Adds tiled camera views to Kit Visualizer and Newton Visualizer#4
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matthewtrepte wants to merge 45 commits into
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Adds tiled camera views to Kit Visualizer and Newton Visualizer#4matthewtrepte wants to merge 45 commits into
matthewtrepte wants to merge 45 commits into
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# Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> Contains a few minor updates and patches to visualizers. - Disable default browser launch to Rerun & Viser visualizers - Add explicit logging urls to Rerun & Viser which appear before simulation loop - Reduce visualizer num sim steps in unit tests - Unskip all visualizer cartpole integration tests - Add focal length to visualizer cfg, for flexibility, align default visualizer cams, and add more consistency to tests - Expand pausing checks for Kit & Rerun tests - Fix frozen robot bodies in newton visualizers with physx - Add a save visualizer test captures mode to visualizer cartpole unit test (disabled by default) - Re-enable visualization markers when no visualizer is launched - Fix Newton Visualizer visualization marker regression - Expose remote desktop config for Viser Visualizer - Align Viser Visualizer docs with other visualizers - Update docs to reflect the changes <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) - Documentation update ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
…ling (isaac-sim#5443) # Description Introduces experimental Newton-backend deformable simulation alongside the existing PhysX deformables, refactors deformable APIs to be backend-neutral, and adds the manager-based Franka soft-body lifting environment used to validate two-way coupling. ### Backend-neutral deformable APIs (`isaaclab`) - Moved deformable schemas, materials, spawners, and `DeformableObjectCfg` out of `isaaclab_physx` into `isaaclab.sim` / `isaaclab.assets` so user code imports a single backend-agnostic API. - **Breaking (PhysX):** `isaaclab_physx.sim.DeformableBodyPropertiesCfg`, `DeformableObjectSpawnerCfg`, `DeformableBodyMaterialCfg`, `SurfaceDeformableBodyMaterialCfg`, `spawn_deformable_body_material`, `define/modify_deformable_body_properties` and `isaaclab_physx.assets.DeformableObjectCfg` are now imported from `isaaclab.sim` / `isaaclab.assets`. See `docs/source/migration/migrating_deformables.rst`. - USD spawners now support assets that embed tetrahedral mesh data, with automatic surface-mesh extraction. - Added `pytetwild` dependency for tet-mesh generation. ### Newton manager abstraction (`isaaclab_newton`) - Added deformable registration hooks to Newton cloning + Fabric sync fixes for particle meshes and particle-only scenes. ### Experimental Newton deformables (`isaaclab_contrib.deformable`) - `DeformableObject` (Newton backend), `VBDSolverCfg`, and coupled solver configs `CoupledMJWarpVBDSolverCfg` / `CoupledFeatherstoneVBDSolverCfg` providing one- and two-way rigid–deformable coupling. - New docs: `docs/source/features/newton-physics-integration/using-vbd-solver.rst` (VBD solver tuning + Franka soft-body lift guidance). ### Tasks, demos, tutorials - Added `Isaac-Lift-Soft-Franka-v0` (manager-based), the documented rigid–deformable coupling task. - Updated `scripts/demos/deformables.py`, the `01_assets/run_deformable_object` tutorial, and `00_sim/spawn_prims` to use the backend-neutral API with selectable PhysX or Newton backends. - Added IK + video-record state-machine demo `scripts/environments/state_machine/lift_franka_soft.py`. Continues on isaac-sim#5439 adding VBD solver and coupled MJWarp + VBD solver as newton managers in isaaclab_contrib. Fixes isaac-sim#5285 ## Type of change - New feature (non-breaking change which adds functionality) - Breaking change: Moved deformable schemas, materials, spawners, and `DeformableObjectCfg` out of `isaaclab_physx` into `isaaclab.sim` / `isaaclab.assets` so user code imports a single backend-agnostic API. ## Test plan - [x] `./isaaclab.sh -p -m pytest source/isaaclab/test/sim/test_deformable_backend_split.py` - [x] `./isaaclab.sh -p -m pytest source/isaaclab_physx/test/assets/test_deformable_object.py` - [x] `./isaaclab.sh -p -m pytest source/isaaclab_contrib/test/deformable/` - [x] Run `scripts/demos/deformables.py` against PhysX and Newton backends - [x] Run `Isaac-Lift-Soft-Franka-v0` training for sanity-check rollout ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Mike Yan Michelis <46975745+mmichelis@users.noreply.github.com> Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Copilot <copilot@github.com> Co-authored-by: Donglai <donglaix@nvidia.com> Co-authored-by: Anka Chen <ankachan92@gmail.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: ooctipus <zhengyuz@nvidia.com> Co-authored-by: mingxueg <mingxueg@nvidia.com>
Signed-off-by: matthewtrepte <mtrepte@nvidia.com>
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