Isaac Lab v1.3.0 is out!

[rthaker01]

👀 Overview
This release will be a final release based on Isaac Sim 4.2 before the transition to Isaac Sim 4.5, which will likely contain breaking changes and no longer backwards compatible with Isaac Sim 4.2 and earlier. In this release, we introduce many features, improvements, and bug fixes, including IMU sensors, support for various types of gymnasium spaces, manager-based perception environments, and more.

Full Changelog: v1.2.0...v1.3.0

✨ New Features
Adds IMU sensor by @pascal-roth in #619
Add Camera Benchmark Tool and Allow Correct Unprojection of distance_to_camera depth image by @glvov-bdai in #976
Creates Manager Based Cartpole Vision Example Environments by @glvov-bdai in #995
Adds image extracted features observation term and cartpole examples for it by @glvov-bdai in #1191
Supports other gymnasium spaces in Direct workflow by @Toni-SM in #1117
Adds configuration classes for spawning different assets at prim paths by @Mayankm96 in #1164
Adds a rigid body collection class by @Dhoeller19 in #1288
Adds option to scale/translate/rotate meshes in the mesh_converter by @pascal-roth in #1228
Adds event term to randomize gains of explicit actuators by @MoreTore in #1005
Adds Isaac Lab Reference Architecture documentation by @OOmotuyi in #1371
🔧 Improvements
Expands functionality of FrameTransformer to allow multi-body transforms by @jsmith-bdai in #858
Inverts SE-2 keyboard device actions (Z, X) for yaw command by @riccardorancan in #1030
Disables backward pass compilation of warp kernels by @Mayankm96 in #1222
Replaces TensorDict with native dictionary by @Toni-SM in #1348
Improves omni.isaac.lab_tasks loading time by @Toni-SM in #1353
Caches PhysX view's joint paths when processing fixed articulation tendons by @Toni-SM in #1347
Replaces hardcoded module paths with name dunder by @Mayankm96 in #1357
Expands observation term scaling to support list of floats by @pascal-roth in #1269
Removes extension startup messages from the Simulation App by @Mayankm96 in #1217
Adds a render config to the simulation and tiledCamera limitations to the docs by @kellyguo11 in #1246
Adds Kit command line argument support by @kellyguo11 in #1293
Modifies workflow scripts to generate random seed when seed=-1 by @kellyguo11 in #1048
Adds benchmark script to measure robot loading by @Mayankm96 in #1195
Switches from carb to omni.log for logging by @Mayankm96 in #1215
Excludes cache files from vscode explorer by @Divelix in #1131
Adds versioning to the docs by @sheikh-nv in #1247
Adds better error message for invalid actuator parameters by @lgulich in #1235
Updates tested docker and apptainer versions for cluster deployment by @pascal-roth in #1230
Removes ml_archive as a dependency of omni.isaac.lab extension by @fan-ziqi in #1266
Adds a validity check for configclasses by @Dhoeller19 in #1214
Ensures mesh name is compatible with USD convention in mesh converter by @fan-ziqi in #1302
Adds sanity check for the term type inside the command manager by @command-z-z in #1315
Allows configclass to_dict operation to handle a list of configclasses by @jtigue-bdai in #1227
🐛 Bug Fixes
Disables replicate physics for deformable teddy lift environment by @Mayankm96 in #1026
Fixes Jacobian joint indices for floating base articulations by @lorenwel in #1033
Fixes setting the seed from CLI for RSL-RL by @kaixi287 in #1084
Fixes camera MDP term name and reprojection docstrings by @Mayankm96 in #1130
Fixes deprecation notice for using pxr.Semantics by @Mayankm96 in #1129
Fixes scaling of default ground plane by @kellyguo11 in #1133
Fixes Isaac Sim executable on pip installation by @Toni-SM in #1172
Passes device from CLI args to simulation config in standalone scripts by @Mayankm96 in #1114
Fixes the event for randomizing rigid body material by @pascal-roth in #1140
Fixes the ray_caster_camera tutorial script when saving the data by @mpgussert in #1198
Fixes running the docker container when the DISPLAY env variable is not defined by @GiulioRomualdi in #1163
Fixes default joint pos when setting joint limits by @kellyguo11 in #1040
Fixes device propogation for noise and adds noise tests by @jtigue-bdai in #1175
Removes additional sbatch and fixes default profile in cluster deployment by @pascal-roth in #1229
Fixes the checkpoint loading error in RSL-RL training script by @bearpaw in #1210
Fixes pytorch broadcasting issue in EMAJointPositionToLimitsAction by @bearpaw in #1207
Fixes body IDs selection when computing feet_slide reward for locomotion-velocity task by @dtc103 in #1277
Fixes broken URLs in markdown files by @DorsaRoh in #1272
Fixes net_arch in sb3_ppo_cfg.yaml for Isaac-Lift-Cube-Franka-v0 task by @LinghengMeng in #1249
🤗 New Contributors
@riccardorancan made their first contribution in #1030
@glvov-bdai made their first contribution in #976
@kaixi287 made their first contribution in #1084
@lgulich made their first contribution in #1119
@nv-apoddubny made their first contribution in #1118
@GiulioRomualdi made their first contribution in #1163
@Divelix made their first contribution in #1131
@sheikh-nv made their first contribution in #1247
@dtc103 made their first contribution in #1277
@DorsaRoh made their first contribution in #1272
@louislelay made their first contribution in #1271
@LinghengMeng made their first contribution in #1249
@OOmotuyi made their first contribution in #1337
@command-z-z made their first contribution in #1315
@MoreTore made their first contribution in #1005