked the physics insulation time-step and sub-steps, respectively. It was unclear whether sub-steps meant the number of integration steps inside the physics time-step dt
or the number of physics steps inside a rendering step.
Since in the code base, the attribute was used as the latter, it has been renamed to render_interval
for clarity.
Removal of Deprecated Attributes
As notified in previous releases, we removed the classes and attributes marked as deprecated. These are as follows:
- The
mdp.add_body_mass
method in the events. Please use themdp.randomize_rigid_body_mass
instead. - The classes
managers.RandomizationManager
andmanagers.RandomizationTermCfg
. Please use themanagers.EventManager
andmanagers.EventTermCfg
classes instead. - The following properties in
omni.isaac.lab.sensors.FrameTransformerData
:-
target_rot_source
-->target_quat_w
-
target_rot_w
-->target_quat_source
-
source_rot_w
-->source_quat_w
-
- The attribute
body_physx_view
from theomni.isaac.lab.assets.Articulation
andomni.isaac.lab.assets.RigidObject
classes. These caused confusion when used with the articulation view since the body names did not follow the same ordering.
🤗 New Contributors
- @Brayden-Zhang made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/600
- @fan-ziqi made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/648
- @sudhirpratapyadav made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/678
- @locoxsoco made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/699
- @masoudmoghani made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/710
- @j3soon made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/685