Updates code to Isaac Lab release (isaac-sim#444)

Updates code to Isaac Lab release - New feature - Breaking change - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have run all the tests with `./isaaclab.sh --test` and they pass - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
isaac-racine · Jun 4, 2024 · 04bd539 · 04bd539
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diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -38,7 +38,7 @@ repos:
       - id: pyupgrade
         args: ["--py310-plus"]
         # FIXME: This is a hack because Pytorch does not like: torch.Tensor | dict aliasing
-        exclude: "source/extensions/omni.isaac.lab/omni/isaac/lab/envs/base_env.py"
+        exclude: "source/extensions/omni.isaac.lab/omni/isaac/lab/envs/types.py"
   - repo: https://github.com/codespell-project/codespell
     rev: v2.2.6
     hooks:

diff --git a/.vscode/tools/setup_vscode.py b/.vscode/tools/setup_vscode.py
@@ -22,6 +22,9 @@
 """Path to the Isaac Lab directory."""
 ISAACSIM_DIR = os.path.join(ISAACLAB_DIR, "_isaac_sim")
 """Path to the isaac-sim directory."""
+# check if ISAACSIM_DIR is valid:
+if not os.path.isdir(ISAACSIM_DIR):
+    ISAACSIM_DIR = os.environ.get("ISAACSIM_PATH", "")
 
 
 def overwrite_python_analysis_extra_paths(isaaclab_settings: str) -> str:

diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
@@ -24,7 +24,8 @@ Guidelines for modifications:
 * Hunter Hansen
 * James Smith
 * James Tigue
-* **Mayank Mittal** (maintainer)
+* Kelly Guo
+* Mayank Mittal
 * Nikita Rudin
 * Pascal Roth
 

diff --git a/README.md b/README.md
@@ -1,10 +1,10 @@
-![Example Tasks created with Isaac Lab](docs/source/_static/tasks.jpg)
+![Isaac Lab](docs/source/_static/isaaclab.jpg)
 
 ---
 
 # Isaac Lab
 
-[![IsaacSim](https://img.shields.io/badge/IsaacSim-2023.1.1-silver.svg)](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html)
+[![IsaacSim](https://img.shields.io/badge/IsaacSim-4.0-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/)
 [![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit&logoColor=white)](https://pre-commit.com/)
@@ -54,20 +54,3 @@ or opening a question on its [forums](https://forums.developer.nvidia.com/c/agx-
 NVIDIA Isaac Sim is available freely under [individual license](https://www.nvidia.com/en-us/omniverse/download/). For more information about its license terms, please check [here](https://docs.omniverse.nvidia.com/app_isaacsim/common/NVIDIA_Omniverse_License_Agreement.html#software-support-supplement).
 
 The Isaac Lab framework is released under [BSD-3 License](LICENSE). The license files of its dependencies and assets are present in the [`docs/licenses`](docs/licenses) directory.
-
-## Citing
-
-If you use this framework in your work, please cite [this paper](https://arxiv.org/abs/2301.04195):
-
-```text
-@article{mittal2023orbit,
-   author={Mittal, Mayank and Yu, Calvin and Yu, Qinxi and Liu, Jingzhou and Rudin, Nikita and Hoeller, David and Yuan, Jia Lin and Singh, Ritvik and Guo, Yunrong and Mazhar, Hammad and Mandlekar, Ajay and Babich, Buck and State, Gavriel and Hutter, Marco and Garg, Animesh},
-   journal={IEEE Robotics and Automation Letters},
-   title={Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments},
-   year={2023},
-   volume={8},
-   number={6},
-   pages={3740-3747},
-   doi={10.1109/LRA.2023.3270034}
-}
-```
diff --git a/docker/.env.base b/docker/.env.base
@@ -4,8 +4,8 @@
 
 # Accept the NVIDIA Omniverse EULA by default
 ACCEPT_EULA=Y
-# NVIDIA Isaac Sim version to use (e.g. 2023.1.1, 2023.1.0-hotfix.1)
-ISAACSIM_VERSION=2023.1.1
+# NVIDIA Isaac Sim version to use (e.g. 4.0.0, 2023.1.1)
+ISAACSIM_VERSION=4.0.0
 # 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

diff --git a/docker/Dockerfile.base b/docker/Dockerfile.base
@@ -22,7 +22,7 @@ LABEL description="Dockerfile for building and running the Isaac Lab framework i
 # Path to Isaac Sim root folder
 ARG ISAACSIM_ROOT_PATH_ARG
 ENV ISAACSIM_ROOT_PATH=${ISAACSIM_ROOT_PATH_ARG}
-# Path to Isaac Lab directory
+# Path to the Isaac Lab directory
 ARG ISAACLAB_PATH_ARG
 ENV ISAACLAB_PATH=${ISAACLAB_PATH_ARG}
 # Home dir of docker user, typically '/root'
@@ -33,6 +33,8 @@ ENV DOCKER_USER_HOME=${DOCKER_USER_HOME_ARG}
 ENV LANG=C.UTF-8
 ENV DEBIAN_FRONTEND=noninteractive
 
+USER root
+
 # Install dependencies and remove cache
 RUN --mount=type=cache,target=/var/cache/apt \
     apt-get update && apt-get install -y --no-install-recommends \
@@ -50,12 +52,6 @@ COPY ../ ${ISAACLAB_PATH}
 # Set up a symbolic link between the installed Isaac Sim root folder and _isaac_sim in the Isaac Lab directory
 RUN ln -sf ${ISAACSIM_ROOT_PATH} ${ISAACLAB_PATH}/_isaac_sim
 
-# Install apt dependencies for extensions that declare them in their extension.toml
-RUN --mount=type=cache,target=/var/cache/apt \
-    ${ISAACLAB_PATH}/isaaclab.sh --install-deps apt && \
-    apt -y autoremove && apt clean autoclean && \
-    rm -rf /var/lib/apt/lists/*
-
 # for singularity usage, have to create the directories that will binded
 RUN mkdir -p ${ISAACSIM_ROOT_PATH}/kit/cache && \
     mkdir -p ${DOCKER_USER_HOME}/.cache/ov && \
@@ -79,10 +75,11 @@ RUN touch /bin/nvidia-smi && \
 # installing Isaac Lab dependencies
 # use pip caching to avoid reinstalling large packages
 RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
-    ${ISAACLAB_PATH}/isaaclab.sh --install --extra
+    ${ISAACLAB_PATH}/isaaclab.sh --install
 
 # aliasing isaaclab.sh and python for convenience
-RUN echo "alias isaaclab=${ISAACLAB_PATH}/isaaclab.sh" >> ${HOME}/.bashrc && \
+RUN echo "export ISAACLAB_PATH=${ISAACLAB_PATH}" >> ${HOME}/.bashrc && \
+    echo "alias isaaclab=${ISAACLAB_PATH}/isaaclab.sh" >> ${HOME}/.bashrc && \
     echo "alias python=${ISAACLAB_PATH}/_isaac_sim/python.sh" >> ${HOME}/.bashrc && \
     echo "alias python3=${ISAACLAB_PATH}/_isaac_sim/python.sh" >> ${HOME}/.bashrc && \
     echo "alias pip='${ISAACLAB_PATH}/_isaac_sim/python.sh -m pip'" >> ${HOME}/.bashrc && \

diff --git a/docker/Dockerfile.ros2 b/docker/Dockerfile.ros2
@@ -22,9 +22,6 @@ RUN --mount=type=cache,target=/var/cache/apt \
     ros-humble-rmw-fastrtps-cpp \
     # This includes various dev tools including colcon
     ros-dev-tools && \
-    # Install rosdeps for extensions that declare a ros_ws in
-    # their extension.toml
-    ${ISAACLAB_PATH}/isaaclab.sh --install-deps rosdep && \
     apt -y autoremove && apt clean autoclean && \
     rm -rf /var/lib/apt/lists/* && \
     # Add sourcing of setup.bash to .bashrc

diff --git a/docker/container.sh b/docker/container.sh
@@ -363,7 +363,7 @@ case $mode in
         # make sure target directory exists
         ssh $CLUSTER_LOGIN "mkdir -p $CLUSTER_ISAACLAB_DIR"
         # Sync Isaac Lab code
-        echo "[INFO] Syncing ISaac Lab code..."
+        echo "[INFO] Syncing Isaac Lab code..."
         rsync -rh  --exclude="*.git*" --filter=':- .dockerignore'  /$SCRIPT_DIR/.. $CLUSTER_LOGIN:$CLUSTER_ISAACLAB_DIR
         # execute job script
         echo "[INFO] Executing job script..."

diff --git a/docker/docker-compose.yaml b/docker/docker-compose.yaml
@@ -128,7 +128,7 @@ volumes:
   isaac-carb-logs:
   isaac-data:
   isaac-docs:
-  # isaaclab
+  # isaac-lab
   isaac-lab-docs:
   isaac-lab-logs:
   isaac-lab-data:
diff --git a/docs/conf.py b/docs/conf.py
@@ -51,6 +51,7 @@
     "sphinxcontrib.bibtex",
     "sphinx_copybutton",
     "sphinx_design",
+    "sphinx_tabs.tabs",
 ]
 
 # mathjax hacks
@@ -159,8 +160,8 @@
 # List of zero or more Sphinx-specific warning categories to be squelched (i.e.,
 # suppressed, ignored).
 suppress_warnings = [
-    # FIXME: *THIS IS TERRIBLE.* Generally speaking, we do want Sphinx to inform
-    # us about cross-referencing failures. Remove this hack entirely after Sphinx
+    # Generally speaking, we do want Sphinx to inform
+    # us about cross-referencing failures. Remove this entirely after Sphinx
     # resolves this open issue:
     #   https://github.com/sphinx-doc/sphinx/issues/4961
     # Squelch mostly ignorable warnings resembling:
@@ -224,7 +225,7 @@
         {
             "name": "Isaac Sim",
             "url": "https://developer.nvidia.com/isaac-sim",
-            "icon": "https://img.shields.io/badge/IsaacSim-2023.1.1-silver.svg",
+            "icon": "https://img.shields.io/badge/IsaacSim-4.0-silver.svg",
             "type": "url",
         },
         {

diff --git a/docs/index.rst b/docs/index.rst
@@ -1,6 +1,10 @@
 Overview
 ========
 
+.. figure:: source/_static/isaaclab.jpg
+   :width: 100%
+   :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
 `NVIDIA Isaac Sim`_ to leverage the latest simulation capabilities for photo-realistic scenes, and fast
@@ -11,6 +15,10 @@ and efficient simulation. The core objectives of the framework are:
 - **Openness**: Remain open-sourced to allow the community to contribute and extend the framework.
 - **Battery-included**: Include a number of environments, sensors, and tasks that are ready to use.
 
+Key features available in Isaac Lab include fast and accurate physics simulation provided by PhysX,
+tiled rendering APIs for vectorized rendering, domain randomization for improving robustness and adaptability,
+and support for running in the cloud.
+
 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.
@@ -20,25 +28,6 @@ For more information about the framework, please refer to the `paper <https://ar
    :alt: Example tasks created using Isaac Lab
 
 
-Citing
-======
-
-If you use Isaac Lab in your research, please use the following BibTeX entry:
-
-.. code:: bibtex
-
-   @article{mittal2023orbit,
-      author={Mittal, Mayank and Yu, Calvin and Yu, Qinxi and Liu, Jingzhou and Rudin, Nikita and Hoeller, David and Yuan, Jia Lin and Singh, Ritvik and Guo, Yunrong and Mazhar, Hammad and Mandlekar, Ajay and Babich, Buck and State, Gavriel and Hutter, Marco and Garg, Animesh},
-      journal={IEEE Robotics and Automation Letters},
-      title={Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments},
-      year={2023},
-      volume={8},
-      number={6},
-      pages={3740-3747},
-      doi={10.1109/LRA.2023.3270034}
-   }
-
-
 License
 =======
 
@@ -54,7 +43,7 @@ Table of Contents
    :maxdepth: 2
    :caption: Getting Started
 
-   source/setup/installation
+   source/setup/installation/index
    source/setup/developer
    source/setup/sample
    source/setup/template
@@ -64,6 +53,9 @@ Table of Contents
    :maxdepth: 2
    :caption: Features
 
+   source/features/workflows
+   source/features/multi_gpu
+   source/features/tiled_rendering
    source/features/environments
    source/features/actuators
    .. source/features/motion_generators
@@ -73,6 +65,7 @@ Table of Contents
    :caption: Resources
    :titlesonly:
 
+   source/migration/index
    source/tutorials/index
    source/how-to/index
    source/deployment/index

diff --git a/docs/licenses/dependencies/legged-gym-license.txt b/docs/licenses/dependencies/legged-gym-license.txt
@@ -0,0 +1,31 @@
+Copyright (c) 2021, ETH Zurich, Nikita Rudin
+Copyright (c) 2021, NVIDIA CORPORATION & AFFILIATES
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice,
+   this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+   may be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+See licenses/assets for license information for assets included in this repository.
+See licenses/dependencies for license information of dependencies of this package.
diff --git a/docs/licenses/dependencies/walk-these-ways-license.txt b/docs/licenses/dependencies/walk-these-ways-license.txt
@@ -0,0 +1,25 @@
+MIT License
+
+Copyright (c) 2022 MIT Improbable AI Lab
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+
+See licenses/legged_gym and licenses/rsl_rl for additional license information for some files in this package.
+Files associated with these additional licenses indicate so in the header.
diff --git a/docs/requirements.txt b/docs/requirements.txt
@@ -6,6 +6,7 @@ autodocsumm
 sphinx-copybutton
 sphinx_design
 sphinxemoji
+sphinx-tabs
 
 # basic python
 numpy

diff --git a/docs/source/_static/actuator_groups.svg b/docs/source/_static/actuator_groups.svg
diff --git a/docs/source/_static/isaaclab.jpg b/docs/source/_static/isaaclab.jpg
diff --git a/docs/source/_static/multigpu.png b/docs/source/_static/multigpu.png
diff --git a/docs/source/_static/tasks/locomotion/h1_flat.jpg b/docs/source/_static/tasks/locomotion/h1_flat.jpg
diff --git a/docs/source/_static/tasks/locomotion/h1_rough.jpg b/docs/source/_static/tasks/locomotion/h1_rough.jpg
diff --git a/docs/source/_static/tasks/manipulation/shadow_cube.jpg b/docs/source/_static/tasks/manipulation/shadow_cube.jpg
diff --git a/docs/source/_static/tasks/navigation/anymal_c_nav.jpg b/docs/source/_static/tasks/navigation/anymal_c_nav.jpg
diff --git a/docs/source/_static/tasks/others/quadcopter.jpg b/docs/source/_static/tasks/others/quadcopter.jpg
diff --git a/docs/source/api/index.rst b/docs/source/api/index.rst
@@ -4,7 +4,7 @@ API Reference
 This page gives an overview of all the modules and classes in the Isaac Lab extensions.
 
 omni.isaac.lab extension
---------------------------
+------------------------
 
 The following modules are available in the ``omni.isaac.lab`` extension:
 

diff --git a/docs/source/api/lab/omni.isaac.lab.app.rst b/docs/source/api/lab/omni.isaac.lab.app.rst
@@ -16,25 +16,23 @@ Environment variables
 The following details the behavior of the class based on the environment variables:
 
 * **Headless mode**: If the environment variable ``HEADLESS=1``, then SimulationApp will be started in headless mode.
-  If ``LIVESTREAM={1,2,3}``, then it will supersede the ``HEADLESS`` envvar and force headlessness.
+  If ``LIVESTREAM={1,2}``, then it will supersede the ``HEADLESS`` envvar and force headlessness.
 
   * ``HEADLESS=1`` causes the app to run in headless mode.
 
-* **Livestreaming**: If the environment variable ``LIVESTREAM={1,2,3}`` , then `livestream`_ is enabled. Any
+* **Livestreaming**: If the environment variable ``LIVESTREAM={1,2}`` , then `livestream`_ is enabled. Any
   of the livestream modes being true forces the app to run in headless mode.
 
   * ``LIVESTREAM=1`` enables streaming via the Isaac `Native Livestream`_ extension. This allows users to
     connect through the Omniverse Streaming Client.
-  * ``LIVESTREAM=2`` enables streaming via the `Websocket Livestream`_ extension. This allows users to
-    connect in a browser using the WebSocket protocol.
-  * ``LIVESTREAM=3`` enables streaming  via the `WebRTC Livestream`_ extension. This allows users to
+  * ``LIVESTREAM=2`` enables streaming  via the `WebRTC Livestream`_ extension. This allows users to
     connect in a browser using the WebRTC protocol.
 
-* **Offscreen Render**: If the environment variable ``OFFSCREEN_RENDER`` is set to 1, then the
-  offscreen-render pipeline is enabled. This is useful for running the simulator without a GUI but
-  still rendering the viewport and camera images.
+* **Enable cameras**: If the environment variable ``ENABLE_CAMERAS`` is set to 1, then the
+  cameras are enabled. This is useful for running the simulator without a GUI but still rendering the
+  viewport and camera images.
 
-  * ``OFFSCREEN_RENDER=1``: Enables the offscreen-render pipeline which allows users to render
+  * ``ENABLE_CAMERAS=1``: Enables the offscreen-render pipeline which allows users to render
     the scene without launching a GUI.
 
   .. note::
@@ -49,15 +47,15 @@ To set the environment variables, one can use the following command in the termi
 .. code:: bash
 
    export REMOTE_DEPLOYMENT=3
-   export OFFSCREEN_RENDER=1
+   export ENABLE_CAMERAS=1
    # run the python script
    ./isaaclab.sh -p source/standalone/demo/play_quadrupeds.py
 
 Alternatively, one can set the environment variables to the python script directly:
 
 .. code:: bash
 
-   REMOTE_DEPLOYMENT=3 OFFSCREEN_RENDER=1 ./isaaclab.sh -p source/standalone/demo/play_quadrupeds.py
+   REMOTE_DEPLOYMENT=3 ENABLE_CAMERAS=1 ./isaaclab.sh -p source/standalone/demo/play_quadrupeds.py
 
 
 Overriding the environment variables