[Warp] Part 7/8: Add a Shadow Hand reorientation Warp twin and fix the Allegro twin

docs/source/_static/css/environment-browser.js

@@ -38,7 +38,7 @@
             ["Isaac-Reach-UR10", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "environment-previews/ur10_reach.jpg", true, {}, {}, "", null, ["||", "isaacsim_physx||", "newton_mjwarp||", "ovphysx||"]],
             ["Isaac-Reorient-Cube-Allegro-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "environment-previews/allegro_cube.jpg", true, {}, {}, "", null, ["||", "isaacsim_physx||", "newton_mjwarp||", "ovphysx||"]],
             ["Isaac-Reorient-Cube-Allegro", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "randomized,reset_only", "environment-previews/allegro_cube.jpg", false, {"*": ["reset_only"]}, {}, "", null, ["||", "||randomized", "||reset_only", "isaacsim_physx||", "isaacsim_physx||randomized", "isaacsim_physx||reset_only", "newton_mjwarp||", "newton_mjwarp||randomized", "newton_mjwarp||reset_only", "ovphysx||", "ovphysx||randomized", "ovphysx||reset_only"]],
-            ["Isaac-Reorient-Cube-Shadow-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "environment-previews/shadow_cube.jpg", false, {}, {}, "", null, ["||", "isaacsim_physx||", "newton_mjwarp||", "ovphysx||"]],
+            ["Isaac-Reorient-Cube-Shadow-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "environment-previews/shadow_cube.jpg", true, {}, {}, "", null, ["||", "isaacsim_physx||", "newton_mjwarp||", "ovphysx||"]],
             ["Isaac-Reorient-Cube-Shadow", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "asymmetric,randomized", "environment-previews/shadow_cube.jpg", false, {}, {}, "", null, ["||", "||asymmetric", "||randomized", "isaacsim_physx||", "isaacsim_physx||asymmetric", "isaacsim_physx||randomized", "newton_mjwarp||", "newton_mjwarp||asymmetric", "newton_mjwarp||randomized", "ovphysx||", "ovphysx||asymmetric", "ovphysx||randomized"]],
             ["Isaac-Reorient-Cube-Shadow-Camera-Direct", "rl_games,rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,full,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl", "tasks/manipulation/shadow_cube.jpg", false, {"*": ["full"]}, {}, "", null, ["||", "||albedo", "||full", "||rgb", "||semantic_segmentation", "|isaacsim_rtx|", "|isaacsim_rtx|albedo", "|isaacsim_rtx|full", "|isaacsim_rtx|rgb", "|isaacsim_rtx|semantic_segmentation", "|isaacsim_rtx|simple_shading_constant_diffuse", "|isaacsim_rtx|simple_shading_diffuse_mdl", "|isaacsim_rtx|simple_shading_full_mdl", "|newton_renderer|", "|newton_renderer|albedo", "|newton_renderer|full", "|newton_renderer|rgb", "|newton_renderer|semantic_segmentation", "|ovrtx|", "|ovrtx|albedo", "|ovrtx|full", "|ovrtx|rgb", "|ovrtx|semantic_segmentation", "|ovrtx|simple_shading_constant_diffuse", "|ovrtx|simple_shading_diffuse_mdl", "|ovrtx|simple_shading_full_mdl", "isaacsim_physx||", "isaacsim_physx||albedo", "isaacsim_physx||full", "isaacsim_physx||rgb", "isaacsim_physx||semantic_segmentation", "isaacsim_physx|isaacsim_rtx|", "isaacsim_physx|isaacsim_rtx|albedo", "isaacsim_physx|isaacsim_rtx|full", "isaacsim_physx|isaacsim_rtx|rgb", "isaacsim_physx|isaacsim_rtx|semantic_segmentation", "isaacsim_physx|isaacsim_rtx|simple_shading_constant_diffuse", "isaacsim_physx|isaacsim_rtx|simple_shading_diffuse_mdl", "isaacsim_physx|isaacsim_rtx|simple_shading_full_mdl", "isaacsim_physx|newton_renderer|", "isaacsim_physx|newton_renderer|albedo", "isaacsim_physx|newton_renderer|full", "isaacsim_physx|newton_renderer|rgb", "isaacsim_physx|newton_renderer|semantic_segmentation", "newton_mjwarp||", "newton_mjwarp||albedo", "newton_mjwarp||full", "newton_mjwarp||rgb", "newton_mjwarp||semantic_segmentation", "newton_mjwarp|isaacsim_rtx|", "newton_mjwarp|isaacsim_rtx|albedo", "newton_mjwarp|isaacsim_rtx|full", "newton_mjwarp|isaacsim_rtx|rgb", "newton_mjwarp|isaacsim_rtx|semantic_segmentation", "newton_mjwarp|isaacsim_rtx|simple_shading_constant_diffuse", "newton_mjwarp|isaacsim_rtx|simple_shading_diffuse_mdl", "newton_mjwarp|isaacsim_rtx|simple_shading_full_mdl", "newton_mjwarp|newton_renderer|", "newton_mjwarp|newton_renderer|albedo", "newton_mjwarp|newton_renderer|full", "newton_mjwarp|newton_renderer|rgb", "newton_mjwarp|newton_renderer|semantic_segmentation", "newton_mjwarp|ovrtx|", "newton_mjwarp|ovrtx|albedo", "newton_mjwarp|ovrtx|full", "newton_mjwarp|ovrtx|rgb", "newton_mjwarp|ovrtx|semantic_segmentation", "newton_mjwarp|ovrtx|simple_shading_constant_diffuse", "newton_mjwarp|ovrtx|simple_shading_diffuse_mdl", "newton_mjwarp|ovrtx|simple_shading_full_mdl", "ovphysx||", "ovphysx||albedo", "ovphysx||full", "ovphysx||rgb", "ovphysx||semantic_segmentation", "ovphysx|newton_renderer|", "ovphysx|newton_renderer|albedo", "ovphysx|newton_renderer|full", "ovphysx|newton_renderer|rgb", "ovphysx|newton_renderer|semantic_segmentation", "ovphysx|ovrtx|", "ovphysx|ovrtx|albedo", "ovphysx|ovrtx|full", "ovphysx|ovrtx|rgb", "ovphysx|ovrtx|semantic_segmentation", "ovphysx|ovrtx|simple_shading_constant_diffuse", "ovphysx|ovrtx|simple_shading_diffuse_mdl", "ovphysx|ovrtx|simple_shading_full_mdl"]],
             ["Isaac-Reorient-Cube-Shadow-Camera", "rl_games,rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,full,randomized,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl", "tasks/manipulation/shadow_cube.jpg", false, {"*": ["full"]}, {}, "", null, ["||", "||albedo", "||full", "||randomized", "||rgb", "||semantic_segmentation", "|isaacsim_rtx|", "|isaacsim_rtx|albedo", "|isaacsim_rtx|full", "|isaacsim_rtx|randomized", "|isaacsim_rtx|rgb", "|isaacsim_rtx|semantic_segmentation", "|isaacsim_rtx|simple_shading_constant_diffuse", "|isaacsim_rtx|simple_shading_diffuse_mdl", "|isaacsim_rtx|simple_shading_full_mdl", "|newton_renderer|", "|newton_renderer|albedo", "|newton_renderer|full", "|newton_renderer|randomized", "|newton_renderer|rgb", "|newton_renderer|semantic_segmentation", "|ovrtx|", "|ovrtx|albedo", "|ovrtx|full", "|ovrtx|randomized", "|ovrtx|rgb", "|ovrtx|semantic_segmentation", "|ovrtx|simple_shading_constant_diffuse", "|ovrtx|simple_shading_diffuse_mdl", "|ovrtx|simple_shading_full_mdl", "isaacsim_physx||", "isaacsim_physx||albedo", "isaacsim_physx||full", "isaacsim_physx||randomized", "isaacsim_physx||rgb", "isaacsim_physx||semantic_segmentation", "isaacsim_physx|isaacsim_rtx|", "isaacsim_physx|isaacsim_rtx|albedo", "isaacsim_physx|isaacsim_rtx|full", "isaacsim_physx|isaacsim_rtx|randomized", "isaacsim_physx|isaacsim_rtx|rgb", "isaacsim_physx|isaacsim_rtx|semantic_segmentation", "isaacsim_physx|isaacsim_rtx|simple_shading_constant_diffuse", "isaacsim_physx|isaacsim_rtx|simple_shading_diffuse_mdl", "isaacsim_physx|isaacsim_rtx|simple_shading_full_mdl", "isaacsim_physx|newton_renderer|", "isaacsim_physx|newton_renderer|albedo", "isaacsim_physx|newton_renderer|full", "isaacsim_physx|newton_renderer|randomized", "isaacsim_physx|newton_renderer|rgb", "isaacsim_physx|newton_renderer|semantic_segmentation", "newton_mjwarp||", "newton_mjwarp||albedo", "newton_mjwarp||full", "newton_mjwarp||randomized", "newton_mjwarp||rgb", "newton_mjwarp||semantic_segmentation", "newton_mjwarp|isaacsim_rtx|", "newton_mjwarp|isaacsim_rtx|albedo", "newton_mjwarp|isaacsim_rtx|full", "newton_mjwarp|isaacsim_rtx|randomized", "newton_mjwarp|isaacsim_rtx|rgb", "newton_mjwarp|isaacsim_rtx|semantic_segmentation", "newton_mjwarp|isaacsim_rtx|simple_shading_constant_diffuse", "newton_mjwarp|isaacsim_rtx|simple_shading_diffuse_mdl", "newton_mjwarp|isaacsim_rtx|simple_shading_full_mdl", "newton_mjwarp|newton_renderer|", "newton_mjwarp|newton_renderer|albedo", "newton_mjwarp|newton_renderer|full", "newton_mjwarp|newton_renderer|randomized", "newton_mjwarp|newton_renderer|rgb", "newton_mjwarp|newton_renderer|semantic_segmentation", "newton_mjwarp|ovrtx|", "newton_mjwarp|ovrtx|albedo", "newton_mjwarp|ovrtx|full", "newton_mjwarp|ovrtx|randomized", "newton_mjwarp|ovrtx|rgb", "newton_mjwarp|ovrtx|semantic_segmentation", "newton_mjwarp|ovrtx|simple_shading_constant_diffuse", "newton_mjwarp|ovrtx|simple_shading_diffuse_mdl", "newton_mjwarp|ovrtx|simple_shading_full_mdl", "ovphysx||", "ovphysx||albedo", "ovphysx||full", "ovphysx||randomized", "ovphysx||rgb", "ovphysx||semantic_segmentation", "ovphysx|newton_renderer|", "ovphysx|newton_renderer|albedo", "ovphysx|newton_renderer|full", "ovphysx|newton_renderer|randomized", "ovphysx|newton_renderer|rgb", "ovphysx|newton_renderer|semantic_segmentation", "ovphysx|ovrtx|", "ovphysx|ovrtx|albedo", "ovphysx|ovrtx|full", "ovphysx|ovrtx|randomized", "ovphysx|ovrtx|rgb", "ovphysx|ovrtx|semantic_segmentation", "ovphysx|ovrtx|simple_shading_constant_diffuse", "ovphysx|ovrtx|simple_shading_diffuse_mdl", "ovphysx|ovrtx|simple_shading_full_mdl"]],

docs/source/api/lab_experimental/isaaclab_experimental.utils.rst

@@ -13,15 +13,13 @@ The following classes are part of the public :mod:`isaaclab_experimental.utils`
 .. autosummary::
    :nosignatures:
 
-   ManagerCallMode
-   ManagerCallSwitch
-   WarpGraphCache
+   CapturedStage
+   captured
+   eager
 
-.. autoclass:: ManagerCallMode
+.. autoclass:: CapturedStage
    :show-inheritance:
 
-.. autoclass:: ManagerCallSwitch
-   :show-inheritance:
+.. autofunction:: captured
 
-.. autoclass:: WarpGraphCache
-   :show-inheritance:
+.. autofunction:: eager

docs/source/concepts/warp_environments.rst

@@ -73,6 +73,7 @@ implementation:
 - ``Isaac-Ant-Direct`` — Ant locomotion
 - ``Isaac-Humanoid-Direct`` — Humanoid locomotion
 - ``Isaac-Reorient-Cube-Allegro-Direct`` — Allegro hand cube reorient
+- ``Isaac-Reorient-Cube-Shadow-Direct`` — Shadow hand cube reorient
 
 
 Manager-Based Warp Execution (``--frontend warp``)
@@ -493,7 +494,8 @@ checks the mask to skip non-selected environments:
            return
        # ... modify state for selected envs only
 
-- RNG uses per-env ``env.rng_state_wp`` (``wp.uint32``) instead of ``torch.rand``
+- RNG uses the per-env :attr:`WarpRng.state <isaaclab.utils.seed.WarpRng.state>` (``wp.uint32``) instead of
+  ``torch.rand``
 - **Startup/prestartup** events use the torch convention ``(env, env_ids, **params)``
 - **Reset/interval** events use the warp convention ``(env, env_mask, **params)``
 

source/isaaclab/changelog.d/jichuanh-id-mask.added.rst

@@ -0,0 +1,2 @@
+* Added :func:`~isaaclab.utils.warp.utils.resolve_ids`, which resolves an index selection given as ids or as a
+  boolean mask to ids on a device, as :func:`~isaaclab.utils.warp.utils.resolve_1d_mask` does to a mask.

source/isaaclab/changelog.d/jichuanh-id-mask.changed.rst

@@ -0,0 +1,11 @@
+* Changed the env selection helpers of :class:`~isaaclab.utils.wrench_composer.WrenchComposer`,
+  :class:`~isaaclab.sensors.SensorBase` and :class:`~isaaclab.sensors.Camera` to resolve ``env_ids`` and ``env_mask``
+  through :func:`~isaaclab.utils.warp.utils.resolve_ids` and :func:`~isaaclab.utils.warp.utils.resolve_1d_mask`.
+  Any integer sequence and slices with a negative step are accepted, ids on another device are moved to the owner's
+  device, and a :class:`~isaaclab.utils.warp.ProxyArray` is rejected with a :class:`TypeError`.
+* Changed :class:`~isaaclab.utils.wrench_composer.WrenchComposer` to resolve ``body_ids`` through
+  :func:`~isaaclab.utils.warp.utils.resolve_ids` as well, so slices other than ``slice(None)`` are accepted.
+* Changed :func:`~isaaclab.utils.warp.utils.resolve_1d_mask` to make ``scratch_mask`` optional for callers that never
+  pass ids. Ids without a ``scratch_mask`` raise a :class:`ValueError`.
+* Changed :func:`~isaaclab.utils.warp.utils.resolve_1d_mask` to copy a Warp mask on another device to ``device``, and
+  to accept a boolean torch mask on ``device`` inside a CUDA graph capture.

source/isaaclab/changelog.d/jichuanh-id-mask.fixed.rst

@@ -0,0 +1,2 @@
+* Fixed the ``write_nodal_*_to_sim_mask`` methods of :class:`~isaaclab.assets.BaseDeformableObject`, which the
+  OVPhysX deformable object inherits, raising a :class:`RuntimeError` whenever ``env_mask`` was given.

source/isaaclab/changelog.d/jichuanh-warp-rng-shared.added.rst

@@ -0,0 +1,3 @@
+* Added :class:`~isaaclab.utils.seed.WarpRng`, the per-environment Warp random number generator state that
+  environments and sensors share, one per process. :func:`~isaaclab.utils.seed.configure_seed` reseeds it in place,
+  and environments call :meth:`~isaaclab.utils.seed.WarpRng.initialize` at construction.

source/isaaclab/changelog.d/jichuanh-warp-rng-shared.changed.rst

@@ -0,0 +1,2 @@
+* Changed masked :meth:`~isaaclab.sensors.ray_caster.BaseRayCaster.reset` to draw its drift from the shared
+  :class:`~isaaclab.utils.seed.WarpRng` state instead of random states of its own.

source/isaaclab/changelog.d/jichuanh-warp-scene-mask-native.added.rst

@@ -0,0 +1,7 @@
+* Added ``env_mask`` to :meth:`~isaaclab.actuators.ActuatorCollection.reset` and
+  :meth:`~isaaclab.actuators.ActuatorControl.reset_native_actuators`. Isaac Lab actuator models and backend-native
+  actuator state reset only the masked environments from the mask itself, without converting it to indices.
+* Added ``batch_mask`` to :meth:`~isaaclab.utils.buffers.DelayBuffer.set_time_lag` and
+  :meth:`~isaaclab.utils.buffers.DelayBuffer.reset`, which select batches on the device without synchronizing the
+  host. Tensor lags set through a mask are full-sized and are not range-checked.
+* Added ``env_mask`` to :meth:`~isaaclab.assets.BaseCableObject.reset`, matching the other scene assets.

source/isaaclab/changelog.d/jichuanh-warp-scene-mask-native.changed.rst

@@ -0,0 +1,17 @@
+* Changed masked :meth:`~isaaclab.sensors.ray_caster.BaseRayCaster.reset` to resample drift in a Warp kernel from
+  per-environment random states seeded from torch's global generator, so it neither synchronizes the host nor
+  allocates and can be captured in a CUDA graph. When both ``env_ids`` and ``env_mask`` are given, the mask selects
+  the resampled environments, matching :meth:`~isaaclab.sensors.SensorBase.reset`.
+* Changed :meth:`~isaaclab.actuators.newton.NewtonActuatorAdapter.reset` to reuse preallocated per-DOF masks, so
+  masked resets of Newton-native actuator state do not allocate and can be captured in a CUDA graph.
+* **Breaking:** Changed :meth:`~isaaclab.actuators.ActuatorBase.reset` to take an ``env_mask`` argument, the
+  boolean mask of the environments to reset that masked resets pass instead of indices. Custom actuator models must
+  accept ``env_mask`` and reset from it without synchronizing the host, for example through
+  :func:`~isaaclab.utils.array.index_fill_` or :func:`torch.where`.
+* Changed :class:`~isaaclab.actuators.DelayedPDActuator` to raise :class:`ValueError` at construction unless
+  ``0 <= min_delay <= max_delay``, instead of at a reset, because masked resets apply the sampled delays without
+  checking them on the host.
+* Changed the ``limit`` annotation of
+  :meth:`~isaaclab.assets.BaseArticulation.set_fixed_tendon_position_limit_index` and
+  :meth:`~isaaclab.assets.BaseArticulation.set_fixed_tendon_position_limit_mask` to exclude ``float``, matching the
+  backends, which raise :class:`ValueError` for a float because it cannot hold both bounds.

source/isaaclab/isaaclab/actuators/actuator_base.py

@@ -279,11 +279,17 @@ def joint_indices(self) -> slice | torch.Tensor:
     """
 
     @abstractmethod
-    def reset(self, env_ids: Sequence[int]):
+    def reset(self, env_ids: Sequence[int] | slice | None = None, env_mask: torch.Tensor | None = None):
         """Reset the internals within the group.
 
+        .. caution::
+            If both ``env_ids`` and ``env_mask`` are provided, ``env_mask`` takes precedence.
+
         Args:
-            env_ids: List of environment IDs to reset.
+            env_ids: Environment indices or a slice selecting the environments to reset. None resets all
+                environments.
+            env_mask: Boolean mask of the environments to reset. Shape is (num_envs,). Implementations reset from it
+                without synchronizing the host, for example through :func:`~isaaclab.utils.array.index_fill_`.
         """
         raise NotImplementedError
 

source/isaaclab/isaaclab/actuators/actuator_collection.py

@@ -180,18 +180,27 @@ def applied_effort(self) -> ProxyArray:
 
     # Lifecycle.
 
-    def reset(self, env_ids: Sequence[int] | slice | None = None) -> None:
+    def reset(self, env_ids: Sequence[int] | slice | None = None, env_mask: wp.array | None = None) -> None:
         """Reset all actuator group states.
 
+        Isaac Lab actuator models receive the mask as a zero-copy boolean tensor through the ``env_mask``
+        argument of :meth:`~isaaclab.actuators.ActuatorBase.reset`. Backend-native actuator state resets from
+        the mask directly.
+
+        .. caution::
+            If both ``env_ids`` and ``env_mask`` are provided, ``env_mask`` takes precedence.
+
         Args:
             env_ids: Environment indices to reset. Defaults to all environments.
+            env_mask: Environment mask. Shape is (num_instances,). Defaults to None.
         """
         group_env_ids = self._control._normalize_index_sequence(env_ids)
+        group_env_mask = None if env_mask is None else wp.to_torch(env_mask)
         for actuator in self._groups.values():
             # Newton-executed groups are reset through the backend below.
             if isinstance(actuator, ActuatorBase):
-                actuator.reset(group_env_ids)
-        self._control.reset_native_actuators(slice(None) if group_env_ids is None else group_env_ids)
+                actuator.reset(group_env_ids, env_mask=group_env_mask)
+        self._control.reset_native_actuators(slice(None) if group_env_ids is None else group_env_ids, env_mask)
 
     def compute(self, dt: float = 0.0) -> None:
         """Compute processed actuator commands and telemetry.

source/isaaclab/isaaclab/actuators/actuator_control.py

@@ -307,11 +307,15 @@ def submit_commands(self, collection: ActuatorCollection) -> None:
         """
         raise NotImplementedError
 
-    def reset_native_actuators(self, env_ids: Sequence[int] | slice) -> None:
+    def reset_native_actuators(self, env_ids: Sequence[int] | slice, env_mask: wp.array | None = None) -> None:
         """Reset backend-native actuator state.
 
+        .. caution::
+            If both ``env_ids`` and ``env_mask`` are provided, ``env_mask`` takes precedence.
+
         Args:
             env_ids: Environments to reset.
+            env_mask: Environment mask. Shape is (num_instances,). Defaults to None.
         """
 
 

source/isaaclab/isaaclab/actuators/actuator_net.py

@@ -68,11 +68,12 @@ def __init__(self, cfg: ActuatorNetLSTMCfg, *args, **kwargs):
     Operations.
     """
 
-    def reset(self, env_ids: Sequence[int]):
+    def reset(self, env_ids: Sequence[int] | None = None, env_mask: torch.Tensor | None = None):
         # reset the hidden and cell states for the specified environments
+        selection = env_ids if env_mask is None else env_mask
         with torch.no_grad():
-            index_fill_(self.sea_hidden_state_per_env, env_ids, 0.0, dim=1)
-            index_fill_(self.sea_cell_state_per_env, env_ids, 0.0, dim=1)
+            index_fill_(self.sea_hidden_state_per_env, selection, 0.0, dim=1)
+            index_fill_(self.sea_cell_state_per_env, selection, 0.0, dim=1)
 
     def compute(
         self, control_action: ArticulationActions, joint_pos: torch.Tensor, joint_vel: torch.Tensor
@@ -138,10 +139,11 @@ def __init__(self, cfg: ActuatorNetMLPCfg, *args, **kwargs):
     Operations.
     """
 
-    def reset(self, env_ids: Sequence[int]):
+    def reset(self, env_ids: Sequence[int] | None = None, env_mask: torch.Tensor | None = None):
         # reset the history for the specified environments
-        index_fill_(self._joint_pos_error_history, env_ids, 0.0)
-        index_fill_(self._joint_vel_history, env_ids, 0.0)
+        selection = env_ids if env_mask is None else env_mask
+        index_fill_(self._joint_pos_error_history, selection, 0.0)
+        index_fill_(self._joint_vel_history, selection, 0.0)
 
     def compute(
         self, control_action: ArticulationActions, joint_pos: torch.Tensor, joint_vel: torch.Tensor