Merge remote-tracking branch 'upstream/main' into main

Author: Edify0991

.vscode/tools/launch.template.json

@@ -23,15 +23,15 @@
             "type": "python",
             "request": "launch",
             "args" : ["--task", "Isaac-Reach-Franka-v0", "--headless"],
-            "program": "${workspaceFolder}/source/standalone/workflows/rsl_rl/train.py",
+            "program": "${workspaceFolder}/scripts/reinforcement_learning/rsl_rl/train.py",
             "console": "integratedTerminal"
         },
         {
             "name": "Python: Play Environment",
             "type": "python",
             "request": "launch",
             "args" : ["--task", "Isaac-Reach-Franka-v0", "--num_envs", "32"],
-            "program": "${workspaceFolder}/source/standalone/workflows/rsl_rl/play.py",
+            "program": "${workspaceFolder}/scripts/reinforcement_learning/rsl_rl/play.py",
             "console": "integratedTerminal"
         }
     ]

.vscode/tools/settings.template.json

@@ -55,7 +55,9 @@
         "arange",
         "discretization",
         "trimesh",
-        "uninstanceable"
+        "uninstanceable",
+        "coeff",
+        "prestartup"
     ],
     // This enables python language server. Seems to work slightly better than jedi:
     "python.languageServer": "Pylance",

CONTRIBUTORS.md

@@ -55,6 +55,7 @@ Guidelines for modifications:
 * Haoran Zhou
 * HoJin Jeon
 * Hongwei Xiong
+* Hongyu Li
 * Iretiayo Akinola
 * Jack Zeng
 * Jan Kerner

VERSION

@@ -1 +1 @@
-2.0.1
+2.0.2

apps/isaaclab.python.headless.kit

@@ -5,7 +5,7 @@
 [package]
 title = "Isaac Lab Python Headless"
 description = "An app for running Isaac Lab headlessly"
-version = "2.0.1"
+version = "2.0.2"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "isaaclab", "python", "headless"]

apps/isaaclab.python.headless.rendering.kit

@@ -9,7 +9,7 @@
 [package]
 title = "Isaac Lab Python Headless Camera"
 description = "An app for running Isaac Lab headlessly with rendering enabled"
-version = "2.0.1"
+version = "2.0.2"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]
@@ -47,26 +47,11 @@ rtx.translucency.enabled = false
 rtx.reflections.enabled = false
 rtx.indirectDiffuse.enabled = false
 rtx-transient.dlssg.enabled = false
+rtx.directLighting.sampledLighting.enabled = true
+rtx.directLighting.sampledLighting.samplesPerPixel = 1
 rtx.sceneDb.ambientLightIntensity = 1.0
 # rtx.shadows.enabled = false
 
-# Optimized denoiser flags for better rendering performance
-rtx-transient.dldenoiser.enabled = false
-rtx.indirectDiffuse.denoiser.enabled = false
-rtx.directLighting.sampledLighting.denoisingTechnique = 0
-rtx.reflections.denoiser.enabled = false
-
-# this approximate dome lighting, almost like an ambient light
-# for better lighting, enable ambient occlusion at a small cost
-rtx.domeLight.upperLowerStrategy=4
-rtx.directLighting.sampledLighting.enabled = false
-rtx.ambientOcclusion.enabled = false
-rtx.ambientOcclusion.denoiserMode = 0
-rtx.raytracing.subpixel.mode=1
-rtx.raytracing.cached.enabled = false
-# Set the DLSS model
-rtx.post.dlss.execMode = 2 # can be 0 (Performance), 1 (Balanced), 2 (Quality), or 3 (Auto)
-
 # Avoids replicator warning
 rtx.pathtracing.maxSamplesPerLaunch = 1000000
 # Avoids silent trimming of tiles
@@ -75,6 +60,13 @@ rtx.viewTile.limit = 1000000
 # Disable present thread to improve performance
 exts."omni.renderer.core".present.enabled=false
 
+# Disabling these settings reduces renderer VRAM usage and improves rendering performance, but at some quality cost
+rtx.raytracing.cached.enabled = false
+rtx.ambientOcclusion.enabled = false
+
+# Set the DLSS model
+rtx.post.dlss.execMode = 0 # can be 0 (Performance), 1 (Balanced), 2 (Quality), or 3 (Auto)
+
 # Avoids unnecessary GPU context initialization
 renderer.multiGpu.maxGpuCount=1
 

apps/isaaclab.python.kit

@@ -5,7 +5,7 @@
 [package]
 title = "Isaac Lab Python"
 description = "An app for running Isaac Lab"
-version = "2.0.1"
+version = "2.0.2"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "usd"]

apps/isaaclab.python.rendering.kit

@@ -9,7 +9,7 @@
 [package]
 title = "Isaac Lab Python Camera"
 description = "An app for running Isaac Lab with rendering enabled"
-version = "2.0.1"
+version = "2.0.2"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]
@@ -48,26 +48,11 @@ rtx.translucency.enabled = false
 rtx.reflections.enabled = false
 rtx.indirectDiffuse.enabled = false
 rtx-transient.dlssg.enabled = false
+rtx.directLighting.sampledLighting.enabled = true
+rtx.directLighting.sampledLighting.samplesPerPixel = 1
 rtx.sceneDb.ambientLightIntensity = 1.0
 # rtx.shadows.enabled = false
 
-# Optimized denoiser flags for better rendering performance
-rtx-transient.dldenoiser.enabled = false
-rtx.indirectDiffuse.denoiser.enabled = false
-rtx.directLighting.sampledLighting.denoisingTechnique = 0
-rtx.reflections.denoiser.enabled = false
-
-# this approximate dome lighting, almost like an ambient light
-# for better lighting, enable ambient occlusion at a small cost
-rtx.domeLight.upperLowerStrategy=4
-rtx.directLighting.sampledLighting.enabled = false
-rtx.ambientOcclusion.enabled = false
-rtx.ambientOcclusion.denoiserMode = 0
-rtx.raytracing.subpixel.mode=1
-rtx.raytracing.cached.enabled = false
-# Set the DLSS model
-rtx.post.dlss.execMode = 2 # can be 0 (Performance), 1 (Balanced), 2 (Quality), or 3 (Auto)
-
 # Avoids replicator warning
 rtx.pathtracing.maxSamplesPerLaunch = 1000000
 # Avoids silent trimming of tiles
@@ -76,6 +61,13 @@ rtx.viewTile.limit = 1000000
 # Disable present thread to improve performance
 exts."omni.renderer.core".present.enabled=false
 
+# Disabling these settings reduces renderer VRAM usage and improves rendering performance, but at some quality cost
+rtx.raytracing.cached.enabled = false
+rtx.ambientOcclusion.enabled = false
+
+# Set the DLSS model
+rtx.post.dlss.execMode = 0 # can be 0 (Performance), 1 (Balanced), 2 (Quality), or 3 (Auto)
+
 # Avoids unnecessary GPU context initialization
 renderer.multiGpu.maxGpuCount=1
 

apps/isaaclab.python.xr.openxr.kit

@@ -5,7 +5,7 @@
 [package]
 title = "Isaac Lab Python OpenXR"
 description = "An app for running Isaac Lab with OpenXR"
-version = "2.0.1"
+version = "2.0.2"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "usd"]

docs/conf.py

@@ -26,6 +26,8 @@
 sys.path.insert(0, os.path.abspath("../source/isaaclab_rl/isaaclab_rl"))
 sys.path.insert(0, os.path.abspath("../source/isaaclab_mimic"))
 sys.path.insert(0, os.path.abspath("../source/isaaclab_mimic/isaaclab_mimic"))
+sys.path.insert(0, os.path.abspath("../source/isaaclab_assets"))
+sys.path.insert(0, os.path.abspath("../source/isaaclab_assets/isaaclab_assets"))
 
 # -- Project information -----------------------------------------------------
 
@@ -127,6 +129,7 @@
 # Mock out modules that are not available on RTD
 autodoc_mock_imports = [
     "torch",
+    "torchvision",
     "numpy",
     "matplotlib",
     "scipy",