[pull] develop from isaac-sim:develop - #58
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…#7970) # Description The `reset_hand` kernel in the experimental Warp reorientation env sampled hand joint reset positions around the **lower joint limit** instead of between the lower and upper limits: ```python dof_pos_noise = wp.randf(rng_state[env_id], -1.0, 1.0) rand_delta = delta_min + (delta_max - delta_min) * 0.5 * dof_pos_noise # centred on delta_min ``` As a result, every hand joint reset at or below its default position. With a large enough `reset_dof_pos_noise` it could also end up outside the joint limits. For example, with limits `[-1, 1]`, default `0.1` and noise scale `0.2`, resets fell in `[-0.32, 0.08]` instead of `[-0.12, 0.28]`. The torch reorient and handover tasks were already fixed in #6413 via `sample_joint_positions_within_limits`. This PR applies the same `[-1, 1] -> [0, 1]` mapping in the Warp kernel, so both versions of the task reset joints over the same range. This was the last copy of the formula from the issue on `develop`. Fixes #4404 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Test I added `test_warp_reset_hand_samples_the_same_range_as_the_torch_helper` to the existing `source/isaaclab_tasks/test/core/test_reorient_utils.py`. It launches `reset_hand` on CPU for 512 envs and checks two things: - every sample stays inside the range that `sample_joint_positions_within_limits` produces; - each joint gets samples on both sides of its default. The test fails without the fix and passes with it (`uv run python -m pytest source/isaaclab_tasks/test/core/test_reorient_utils.py`: 12 passed). ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have added a changelog fragment under `source/<pkg>/changelog.d/` for every touched package (do **not** edit `CHANGELOG.rst` or bump `extension.toml` — CI handles that) - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there - [x] <!-- backport-active-release --> Backport this pull request to the active release branch after it merges into `develop` --------- Co-authored-by: Claude Opus 5.5 (1M context) <noreply@anthropic.com>
# Description First PR in a series that splits the core cleanup in #7949 into small, reviewable pieces. This PR only changes how imports are written in `source/isaaclab/isaaclab` and adds the import rules to `AGENTS.md`; there is no logic change. **Import rules (new `## Code style` section in `AGENTS.md`)** - Imports are grouped in PEP 8 order: `__future__`, standard library, third-party, Omniverse runtime packages, Isaac Lab packages, then local relative imports. The existing ruff isort config already enforces this. - Imports from the same package are relative when the target is at most three leading dots away (e.g. `from ...utils import math as math_utils`), and absolute for deeper targets and other packages. - Modules with an `if __name__ == "__main__":` block keep absolute imports, because some are executed by file path (e.g. `benchmark/entrypoints/multigpu.py` launches itself as the worker script), where relative imports fail. **Changes in the core package** - Applied the rule above across the package with an AST-based rewrite: 725 imports converted (686 `from isaaclab.x import ...`, 39 `import isaaclab.x.y as z` -> `from ...x import y as z`), then re-sorted with ruff. 103 imports that would need more than three dots stay absolute. - No imports are added, removed, or moved between scopes. - `test/sensors/test_ray_caster_kernels.py` loaded `utils/warp/kernels.py` by file path, which cannot resolve relative imports. It now imports the kernels as regular package modules; they import without Kit. Verification: - Every file's AST is identical to `develop` once relative imports are resolved to absolute names (520 files). - Importing every module under `isaaclab` gives the same result as on `develop`, both in one process and with each of the 203 top-level modules in a fresh process (checks for import-order-dependent cycles). - `isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct --num_envs 16 presets=newton_mjwarp --max_iterations 5` completes. - `pytest source/isaaclab/test/benchmark source/isaaclab/test/cli source/isaaclab/test/app/test_app_launcher_argv.py`: 661 passed. - `ruff check` (including isort) / `ruff format` are clean. ## Type of change - Code cleanup (non-breaking, no functional change) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have added a changelog fragment under `source/<pkg>/changelog.d/` for every touched package (`.skip`) - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there - [x] <!-- backport-active-release --> Backport this pull request to the active release branch after it merges into `develop`
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