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release_notes.md

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Release Notes

2022.2.1.0 - March 16, 2023

Additions

  • Add FactoryTaskNutBoltPick example
  • Add Ant and Humanoid SAC training examples
  • Add multi-GPU support for training
  • Add utility scripts for launching Isaac Sim docker with OIGE
  • Add support for livestream through the Omniverse Streaming Client

Changes

  • Change rigid body fixed_base option to make_kinematic, avoiding creation of unnecessary articulations
  • Update ShadowHand, Ingenuity, Quadcopter and Crazyflie marker objects to use kinematics
  • Update ShadowHand GPU buffer parameters
  • Disable PyTorch nvFuser for better performance
  • Enable viewport and replicator extensions dynamically to maintain order of extension startup
  • Separate app files for headless environments with rendering (requires Isaac Sim update)
  • Update rl-games to v1.6.0

Fixes

  • Fix material property randomization at run-time, including friction and restitution (requires Isaac Sim update)
  • Fix a bug in contact reporting API where incorrect values were being reported (requires Isaac Sim update)
  • Enable render flag in Isaac Sim when enable_cameras is set to True
  • Add root pose and velocity reset to BallBalance environment

2.0.0 - December 15, 2022

Additions

  • Update to Viewport 2.0
  • Allow for runtime mass randomization on GPU pipeline
  • Add runtime mass randomization to ShadowHand environments
  • Introduce disable_contact_processing simulation parameter for faster contact processing
  • Use physics replication for cloning by default for faster load time

Changes

  • Update AnymalTerrain environment to use contact forces
  • Update Quadcopter example to apply local forces
  • Update training parameters for ShadowHandOpenAI_FF environment
  • Rename rlgames_play.py to rlgames_demo.py

Fixes

  • Remove fix_base option from articulation configs
  • Fix in_hand_manipulation random joint position sampling on reset
  • Fix mass and density randomization in MT training script
  • Fix actions/observations noise randomization in MT training script
  • Fix random seed when domain randomization is enabled
  • Check whether simulation is running before executing pre_physics_step logic

1.1.0 - August 22, 2022

Additions

  • Additional examples: Anymal, AnymalTerrain, BallBalance, Crazyflie, FrankaCabinet, Ingenuity, Quadcopter
  • Add OpenAI variantions for Feed-Forward and LSTM networks for ShadowHand
  • Add domain randomization framework using omni.replicator.isaac
  • Add AnymalTerrain interactable demo
  • Automatically disable omni.kit.window.viewport and omni.physx.flatcache extensions in headless mode to improve start-up load time
  • Introduce reset_xform_properties flag for initializing Views of cloned environments to reduce load time
  • Add WandB support
  • Update RL-Games version to 1.5.2

Fixes

  • Correctly sets simulation device for GPU simulation
  • Fix omni.client import order
  • Fix episode length reset condition for ShadowHand and AllegroHand

1.0.0 - June 03, 2022

  • Initial release for RL examples with Isaac Sim
  • Examples provided: AllegroHand, Ant, Cartpole, Humanoid, ShadowHand