Merge branch 'main' into mgussert/sensors_doc

Author: mpgussert

.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-1.2 --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 .
-      - echo "Pushing the docker image"
-      - docker push $IMAGE_NAME:latest-1.2
-      - docker tag $IMAGE_NAME:latest-1.2 $IMAGE_NAME:latest-1.2-b$CODEBUILD_BUILD_NUMBER
-      - docker push $IMAGE_NAME:latest-1.2-b$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

@@ -4,15 +4,39 @@ phases:
   pre_build:
     commands:
       - echo "Launching EC2 instance to run tests"
-      - INSTANCE_ID=$(aws ec2 run-instances --image-id ami-0f7f7fb14ee15d5ae --count 1 --instance-type g5.2xlarge --key-name production/ssh/isaaclab --security-group-ids sg-02617e4b8916794c4 --subnet-id subnet-0907ceaeb40fd9eac --block-device-mappings 'DeviceName=/dev/sda1,Ebs={VolumeSize=500}' --output text --query 'Instances[0].InstanceId')
+      - |
+        INSTANCE_ID=$(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 $INSTANCE_ID \
+          --availability-zone us-west-2a \
+          --ssh-public-key file://~/.ssh/id_rsa.pub \
+          --instance-os-user ubuntu
+
   build:
     commands:
       - echo "Running tests on EC2 instance"
@@ -40,10 +64,20 @@ phases:
         retry_scp
         '
       - ssh ubuntu@$EC2_INSTANCE_IP "docker login -u \\\$oauthtoken -p $NGC_TOKEN nvcr.io"
-      - ssh ubuntu@$EC2_INSTANCE_IP "cd $SRC_DIR;
-          DOCKER_BUILDKIT=1 docker build -t isaac-lab-dev --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 $?"
+      - |
+        ssh ubuntu@$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

@@ -49,6 +49,7 @@ Guidelines for modifications:
 * Johnson Sun
 * Kaixi Bao
 * Kourosh Darvish
+* Lionel Gulich
 * Lorenz Wellhausen
 * Masoud Moghani
 * Michael Gussert

docker/.env.base

@@ -4,6 +4,8 @@
 
 # Accept the NVIDIA Omniverse EULA by default
 ACCEPT_EULA=Y
+# 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/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/source/_static/demos/multi_asset.jpg

@@ -13,6 +13,7 @@
     sensors
     from_files
     materials
+    wrappers
 
   .. rubric:: Classes
 
@@ -302,3 +303,27 @@ Physical Materials
 .. autoclass:: DeformableBodyMaterialCfg
     :members:
     :exclude-members: __init__, func
+
+Wrappers
+--------
+
+.. automodule:: omni.isaac.lab.sim.spawners.wrappers
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    MultiAssetSpawnerCfg
+    MultiUsdFileCfg
+
+.. autofunction:: spawn_multi_asset
+
+.. autoclass:: MultiAssetSpawnerCfg
+    :members:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_multi_usd_file
+
+.. autoclass:: MultiUsdFileCfg
+    :members:
+    :exclude-members: __init__, func

docs/source/api/lab/omni.isaac.lab.sim.spawners.rst

@@ -23,13 +23,13 @@ numbers of cameras that can run in your task environment up to a
 certain specified system resource utilization threshold (without training; taking zero actions
 at each timestep).
 
-This guide accompanies the ``benchmark_cameras.py`` script in the ``IsaacLab/source/standalone/tutorials/04_sensors``
+This guide accompanies the ``benchmark_cameras.py`` script in the ``source/standalone/benchmarks``
 directory.
 
 .. dropdown:: Code for benchmark_cameras.py
    :icon: code
 
-   .. literalinclude:: ../../../source/standalone/tutorials/04_sensors/benchmark_cameras.py
+   .. literalinclude:: ../../../source/standalone/benchmarks/benchmark_cameras.py
       :language: python
       :linenos:
 
@@ -41,7 +41,7 @@ First, run
 
 .. code-block:: bash
 
-   ./isaaclab.sh -p source/standalone/tutorials/04_sensors/benchmark_cameras.py -h
+   ./isaaclab.sh -p source/standalone/benchmarks/benchmark_cameras.py -h
 
 to see all possible parameters you can vary with this utility.
 
@@ -61,7 +61,7 @@ only in RGB mode, run
 
 .. code-block:: bash
 
-   ./isaaclab.sh -p source/standalone/tutorials/04_sensors/benchmark_cameras.py \
+   ./isaaclab.sh -p source/standalone/benchmarks/benchmark_cameras.py \
    --task Isaac-Cartpole-v0 --num_tiled_cameras 100 \
    --task_num_cameras_per_env 2 \
    --tiled_camera_data_types rgb
@@ -74,7 +74,7 @@ you can run with cartpole, you could run:
 
 .. code-block:: bash
 
-   ./isaaclab.sh -p source/standalone/tutorials/04_sensors/benchmark_cameras.py \
+   ./isaaclab.sh -p source/standalone/benchmarks/benchmark_cameras.py \
    --task Isaac-Cartpole-v0 --num_tiled_cameras 100 \
    --task_num_cameras_per_env 2 \
    --tiled_camera_data_types rgb --autotune \
@@ -97,7 +97,7 @@ For example, to view 100 random objects with 2 standard cameras, one could run
 
 .. code-block:: bash
 
-   ./isaaclab.sh -p source/standalone/tutorials/04_sensors/benchmark_cameras.py \
+   ./isaaclab.sh -p source/standalone/benchmarks/benchmark_cameras.py \
    --height 100 --width 100 --num_standard_cameras 2 \
    --standard_camera_data_types instance_segmentation_fast normals --num_objects 100 \
    --experiment_length 100
@@ -118,4 +118,4 @@ If your system has a hard time handling the desired cameras, you can try the fol
    - Decrease the number of objects in the scene
 
 If your system is able to handle the amount of cameras, then the time statistics will be printed to the terminal.
-After the simulations stops it can be closed with CTRL C.
+After the simulations stops it can be closed with CTRL+C.