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Fixes collision filtering logic on CPU #2553

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Merged
merged 7 commits into from
Jun 10, 2025
Merged

Fixes collision filtering logic on CPU #2553

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a92ed8a
Fixes collision filtering logic on CPU
kellyguo11 May 23, 2025
505731f
Merge branch 'main' into fix_cpu_filter
kellyguo11 May 24, 2025
1f1361d
Update extension.toml
kellyguo11 May 24, 2025
5953acb
Merge branch 'main' into fix_cpu_filter
kellyguo11 May 29, 2025
2731fb7
Merge branch 'main' into fix_cpu_filter
kellyguo11 Jun 1, 2025
9d72bb1
update changelog
kellyguo11 Jun 6, 2025
36653aa
Merge branch 'main' into fix_cpu_filter
kellyguo11 Jun 10, 2025
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2 changes: 1 addition & 1 deletion source/isaaclab/config/extension.toml
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@@ -1,7 +1,7 @@
[package]

# Note: Semantic Versioning is used: https://semver.org/
version = "0.40.4"
version = "0.40.5"

# Description
title = "Isaac Lab framework for Robot Learning"
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10 changes: 10 additions & 0 deletions source/isaaclab/docs/CHANGELOG.rst
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@@ -1,6 +1,16 @@
Changelog
---------

0.40.5 (2025-05-22)
~~~~~~~~~~~~~~~~~~~

Fixed
^^^^^

* Fixed collision filtering logic for CPU simulation. The automatic collision filtering feature
currently has limitations for CPU simulation. Collision filtering needs to be manually enabled when using CPU simulation.


0.40.4 (2025-06-03)
~~~~~~~~~~~~~~~~~~~

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8 changes: 5 additions & 3 deletions source/isaaclab/isaaclab/scene/interactive_scene.py
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Expand Up @@ -171,7 +171,8 @@ def __init__(self, cfg: InteractiveSceneCfg):

# since env_ids is only applicable when replicating physics, we have to fallback to the previous method
# to filter collisions if replicate_physics is not enabled
if not self.cfg.replicate_physics and self.cfg.filter_collisions:
# additionally, env_ids is only supported in GPU simulation
if (not self.cfg.replicate_physics and self.cfg.filter_collisions) or self.device == "cpu":
self.filter_collisions(self._global_prim_paths)

def clone_environments(self, copy_from_source: bool = False):
Expand Down Expand Up @@ -204,9 +205,10 @@ def clone_environments(self, copy_from_source: bool = False):

# since env_ids is only applicable when replicating physics, we have to fallback to the previous method
# to filter collisions if replicate_physics is not enabled
if not self.cfg.replicate_physics and self.cfg.filter_collisions:
# additionally, env_ids is only supported in GPU simulation
if (not self.cfg.replicate_physics and self.cfg.filter_collisions) or self.device == "cpu":
omni.log.warn(
"Collision filtering can only be automatically enabled when replicate_physics=True."
"Collision filtering can only be automatically enabled when replicate_physics=True and GPU simulation."
" Please call scene.filter_collisions(global_prim_paths) to filter collisions across environments."
)

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3 changes: 3 additions & 0 deletions source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/anymal_c_env.py
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Expand Up @@ -71,6 +71,9 @@ def _setup_scene(self):
self._terrain = self.cfg.terrain.class_type(self.cfg.terrain)
# clone and replicate
self.scene.clone_environments(copy_from_source=False)
# we need to explicitly filter collisions for CPU simulation
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hmm is it possible to put this inside environments cloning (as a flag to filter collisions)? It gets strange in the code to have this changing frequently 😓

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ya we should be able to do that, we can add a few more arguments to clone_environments

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hmm I think this might be a breaking change if we put it inside clone_environments. we can only call filter collision once in the cloner, so if users already have that call in their scripts, then doing it this way will break their scripts.

if self.device == "cpu":
self.scene.filter_collisions(global_prim_paths=[self.cfg.terrain.prim_path])
# add lights
light_cfg = sim_utils.DomeLightCfg(intensity=2000.0, color=(0.75, 0.75, 0.75))
light_cfg.func("/World/Light", light_cfg)
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3 changes: 3 additions & 0 deletions source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/cart_double_pendulum_env.py
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Expand Up @@ -87,6 +87,9 @@ def _setup_scene(self):
spawn_ground_plane(prim_path="/World/ground", cfg=GroundPlaneCfg())
# clone and replicate
self.scene.clone_environments(copy_from_source=False)
# we need to explicitly filter collisions for CPU simulation
if self.device == "cpu":
self.scene.filter_collisions(global_prim_paths=[])
# add articulation to scene
self.scene.articulations["robot"] = self.robot
# add lights
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3 changes: 3 additions & 0 deletions source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_camera_env.py
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Expand Up @@ -128,6 +128,9 @@ def _setup_scene(self):

# clone and replicate
self.scene.clone_environments(copy_from_source=False)
if self.device == "cpu":
# we need to explicitly filter collisions for CPU simulation
self.scene.filter_collisions(global_prim_paths=[])

# add articulation and sensors to scene
self.scene.articulations["cartpole"] = self._cartpole
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3 changes: 3 additions & 0 deletions source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_env.py
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Expand Up @@ -78,6 +78,9 @@ def _setup_scene(self):
spawn_ground_plane(prim_path="/World/ground", cfg=GroundPlaneCfg())
# clone and replicate
self.scene.clone_environments(copy_from_source=False)
# we need to explicitly filter collisions for CPU simulation
if self.device == "cpu":
self.scene.filter_collisions(global_prim_paths=[])
# add articulation to scene
self.scene.articulations["cartpole"] = self.cartpole
# add lights
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3 changes: 3 additions & 0 deletions source/isaaclab_tasks/isaaclab_tasks/direct/factory/factory_env.py
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Expand Up @@ -178,6 +178,9 @@ def _setup_scene(self):
self._large_gear_asset = Articulation(self.cfg_task.large_gear_cfg)

self.scene.clone_environments(copy_from_source=False)
if self.device == "cpu":
# we need to explicitly filter collisions for CPU simulation
self.scene.filter_collisions()

self.scene.articulations["robot"] = self._robot
self.scene.articulations["fixed_asset"] = self._fixed_asset
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3 changes: 3 additions & 0 deletions source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/franka_cabinet_env.py
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Expand Up @@ -277,6 +277,9 @@ def _setup_scene(self):

# clone and replicate
self.scene.clone_environments(copy_from_source=False)
# we need to explicitly filter collisions for CPU simulation
if self.device == "cpu":
self.scene.filter_collisions(global_prim_paths=[self.cfg.terrain.prim_path])

# add lights
light_cfg = sim_utils.DomeLightCfg(intensity=2000.0, color=(0.75, 0.75, 0.75))
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4 changes: 4 additions & 0 deletions source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/humanoid_amp_env.py
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Expand Up @@ -69,6 +69,10 @@ def _setup_scene(self):
)
# clone and replicate
self.scene.clone_environments(copy_from_source=False)
# we need to explicitly filter collisions for CPU simulation
if self.device == "cpu":
self.scene.filter_collisions(global_prim_paths=["/World/ground"])

# add articulation to scene
self.scene.articulations["robot"] = self.robot
# add lights
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3 changes: 3 additions & 0 deletions source/isaaclab_tasks/isaaclab_tasks/direct/locomotion/locomotion_env.py
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Expand Up @@ -58,6 +58,9 @@ def _setup_scene(self):
self.terrain = self.cfg.terrain.class_type(self.cfg.terrain)
# clone and replicate
self.scene.clone_environments(copy_from_source=False)
# we need to explicitly filter collisions for CPU simulation
if self.device == "cpu":
self.scene.filter_collisions(global_prim_paths=[self.cfg.terrain.prim_path])
# add articulation to scene
self.scene.articulations["robot"] = self.robot
# add lights
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3 changes: 3 additions & 0 deletions source/isaaclab_tasks/isaaclab_tasks/direct/quadcopter/quadcopter_env.py
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Expand Up @@ -143,6 +143,9 @@ def _setup_scene(self):
self._terrain = self.cfg.terrain.class_type(self.cfg.terrain)
# clone and replicate
self.scene.clone_environments(copy_from_source=False)
# we need to explicitly filter collisions for CPU simulation
if self.device == "cpu":
self.scene.filter_collisions(global_prim_paths=[self.cfg.terrain.prim_path])
# add lights
light_cfg = sim_utils.DomeLightCfg(intensity=2000.0, color=(0.75, 0.75, 0.75))
light_cfg.func("/World/Light", light_cfg)
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3 changes: 3 additions & 0 deletions tools/template/templates/tasks/direct_multi-agent/env
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Expand Up @@ -37,6 +37,9 @@ class {{ task.classname }}Env(DirectMARLEnv):
spawn_ground_plane(prim_path="/World/ground", cfg=GroundPlaneCfg())
# clone and replicate
self.scene.clone_environments(copy_from_source=False)
# we need to explicitly filter collisions for CPU simulation
if self.device == "cpu":
self.scene.filter_collisions(global_prim_paths=[])
# add articulation to scene
self.scene.articulations["robot"] = self.robot
# add lights
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3 changes: 3 additions & 0 deletions tools/template/templates/tasks/direct_single-agent/env
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Expand Up @@ -36,6 +36,9 @@ class {{ task.classname }}Env(DirectRLEnv):
spawn_ground_plane(prim_path="/World/ground", cfg=GroundPlaneCfg())
# clone and replicate
self.scene.clone_environments(copy_from_source=False)
# we need to explicitly filter collisions for CPU simulation
if self.device == "cpu":
self.scene.filter_collisions(global_prim_paths=[])
# add articulation to scene
self.scene.articulations["robot"] = self.robot
# add lights
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