Merge branch 'isaac-sim:main' into main

kscalelabs · Dec 21, 2024 · 5b18997 · 5b18997
2 parents 0d0fa41 + dd044a4
commit 5b18997
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diff --git a/.gitattributes b/.gitattributes
@@ -9,3 +9,4 @@
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.pt filter=lfs diff=lfs merge=lfs -text
 *.jit filter=lfs diff=lfs merge=lfs -text
+*.hdf5 filter=lfs diff=lfs merge=lfs -text
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -38,7 +38,7 @@ repos:
       - id: pyupgrade
         args: ["--py310-plus"]
         # FIXME: This is a hack because Pytorch does not like: torch.Tensor | dict aliasing
-        exclude: "source/extensions/omni.isaac.lab/omni/isaac/lab/envs/common.py"
+        exclude: "source/extensions/omni.isaac.lab/omni/isaac/lab/envs/common.py|source/extensions/omni.isaac.lab/omni/isaac/lab/ui/widgets/image_plot.py"
   - repo: https://github.com/codespell-project/codespell
     rev: v2.2.6
     hooks:

diff --git a/.vscode/tools/settings.template.json b/.vscode/tools/settings.template.json
@@ -45,7 +45,6 @@
         "teleoperation",
         "xform",
         "numpy",
-        "tensordict",
         "flatcache",
         "physx",
         "dpad",

diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
@@ -41,12 +41,16 @@ Guidelines for modifications:
 * Brayden Zhang
 * Calvin Yu
 * Chenyu Yang
+* CY (Chien-Ying) Chen
 * David Yang
 * Dorsa Rohani
 * Felix Yu
 * Gary Lvov
 * Giulio Romualdi
+* Haoran Zhou
 * HoJin Jeon
+* Hongwei Xiong
+* Iretiayo Akinola
 * Jan Kerner
 * Jean Tampon
 * Jia Lin Yuan
@@ -60,10 +64,12 @@ Guidelines for modifications:
 * Lorenz Wellhausen
 * Masoud Moghani
 * Michael Gussert
+* Michael Noseworthy
 * Muhong Guo
 * Nuralem Abizov
 * Oyindamola Omotuyi
 * Özhan Özen
+* Peter Du
 * Qian Wan
 * Qinxi Yu
 * René Zurbrügg
@@ -87,3 +93,4 @@ Guidelines for modifications:
 * Gavriel State
 * Hammad Mazhar
 * Marco Hutter
+* Yashraj Narang
diff --git a/docs/index.rst b/docs/index.rst
@@ -100,6 +100,7 @@ Table of Contents
    source/features/hydra
    source/features/multi_gpu
    Tiled Rendering</source/overview/sensors/camera>
+   source/features/ray
    source/features/reproducibility
 
 .. toctree::

diff --git a/docs/source/_static/tasks/factory/gear_mesh.jpg b/docs/source/_static/tasks/factory/gear_mesh.jpg
diff --git a/docs/source/_static/tasks/factory/nut_thread.jpg b/docs/source/_static/tasks/factory/nut_thread.jpg
diff --git a/docs/source/_static/tasks/factory/peg_insert.jpg b/docs/source/_static/tasks/factory/peg_insert.jpg
diff --git a/docs/source/_static/tasks/manipulation/franka_stack.jpg b/docs/source/_static/tasks/manipulation/franka_stack.jpg
diff --git a/docs/source/_static/tutorials/tutorial_operational_space_controller.jpg b/docs/source/_static/tutorials/tutorial_operational_space_controller.jpg
diff --git a/docs/source/api/lab/omni.isaac.lab.controllers.rst b/docs/source/api/lab/omni.isaac.lab.controllers.rst
@@ -9,6 +9,8 @@
 
     DifferentialIKController
     DifferentialIKControllerCfg
+    OperationalSpaceController
+    OperationalSpaceControllerCfg
 
 Differential Inverse Kinematics
 -------------------------------
@@ -23,3 +25,17 @@ Differential Inverse Kinematics
     :inherited-members:
     :show-inheritance:
     :exclude-members: __init__, class_type
+
+Operational Space controllers
+-----------------------------
+
+.. autoclass:: OperationalSpaceController
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: OperationalSpaceControllerCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type