v1.3.0

👀 Overview

This release will be a final release based on Isaac Sim 4.2 before the transition to Isaac Sim 4.5, which will likely contain breaking changes and no longer backwards compatible with Isaac Sim 4.2 and earlier. In this release, we introduce many features, improvements, and bug fixes, including IMU sensors, support for various types of gymnasium spaces, manager-based perception environments, and more.

Full Changelog: v1.2.0...v1.3.0

✨ New Features

• Adds IMU sensor by @pascal-roth in #619
• Add Camera Benchmark Tool and Allow Correct Unprojection of distance_to_camera depth image by @glvov-bdai in #976
• Creates Manager Based Cartpole Vision Example Environments by @glvov-bdai in #995
• Adds image extracted features observation term and cartpole examples for it by @glvov-bdai in #1191
• Supports other gymnasium spaces in Direct workflow by @Toni-SM in #1117
• Adds configuration classes for spawning different assets at prim paths by @Mayankm96 in #1164
• Adds a rigid body collection class by @Dhoeller19 in #1288
• Adds option to scale/translate/rotate meshes in the mesh_converter by @pascal-roth in #1228
• Adds event term to randomize gains of explicit actuators by @MoreTore in #1005
• Adds Isaac Lab Reference Architecture documentation by @OOmotuyi in #1371

🔧 Improvements

• Expands functionality of FrameTransformer to allow multi-body transforms by @jsmith-bdai in #858
• Inverts SE-2 keyboard device actions (Z, X) for yaw command by @riccardorancan in #1030
• Disables backward pass compilation of warp kernels by @Mayankm96 in #1222
• Replaces TensorDict with native dictionary by @Toni-SM in #1348
• Improves omni.isaac.lab_tasks loading time by @Toni-SM in #1353
• Caches PhysX view's joint paths when processing fixed articulation tendons by @Toni-SM in #1347
• Replaces hardcoded module paths with __name__ dunder by @Mayankm96 in #1357
• Expands observation term scaling to support list of floats by @pascal-roth in #1269
• Removes extension startup messages from the Simulation App by @Mayankm96 in #1217
• Adds a render config to the simulation and tiledCamera limitations to the docs by @kellyguo11 in #1246
• Adds Kit command line argument support by @kellyguo11 in #1293
• Modifies workflow scripts to generate random seed when seed=-1 by @kellyguo11 in #1048
• Adds benchmark script to measure robot loading by @Mayankm96 in #1195
• Switches from carb to omni.log for logging by @Mayankm96 in #1215
• Excludes cache files from vscode explorer by @Divelix in #1131
• Adds versioning to the docs by @sheikh-nv in #1247
• Adds better error message for invalid actuator parameters by @lgulich in #1235
• Updates tested docker and apptainer versions for cluster deployment by @pascal-roth in #1230
• Removes ml_archive as a dependency of omni.isaac.lab extension by @fan-ziqi in #1266
• Adds a validity check for configclasses by @Dhoeller19 in #1214
• Ensures mesh name is compatible with USD convention in mesh converter by @fan-ziqi in #1302
• Adds sanity check for the term type inside the command manager by @command-z-z in #1315
• Allows configclass to_dict operation to handle a list of configclasses by @jtigue-bdai in #1227

🐛 Bug Fixes

• Disables replicate physics for deformable teddy lift environment by @Mayankm96 in #1026
• Fixes Jacobian joint indices for floating base articulations by @lorenwel in #1033
• Fixes setting the seed from CLI for RSL-RL by @kaixi287 in #1084
• Fixes camera MDP term name and reprojection docstrings by @Mayankm96 in #1130
• Fixes deprecation notice for using pxr.Semantics by @Mayankm96 in #1129
• Fixes scaling of default ground plane by @kellyguo11 in #1133
• Fixes Isaac Sim executable on pip installation by @Toni-SM in #1172
• Passes device from CLI args to simulation config in standalone scripts by @Mayankm96 in #1114
• Fixes the event for randomizing rigid body material by @pascal-roth in #1140
• Fixes the ray_caster_camera tutorial script when saving the data by @mpgussert in #1198
• Fixes running the docker container when the DISPLAY env variable is not defined by @GiulioRomualdi in #1163
• Fixes default joint pos when setting joint limits by @kellyguo11 in #1040
• Fixes device propogation for noise and adds noise tests by @jtigue-bdai in #1175
• Removes additional sbatch and fixes default profile in cluster deployment by @pascal-roth in #1229
• Fixes the checkpoint loading error in RSL-RL training script by @bearpaw in #1210
• Fixes pytorch broadcasting issue in EMAJointPositionToLimitsAction by @bearpaw in #1207
• Fixes body IDs selection when computing feet_slide reward for locomotion-velocity task by @dtc103 in #1277
• Fixes broken URLs in markdown files by @DorsaRoh in #1272
• Fixes net_arch in sb3_ppo_cfg.yaml for Isaac-Lift-Cube-Franka-v0 task by @LinghengMeng in #1249

🤗 New Contributors

• @riccardorancan made their first contribution in #1030
• @glvov-bdai made their first contribution in #976
• @kaixi287 made their first contribution in #1084
• @lgulich made their first contribution in #1119
• @nv-apoddubny made their first contribution in #1118
• @GiulioRomualdi made their first contribution in #1163
• @Divelix made their first contribution in #1131
• @sheikh-nv made their first contribution in #1247
• @dtc103 made their first contribution in #1277
• @DorsaRoh made their first contribution in #1272
• @louislelay made their first contribution in #1271
• @LinghengMeng made their first contribution in #1249
• @OOmotuyi made their first contribution in #1337
• @command-z-z made their first contribution in #1315
• @MoreTore made their first contribution in #1005