Merge branch 'main' into feature/manager-live-plots

Signed-off-by: jtigue-bdai <[email protected]>

.github/workflows/docs.yaml

@@ -3,10 +3,24 @@ name: Build & deploy docs
 on: [push]
 
 jobs:
+  check-secrets:
+    name: Check secrets
+    runs-on: ubuntu-latest
+    outputs:
+      trigger-build: ${{ steps.trigger-build.outputs.defined }}
+    steps:
+      - id: trigger-build
+        env:
+          REPO_NAME: ${{ secrets.REPO_NAME }}
+          BRANCH_REF: ${{ secrets.BRANCH_REF }}
+        if: "${{ github.repository == env.REPO_NAME && github.ref == env.BRANCH_REF }}"
+        run: echo "defined=true" >> "$GITHUB_OUTPUT"
+
   build-docs:
     name: Build and deploy documentation
     runs-on: ubuntu-latest
-    if: github.repository == 'isaac-sim/IsaacLab' && github.ref == 'refs/heads/main'
+    needs: [check-secrets]
+    if: needs.check-secrets.outputs.trigger-build == 'true'
 
     steps:
     - name: Checkout code

.github/workflows/mirror-buildspec.yml

@@ -0,0 +1,15 @@
+version: 0.2
+
+phases:
+  install:
+    runtime-versions:
+      nodejs: 14
+  pre_build:
+    commands:
+      - git config --global user.name "Isaac LAB CI Bot"
+      - git config --global user.email "[email protected]"
+  build:
+    commands:
+      - git remote set-url origin https://github.com/${TARGET_REPO}.git
+      - git checkout $SOURCE_BRANCH
+      - git push --force https://[email protected]/${TARGET_REPO}.git $SOURCE_BRANCH:$TARGET_BRANCH

.github/workflows/postmerge-ci-buildspec.yml

@@ -3,10 +3,42 @@ version: 0.2
 phases:
   build:
     commands:
-      - echo "Building a docker image"
-      - docker login -u \$oauthtoken -p $NGC_TOKEN nvcr.io
-      - docker build -t $IMAGE_NAME:latest-1.1 --build-arg ISAACSIM_VERSION_ARG=4.1.0 --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab --build-arg DOCKER_USER_HOME_ARG=/root -f docker/Dockerfile.base .
-      - echo "Pushing the docker image"
-      - docker push $IMAGE_NAME:latest-1.1
-      - docker tag $IMAGE_NAME:latest-1.1 $IMAGE_NAME:latest-1.1-b$CODEBUILD_BUILD_NUMBER
-      - docker push $IMAGE_NAME:latest-1.1-b$CODEBUILD_BUILD_NUMBER
+      - echo "Building and pushing Docker image"
+      - |
+        # Determine branch name or use fallback
+        if [ -n "$CODEBUILD_WEBHOOK_HEAD_REF" ]; then
+          BRANCH_NAME=$(echo $CODEBUILD_WEBHOOK_HEAD_REF | sed 's/refs\/heads\///')
+        elif [ -n "$CODEBUILD_SOURCE_VERSION" ]; then
+          BRANCH_NAME=$CODEBUILD_SOURCE_VERSION
+        else
+          BRANCH_NAME="unknown"
+        fi
+
+        # Replace '/' with '-' and remove any invalid characters for Docker tag
+        SAFE_BRANCH_NAME=$(echo $BRANCH_NAME | sed 's/[^a-zA-Z0-9._-]/-/g')
+
+        # Use "latest" if branch name is empty or only contains invalid characters
+        if [ -z "$SAFE_BRANCH_NAME" ]; then
+          SAFE_BRANCH_NAME="latest"
+        fi
+
+        # Get the git repository short name
+        REPO_SHORT_NAME=$(basename -s .git `git config --get remote.origin.url`)
+        if [ -z "$REPO_SHORT_NAME" ]; then
+          REPO_SHORT_NAME="verification"
+        fi
+
+        # Combine repo short name and branch name for the tag
+        COMBINED_TAG="${REPO_SHORT_NAME}-${SAFE_BRANCH_NAME}"
+
+        docker login -u \$oauthtoken -p $NGC_TOKEN nvcr.io
+        docker build -t $IMAGE_NAME:$COMBINED_TAG \
+          --build-arg ISAACSIM_BASE_IMAGE_ARG=$ISAACSIM_BASE_IMAGE \
+          --build-arg ISAACSIM_VERSION_ARG=4.2.0 \
+          --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim \
+          --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab \
+          --build-arg DOCKER_USER_HOME_ARG=/root \
+          -f docker/Dockerfile.base .
+        docker push $IMAGE_NAME:$COMBINED_TAG
+        docker tag $IMAGE_NAME:$COMBINED_TAG $IMAGE_NAME:$COMBINED_TAG-b$CODEBUILD_BUILD_NUMBER
+        docker push $IMAGE_NAME:$COMBINED_TAG-b$CODEBUILD_BUILD_NUMBER

.github/workflows/premerge-ci-buildspec.yml

@@ -4,45 +4,80 @@ phases:
   pre_build:
     commands:
       - echo "Launching EC2 instance to run tests"
-      - INSTANCE_ID=$(aws ec2 run-instances --image-id ami-05c519412a83cc291 --count 1 --instance-type g5.2xlarge --key-name production/ssh/isaaclab --security-group-ids sg-02617e4b8916794c4 --subnet-id subnet-0907ceaeb40fd9eac --block-device-mappings 'DeviceName=/dev/sda1,Ebs={VolumeSize=500}' --output text --query 'Instances[0].InstanceId')
+      - |
+        INSTANCE_ID=$(aws ec2 run-instances \
+          --image-id ami-0b3a9d48380433e49 \
+          --count 1 \
+          --instance-type g5.2xlarge \
+          --key-name production/ssh/isaaclab \
+          --security-group-ids sg-02617e4b8916794c4 \
+          --subnet-id subnet-0907ceaeb40fd9eac \
+          --block-device-mappings '[{"DeviceName":"/dev/sda1","Ebs":{"VolumeSize":500}}]' \
+          --output text \
+          --query 'Instances[0].InstanceId')
       - aws ec2 wait instance-running --instance-ids $INSTANCE_ID
-      - EC2_INSTANCE_IP=$(aws ec2 describe-instances --filters "Name=instance-state-name,Values=running" "Name=instance-id,Values=$INSTANCE_ID" --query 'Reservations[*].Instances[*].[PrivateIpAddress]' --output text)
+      - |
+        EC2_INSTANCE_IP=$(aws ec2 describe-instances \
+          --filters "Name=instance-state-name,Values=running" "Name=instance-id,Values=$INSTANCE_ID" \
+          --query 'Reservations[*].Instances[*].[PrivateIpAddress]' \
+          --output text)
       - mkdir -p ~/.ssh
-      - aws ec2 describe-key-pairs --include-public-key --key-name production/ssh/isaaclab --query 'KeyPairs[0].PublicKey' --output text > ~/.ssh/id_rsa.pub
-      - aws secretsmanager get-secret-value --secret-id production/ssh/isaaclab --query SecretString --output text > ~/.ssh/id_rsa
+      - |
+        aws ec2 describe-key-pairs --include-public-key --key-name production/ssh/isaaclab \
+          --query 'KeyPairs[0].PublicKey' --output text > ~/.ssh/id_rsa.pub
+      - |
+        aws secretsmanager get-secret-value --secret-id production/ssh/isaaclab \
+          --query SecretString --output text > ~/.ssh/id_rsa
       - chmod 400 ~/.ssh/id_*
       - echo "Host $EC2_INSTANCE_IP\n\tStrictHostKeyChecking no\n" >> ~/.ssh/config
-      - aws ec2-instance-connect send-ssh-public-key --instance-id $INSTANCE_ID --availability-zone us-west-2a --ssh-public-key file://~/.ssh/id_rsa.pub --instance-os-user ubuntu
+      - |
+        aws ec2-instance-connect send-ssh-public-key \
+          --instance-id $INSTANCE_ID \
+          --availability-zone us-west-2a \
+          --ssh-public-key file://~/.ssh/id_rsa.pub \
+          --instance-os-user ubuntu
+
   build:
     commands:
       - echo "Running tests on EC2 instance"
+      - SRC_DIR=$(basename $CODEBUILD_SRC_DIR)
       - cd ..
       - |
         bash -c '
         function retry_scp() {
           local retries=5
-          local wait_time=10
+          local wait_time=30
           local count=0
           while [ $count -lt $retries ]; do
-            scp -r IsaacLab ubuntu@$EC2_INSTANCE_IP:~
+            sleep $wait_time
+            scp -r $SRC_DIR ubuntu@$EC2_INSTANCE_IP:~
             if [ $? -eq 0 ]; then
               echo "SCP command succeeded"
               return 0
             fi
             count=$((count + 1))
             echo "SCP command failed. Retrying in $wait_time seconds..."
-            sleep $wait_time
           done
           echo "SCP command failed after $retries attempts."
           return 1
         }
         retry_scp
         '
       - ssh ubuntu@$EC2_INSTANCE_IP "docker login -u \\\$oauthtoken -p $NGC_TOKEN nvcr.io"
-      - ssh ubuntu@$EC2_INSTANCE_IP "cd IsaacLab;
-          docker build -t isaac-lab-dev --build-arg ISAACSIM_VERSION_ARG=4.1.0 --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab --build-arg DOCKER_USER_HOME_ARG=/root -f docker/Dockerfile.base . ;
-          docker run --rm --entrypoint bash --gpus all --network=host --name isaac-lab-test isaac-lab-dev ./isaaclab.sh -t &&
-          exit $?"
+      - |
+        ssh ubuntu@$EC2_INSTANCE_IP "
+          cd $SRC_DIR
+          DOCKER_BUILDKIT=1 docker build -t isaac-lab-dev \
+            --build-arg ISAACSIM_BASE_IMAGE_ARG=$ISAACSIM_BASE_IMAGE \
+            --build-arg ISAACSIM_VERSION_ARG=4.2.0 \
+            --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim \
+            --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab \
+            --build-arg DOCKER_USER_HOME_ARG=/root \
+            -f docker/Dockerfile.base .
+          docker run --rm --entrypoint bash --gpus all --network=host \
+            --name isaac-lab-test isaac-lab-dev ./isaaclab.sh -t && exit \$?
+        "
+
   post_build:
     commands:
       - echo "Terminating EC2 instance"

CONTRIBUTORS.md

@@ -31,21 +31,25 @@ Guidelines for modifications:
 
 ## Contributors
 
-* Anton Bjørndahl Mortensen
 * Alice Zhou
+* Amr Mousa
 * Andrej Orsula
+* Anton Bjørndahl Mortensen
 * Antonio Serrano-Muñoz
 * Arjun Bhardwaj
 * Brayden Zhang
 * Calvin Yu
 * Chenyu Yang
 * David Yang
+* Gary Lvov
 * HoJin Jeon
 * Jean Tampon
 * Jia Lin Yuan
 * Jingzhou Liu
 * Johnson Sun
+* Kaixi Bao
 * Kourosh Darvish
+* Lionel Gulich
 * Lorenz Wellhausen
 * Masoud Moghani
 * Michael Gussert

README.md

@@ -4,7 +4,7 @@
 
 # Isaac Lab
 
-[![IsaacSim](https://img.shields.io/badge/IsaacSim-4.1-silver.svg)](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html)
+[![IsaacSim](https://img.shields.io/badge/IsaacSim-4.2.0-silver.svg)](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html)
 [![Python](https://img.shields.io/badge/python-3.10-blue.svg)](https://docs.python.org/3/whatsnew/3.10.html)
 [![Linux platform](https://img.shields.io/badge/platform-linux--64-orange.svg)](https://releases.ubuntu.com/20.04/)
 [![Windows platform](https://img.shields.io/badge/platform-windows--64-orange.svg)](https://www.microsoft.com/en-us/)

VERSION

@@ -1 +1 @@
-1.1.0
+1.2.0

docker/.env.base

@@ -4,8 +4,10 @@
 
 # Accept the NVIDIA Omniverse EULA by default
 ACCEPT_EULA=Y
-# NVIDIA Isaac Sim version to use (e.g. 4.1.0)
-ISAACSIM_VERSION=4.1.0
+# NVIDIA Isaac Sim base image
+ISAACSIM_BASE_IMAGE=nvcr.io/nvidia/isaac-sim
+# NVIDIA Isaac Sim version to use (e.g. 4.2.0)
+ISAACSIM_VERSION=4.2.0
 # Derived from the default path in the NVIDIA provided Isaac Sim container
 DOCKER_ISAACSIM_ROOT_PATH=/isaac-sim
 # The Isaac Lab path in the container

docker/Dockerfile.base

@@ -7,8 +7,9 @@
 # Please check above link for license information.
 
 # Base image
+ARG ISAACSIM_BASE_IMAGE_ARG
 ARG ISAACSIM_VERSION_ARG
-FROM nvcr.io/nvidia/isaac-sim:${ISAACSIM_VERSION_ARG} AS base
+FROM ${ISAACSIM_BASE_IMAGE_ARG}:${ISAACSIM_VERSION_ARG} AS base
 ENV ISAACSIM_VERSION=${ISAACSIM_VERSION_ARG}
 
 # Set default RUN shell to bash

docker/docker-compose.yaml

@@ -79,6 +79,7 @@ services:
       context: ../
       dockerfile: docker/Dockerfile.base
       args:
+        - ISAACSIM_BASE_IMAGE_ARG=${ISAACSIM_BASE_IMAGE}
         - ISAACSIM_VERSION_ARG=${ISAACSIM_VERSION}
         - ISAACSIM_ROOT_PATH_ARG=${DOCKER_ISAACSIM_ROOT_PATH}
         - ISAACLAB_PATH_ARG=${DOCKER_ISAACLAB_PATH}

docs/conf.py

@@ -226,7 +226,7 @@
         {
             "name": "Isaac Sim",
             "url": "https://developer.nvidia.com/isaac-sim",
-            "icon": "https://img.shields.io/badge/IsaacSim-4.1-silver.svg",
+            "icon": "https://img.shields.io/badge/IsaacSim-4.2.0-silver.svg",
             "type": "url",
         },
         {

docs/index.rst

@@ -6,9 +6,11 @@ Overview
    :alt: H1 Humanoid example using Isaac Lab
 
 **Isaac Lab** is a unified and modular framework for robot learning that aims to simplify common workflows
-in robotics research (such as RL, learning from demonstrations, and motion planning). It is built upon
+in robotics research (such as reinforcement learning, learning from demonstrations, and motion planning). It is built upon
 `NVIDIA Isaac Sim`_ to leverage the latest simulation capabilities for photo-realistic scenes, and fast
-and efficient simulation. The core objectives of the framework are:
+and efficient simulation.
+
+The core objectives of the framework are:
 
 - **Modularity**: Easily customize and add new environments, robots, and sensors.
 - **Agility**: Adapt to the changing needs of the community.
@@ -19,6 +21,19 @@ Key features available in Isaac Lab include fast and accurate physics simulation
 tiled rendering APIs for vectorized rendering, domain randomization for improving robustness and adaptability,
 and support for running in the cloud.
 
+Additionally, Isaac Lab provides over 26 environments, and we are actively working on adding more environments
+to the list. These include classic control tasks, fixed-arm and dexterous manipulation tasks, legged locomotion tasks,
+and navigation tasks. A complete list is available in the `environments <source/overview/environments>`_ section.
+
+The framework also includes over 16 robots. If you are looking to add a new robot, please refer to the
+:ref:`how-to` section. The current list of robots includes:
+
+- **Classic** Cartpole, Humanoid, Ant
+- **Fixed-Arm and Hands**: UR10, Franka, Allegro, Shadow Hand
+- **Quadrupeds**: Anybotics Anymal-B, Anymal-C, Anymal-D, Unitree A1, Unitree Go1, Unitree Go2, Boston Dynamics Spot
+- **Humanoids**: Unitree H1, Unitree G1
+- **Quadcopter**: Crazyflie
+
 For more information about the framework, please refer to the `paper <https://arxiv.org/abs/2301.04195>`_
 :cite:`mittal2023orbit`. For clarifications on NVIDIA Isaac ecosystem, please check out the
 :doc:`/source/setup/faq` section.
@@ -60,21 +75,28 @@ Table of Contents
    :caption: Getting Started
 
    source/setup/installation/index
-   source/setup/developer
-   source/setup/sample
-   source/setup/template
    source/setup/faq
 
+.. toctree::
+   :maxdepth: 3
+   :caption: Overview
+   :titlesonly:
+
+   source/overview/developer-guide/index
+   source/overview/core-concepts/index
+   source/overview/environments
+   source/overview/reinforcement-learning/index
+   source/overview/teleop_imitation
+   source/overview/showroom
+   source/overview/simple_agents
+
 .. toctree::
    :maxdepth: 2
    :caption: Features
 
-   source/features/task_workflows
    source/features/hydra
    source/features/multi_gpu
    source/features/tiled_rendering
-   source/features/environments
-   source/features/actuators
    source/features/reproducibility
    .. source/features/motion_generators
 
@@ -87,12 +109,6 @@ Table of Contents
    source/how-to/index
    source/deployment/index
 
-.. toctree::
-   :maxdepth: 1
-   :caption: Source API
-
-   source/api/index
-
 .. toctree::
    :maxdepth: 1
    :caption: Migration Guides
@@ -102,10 +118,17 @@ Table of Contents
    source/migration/migrating_from_omniisaacgymenvs
    source/migration/migrating_from_orbit
 
+.. toctree::
+   :maxdepth: 1
+   :caption: Source API
+
+   source/api/index
+
 .. toctree::
    :maxdepth: 1
    :caption: References
 
+   source/refs/additional_resources
    source/refs/contributing
    source/refs/troubleshooting
    source/refs/issues
@@ -119,7 +142,7 @@ Table of Contents
 
     GitHub <https://github.com/isaac-sim/IsaacLab>
     NVIDIA Isaac Sim <https://docs.omniverse.nvidia.com/isaacsim/latest/index.html>
-    NVIDIA PhysX <https://nvidia-omniverse.github.io/PhysX/physx/5.4.0/index.html>
+    NVIDIA PhysX <https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html>
 
 Indices and tables
 ==================