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

docs/source/features/environments.rst

@@ -165,14 +165,14 @@ Environments based on legged locomotion tasks.
 .. |velocity-flat-anymal-d-link| replace:: `Isaac-Velocity-Flat-Anymal-D-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_d/flat_env_cfg.py>`__
 .. |velocity-rough-anymal-d-link| replace:: `Isaac-Velocity-Rough-Anymal-D-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_d/rough_env_cfg.py>`__
 
-.. |velocity-flat-unitree-a1-link| replace:: `Isaac-Velocity-Flat-Unitree-A1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/unitree_a1/flat_env_cfg.py>`__
-.. |velocity-rough-unitree-a1-link| replace:: `Isaac-Velocity-Rough-Unitree-A1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/unitree_a1/rough_env_cfg.py>`__
+.. |velocity-flat-unitree-a1-link| replace:: `Isaac-Velocity-Flat-Unitree-A1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/a1/flat_env_cfg.py>`__
+.. |velocity-rough-unitree-a1-link| replace:: `Isaac-Velocity-Rough-Unitree-A1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/a1/rough_env_cfg.py>`__
 
-.. |velocity-flat-unitree-go1-link| replace:: `Isaac-Velocity-Flat-Unitree-Go1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/unitree_go1/flat_env_cfg.py>`__
-.. |velocity-rough-unitree-go1-link| replace:: `Isaac-Velocity-Rough-Unitree-Go1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/unitree_go1/rough_env_cfg.py>`__
+.. |velocity-flat-unitree-go1-link| replace:: `Isaac-Velocity-Flat-Unitree-Go1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go1/flat_env_cfg.py>`__
+.. |velocity-rough-unitree-go1-link| replace:: `Isaac-Velocity-Rough-Unitree-Go1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go1/rough_env_cfg.py>`__
 
-.. |velocity-flat-unitree-go2-link| replace:: `Isaac-Velocity-Flat-Unitree-Go2-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/unitree_go2/flat_env_cfg.py>`__
-.. |velocity-rough-unitree-go2-link| replace:: `Isaac-Velocity-Rough-Unitree-Go2-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/unitree_go2/rough_env_cfg.py>`__
+.. |velocity-flat-unitree-go2-link| replace:: `Isaac-Velocity-Flat-Unitree-Go2-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go2/flat_env_cfg.py>`__
+.. |velocity-rough-unitree-go2-link| replace:: `Isaac-Velocity-Rough-Unitree-Go2-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go2/rough_env_cfg.py>`__
 
 .. |velocity-flat-spot-link| replace:: `Isaac-Velocity-Flat-Spot-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/spot/flat_env_cfg.py>`__
 

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

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.22.11"
+version = "0.22.12"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

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

@@ -1,6 +1,16 @@
 Changelog
 ---------
 
+0.22.12 (2024-09-08)
+~~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Moved the configuration of visualization markers for the command terms to their respective configuration classes.
+  This allows users to modify the markers for the command terms without having to modify the command term classes.
+
+
 0.22.11 (2024-09-10)
 ~~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py

@@ -954,6 +954,7 @@ def _create_buffers(self):
 
         # -- bodies
         self._data.default_mass = self.root_physx_view.get_masses().clone()
+        self._data.default_inertia = self.root_physx_view.get_inertias().clone()
 
         # -- default joint state
         self._data.default_joint_pos = torch.zeros(self.num_instances, self.num_joints, device=self.device)

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py

@@ -104,6 +104,13 @@ def update(self, dt: float):
     default_mass: torch.Tensor = None
     """Default mass read from the simulation. Shape is (num_instances, num_bodies)."""
 
+    default_inertia: torch.Tensor = None
+    """Default inertia read from the simulation. Shape is (num_instances, num_bodies, 9).
+
+    The inertia is the inertia tensor relative to the center of mass frame. The values are stored in
+    the order :math:`[I_{xx}, I_{xy}, I_{xz}, I_{yx}, I_{yy}, I_{yz}, I_{zx}, I_{zy}, I_{zz}]`.
+    """
+
     default_joint_pos: torch.Tensor = None
     """Default joint positions of all joints. Shape is (num_instances, num_joints)."""
 

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py

@@ -327,6 +327,7 @@ def _create_buffers(self):
         # set information about rigid body into data
         self._data.body_names = self.body_names
         self._data.default_mass = self.root_physx_view.get_masses().clone()
+        self._data.default_inertia = self.root_physx_view.get_inertias().clone()
 
     def _process_cfg(self):
         """Post processing of configuration parameters."""

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py

@@ -96,6 +96,13 @@ def update(self, dt: float):
     default_mass: torch.Tensor = None
     """Default mass read from the simulation. Shape is (num_instances, 1)."""
 
+    default_inertia: torch.Tensor = None
+    """Default inertia tensor read from the simulation. Shape is (num_instances, 9).
+
+    The inertia is the inertia tensor relative to the center of mass frame. The values are stored in
+    the order :math:`[I_{xx}, I_{xy}, I_{xz}, I_{yx}, I_{yy}, I_{yz}, I_{zx}, I_{zy}, I_{zz}]`.
+    """
+
     ##
     # Properties.
     ##

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py

@@ -7,6 +7,8 @@
 from dataclasses import MISSING
 
 from omni.isaac.lab.managers import CommandTermCfg
+from omni.isaac.lab.markers import VisualizationMarkersCfg
+from omni.isaac.lab.markers.config import BLUE_ARROW_X_MARKER_CFG, FRAME_MARKER_CFG, GREEN_ARROW_X_MARKER_CFG
 from omni.isaac.lab.utils import configclass
 
 from .null_command import NullCommand
@@ -62,6 +64,20 @@ class Ranges:
     ranges: Ranges = MISSING
     """Distribution ranges for the velocity commands."""
 
+    goal_vel_visualizer_cfg: VisualizationMarkersCfg = GREEN_ARROW_X_MARKER_CFG.replace(
+        prim_path="/Visuals/Command/velocity_goal"
+    )
+    """The configuration for the goal velocity visualization marker. Defaults to GREEN_ARROW_X_MARKER_CFG."""
+
+    current_vel_visualizer_cfg: VisualizationMarkersCfg = BLUE_ARROW_X_MARKER_CFG.replace(
+        prim_path="/Visuals/Command/velocity_current"
+    )
+    """The configuration for the current velocity visualization marker. Defaults to BLUE_ARROW_X_MARKER_CFG."""
+
+    # Set the scale of the visualization markers to (0.5, 0.5, 0.5)
+    goal_vel_visualizer_cfg.markers["arrow"].scale = (0.5, 0.5, 0.5)
+    current_vel_visualizer_cfg.markers["arrow"].scale = (0.5, 0.5, 0.5)
+
 
 @configclass
 class NormalVelocityCommandCfg(UniformVelocityCommandCfg):
@@ -125,6 +141,18 @@ class Ranges:
     ranges: Ranges = MISSING
     """Ranges for the commands."""
 
+    goal_pose_visualizer_cfg: VisualizationMarkersCfg = FRAME_MARKER_CFG.replace(prim_path="/Visuals/Command/goal_pose")
+    """The configuration for the goal pose visualization marker. Defaults to FRAME_MARKER_CFG."""
+
+    current_pose_visualizer_cfg: VisualizationMarkersCfg = FRAME_MARKER_CFG.replace(
+        prim_path="/Visuals/Command/body_pose"
+    )
+    """The configuration for the current pose visualization marker. Defaults to FRAME_MARKER_CFG."""
+
+    # Set the scale of the visualization markers to (0.1, 0.1, 0.1)
+    goal_pose_visualizer_cfg.markers["frame"].scale = (0.1, 0.1, 0.1)
+    current_pose_visualizer_cfg.markers["frame"].scale = (0.1, 0.1, 0.1)
+
 
 @configclass
 class UniformPose2dCommandCfg(CommandTermCfg):
@@ -158,6 +186,14 @@ class Ranges:
     ranges: Ranges = MISSING
     """Distribution ranges for the position commands."""
 
+    goal_pose_visualizer_cfg: VisualizationMarkersCfg = GREEN_ARROW_X_MARKER_CFG.replace(
+        prim_path="/Visuals/Command/pose_goal"
+    )
+    """The configuration for the goal pose visualization marker. Defaults to GREEN_ARROW_X_MARKER_CFG."""
+
+    # Set the scale of the visualization markers to (0.2, 0.2, 0.8)
+    goal_pose_visualizer_cfg.markers["arrow"].scale = (0.2, 0.2, 0.8)
+
 
 @configclass
 class TerrainBasedPose2dCommandCfg(UniformPose2dCommandCfg):

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/pose_2d_command.py

@@ -14,7 +14,6 @@
 from omni.isaac.lab.assets import Articulation
 from omni.isaac.lab.managers import CommandTerm
 from omni.isaac.lab.markers import VisualizationMarkers
-from omni.isaac.lab.markers.config import GREEN_ARROW_X_MARKER_CFG
 from omni.isaac.lab.terrains import TerrainImporter
 from omni.isaac.lab.utils.math import quat_from_euler_xyz, quat_rotate_inverse, wrap_to_pi, yaw_quat
 
@@ -124,20 +123,17 @@ def _update_command(self):
     def _set_debug_vis_impl(self, debug_vis: bool):
         # create markers if necessary for the first tome
         if debug_vis:
-            if not hasattr(self, "arrow_goal_visualizer"):
-                marker_cfg = GREEN_ARROW_X_MARKER_CFG.copy()
-                marker_cfg.markers["arrow"].scale = (0.2, 0.2, 0.8)
-                marker_cfg.prim_path = "/Visuals/Command/pose_goal"
-                self.arrow_goal_visualizer = VisualizationMarkers(marker_cfg)
+            if not hasattr(self, "goal_pose_visualizer"):
+                self.goal_pose_visualizer = VisualizationMarkers(self.cfg.goal_pose_visualizer_cfg)
             # set their visibility to true
-            self.arrow_goal_visualizer.set_visibility(True)
+            self.goal_pose_visualizer.set_visibility(True)
         else:
-            if hasattr(self, "arrow_goal_visualizer"):
-                self.arrow_goal_visualizer.set_visibility(False)
+            if hasattr(self, "goal_pose_visualizer"):
+                self.goal_pose_visualizer.set_visibility(False)
 
     def _debug_vis_callback(self, event):
         # update the box marker
-        self.arrow_goal_visualizer.visualize(
+        self.goal_pose_visualizer.visualize(
             translations=self.pos_command_w,
             orientations=quat_from_euler_xyz(
                 torch.zeros_like(self.heading_command_w),

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/pose_command.py

@@ -14,7 +14,6 @@
 from omni.isaac.lab.assets import Articulation
 from omni.isaac.lab.managers import CommandTerm
 from omni.isaac.lab.markers import VisualizationMarkers
-from omni.isaac.lab.markers.config import FRAME_MARKER_CFG
 from omni.isaac.lab.utils.math import combine_frame_transforms, compute_pose_error, quat_from_euler_xyz, quat_unique
 
 if TYPE_CHECKING:
@@ -131,21 +130,17 @@ def _set_debug_vis_impl(self, debug_vis: bool):
         # create markers if necessary for the first tome
         if debug_vis:
             if not hasattr(self, "goal_pose_visualizer"):
-                marker_cfg = FRAME_MARKER_CFG.copy()
-                marker_cfg.markers["frame"].scale = (0.1, 0.1, 0.1)
                 # -- goal pose
-                marker_cfg.prim_path = "/Visuals/Command/goal_pose"
-                self.goal_pose_visualizer = VisualizationMarkers(marker_cfg)
+                self.goal_pose_visualizer = VisualizationMarkers(self.cfg.goal_pose_visualizer_cfg)
                 # -- current body pose
-                marker_cfg.prim_path = "/Visuals/Command/body_pose"
-                self.body_pose_visualizer = VisualizationMarkers(marker_cfg)
+                self.current_pose_visualizer = VisualizationMarkers(self.cfg.current_pose_visualizer_cfg)
             # set their visibility to true
             self.goal_pose_visualizer.set_visibility(True)
-            self.body_pose_visualizer.set_visibility(True)
+            self.current_pose_visualizer.set_visibility(True)
         else:
             if hasattr(self, "goal_pose_visualizer"):
                 self.goal_pose_visualizer.set_visibility(False)
-                self.body_pose_visualizer.set_visibility(False)
+                self.current_pose_visualizer.set_visibility(False)
 
     def _debug_vis_callback(self, event):
         # check if robot is initialized
@@ -157,4 +152,4 @@ def _debug_vis_callback(self, event):
         self.goal_pose_visualizer.visualize(self.pose_command_w[:, :3], self.pose_command_w[:, 3:])
         # -- current body pose
         body_pose_w = self.robot.data.body_state_w[:, self.body_idx]
-        self.body_pose_visualizer.visualize(body_pose_w[:, :3], body_pose_w[:, 3:7])
+        self.current_pose_visualizer.visualize(body_pose_w[:, :3], body_pose_w[:, 3:7])

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/velocity_command.py

@@ -15,7 +15,6 @@
 from omni.isaac.lab.assets import Articulation
 from omni.isaac.lab.managers import CommandTerm
 from omni.isaac.lab.markers import VisualizationMarkers
-from omni.isaac.lab.markers.config import BLUE_ARROW_X_MARKER_CFG, GREEN_ARROW_X_MARKER_CFG
 
 if TYPE_CHECKING:
     from omni.isaac.lab.envs import ManagerBasedEnv
@@ -148,24 +147,18 @@ def _set_debug_vis_impl(self, debug_vis: bool):
         # note: parent only deals with callbacks. not their visibility
         if debug_vis:
             # create markers if necessary for the first tome
-            if not hasattr(self, "base_vel_goal_visualizer"):
+            if not hasattr(self, "goal_vel_visualizer"):
                 # -- goal
-                marker_cfg = GREEN_ARROW_X_MARKER_CFG.copy()
-                marker_cfg.prim_path = "/Visuals/Command/velocity_goal"
-                marker_cfg.markers["arrow"].scale = (0.5, 0.5, 0.5)
-                self.base_vel_goal_visualizer = VisualizationMarkers(marker_cfg)
+                self.goal_vel_visualizer = VisualizationMarkers(self.cfg.goal_vel_visualizer_cfg)
                 # -- current
-                marker_cfg = BLUE_ARROW_X_MARKER_CFG.copy()
-                marker_cfg.prim_path = "/Visuals/Command/velocity_current"
-                marker_cfg.markers["arrow"].scale = (0.5, 0.5, 0.5)
-                self.base_vel_visualizer = VisualizationMarkers(marker_cfg)
+                self.current_vel_visualizer = VisualizationMarkers(self.cfg.current_vel_visualizer_cfg)
             # set their visibility to true
-            self.base_vel_goal_visualizer.set_visibility(True)
-            self.base_vel_visualizer.set_visibility(True)
+            self.goal_vel_visualizer.set_visibility(True)
+            self.current_vel_visualizer.set_visibility(True)
         else:
-            if hasattr(self, "base_vel_goal_visualizer"):
-                self.base_vel_goal_visualizer.set_visibility(False)
-                self.base_vel_visualizer.set_visibility(False)
+            if hasattr(self, "goal_vel_visualizer"):
+                self.goal_vel_visualizer.set_visibility(False)
+                self.current_vel_visualizer.set_visibility(False)
 
     def _debug_vis_callback(self, event):
         # check if robot is initialized
@@ -180,8 +173,8 @@ def _debug_vis_callback(self, event):
         vel_des_arrow_scale, vel_des_arrow_quat = self._resolve_xy_velocity_to_arrow(self.command[:, :2])
         vel_arrow_scale, vel_arrow_quat = self._resolve_xy_velocity_to_arrow(self.robot.data.root_lin_vel_b[:, :2])
         # display markers
-        self.base_vel_goal_visualizer.visualize(base_pos_w, vel_des_arrow_quat, vel_des_arrow_scale)
-        self.base_vel_visualizer.visualize(base_pos_w, vel_arrow_quat, vel_arrow_scale)
+        self.goal_vel_visualizer.visualize(base_pos_w, vel_des_arrow_quat, vel_des_arrow_scale)
+        self.current_vel_visualizer.visualize(base_pos_w, vel_arrow_quat, vel_arrow_scale)
 
     """
     Internal helpers.
@@ -190,7 +183,7 @@ def _debug_vis_callback(self, event):
     def _resolve_xy_velocity_to_arrow(self, xy_velocity: torch.Tensor) -> tuple[torch.Tensor, torch.Tensor]:
         """Converts the XY base velocity command to arrow direction rotation."""
         # obtain default scale of the marker
-        default_scale = self.base_vel_goal_visualizer.cfg.markers["arrow"].scale
+        default_scale = self.goal_vel_visualizer.cfg.markers["arrow"].scale
         # arrow-scale
         arrow_scale = torch.tensor(default_scale, device=self.device).repeat(xy_velocity.shape[0], 1)
         arrow_scale[:, 0] *= torch.linalg.norm(xy_velocity, dim=1) * 3.0

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py

@@ -132,12 +132,18 @@ def randomize_rigid_body_mass(
     mass_distribution_params: tuple[float, float],
     operation: Literal["add", "scale", "abs"],
     distribution: Literal["uniform", "log_uniform", "gaussian"] = "uniform",
+    recompute_inertia: bool = True,
 ):
     """Randomize the mass of the bodies by adding, scaling, or setting random values.
 
     This function allows randomizing the mass of the bodies of the asset. The function samples random values from the
     given distribution parameters and adds, scales, or sets the values into the physics simulation based on the operation.
 
+    If the ``recompute_inertia`` flag is set to ``True``, the function recomputes the inertia tensor of the bodies
+    after setting the mass. This is useful when the mass is changed significantly, as the inertia tensor depends
+    on the mass. It assumes the body is a uniform density object. If the body is not a uniform density object,
+    the inertia tensor may not be accurate.
+
     .. tip::
         This function uses CPU tensors to assign the body masses. It is recommended to use this function
         only during the initialization of the environment.
@@ -159,7 +165,10 @@ def randomize_rigid_body_mass(
 
     # get the current masses of the bodies (num_assets, num_bodies)
     masses = asset.root_physx_view.get_masses()
+
     # apply randomization on default values
+    # this is to make sure when calling the function multiple times, the randomization is applied on the
+    # default values and not the previously randomized values
     masses[env_ids[:, None], body_ids] = asset.data.default_mass[env_ids[:, None], body_ids].clone()
 
     # sample from the given range
@@ -172,6 +181,24 @@ def randomize_rigid_body_mass(
     # set the mass into the physics simulation
     asset.root_physx_view.set_masses(masses, env_ids)
 
+    # recompute inertia tensors if needed
+    if recompute_inertia:
+        # compute the ratios of the new masses to the initial masses
+        ratios = masses[env_ids[:, None], body_ids] / asset.data.default_mass[env_ids[:, None], body_ids]
+        # scale the inertia tensors by the the ratios
+        # since mass randomization is done on default values, we can use the default inertia tensors
+        inertias = asset.root_physx_view.get_inertias()
+        if isinstance(asset, Articulation):
+            # inertia has shape: (num_envs, num_bodies, 9) for articulation
+            inertias[env_ids[:, None], body_ids] = (
+                asset.data.default_inertia[env_ids[:, None], body_ids] * ratios[..., None]
+            )
+        else:
+            # inertia has shape: (num_envs, 9) for rigid object
+            inertias[env_ids] = asset.data.default_inertia[env_ids] * ratios
+        # set the inertia tensors into the physics simulation
+        asset.root_physx_view.set_inertias(inertias, env_ids)
+
 
 def randomize_physics_scene_gravity(
     env: ManagerBasedEnv,