Minor fixes for IsaacSim v5 (#13)

Author: adamheins

README.md

@@ -101,9 +101,9 @@ The key features of Matterix are:
             python scripts/zero_agent.py --task=<TASK_NAME>
 
             # example of an environment with two robot arms and several beakers:
-            python scripts/zero_agent.py --task Isaac-Test-Beakers-Franka-v1 --num_envs 1
+            python scripts/zero_agent.py --task Matterix-Test-Beakers-Franka-v1 --num_envs 1
             # or
-            ./matterix.sh -p scripts/zero_agent.py --task Isaac-Test-Beakers-Franka-v1 --num_envs 1
+            ./matterix.sh -p scripts/zero_agent.py --task Matterix-Test-Beakers-Franka-v1 --num_envs 1
 
             ```
         - Random-action agent
@@ -113,9 +113,9 @@ The key features of Matterix are:
             python scripts/random_agent.py --task=<TASK_NAME>
 
             # example of an environment with two robot arms and several beakers:
-            python scripts/random_agent.py --task Isaac-Test-Beakers-Franka-v1 --num_envs 1
+            python scripts/random_agent.py --task Matterix-Test-Beakers-Franka-v1 --num_envs 1
             # or
-            ./matterix.sh -p scripts/random_agent.py --task Isaac-Test-Beakers-Franka-v1 --num_envs 1
+            ./matterix.sh -p scripts/random_agent.py --task Matterix-Test-Beakers-Franka-v1 --num_envs 1
 
             ```
 

source/matterix/matterix/envs/matterix_base_env_cfg.py

@@ -212,6 +212,7 @@ class MatterixBaseEnvCfg:
     env_spacing = 2.5
     dt: float = 1 / 60  # Hz
     num_envs = 1
+    export_io_descriptors = False
 
     # physX settings
     bounce_threshold_velocity = 0.01

source/matterix_tasks/setup.py

@@ -19,7 +19,7 @@
 INSTALL_REQUIRES = [
     # generic
     "numpy",
-    "torch==2.5.1",
+    "torch>=2.5.1",
     "torchvision>=0.14.1",  # ensure compatibility with torch 1.13.1
     # 5.26.0 introduced a breaking change, so we restricted it for now.
     # See issue https://github.com/tensorflow/tensorboard/issues/6808 for details.