Enhancements and upgrades for the release: v1.1.0

[Dhoeller19]

👀 Overview

With the release of Isaac Sim 4.0 and 4.1, support for Isaac Sim 2023.1.1 has been discontinued. We strongly encourage all users to upgrade to Isaac Sim 4.1 to take advantage of the latest features and improvements. For detailed information on this upgrade, please refer to the release notes available here.

Besides the above, the Isaac Lab release brings new features and improvements, as detailed below. We thank all our contributors for their continued support.

Full Changelog: v1.0.0...v1.1.0

✨ New Features

• Adds distributed multi-GPU learning support for skrl by @Toni-SM in Adds distributed multi-GPU learning support for skrl #574
• Updates skrl integration to support training/evaluation using JAX by @Toni-SM in Updates skrl integration to support training/evaluation using JAX #592
• Adds lidar pattern for raycaster sensor by @pascal-roth in Adds lidar pattern for raycaster sensor #616
• Adds support for PBS job scheduler-based clusters by @shafeef901 in Adds support for PBS job scheduler based clusters #605
• Adds APIs for spawning deformable meshes by @Mayankm96 in Adds APIs for spawning deformable meshes #613

🔧 Improvements

• Changes documentation color to the green theme by @Mayankm96 in Changes documentation color to green theme #585
• Fixes sphinx tabs to make them work in dark theme by @Mayankm96 in Fixes sphinx tabs to make them work in dark theme #584
• Fixes VSCode settings to work with pip installation of Isaac Sim by @Mayankm96 in Fixes VSCode settings to work with pip installation of Isaac Sim #628
• Fixes isaaclab scripts to deal with Isaac Sim pip installation by @Mayankm96 in Fixes isaaclab scripts to deal with Isaac Sim pip installation #631
• Optimizes interactive scene for homogeneous cloning by @kellyguo11 in Optimizes interactive scene for homogeneous cloning #636
• Improves docker X11 forwarding documentation by @j3soon in Improves docker X11 forwarding documentation #685

🐛 Bug Fixes

• Reads gravity direction from simulation inside RigidObjectData by @Mayankm96 in Reads gravity direction from simulation inside RigidObjectData #582
• Fixes reference count in asset instances due to circular references by @Mayankm96 in Fixes reference count in asset instances due to circular references #580
• Fixes issue with asset deinitialization due to torch > 2.1 by @Mayankm96 in Fixes issue with asset deinitialization due to torch > 2.1 #640
• Fixes the rendering logic regression in environments by @Dhoeller19 in Fixes the rendering logic regression in environments #614
• Fixes the check for action-space inside Stable-Baselines3 wrapper by @Mayankm96 in Fixes the check for action-space inside Stable-Baselines3 wrapper #610
• Fixes warning message in Articulation config processing by @locoxsoco in Fixes warning message in Articulation config processing #699
• Fixes action term in the reach environment by @masoudmoghani in Fixes action term in the reach environment #710
• Fixes training UR10 reach with RL_GAMES and SKRL by @sudhirpratapyadav in Fixes training UR10 reach with RL_GAMES and SKRL #678
• Adds event manager call to simple manage-based env by @Mayankm96 in Adds event manager call to simple manage-based env #666

💔 Breaking Changes

• Drops official support for Isaac Sim 2023.1.1
• Removes the use of body view inside the asset classes by @Mayankm96 in Removes the use of body view inside the asset classes #643

✈️ Migration Guide

Renaming of SimulationCfg.substeps to SimulationCfg.render_interval

Previously, the users set both omni.isaac.lab.sim.SimulationCfg.dt and omni.isaac.lab.sim.SimulationCfg.substeps, which marked the physics insulation time-step and sub-steps, respectively. It was unclear whether sub-steps meant the number of integration steps inside the physics time-step dt or the number of physics steps inside a rendering step.

Since in the code base, the attribute was used as the latter, it has been renamed to render_interval for clarity.

Removal of Deprecated Attributes

As notified in previous releases, we removed the classes and attributes marked as deprecated. These are as follows:

• The mdp.add_body_mass method in the events. Please use the mdp.randomize_rigid_body_mass instead.
• The classes managers.RandomizationManager and managers.RandomizationTermCfg. Please use the managers.EventManager and managers.EventTermCfg classes instead.
• The following properties in :class:omni.isaac.lab.sensors.FrameTransformerData:
  • target_rot_source --> omni.isaac.lab.sensors.FrameTransformerData.target_quat_w
  • target_rot_w --> omni.isaac.lab.sensors.FrameTransformerData.target_quat_source
  • source_rot_w --> omni.isaac.lab.sensors.FrameTransformerData.source_quat_w
• The attribute body_physx_view from the omni.isaac.lab.assets.Articulation and omni.isaac.lab.assets.RigidObject classes. These caused confusion when used with the articulation view since the body names did not follow the same ordering.
• The kit experience file isaaclab.backwards.compatible.kit. This is followed by dropping the support for
  Isaac Sim 2023.1.1 completely.

🤗 New Contributors

• @Brayden-Zhang made their first contribution in Fixes open cabinet state machine run instructions in script #600
• @fan-ziqi made their first contribution in Fixes quotes in the docker documentation #648
• @sudhirpratapyadav made their first contribution in Fixes training UR10 reach with RL_GAMES and SKRL #678
• @locoxsoco made their first contribution in Fixes warning message in Articulation config processing #699
• @masoudmoghani made their first contribution in Fixes action term in the reach environment #710
• @j3soon made their first contribution in Improves docker X11 forwarding documentation #685