Kyle Morgenstein

actor root state returns nans with gpu pipeline

3

I was having the same issue with a more complex model so I wrote a simple task loading a cylinder (URDF) and dropping it onto a plane. After the first...

[feature] adding a holonomic action term to mirror non holonomic action term

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# Description - Added ``HolonomicAction`` action term to mirror the ``NonHolonomicAction`` action term but with an additional lateral velocity component. This type of action can be accomplished with the joint...

[Bug Report] ViewerCfg origin type = asset_root is broken

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### Describe the bug When training with rsl_rl in the default locomotion/velocity environments, if you switch the viewer origin type to track the asset_root the terrain is not visualized when...

[Question] Clarification on joint_drive vs. actuator gains

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### Question in the URDF importer, actuators can be configured with stiffness and damping. the importer also requires a joint_drive configuration which includes a stiffness and damping in PD mode....

[Bug Report] Pip install IsaacLab 2.3.0 is broken for ubuntu + uv

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2.3.0 bumps IsaacSim to 5.1.0 but IsaacSim 5.1.0 has poorly behaved dependencies, specifically for pywin32. When trying to pip install IsaacLab on ubuntu via `uv pip install isaaclab[isaacsim]` the dependency...

Tendon imports in from_files_cfg had a typo that prevented importing. This is resolved in this commit. ## Type of change - Bug fix (non-breaking change which fixes an issue) ##...