Merge branch 'main' into main

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

@@ -34,7 +34,7 @@ phases:
         docker login -u \$oauthtoken -p $NGC_TOKEN nvcr.io
         docker build -t $IMAGE_NAME:$COMBINED_TAG \
           --build-arg ISAACSIM_BASE_IMAGE_ARG=$ISAACSIM_BASE_IMAGE \
-          --build-arg ISAACSIM_VERSION_ARG=4.2.0 \
+          --build-arg ISAACSIM_VERSION_ARG=$ISAACSIM_BASE_VERSION \
           --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim \
           --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab \
           --build-arg DOCKER_USER_HOME_ARG=/root \

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

@@ -69,7 +69,7 @@ phases:
           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_VERSION_ARG=$ISAACSIM_BASE_VERSION \
             --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim \
             --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab \
             --build-arg DOCKER_USER_HOME_ARG=/root \

.gitattributes

@@ -9,3 +9,4 @@
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.pt filter=lfs diff=lfs merge=lfs -text
 *.jit filter=lfs diff=lfs merge=lfs -text
+*.hdf5 filter=lfs diff=lfs merge=lfs -text

.github/workflows/docs.yaml

@@ -1,26 +1,34 @@
 name: Build & deploy docs
 
-on: [push]
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    types: [opened, synchronize, reopened]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
   check-secrets:
     name: Check secrets
     runs-on: ubuntu-latest
     outputs:
-      trigger-build: ${{ steps.trigger-build.outputs.defined }}
+      trigger-deploy: ${{ steps.trigger-deploy.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"
+    - id: trigger-deploy
+      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
+    name: Build Docs
     runs-on: ubuntu-latest
     needs: [check-secrets]
-    if: needs.check-secrets.outputs.trigger-build == 'true'
 
     steps:
     - name: Checkout code
@@ -36,12 +44,38 @@ jobs:
       working-directory: ./docs
       run: pip install -r requirements.txt
 
-    - name: Generate docs
+    - name: Check branch docs building
+      working-directory: ./docs
+      if: needs.check-secrets.outputs.trigger-deploy != 'true'
+      run: make current-docs
+
+    - name: Generate multi-version docs
       working-directory: ./docs
-      run: make html
+      run: |
+        git fetch --prune --unshallow --tags
+        make multi-docs
+
+    - name: Upload docs artifact
+      uses: actions/upload-artifact@v4
+      with:
+        name: docs-html
+        path: ./docs/_build
+
+  deploy-docs:
+    name: Deploy Docs
+    runs-on: ubuntu-latest
+    needs: [check-secrets, build-docs]
+    if: needs.check-secrets.outputs.trigger-deploy == 'true'
+
+    steps:
+    - name: Download docs artifact
+      uses: actions/download-artifact@v4
+      with:
+        name: docs-html
+        path: ./docs/_build
 
     - name: Deploy to gh-pages
       uses: peaceiris/actions-gh-pages@v3
       with:
         github_token: ${{ secrets.GITHUB_TOKEN }}
-        publish_dir: ./docs/_build/html
+        publish_dir: ./docs/_build

.vscode/tools/settings.template.json

@@ -1,4 +1,9 @@
 {
+    "files.exclude": {
+        "**/.mypy_cache": true,
+        "**/__pycache__": true,
+        "**/*.egg-info": true
+    },
     "files.associations": {
         "*.tpp": "cpp",
         "*.kit": "toml",
@@ -40,7 +45,6 @@
         "teleoperation",
         "xform",
         "numpy",
-        "tensordict",
         "flatcache",
         "physx",
         "dpad",

CONTRIBUTING.md

@@ -5,4 +5,4 @@ the framework more mature and useful for everyone. These may happen in forms of
 design proposals and more.
 
 For general information on how to contribute see
-<https://isaac-sim.github.io/IsaacLab/source/refs/contributing.html>.
+<https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html>.

CONTRIBUTORS.md

@@ -6,7 +6,7 @@ To see the full list of contributors, please check the revision history in the s
 
 Guidelines for modifications:
 
-* Please keep the lists sorted alphabetically.
+* Please keep the **lists sorted alphabetically**.
 * Names should be added to this file as: *individual names* or *organizations*.
 * E-mail addresses are tracked elsewhere to avoid spam.
 
@@ -19,6 +19,7 @@ Guidelines for modifications:
 
 ---
 
+* Antonio Serrano-Muñoz
 * David Hoeller
 * Farbod Farshidian
 * Hunter Hansen
@@ -28,45 +29,58 @@ Guidelines for modifications:
 * Mayank Mittal
 * Nikita Rudin
 * Pascal Roth
+* Sheikh Dawood
 
 ## Contributors
 
 * Alice Zhou
 * Amr Mousa
 * Andrej Orsula
 * Anton Bjørndahl Mortensen
-* Antonio Serrano-Muñoz
 * Arjun Bhardwaj
 * Brayden Zhang
 * Calvin Yu
 * Chenyu Yang
+* CY (Chien-Ying) Chen
 * David Yang
+* Dorsa Rohani
+* Felix Yu
 * Gary Lvov
+* Giulio Romualdi
+* Haoran Zhou
 * HoJin Jeon
+* Jan Kerner
 * Jean Tampon
 * Jia Lin Yuan
+* Jinghuan Shang
 * Jingzhou Liu
 * Johnson Sun
 * Kaixi Bao
 * Kourosh Darvish
 * Lionel Gulich
+* Louis Le Lay
 * Lorenz Wellhausen
 * Masoud Moghani
 * Michael Gussert
 * Muhong Guo
 * Nuralem Abizov
+* Oyindamola Omotuyi
 * Özhan Özen
+* Peter Du
+* Qian Wan
 * Qinxi Yu
 * René Zurbrügg
 * Ritvik Singh
 * Rosario Scalise
+* Ryley McCarroll
 * Shafeef Omar
 * Vladimir Fokow
+* Wei Yang
 * Xavier Nal
 * Yang Jin
+* Yujian Zhang
 * Zhengyu Zhang
 * Ziqi Fan
-* Qian Wan
 
 ## Acknowledgements
 

README.md

@@ -13,23 +13,38 @@
 [![License](https://img.shields.io/badge/license-BSD--3-yellow.svg)](https://opensource.org/licenses/BSD-3-Clause)
 
 
-**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
-[NVIDIA Isaac Sim](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html) to leverage the latest
-simulation capabilities for photo-realistic scenes and fast and accurate simulation.
+**Isaac Lab** is a GPU-accelerated, open-source framework designed to unify and simplify robotics research workflows, such as reinforcement learning, imitation learning, and motion planning. Built on [NVIDIA Isaac Sim](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html), it combines fast and accurate physics and sensor simulation, making it an ideal choice for sim-to-real transfer in robotics.
+
+Isaac Lab provides developers with a range of essential features for accurate sensor simulation, such as RTX-based cameras, LIDAR, or contact sensors. The framework's GPU acceleration enables users to run complex simulations and computations faster, which is key for iterative processes like reinforcement learning and data-intensive tasks. Moreover, Isaac Lab can run locally or be distributed across the cloud, offering flexibility for large-scale deployments.
+
+## Key Features
+
+Isaac Lab offers a comprehensive set of tools and environments designed to facilitate robot learning:
+- **Robots**: A diverse collection of robots, from manipulators, quadrupeds, to humanoids, with 16 commonly available models.
+- **Environments**: Ready-to-train implementations of more than 30 environments, which can be trained with popular reinforcement learning frameworks such as RSL RL, SKRL, RL Games, or Stable Baselines. We also support multi-agent reinforcement learning.
+- **Physics**: Rigid bodies, articulated systems, deformable objects
+- **Sensors**: RGB/depth/segmentation cameras, camera annotations, IMU, contact sensors, ray casters.
+
+
+## Getting Started
+
+Our [documentation page](https://isaac-sim.github.io/IsaacLab) provides everything you need to get started, including detailed tutorials and step-by-step guides. Follow these links to learn more about:
+
+- [Installation steps](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/index.html#local-installation)
+- [Reinforcement learning](https://isaac-sim.github.io/IsaacLab/main/source/overview/reinforcement-learning/rl_existing_scripts.html)
+- [Tutorials](https://isaac-sim.github.io/IsaacLab/main/source/tutorials/index.html)
+- [Available environments](https://isaac-sim.github.io/IsaacLab/main/source/overview/environments.html)
 
-Please refer to our [documentation page](https://isaac-sim.github.io/IsaacLab) to learn more about the
-installation steps, features, tutorials, and how to set up your project with Isaac Lab.
 
 ## Contributing to Isaac Lab
 
 We wholeheartedly welcome contributions from the community to make this framework mature and useful for everyone.
 These may happen as bug reports, feature requests, or code contributions. For details, please check our
-[contribution guidelines](https://isaac-sim.github.io/IsaacLab/source/refs/contributing.html).
+[contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html).
 
 ## Troubleshooting
 
-Please see the [troubleshooting](https://isaac-sim.github.io/IsaacLab/source/refs/troubleshooting.html) section for
+Please see the [troubleshooting](https://isaac-sim.github.io/IsaacLab/main/source/refs/troubleshooting.html) section for
 common fixes or [submit an issue](https://github.com/isaac-sim/IsaacLab/issues).
 
 For issues related to Isaac Sim, we recommend checking its [documentation](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html)

VERSION

@@ -1 +1 @@
-1.2.0
+1.3.0

docker/cluster/cluster_interface.sh

@@ -16,8 +16,18 @@ SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 #==
 # Functions
 #==
+# Function to display warnings in red
+display_warning() {
+    echo -e "\033[31mWARNING: $1\033[0m"
+}
+
+# Helper function to compare version numbers
+version_gte() {
+    # Returns 0 if the first version is greater than or equal to the second, otherwise 1
+    [ "$(printf '%s\n' "$1" "$2" | sort -V | head -n 1)" == "$2" ]
+}
+
 # Function to check docker versions
-# If docker version is more than 25, the script errors out.
 check_docker_version() {
     # check if docker is installed
     if ! command -v docker &> /dev/null; then
@@ -28,12 +38,17 @@ check_docker_version() {
     docker_version=$(docker --version | awk '{ print $3 }')
     apptainer_version=$(apptainer --version | awk '{ print $3 }')
 
-    # Check if version is above 25.xx
-    if [ "$(echo "${docker_version}" | cut -d '.' -f 1)" -ge 25 ]; then
-        echo "[ERROR]: Docker version ${docker_version} is not compatible with Apptainer version ${apptainer_version}. Exiting."
-        exit 1
+    # Check if Docker version is exactly 24.0.7 or Apptainer version is exactly 1.2.5
+    if [ "$docker_version" = "24.0.7" ] && [ "$apptainer_version" = "1.2.5" ]; then
+        echo "[INFO]: Docker version ${docker_version} and Apptainer version ${apptainer_version} are tested and compatible."
+
+    # Check if Docker version is >= 27.0.0 and Apptainer version is >= 1.3.4
+    elif version_gte "$docker_version" "27.0.0" && version_gte "$apptainer_version" "1.3.4"; then
+        echo "[INFO]: Docker version ${docker_version} and Apptainer version ${apptainer_version} are tested and compatible."
+
+    # Else, display a warning for non-tested versions
     else
-        echo "[INFO]: Building singularity with docker version: ${docker_version} and Apptainer version: ${apptainer_version}."
+        display_warning "Docker version ${docker_version} and Apptainer version ${apptainer_version} are non-tested versions. There could be issues, please try to update them. More info: https://isaac-sim.github.io/IsaacLab/source/deployment/cluster.html"
     fi
 }
 
@@ -62,11 +77,9 @@ submit_job() {
 
     case $CLUSTER_JOB_SCHEDULER in
         "SLURM")
-            CMD=sbatch
             job_script_file=submit_job_slurm.sh
             ;;
         "PBS")
-            CMD=bash
             job_script_file=submit_job_pbs.sh
             ;;
         *)
@@ -75,7 +88,7 @@ submit_job() {
             ;;
     esac
 
-    ssh $CLUSTER_LOGIN "cd $CLUSTER_ISAACLAB_DIR && $CMD $CLUSTER_ISAACLAB_DIR/docker/cluster/$job_script_file \"$CLUSTER_ISAACLAB_DIR\" \"isaac-lab-$profile\" ${@}"
+    ssh $CLUSTER_LOGIN "cd $CLUSTER_ISAACLAB_DIR && bash $CLUSTER_ISAACLAB_DIR/docker/cluster/$job_script_file \"$CLUSTER_ISAACLAB_DIR\" \"isaac-lab-$profile\" ${@}"
 }
 
 #==
@@ -141,7 +154,7 @@ case $command in
         fi
         # Check if Docker image exists
         check_image_exists isaac-lab-$profile:latest
-        # Check if Docker version is greater than 25
+        # Check docker and apptainer version
         check_docker_version
         # source env file to get cluster login and path information
         source $SCRIPT_DIR/.env.cluster
@@ -162,11 +175,17 @@ case $command in
         scp $SCRIPT_DIR/exports/isaac-lab-$profile.tar $CLUSTER_LOGIN:$CLUSTER_SIF_PATH/isaac-lab-$profile.tar
         ;;
     job)
-        [ $# -ge 1 ] && profile=$1 && shift
+        if [ $# -ge 1 ]; then
+            passed_profile=$1
+            if [ -f "$SCRIPT_DIR/../.env.$passed_profile" ]; then
+                profile=$passed_profile
+                shift
+            fi
+        fi
         job_args="$@"
-        echo "Executing job command"
-        [ -n "$profile" ] && echo "Using profile: $profile"
-        [ -n "$job_args" ] && echo "Job arguments: $job_args"
+        echo "[INFO] Executing job command"
+        [ -n "$profile" ] && echo -e "\tUsing profile: $profile"
+        [ -n "$job_args" ] && echo -e "\tJob arguments: $job_args"
         source $SCRIPT_DIR/.env.cluster
         # Get current date and time
         current_datetime=$(date +"%Y%m%d_%H%M%S")

docker/utils/container_interface.py

@@ -142,8 +142,7 @@ def enter(self):
                 "exec",
                 "--interactive",
                 "--tty",
-                "-e",
-                f"DISPLAY={os.environ['DISPLAY']}",
+                *(["-e", f"DISPLAY={os.environ['DISPLAY']}"] if "DISPLAY" in os.environ else []),
                 f"{self.container_name}",
                 "bash",
             ])

docs/Makefile

@@ -8,13 +8,11 @@ SPHINXBUILD   ?= sphinx-build
 SOURCEDIR     = .
 BUILDDIR      = _build
 
-# Put it first so that "make" without argument is like "make help".
-help:
-	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+.PHONY: multi-docs
+multi-docs:
+	@sphinx-multiversion "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS)
+	@cp _redirect/index.html $(BUILDDIR)/index.html
 
-.PHONY: help Makefile
-
-# Catch-all target: route all unknown targets to Sphinx using the new
-# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
-%: Makefile
-	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+.PHONY: current-docs
+current-docs:
+	@$(SPHINXBUILD) "$(SOURCEDIR)" "$(BUILDDIR)/current" $(SPHINXOPTS)