Merge remote-tracking branch 'origin/dev/newton' into milad/friction-randomization

Author: Milad-Rakhsha

scripts/benchmarks/eval_all_for_newton_alpha_for_scaling.sh

@@ -2,7 +2,7 @@
 
 ISAAC_EXEC_SCRIPT=/home/antoiner/Documents/IsaacLab-Internal/isaaclab.sh
 RSL_SCRIPT=scripts/benchmarks/benchmark_non_rl.py
-TASKS="Isaac-Cartpole-Direct-v0 Isaac-Ant-Direct-v0 Isaac-Humanoid-Direct-v0 Isaac-Velocity-Flat-Anymal-D-v0 Isaac-Velocity-Flat-G1-v1 Isaac-Velocity-Flat-H1-v0"
+TASKS="Isaac-Repose-Cube-Allegro-Direct-v0 Isaac-Ant-Direct-v0 Isaac-Cartpole-Direct-v0 Isaac-Cartpole-RGB-Camera-Direct-v0 Isaac-Cartpole-Depth-Camera-Direct-v0 Isaac-Humanoid-Direct-v0 Isaac-Ant-v0 Isaac-Cartpole-v0 Isaac-Humanoid-v0 Isaac-Velocity-Flat-Unitree-A1-v0 Isaac-Velocity-Flat-Anymal-B-v0 Isaac-Velocity-Flat-Anymal-C-v0 Isaac-Velocity-Flat-Anymal-D-v0 Isaac-Velocity-Flat-Cassie-v0 Isaac-Velocity-Flat-G1-v0 Isaac-Velocity-Flat-G1-v1 Isaac-Velocity-Flat-Unitree-Go1-v0 Isaac-Velocity-Flat-Unitree-Go2-v0 Isaac-Velocity-Flat-H1-v0 Isaac-Velocity-Flat-Spot-v0 Isaac-Reach-Franka-v0 Isaac-Reach-UR10-v0"
 NUM_FRAMES=100
 NUM_ENVS="1024 2048 4096 8192 16384"
 TARGET_FOLDER=$1
@@ -11,6 +11,10 @@ for task in $TASKS
   do
   for num_envs in $NUM_ENVS
     do
-      $ISAAC_EXEC_SCRIPT -p $RSL_SCRIPT --task $task --num_frames $NUM_FRAMES --headless --num_envs $num_envs --output_folder $TARGET_FOLDER
+      if [[ $task == *"RGB-Camera"* ]] || [[ $task == *"Depth-Camera"* ]]; then
+        $ISAAC_EXEC_SCRIPT -p $RSL_SCRIPT --task $task --num_frames $NUM_FRAMES --headless --num_envs $num_envs --output_folder $TARGET_FOLDER --enable_cameras
+      else
+        $ISAAC_EXEC_SCRIPT -p $RSL_SCRIPT --task $task --num_frames $NUM_FRAMES --headless --num_envs $num_envs --output_folder $TARGET_FOLDER
+      fi
     done
   done

source/isaaclab/isaaclab/assets/articulation/articulation.py

@@ -202,7 +202,7 @@ def write_data_to_sim(self):
         """
         # write external wrench
         if self.has_external_wrench:
-            wrenches_b = torch.cat([self._external_force_b, self._external_force_b], dim=-1)
+            wrenches_b = torch.cat([self._external_force_b, self._external_torque_b], dim=-1)
             self._root_newton_view.set_attribute("body_f", NewtonManager.get_state_0(), wp.from_torch(wrenches_b))
 
         # apply actuator models
@@ -1374,6 +1374,15 @@ def _initialize_impl(self):
         # log joint information
         self._log_articulation_info()
 
+        # Moves the articulation to its default pose before the solver is initialized
+        generated_pose = self._data.default_root_state[:, :7].clone()
+        generated_pose[:, 3:] = math_utils.convert_quat(generated_pose[:, 3:], to="xyzw")
+        generated_pose[:, :2] += wp.to_torch(self._root_newton_view.get_root_transforms(NewtonManager.get_model()))[
+            :, :2
+        ]
+        self._root_newton_view.set_root_transforms(NewtonManager.get_state_0(), generated_pose)
+        self._root_newton_view.set_root_transforms(NewtonManager.get_model(), generated_pose)
+
     def _create_buffers(self):
         # constants
         self._ALL_INDICES = torch.arange(self.num_instances, dtype=torch.long, device=self.device)
@@ -1479,17 +1488,19 @@ def _process_cfg(self):
         # -- joint state
         self._data.default_joint_pos = torch.zeros(self.num_instances, self.num_joints, device=self.device)
         self._data.default_joint_vel = torch.zeros_like(self._data.default_joint_pos)
-        # joint pos
-        indices_list, _, values_list = string_utils.resolve_matching_names_values(
-            self.cfg.init_state.joint_pos, self.joint_names
-        )
-        self._data.default_joint_pos[:, indices_list] = torch.tensor(values_list, device=self.device)
 
-        # joint vel
-        indices_list, _, values_list = string_utils.resolve_matching_names_values(
-            self.cfg.init_state.joint_vel, self.joint_names
-        )
-        self._data.default_joint_vel[:, indices_list] = torch.tensor(values_list, device=self.device)
+        if self.num_joints > 0:
+            # joint pos
+            indices_list, _, values_list = string_utils.resolve_matching_names_values(
+                self.cfg.init_state.joint_pos, self.joint_names
+            )
+            self._data.default_joint_pos[:, indices_list] = torch.tensor(values_list, device=self.device)
+
+            # joint vel
+            indices_list, _, values_list = string_utils.resolve_matching_names_values(
+                self.cfg.init_state.joint_vel, self.joint_names
+            )
+            self._data.default_joint_vel[:, indices_list] = torch.tensor(values_list, device=self.device)
 
     """
     Internal simulation callbacks.

source/isaaclab/isaaclab/assets/articulation/articulation_data.py

@@ -491,13 +491,13 @@ def root_com_vel_w(self) -> torch.Tensor:
         relative to the world.
         """
         if self._root_com_vel_w.timestamp < self._sim_timestamp:
-            # Newton reads velocities as [wx, wy, wz, vx, vy, vz] Isaac reads as [vx, vy, vz, wx, wy, wz]
+            # Newton and Isaac: [vx, vy, vz, wx, wy, wz]
             velocity = self._root_newton_view.get_root_velocities(NewtonManager.get_state_0())
             if velocity is None:
                 velocity = torch.zeros((self._root_newton_view.count, 6), device=self.device)
             else:
                 velocity = wp.to_torch(velocity).clone()
-            self._root_com_vel_w.data = torch.cat((velocity[:, 3:], velocity[:, :3]), dim=-1)
+            self._root_com_vel_w.data = velocity
             self._root_com_vel_w.timestamp = self._sim_timestamp
 
         return self._root_com_vel_w.data

source/isaaclab/isaaclab/cloner/utils.py

@@ -8,6 +8,7 @@
 
 import warp as wp
 from newton import AxisType, ModelBuilder
+from pxr import Usd
 
 from isaaclab.utils.timer import Timer
 
@@ -58,14 +59,35 @@ def replicate_environment(
             print(f"WARNING: up_axis '{up_axis}' does not match USD stage up_axis '{stage_up_axis}'")
 
     with Timer(name="newton_prototype_builder", msg="Prototype Builder took:", enable=True, format="ms"):
-        # load just the prototype env
+        # Get child xforms from the prototype path
+        child_xforms = []
+        if isinstance(source, str):
+            # If source is a file path, load the stage
+            stage = Usd.Stage.Open(source)
+        else:
+            # If source is already a stage
+            stage = source
+
+        # Get the prototype prim
+        prototype_prim = stage.GetPrimAtPath(prototype_path)
+        if prototype_prim.IsValid():
+            # Get all child prims that are Xforms
+            for child_prim in prototype_prim.GetAllChildren():
+                if child_prim.GetTypeName() == "Xform":
+                    child_xforms.append(child_prim.GetPath().pathString)
+
+        # If no child xforms found, use the prototype path itself
+        if not child_xforms:
+            child_xforms = [prototype_path]
+
         prototype_builder = ModelBuilder(up_axis=up_axis)
-        prototype_builder.add_usd(
-            source,
-            root_path=prototype_path,
-            load_non_physics_prims=False,
-            **usd_kwargs,
-        )
+        for child_path in child_xforms:
+            prototype_builder.add_usd(
+                source,
+                root_path=child_path,
+                load_non_physics_prims=False,
+                **usd_kwargs,
+            )
         prototype_builder.approximate_meshes("convex_hull")
 
     with Timer(name="newton_multiple_add_to_builder", msg="All add to builder took:", enable=True, format="ms"):

source/isaaclab/isaaclab/sensors/__init__.py

@@ -35,6 +35,7 @@
 
 """
 
+from .camera import *  # noqa: F401, F403
 from .contact_sensor import *  # noqa: F401, F403
 from .sensor_base import SensorBase  # noqa: F401
 from .sensor_base_cfg import SensorBaseCfg  # noqa: F401

source/isaaclab/isaaclab/sensors/camera/__init__.py

@@ -0,0 +1,13 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Sub-module for camera wrapper around USD camera prim."""
+
+from .camera import Camera
+from .camera_cfg import CameraCfg
+from .camera_data import CameraData
+from .tiled_camera import TiledCamera
+from .tiled_camera_cfg import TiledCameraCfg
+from .utils import *  # noqa: F401, F403