Merge branch 'main' into fix/cam-clipping

.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/postmerge-ci-buildspec.yml

@@ -5,8 +5,8 @@ phases:
     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 .
+      - 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-1.1
-      - 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
+      - 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

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

@@ -4,7 +4,7 @@ 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-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')
       - 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=$INSTANCE_ID" --query 'Reservations[*].Instances[*].[PrivateIpAddress]' --output text)
       - mkdir -p ~/.ssh
@@ -16,31 +16,32 @@ phases:
   build:
     commands:
       - echo "Running tests on EC2 instance"
+      - SRC_DIR=$(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 . ;
+      - 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 $?"
   post_build:

.vscode/tasks.json

@@ -9,6 +9,9 @@
             "type": "shell",
             "linux": {
                 "command": "${workspaceFolder}/isaaclab.sh -p ${workspaceFolder}/.vscode/tools/setup_vscode.py"
+            },
+            "windows": {
+                "command": "${workspaceFolder}/isaaclab.bat -p ${workspaceFolder}/.vscode/tools/setup_vscode.py"
             }
         },
         {
@@ -17,6 +20,9 @@
             "type": "shell",
             "linux": {
                 "command": "${workspaceFolder}/isaaclab.sh --format"
+            },
+            "windows": {
+                "command": "${workspaceFolder}/isaaclab.bat --format"
             }
         }
     ]

CONTRIBUTORS.md

@@ -31,15 +31,19 @@ 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
@@ -57,8 +61,10 @@ Guidelines for modifications:
 * Shafeef Omar
 * Vladimir Fokow
 * Xavier Nal
+* Yang Jin
 * Zhengyu Zhang
 * Ziqi Fan
+* Qian Wan
 
 ## Acknowledgements
 

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 +4,8 @@
 
 # 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 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

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 +75,29 @@ 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
 
 .. toctree::
@@ -86,12 +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
@@ -101,10 +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
@@ -118,7 +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
 ==================

docs/source/api/lab/omni.isaac.lab.envs.rst

@@ -20,6 +20,8 @@
     ManagerBasedRLEnvCfg
     DirectRLEnv
     DirectRLEnvCfg
+    DirectMARLEnv
+    DirectMARLEnvCfg
     ViewerCfg
 
 Manager Based Environment
@@ -60,6 +62,20 @@ Direct RL Environment
     :show-inheritance:
     :exclude-members: __init__, class_type
 
+Direct Multi-Agent RL Environment
+---------------------------------
+
+.. autoclass:: DirectMARLEnv
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: DirectMARLEnvCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
+
 Common
 ------
 

docs/source/deployment/run_docker_example.rst

@@ -1,7 +1,7 @@
 Running an example with Docker
 ==============================
 
-From the root of the ``Isaac Lab`` repository,  the ``docker`` directory contains all the Docker relevant files. These include the three files
+From the root of the Isaac Lab repository,  the ``docker`` directory contains all the Docker relevant files. These include the three files
 (**Dockerfile**, **docker-compose.yaml**, **.env**) which are used by Docker, and an additional script that we use to interface with them,
 **container.py**.