From 237fe2b100aca46a7f130a5a9d8c3bd856329ee0 Mon Sep 17 00:00:00 2001 From: "isaaclab-bot[bot]" <282401363+isaaclab-bot[bot]@users.noreply.github.com> Date: Thu, 17 Sep 2026 05:12:19 +0000 Subject: [PATCH] [CI][Auto Version Bump] Compile changelog fragments (schedule) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Bumped packages: - isaaclab: 24.2.2 → 24.2.3 - isaaclab_assets: 0.8.1 → 0.8.2 - isaaclab_newton: 6.3.0 → 6.3.1 - isaaclab_ov: 3.1.2 → 3.1.3 - isaaclab_tasks: 20.3.0 → 20.3.1 --- .../changelog.d/bump-newton-1-6-release.rst | 5 ---- .../changelog.d/pin-published-torch.rst | 5 ---- .../changelog.d/upgrade-starlette-1-3.rst | 5 ---- source/isaaclab/docs/CHANGELOG.rst | 18 +++++++++++++ source/isaaclab/pyproject.toml | 2 +- .../fix-newton-ball-joint-dof-space.rst | 6 ----- source/isaaclab_assets/docs/CHANGELOG.rst | 11 ++++++++ source/isaaclab_assets/pyproject.toml | 2 +- .../fix-newton-graph-coloring-hang.rst | 4 --- .../hehu-newton-ball-joint-dof-space.rst | 18 ------------- source/isaaclab_newton/docs/CHANGELOG.rst | 24 +++++++++++++++++ source/isaaclab_newton/pyproject.toml | 2 +- .../fix-ovphysx-static-property-rereads.rst | 9 ------- .../ovstage-gpu-hierarchy-computation.rst | 11 -------- source/isaaclab_ov/docs/CHANGELOG.rst | 26 +++++++++++++++++++ source/isaaclab_ov/pyproject.toml | 2 +- .../hehu-digit-newton-velocity-tasks.rst | 17 ------------ ...maximiliank-franka-soft-newton-physics.rst | 5 ---- source/isaaclab_tasks/docs/CHANGELOG.rst | 24 +++++++++++++++++ source/isaaclab_tasks/pyproject.toml | 2 +- 20 files changed, 108 insertions(+), 90 deletions(-) delete mode 100644 source/isaaclab/changelog.d/bump-newton-1-6-release.rst delete mode 100644 source/isaaclab/changelog.d/pin-published-torch.rst delete mode 100644 source/isaaclab/changelog.d/upgrade-starlette-1-3.rst delete mode 100644 source/isaaclab_assets/changelog.d/fix-newton-ball-joint-dof-space.rst delete mode 100644 source/isaaclab_newton/changelog.d/fix-newton-graph-coloring-hang.rst delete mode 100644 source/isaaclab_newton/changelog.d/hehu-newton-ball-joint-dof-space.rst delete mode 100644 source/isaaclab_ov/changelog.d/fix-ovphysx-static-property-rereads.rst delete mode 100644 source/isaaclab_ov/changelog.d/ovstage-gpu-hierarchy-computation.rst delete mode 100644 source/isaaclab_tasks/changelog.d/hehu-digit-newton-velocity-tasks.rst delete mode 100644 source/isaaclab_tasks/changelog.d/maximiliank-franka-soft-newton-physics.rst diff --git a/source/isaaclab/changelog.d/bump-newton-1-6-release.rst b/source/isaaclab/changelog.d/bump-newton-1-6-release.rst deleted file mode 100644 index d852412c6d6a..000000000000 --- a/source/isaaclab/changelog.d/bump-newton-1-6-release.rst +++ /dev/null @@ -1,5 +0,0 @@ -Changed -^^^^^^^ - -* Changed the pinned Newton version from ``1.6.0rc1`` to the final ``1.6.0`` release. No user - action is required; new environments now resolve the stable release instead of the release candidate. diff --git a/source/isaaclab/changelog.d/pin-published-torch.rst b/source/isaaclab/changelog.d/pin-published-torch.rst deleted file mode 100644 index 13bc69074af2..000000000000 --- a/source/isaaclab/changelog.d/pin-published-torch.rst +++ /dev/null @@ -1,5 +0,0 @@ -Fixed -^^^^^ - -* Pinned the PyTorch stack in the published package dependencies so downstream projects no - longer selected newer, untested builds when installing the Isaac Lab wheel. diff --git a/source/isaaclab/changelog.d/upgrade-starlette-1-3.rst b/source/isaaclab/changelog.d/upgrade-starlette-1-3.rst deleted file mode 100644 index fb1c178d4bb9..000000000000 --- a/source/isaaclab/changelog.d/upgrade-starlette-1-3.rst +++ /dev/null @@ -1,5 +0,0 @@ -Fixed -^^^^^ - -* Updated Starlette to 1.3.1 or newer to address current security advisories and aligned aiohttp with the - Isaac Sim 6.1 dependency selection. No migration is required. diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst index 1566a00e695f..ece3d7254f14 100644 --- a/source/isaaclab/docs/CHANGELOG.rst +++ b/source/isaaclab/docs/CHANGELOG.rst @@ -1,6 +1,24 @@ Changelog --------- +24.2.3 (2026-09-17) +~~~~~~~~~~~~~~~~~~~ + +Changed +^^^^^^^ + +* Changed the pinned Newton version from ``1.6.0rc1`` to the final ``1.6.0`` release. No user + action is required; new environments now resolve the stable release instead of the release candidate. + +Fixed +^^^^^ + +* Updated Starlette to 1.3.1 or newer to address current security advisories and aligned aiohttp with the + Isaac Sim 6.1 dependency selection. No migration is required. +* Pinned the PyTorch stack in the published package dependencies so downstream projects no + longer selected newer, untested builds when installing the Isaac Lab wheel. + + 24.2.2 (2026-09-16) ~~~~~~~~~~~~~~~~~~~ diff --git a/source/isaaclab/pyproject.toml b/source/isaaclab/pyproject.toml index 747c99356361..ec23606f5d64 100644 --- a/source/isaaclab/pyproject.toml +++ b/source/isaaclab/pyproject.toml @@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta" [project] name = "isaaclab" -version = "24.2.2" +version = "24.2.3" description = "Extension providing main framework interfaces and abstractions for robot learning." license = {text = "BSD-3-Clause"} authors = [{name = "Isaac Lab Project Developers"}] diff --git a/source/isaaclab_assets/changelog.d/fix-newton-ball-joint-dof-space.rst b/source/isaaclab_assets/changelog.d/fix-newton-ball-joint-dof-space.rst deleted file mode 100644 index fb2e3c7b3922..000000000000 --- a/source/isaaclab_assets/changelog.d/fix-newton-ball-joint-dof-space.rst +++ /dev/null @@ -1,6 +0,0 @@ -Changed -^^^^^^^ - -* Changed :obj:`~isaaclab_assets.robots.agility.DIGIT_V4_CFG` to disable colliders on the - RealSense camera mount's decoration meshes and to split actuators into a stable-armature and a - low-armature group, matching what the Digit velocity tasks previously configured per-task. diff --git a/source/isaaclab_assets/docs/CHANGELOG.rst b/source/isaaclab_assets/docs/CHANGELOG.rst index c97378f54368..9da07f454736 100644 --- a/source/isaaclab_assets/docs/CHANGELOG.rst +++ b/source/isaaclab_assets/docs/CHANGELOG.rst @@ -1,6 +1,17 @@ Changelog --------- +0.8.2 (2026-09-17) +~~~~~~~~~~~~~~~~~~ + +Changed +^^^^^^^ + +* Changed :obj:`~isaaclab_assets.robots.agility.DIGIT_V4_CFG` to disable colliders on the + RealSense camera mount's decoration meshes and to split actuators into a stable-armature and a + low-armature group, matching what the Digit velocity tasks previously configured per-task. + + 0.8.1 (2026-09-11) ~~~~~~~~~~~~~~~~~~ diff --git a/source/isaaclab_assets/pyproject.toml b/source/isaaclab_assets/pyproject.toml index 71b7f996c960..ccd7f22f77a5 100644 --- a/source/isaaclab_assets/pyproject.toml +++ b/source/isaaclab_assets/pyproject.toml @@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta" [project] name = "isaaclab_assets" -version = "0.8.1" +version = "0.8.2" description = "Extension containing configuration instances of different assets and sensors." license = {text = "BSD-3-Clause"} authors = [{name = "Isaac Lab Project Developers"}] diff --git a/source/isaaclab_newton/changelog.d/fix-newton-graph-coloring-hang.rst b/source/isaaclab_newton/changelog.d/fix-newton-graph-coloring-hang.rst deleted file mode 100644 index efabc29b7e99..000000000000 --- a/source/isaaclab_newton/changelog.d/fix-newton-graph-coloring-hang.rst +++ /dev/null @@ -1,4 +0,0 @@ -Fixed -^^^^^ - -* Prevented Newton VBD initialization from hanging in Warp's graph-color balancing pass. diff --git a/source/isaaclab_newton/changelog.d/hehu-newton-ball-joint-dof-space.rst b/source/isaaclab_newton/changelog.d/hehu-newton-ball-joint-dof-space.rst deleted file mode 100644 index c9190865df83..000000000000 --- a/source/isaaclab_newton/changelog.d/hehu-newton-ball-joint-dof-space.rst +++ /dev/null @@ -1,18 +0,0 @@ -Fixed -^^^^^ - -* Fixed :attr:`~isaaclab_newton.assets.articulation.articulation_data.ArticulationData.joint_pos` - exposing Newton's ``joint_q`` -- joint *coordinate* space -- rather than DOF positions. A ball - joint occupies 4 quaternion components against 3 DOFs, so on an articulation containing one the - array was wider than ``num_joints`` while ``joint_names``, ``joint_vel``, ``default_joint_pos`` - and the joint gains stayed in DOF space, and every consumer indexing them with the same joint ids - read a different joint past the first ball joint. Added - :class:`~isaaclab_newton.assets.articulation.joint_coordinates.JointCoordinateMap`, which converts - between the two spaces on read and on write. Articulations whose joints all have one coordinate - per DOF keep the existing zero-copy view and are unaffected. - -* Fixed joint position targets being written in DOF space into Newton's coordinate-layout - ``joint_target_q``. That array follows ``newton.use_coord_layout_targets``, which defaults to - ``True`` from Newton 1.6, so on a ball-jointed articulation the actuators were writing 50 DOF - targets into a 56-wide coordinate array. Targets now go through a DOF-shaped staging buffer and - the same coordinate map. diff --git a/source/isaaclab_newton/docs/CHANGELOG.rst b/source/isaaclab_newton/docs/CHANGELOG.rst index a6fa2333d633..74c9279bf32e 100644 --- a/source/isaaclab_newton/docs/CHANGELOG.rst +++ b/source/isaaclab_newton/docs/CHANGELOG.rst @@ -1,6 +1,30 @@ Changelog --------- +6.3.1 (2026-09-17) +~~~~~~~~~~~~~~~~~~ + +Fixed +^^^^^ + +* Fixed :attr:`~isaaclab_newton.assets.articulation.articulation_data.ArticulationData.joint_pos` + exposing Newton's ``joint_q`` -- joint *coordinate* space -- rather than DOF positions. A ball + joint occupies 4 quaternion components against 3 DOFs, so on an articulation containing one the + array was wider than ``num_joints`` while ``joint_names``, ``joint_vel``, ``default_joint_pos`` + and the joint gains stayed in DOF space, and every consumer indexing them with the same joint ids + read a different joint past the first ball joint. Added + :class:`~isaaclab_newton.assets.articulation.joint_coordinates.JointCoordinateMap`, which converts + between the two spaces on read and on write. Articulations whose joints all have one coordinate + per DOF keep the existing zero-copy view and are unaffected. + +* Fixed joint position targets being written in DOF space into Newton's coordinate-layout + ``joint_target_q``. That array follows ``newton.use_coord_layout_targets``, which defaults to + ``True`` from Newton 1.6, so on a ball-jointed articulation the actuators were writing 50 DOF + targets into a 56-wide coordinate array. Targets now go through a DOF-shaped staging buffer and + the same coordinate map. +* Prevented Newton VBD initialization from hanging in Warp's graph-color balancing pass. + + 6.3.0 (2026-09-11) ~~~~~~~~~~~~~~~~~~ diff --git a/source/isaaclab_newton/pyproject.toml b/source/isaaclab_newton/pyproject.toml index f53a58c972dd..230c20d577a9 100644 --- a/source/isaaclab_newton/pyproject.toml +++ b/source/isaaclab_newton/pyproject.toml @@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta" [project] name = "isaaclab_newton" -version = "6.3.0" +version = "6.3.1" description = "Extension providing IsaacLab with Newton specific abstractions." license = {text = "BSD-3-Clause"} authors = [{name = "Isaac Lab Project Developers"}] diff --git a/source/isaaclab_ov/changelog.d/fix-ovphysx-static-property-rereads.rst b/source/isaaclab_ov/changelog.d/fix-ovphysx-static-property-rereads.rst deleted file mode 100644 index 632fd9866b27..000000000000 --- a/source/isaaclab_ov/changelog.d/fix-ovphysx-static-property-rereads.rst +++ /dev/null @@ -1,9 +0,0 @@ -Fixed -^^^^^ - -* Fixed OVPhysX articulation joint properties (stiffness, damping, armature, position/velocity/effort - limits, friction) and body mass/inertia being re-read from their CPU-only bindings on every simulation - step. These static properties are now read once after invalidation and kept current by the - ``write_*`` / ``set_*`` setters. This removes three blocking host round-trips per physics step from the - native Newton actuator path, which made it several times slower than the Isaac Lab actuator path on - OVPhysX at large environment counts. diff --git a/source/isaaclab_ov/changelog.d/ovstage-gpu-hierarchy-computation.rst b/source/isaaclab_ov/changelog.d/ovstage-gpu-hierarchy-computation.rst deleted file mode 100644 index 36cd364c82d3..000000000000 --- a/source/isaaclab_ov/changelog.d/ovstage-gpu-hierarchy-computation.rst +++ /dev/null @@ -1,11 +0,0 @@ -Changed -^^^^^^^ - -* Changed :func:`~isaaclab_ov.stage.create_ovstage` to select the ovstage hierarchy computation - model from the installed ovstage version instead of always requesting - ``HierarchyComputationModel.CPU_INCREMENTAL``. ovstage 0.2 and later place objects correctly - under ``GPU_INCREMENTAL``, which moves world-transform computation off the host; ovstage 0.1 - keeps the host model. The version is resolved once at import by the new - :mod:`isaaclab_ov.ovstage_compat` module. No migration is required: the public extras stay - pinned to ``ovstage==0.1.1.355824``, so the host model remains in force until that pin moves, - and a missing or unparsable install also keeps the host model. diff --git a/source/isaaclab_ov/docs/CHANGELOG.rst b/source/isaaclab_ov/docs/CHANGELOG.rst index d6f1fb169da8..6d53b24577dd 100644 --- a/source/isaaclab_ov/docs/CHANGELOG.rst +++ b/source/isaaclab_ov/docs/CHANGELOG.rst @@ -1,6 +1,32 @@ Changelog --------- +3.1.3 (2026-09-17) +~~~~~~~~~~~~~~~~~~ + +Changed +^^^^^^^ + +* Changed :func:`~isaaclab_ov.stage.create_ovstage` to select the ovstage hierarchy computation + model from the installed ovstage version instead of always requesting + ``HierarchyComputationModel.CPU_INCREMENTAL``. ovstage 0.2 and later place objects correctly + under ``GPU_INCREMENTAL``, which moves world-transform computation off the host; ovstage 0.1 + keeps the host model. The version is resolved once at import by the new + :mod:`isaaclab_ov.ovstage_compat` module. No migration is required: the public extras stay + pinned to ``ovstage==0.1.1.355824``, so the host model remains in force until that pin moves, + and a missing or unparsable install also keeps the host model. + +Fixed +^^^^^ + +* Fixed OVPhysX articulation joint properties (stiffness, damping, armature, position/velocity/effort + limits, friction) and body mass/inertia being re-read from their CPU-only bindings on every simulation + step. These static properties are now read once after invalidation and kept current by the + ``write_*`` / ``set_*`` setters. This removes three blocking host round-trips per physics step from the + native Newton actuator path, which made it several times slower than the Isaac Lab actuator path on + OVPhysX at large environment counts. + + 3.1.2 (2026-09-16) ~~~~~~~~~~~~~~~~~~ diff --git a/source/isaaclab_ov/pyproject.toml b/source/isaaclab_ov/pyproject.toml index 9f39b71c64a0..2289643000e7 100644 --- a/source/isaaclab_ov/pyproject.toml +++ b/source/isaaclab_ov/pyproject.toml @@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta" [project] name = "isaaclab_ov" -version = "3.1.2" +version = "3.1.3" description = "Extension providing Omniverse rendering and OVPhysX simulation integrations." license = {text = "BSD-3-Clause"} authors = [{name = "Isaac Lab Project Developers"}] diff --git a/source/isaaclab_tasks/changelog.d/hehu-digit-newton-velocity-tasks.rst b/source/isaaclab_tasks/changelog.d/hehu-digit-newton-velocity-tasks.rst deleted file mode 100644 index db6ccfdd69ae..000000000000 --- a/source/isaaclab_tasks/changelog.d/hehu-digit-newton-velocity-tasks.rst +++ /dev/null @@ -1,17 +0,0 @@ -Added -^^^^^ - -* Added a ``newton_mjwarp`` branch to ``DigitPhysicsCfg``, so the Digit velocity tasks run on the - Newton backend with ``presets=newton_mjwarp``. Gated on that preset: ``self_collision_enabled`` - (the asset authors ``enabledSelfCollisions=False`` and ``DIGIT_V4_CFG`` sets no - ``articulation_props``, so Newton filters all 253 intra-articulation shape pairs). An armature - floor for the ten joints below MJWarp's observed stability threshold (expressed as a second - actuator group) and ``entropy_coef = 0.005`` apply on **both** backends, consistent with #7607's - direction of not special-casing PhysX for values that do not hurt it there. - -Fixed -^^^^^ - -* Fixed 32 ``CollisionAPI`` prims on Digit's RealSense camera decoration meshes -- glass, USB-C and - case halves -- becoming collision shapes. This applies on **both** backends, so the PhysX contact - behaviour of the Digit tasks changes: those 32 shapes no longer collide. diff --git a/source/isaaclab_tasks/changelog.d/maximiliank-franka-soft-newton-physics.rst b/source/isaaclab_tasks/changelog.d/maximiliank-franka-soft-newton-physics.rst deleted file mode 100644 index d85defd670c2..000000000000 --- a/source/isaaclab_tasks/changelog.d/maximiliank-franka-soft-newton-physics.rst +++ /dev/null @@ -1,5 +0,0 @@ -Fixed -^^^^^ - -* Fixed Franka deformable lift tasks to select the Menagerie robot's MuJoCo physics payload under - Newton while retaining its PhysX payload for PhysX presets. diff --git a/source/isaaclab_tasks/docs/CHANGELOG.rst b/source/isaaclab_tasks/docs/CHANGELOG.rst index 709ba6a6896d..ebfa8fe68611 100644 --- a/source/isaaclab_tasks/docs/CHANGELOG.rst +++ b/source/isaaclab_tasks/docs/CHANGELOG.rst @@ -1,6 +1,30 @@ Changelog --------- +20.3.1 (2026-09-17) +~~~~~~~~~~~~~~~~~~~ + +Added +^^^^^ + +* Added a ``newton_mjwarp`` branch to ``DigitPhysicsCfg``, so the Digit velocity tasks run on the + Newton backend with ``presets=newton_mjwarp``. Gated on that preset: ``self_collision_enabled`` + (the asset authors ``enabledSelfCollisions=False`` and ``DIGIT_V4_CFG`` sets no + ``articulation_props``, so Newton filters all 253 intra-articulation shape pairs). An armature + floor for the ten joints below MJWarp's observed stability threshold (expressed as a second + actuator group) and ``entropy_coef = 0.005`` apply on **both** backends, consistent with #7607's + direction of not special-casing PhysX for values that do not hurt it there. + +Fixed +^^^^^ + +* Fixed 32 ``CollisionAPI`` prims on Digit's RealSense camera decoration meshes -- glass, USB-C and + case halves -- becoming collision shapes. This applies on **both** backends, so the PhysX contact + behaviour of the Digit tasks changes: those 32 shapes no longer collide. +* Fixed Franka deformable lift tasks to select the Menagerie robot's MuJoCo physics payload under + Newton while retaining its PhysX payload for PhysX presets. + + 20.3.0 (2026-09-12) ~~~~~~~~~~~~~~~~~~~ diff --git a/source/isaaclab_tasks/pyproject.toml b/source/isaaclab_tasks/pyproject.toml index 203c4b27165d..627408fb5de3 100644 --- a/source/isaaclab_tasks/pyproject.toml +++ b/source/isaaclab_tasks/pyproject.toml @@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta" [project] name = "isaaclab_tasks" -version = "20.3.0" +version = "20.3.1" description = "Extension containing suite of environments for robot learning." license = {text = "BSD-3-Clause"} authors = [{name = "Isaac Lab Project Developers"}]