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- .dockerignore +30 -0
- .gitattributes +351 -58
- .github/CODEOWNERS +101 -0
- .github/ISSUE_TEMPLATE/bug.md +54 -0
- .github/ISSUE_TEMPLATE/proposal.md +45 -0
- .github/ISSUE_TEMPLATE/question.md +21 -0
- .github/LICENSE_HEADER.txt +4 -0
- .github/LICENSE_HEADER_MIMIC.txt +4 -0
- .github/PULL_REQUEST_TEMPLATE.md +59 -0
- .github/actions/combine-results/action.yml +103 -0
- .github/actions/docker-build/action.yml +78 -0
- .github/actions/run-tests/action.yml +157 -0
- .github/labeler.yml +76 -0
- .github/stale.yml +67 -0
- .github/workflows/build.yml +222 -0
- .github/workflows/check-links.yml +120 -0
- .github/workflows/daily-compatibility.yml +257 -0
- .github/workflows/docs.yaml +87 -0
- .github/workflows/labeler.yml +17 -0
- .github/workflows/license-check.yaml +136 -0
- .github/workflows/license-exceptions.json +448 -0
- .github/workflows/postmerge-ci.yml +170 -0
- .github/workflows/pre-commit.yaml +20 -0
- .gitignore +78 -0
- .pre-commit-config.yaml +71 -0
- .vscode/.gitignore +10 -0
- .vscode/extensions.json +12 -0
- .vscode/launch.json +61 -0
- .vscode/settings.json +96 -0
- .vscode/tasks.json +29 -0
- .vscode/tools/launch.template.json +57 -0
- .vscode/tools/settings.template.json +85 -0
- .vscode/tools/setup_vscode.py +205 -0
- CITATION.cff +227 -0
- CONTRIBUTING.md +45 -0
- CONTRIBUTORS.md +188 -0
- LICENSE +30 -0
- LICENSE-mimic +175 -0
- README.md +141 -0
- SECURITY.md +38 -0
- VERSION +1 -0
- apps/isaaclab.python.headless.kit +220 -0
- apps/isaaclab.python.headless.rendering.kit +161 -0
- apps/isaaclab.python.kit +307 -0
- apps/isaaclab.python.rendering.kit +150 -0
- apps/isaaclab.python.xr.openxr.headless.kit +64 -0
- apps/isaaclab.python.xr.openxr.kit +93 -0
- apps/isaacsim_4_5/extension.toml +1 -0
- apps/isaacsim_4_5/isaaclab.python.headless.kit +202 -0
- apps/isaacsim_4_5/isaaclab.python.headless.rendering.kit +145 -0
.dockerignore
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# ignore .git related folders
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.git/
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.github/
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.gitignore
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# ignore docs
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docs/
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# copy in licenses folder to the container
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!docs/licenses/
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# ignore logs
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**/logs/
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**/runs/
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**/output/*
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**/outputs/*
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**/videos/*
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**/wandb/*
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*.tmp
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# ignore docker
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docker/cluster/exports/
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docker/.container.cfg
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# ignore recordings
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recordings/
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# ignore __pycache__
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**/__pycache__/
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**/*.egg-info/
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# ignore isaac sim symlink
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_isaac_sim?
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# Docker history
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docker/.isaac-lab-docker-history
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# ignore uv environment
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env_isaaclab
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.gitattributes
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*.joblib filter=lfs diff=lfs merge=lfs -text
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*.model filter=lfs diff=lfs merge=lfs -text
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*.pth filter=lfs diff=lfs merge=lfs -text
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*.rar filter=lfs diff=lfs merge=lfs -text
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*.safetensors filter=lfs diff=lfs merge=lfs -text
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saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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*.tar.* filter=lfs diff=lfs merge=lfs -text
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*.tar filter=lfs diff=lfs merge=lfs -text
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*.tflite filter=lfs diff=lfs merge=lfs -text
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*.tgz filter=lfs diff=lfs merge=lfs -text
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*.xz filter=lfs diff=lfs merge=lfs -text
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*.zip filter=lfs diff=lfs merge=lfs -text
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*.zst filter=lfs diff=lfs merge=lfs -text
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*tfevents* filter=lfs diff=lfs merge=lfs -text
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# Audio files - uncompressed
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*.pcm filter=lfs diff=lfs merge=lfs -text
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*.sam filter=lfs diff=lfs merge=lfs -text
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*.raw filter=lfs diff=lfs merge=lfs -text
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# Audio files - compressed
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*.aac filter=lfs diff=lfs merge=lfs -text
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*.flac filter=lfs diff=lfs merge=lfs -text
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*.mp3 filter=lfs diff=lfs merge=lfs -text
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*.ogg filter=lfs diff=lfs merge=lfs -text
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*.wav filter=lfs diff=lfs merge=lfs -text
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*.bmp filter=lfs diff=lfs merge=lfs -text
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*.gif filter=lfs diff=lfs merge=lfs -text
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*.png filter=lfs diff=lfs merge=lfs -text
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*.tiff filter=lfs diff=lfs merge=lfs -text
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# Image files - compressed
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*.jpg filter=lfs diff=lfs merge=lfs -text
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*.jpeg filter=lfs diff=lfs merge=lfs -text
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*.webp filter=lfs diff=lfs merge=lfs -text
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# Video files - compressed
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*.mp4 filter=lfs diff=lfs merge=lfs -text
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*.
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*.usd filter=lfs diff=lfs merge=lfs -text
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*.usda filter=lfs diff=lfs merge=lfs -text
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*.psd filter=lfs diff=lfs merge=lfs -text
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*.hdr filter=lfs diff=lfs merge=lfs -text
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*.dae filter=lfs diff=lfs merge=lfs -text
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*.mtl filter=lfs diff=lfs merge=lfs -text
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*.obj filter=lfs diff=lfs merge=lfs -text
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*.gif filter=lfs diff=lfs merge=lfs -text
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*.mp4 filter=lfs diff=lfs merge=lfs -text
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*.pt filter=lfs diff=lfs merge=lfs -text
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*.jit filter=lfs diff=lfs merge=lfs -text
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*.hdf5 filter=lfs diff=lfs merge=lfs -text
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*.bat text eol=crlf
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docs/source/_static/NVIDIA-logo-black.png filter=lfs diff=lfs merge=lfs -text
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docs/source/_static/NVIDIA-logo-white.png filter=lfs diff=lfs merge=lfs -text
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docs/source/_static/actuator-group/dc_motor_clipping.jpg filter=lfs diff=lfs merge=lfs -text
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docs/source/_static/benchmarks/cartpole.jpg filter=lfs diff=lfs merge=lfs -text
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docs/source/_static/benchmarks/cartpole_camera.jpg filter=lfs diff=lfs merge=lfs -text
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docs/source/_static/benchmarks/g1_rough.jpg filter=lfs diff=lfs merge=lfs -text
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docs/source/_static/benchmarks/shadow.jpg filter=lfs diff=lfs merge=lfs -text
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docs/source/_static/demos/arms.jpg filter=lfs diff=lfs merge=lfs -text
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docs/source/_static/demos/bin_packing.jpg filter=lfs diff=lfs merge=lfs -text
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docs/source/_static/demos/bipeds.jpg filter=lfs diff=lfs merge=lfs -text
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docs/source/_static/demos/deformables.jpg filter=lfs diff=lfs merge=lfs -text
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docs/source/_static/demos/h1_locomotion.jpg filter=lfs diff=lfs merge=lfs -text
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docs/source/_static/demos/hands.jpg filter=lfs diff=lfs merge=lfs -text
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docs/source/_static/demos/haply_teleop_franka.jpg filter=lfs diff=lfs merge=lfs -text
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docs/source/_static/demos/markers.jpg filter=lfs diff=lfs merge=lfs -text
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docs/source/_static/demos/multi-mesh-raycast.jpg filter=lfs diff=lfs merge=lfs -text
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docs/source/_static/demos/multi_asset.jpg filter=lfs diff=lfs merge=lfs -text
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docs/source/_static/demos/pick_and_place.jpg filter=lfs diff=lfs merge=lfs -text
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docs/source/_static/demos/quadcopter.jpg filter=lfs diff=lfs merge=lfs -text
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docs/source/_static/demos/quadrupeds.jpg filter=lfs diff=lfs merge=lfs -text
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source/isaaclab_assets/isaaclab_assets/robots/g1/meshes/waist_yaw_link_rev_1_0.STL filter=lfs diff=lfs merge=lfs -text
|
| 349 |
+
source/isaaclab_assets/isaaclab_assets/robots/g1/meshes/xl330_link.STL filter=lfs diff=lfs merge=lfs -text
|
| 350 |
+
source/isaaclab_assets/isaaclab_assets/textures/mujoco_groundplane_checker.png filter=lfs diff=lfs merge=lfs -text
|
| 351 |
+
source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/motions/humanoid_dance.npz filter=lfs diff=lfs merge=lfs -text
|
| 352 |
+
source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/motions/humanoid_run.npz filter=lfs diff=lfs merge=lfs -text
|
| 353 |
+
source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/motions/humanoid_walk.npz filter=lfs diff=lfs merge=lfs -text
|
.github/CODEOWNERS
ADDED
|
@@ -0,0 +1,101 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
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|
|
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|
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|
|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Codeowners are designated by their GitHub username. They are
|
| 2 |
+
# the people who are responsible for reviewing and approving PRs
|
| 3 |
+
# that modify the files that match the pattern.
|
| 4 |
+
#
|
| 5 |
+
# Codeowners are not the same as contributors. They are not
|
| 6 |
+
# automatically added to the PR, but they will be requested to
|
| 7 |
+
# review the PR when it is created.
|
| 8 |
+
#
|
| 9 |
+
# As a general rule, the codeowners are the people who are
|
| 10 |
+
# most familiar with the code that the PR is modifying. If you
|
| 11 |
+
# are not sure who to add, ask in the issue or in the PR itself.
|
| 12 |
+
#
|
| 13 |
+
# The format of the file is as follows:
|
| 14 |
+
# <file pattern> <codeowners>
|
| 15 |
+
|
| 16 |
+
|
| 17 |
+
# App experience files
|
| 18 |
+
# These are the files that are used to launch the app with the correct settings and configurations
|
| 19 |
+
/apps/ @kellyguo11 @hhansen-bdai @Mayankm96
|
| 20 |
+
|
| 21 |
+
# Core Framework
|
| 22 |
+
/source/isaaclab/isaaclab/actuators @Mayankm96 @jtigue-bdai
|
| 23 |
+
/source/isaaclab/isaaclab/app @hhansen-bdai @kellyguo11
|
| 24 |
+
/source/isaaclab/isaaclab/assets @kellyguo11 @Mayankm96 @jtigue-bdai
|
| 25 |
+
/source/isaaclab/isaaclab/assets/deformable_object @masoudmoghani @ooctipus
|
| 26 |
+
/source/isaaclab/isaaclab/controllers @Mayankm96
|
| 27 |
+
/source/isaaclab/isaaclab/envs/manager_based_* @Mayankm96 @jtigue-bdai @ooctipus
|
| 28 |
+
/source/isaaclab/isaaclab/envs/direct_* @kellyguo11
|
| 29 |
+
/source/isaaclab/isaaclab/envs/mdp @ooctipus
|
| 30 |
+
/source/isaaclab/isaaclab/envs/mimic_* @peterd-NV
|
| 31 |
+
/source/isaaclab/isaaclab/envs/ui @ooctipus @ossamaAhmed
|
| 32 |
+
/source/isaaclab/isaaclab/envs/utils @Toni-SM
|
| 33 |
+
/source/isaaclab/isaaclab/managers @jtigue-bdai @Mayankm96 @ooctipus
|
| 34 |
+
/source/isaaclab/isaaclab/sensors/sensor_base* @pascal-roth
|
| 35 |
+
/source/isaaclab/isaaclab/sensors/camera @kellyguo11 @pascal-roth
|
| 36 |
+
/source/isaaclab/isaaclab/sensors/contact_sensor @jtigue-bdai @ooctipus
|
| 37 |
+
/source/isaaclab/isaaclab/sensors/imu @jtigue-bdai @pascal-roth
|
| 38 |
+
/source/isaaclab/isaaclab/sensors/ray_caster @pascal-roth
|
| 39 |
+
/source/isaaclab/isaaclab/sensors/frame_transformer @jtigue-bdai
|
| 40 |
+
/source/isaaclab/isaaclab/sim/converters @Mayankm96 @jtigue-bdai @kellyguo11
|
| 41 |
+
/source/isaaclab/isaaclab/sim/schemas @Mayankm96 @jtigue-bdai @kellyguo11
|
| 42 |
+
/source/isaaclab/isaaclab/sim/spawners @Mayankm96 @jtigue-bdai @ooctipus
|
| 43 |
+
/source/isaaclab/isaaclab/sim/simulation_* @matthewtrepte @ossamaAhmed @kellyguo11
|
| 44 |
+
/source/isaaclab/isaaclab/terrains @Mayankm96
|
| 45 |
+
/source/isaaclab/isaaclab/ui @pascal-roth @jtigue-bdai
|
| 46 |
+
/source/isaaclab/isaaclab/utils/buffers @ooctipus @jtigue-bdai
|
| 47 |
+
/source/isaaclab/isaaclab/utils/datasets @Peter-NV
|
| 48 |
+
/source/isaaclab/isaaclab/utils/interpolation @jtigue-bdai
|
| 49 |
+
/source/isaaclab/isaaclab/utils/io @ooctipus
|
| 50 |
+
/source/isaaclab/isaaclab/utils/modifiers @jtigue-bdai
|
| 51 |
+
/source/isaaclab/isaaclab/utils/noise @jtigue-bdai @kellyguo11
|
| 52 |
+
/source/isaaclab/isaaclab/utils/warp @pascal-roth
|
| 53 |
+
/source/isaaclab/isaaclab/utils/assets.py @kellyguo11 @Mayankm96
|
| 54 |
+
/source/isaaclab/isaaclab/utils/math.py @jtigue-bdai @Mayankm96
|
| 55 |
+
/source/isaaclab/isaaclab/utils/configclass.py @Mayankm96
|
| 56 |
+
/source/isaaclab/isaaclab/utils/sensors.py @kellyguo11 @pascal-roth
|
| 57 |
+
|
| 58 |
+
# RL Environment
|
| 59 |
+
/source/isaaclab_tasks/isaaclab_tasks/direct @kellyguo11
|
| 60 |
+
/source/isaaclab_tasks/isaaclab_tasks/manager_based @Mayankm96
|
| 61 |
+
/source/isaaclab_tasks/isaaclab_tasks/utils @Mayankm96
|
| 62 |
+
|
| 63 |
+
# Assets
|
| 64 |
+
/source/isaaclab_assets/isaaclab_assets/ @pascal-roth
|
| 65 |
+
|
| 66 |
+
# Mimic
|
| 67 |
+
/source/isaaclab_mimic/isaaclab_mimic @peterd-NV
|
| 68 |
+
/source/isaaclab_mimic/isaaclab_mimic @njawale42
|
| 69 |
+
/source/isaaclab_mimic/isaaclab_mimic @michaellin6
|
| 70 |
+
/source/isaaclab_mimic/isaaclab_mimic @jaybdub
|
| 71 |
+
/source/isaaclab_mimic/isaaclab_mimic @huihuaNvidia2023
|
| 72 |
+
/source/isaaclab_mimic/isaaclab_mimic @xyao-nv
|
| 73 |
+
|
| 74 |
+
# RL
|
| 75 |
+
/source/isaaclab_rl/isaaclab_rl/rsl_rl @Mayankm96 @ClemensSchwarke
|
| 76 |
+
/source/isaaclab_rl/isaaclab_rl/rl_games @Toni-SM
|
| 77 |
+
/source/isaaclab_rl/isaaclab_rl/sb3 @Toni-SM
|
| 78 |
+
/source/isaaclab_rl/isaaclab_rl/skrl @Toni-SM
|
| 79 |
+
|
| 80 |
+
# Standalone Scripts
|
| 81 |
+
/scripts/benchmarks/ @ooctipus @kellyguo11
|
| 82 |
+
/scripts/demos/ @ooctipus
|
| 83 |
+
/scripts/environments/ @ooctipus
|
| 84 |
+
/scripts/imitation_learning/ @Peter-NV
|
| 85 |
+
/scripts/reinforcement_learning/ @ooctipus @Toni-NV
|
| 86 |
+
/scripts/tools/ @jtigue-bdai @Mayankm96
|
| 87 |
+
/scripts/tutorials/ @jtigue-bdai @pascal-roth
|
| 88 |
+
|
| 89 |
+
# Github Actions
|
| 90 |
+
# This list is for people wanting to be notified every time there's a change
|
| 91 |
+
# related to Github Actions
|
| 92 |
+
/.github/ @kellyguo11 @hhansen-bdai
|
| 93 |
+
|
| 94 |
+
# Visual Studio Code
|
| 95 |
+
/.vscode/ @hhansen-bdai @Mayankm96
|
| 96 |
+
|
| 97 |
+
# Infrastructure (Docker, Docs, Tools)
|
| 98 |
+
/docker/ @hhansen-bdai @pascal-roth
|
| 99 |
+
/docs/ @jtigue-bdai @kellyguo11 @Mayankm96
|
| 100 |
+
/tools/ @hhansen-bdai
|
| 101 |
+
/isaaclab.* @hhansen-bdai @Mayankm96 @kellyguo11
|
.github/ISSUE_TEMPLATE/bug.md
ADDED
|
@@ -0,0 +1,54 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
---
|
| 2 |
+
name: Bug Report
|
| 3 |
+
about: Submit a bug report
|
| 4 |
+
title: "[Bug Report] Bug title"
|
| 5 |
+
|
| 6 |
+
---
|
| 7 |
+
|
| 8 |
+
If you are submitting a bug report, please fill in the following details and use the tag [bug].
|
| 9 |
+
|
| 10 |
+
### Describe the bug
|
| 11 |
+
|
| 12 |
+
A clear and concise description of what the bug is.
|
| 13 |
+
|
| 14 |
+
### Steps to reproduce
|
| 15 |
+
|
| 16 |
+
Please try to provide a minimal example to reproduce the bug. Error messages and stack traces are also helpful.
|
| 17 |
+
|
| 18 |
+
<!-- Please post terminal logs, minimal example to reproduce, or command to run under three backticks (```) to allow code formatting.
|
| 19 |
+
|
| 20 |
+
```
|
| 21 |
+
Paste your error here
|
| 22 |
+
```
|
| 23 |
+
|
| 24 |
+
For more information on this, check: https://www.markdownguide.org/extended-syntax/#fenced-code-blocks
|
| 25 |
+
|
| 26 |
+
-->
|
| 27 |
+
|
| 28 |
+
### System Info
|
| 29 |
+
|
| 30 |
+
Describe the characteristic of your environment:
|
| 31 |
+
|
| 32 |
+
<!-- Please complete the following description. -->
|
| 33 |
+
- Commit: [e.g. 8f3b9ca]
|
| 34 |
+
- Isaac Sim Version: [e.g. 5.0, this can be obtained by `cat ${ISAACSIM_PATH}/VERSION`]
|
| 35 |
+
- OS: [e.g. Ubuntu 22.04]
|
| 36 |
+
- GPU: [e.g. RTX 5090]
|
| 37 |
+
- CUDA: [e.g. 12.8]
|
| 38 |
+
- GPU Driver: [e.g. 553.05, this can be seen by using `nvidia-smi` command.]
|
| 39 |
+
|
| 40 |
+
### Additional context
|
| 41 |
+
|
| 42 |
+
Add any other context about the problem here.
|
| 43 |
+
|
| 44 |
+
### Checklist
|
| 45 |
+
|
| 46 |
+
- [ ] I have checked that there is no similar issue in the repo (**required**)
|
| 47 |
+
- [ ] I have checked that the issue is not in running Isaac Sim itself and is related to the repo
|
| 48 |
+
|
| 49 |
+
### Acceptance Criteria
|
| 50 |
+
|
| 51 |
+
Add the criteria for which this task is considered **done**. If not known at issue creation time, you can add this once the issue is assigned.
|
| 52 |
+
|
| 53 |
+
- [ ] Criteria 1
|
| 54 |
+
- [ ] Criteria 2
|
.github/ISSUE_TEMPLATE/proposal.md
ADDED
|
@@ -0,0 +1,45 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
---
|
| 2 |
+
name: Proposal
|
| 3 |
+
about: Propose changes that are not bug fixes
|
| 4 |
+
title: "[Proposal] Proposal title"
|
| 5 |
+
---
|
| 6 |
+
|
| 7 |
+
|
| 8 |
+
### Proposal
|
| 9 |
+
|
| 10 |
+
A clear and concise description of the proposal. In a few sentences, describe the feature and its core capabilities.
|
| 11 |
+
|
| 12 |
+
### Motivation
|
| 13 |
+
|
| 14 |
+
Please outline the motivation for the proposal. Summarize the core use cases and user problems and needs you are trying to solve.
|
| 15 |
+
|
| 16 |
+
Is your feature request related to a problem? e.g.,"I'm always frustrated when [...]".
|
| 17 |
+
|
| 18 |
+
If this is related to another GitHub issue, please link here too.
|
| 19 |
+
|
| 20 |
+
### Alternatives
|
| 21 |
+
|
| 22 |
+
A clear and concise description of any alternative solutions or features you've considered, if any.
|
| 23 |
+
|
| 24 |
+
### Build Info
|
| 25 |
+
|
| 26 |
+
Describe the versions where you are observing the missing feature in:
|
| 27 |
+
|
| 28 |
+
<!-- Please complete the following description. -->
|
| 29 |
+
- Isaac Lab Version: [e.g. 2.3.0]
|
| 30 |
+
- Isaac Sim Version: [e.g. 5.1, this can be obtained by `cat ${ISAACSIM_PATH}/VERSION`]
|
| 31 |
+
|
| 32 |
+
### Additional context
|
| 33 |
+
|
| 34 |
+
Add any other context or screenshots about the feature request here.
|
| 35 |
+
|
| 36 |
+
### Checklist
|
| 37 |
+
|
| 38 |
+
- [ ] I have checked that there is no similar issue in the repo (**required**)
|
| 39 |
+
|
| 40 |
+
### Acceptance Criteria
|
| 41 |
+
|
| 42 |
+
Add the criteria for which this task is considered **done**. If not known at issue creation time, you can add this once the issue is assigned.
|
| 43 |
+
|
| 44 |
+
- [ ] Criteria 1
|
| 45 |
+
- [ ] Criteria 2
|
.github/ISSUE_TEMPLATE/question.md
ADDED
|
@@ -0,0 +1,21 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
---
|
| 2 |
+
name: Question
|
| 3 |
+
about: Ask a question
|
| 4 |
+
title: "[Question] Question title"
|
| 5 |
+
---
|
| 6 |
+
|
| 7 |
+
### Question
|
| 8 |
+
|
| 9 |
+
Basic questions, related to robot learning, that are not bugs or feature requests will be closed without reply, because GitHub issues are not an appropriate venue for these.
|
| 10 |
+
|
| 11 |
+
Advanced/nontrivial questions, especially in areas where documentation is lacking, are very much welcome.
|
| 12 |
+
|
| 13 |
+
For questions that are related to running and understanding Isaac Sim, please post them at the official [Isaac Sim forums](https://forums.developer.nvidia.com/c/omniverse/simulation/69).
|
| 14 |
+
|
| 15 |
+
### Build Info
|
| 16 |
+
|
| 17 |
+
Describe the versions that you are currently using:
|
| 18 |
+
|
| 19 |
+
<!-- Please complete the following description. -->
|
| 20 |
+
- Isaac Lab Version: [e.g. 2.3.0]
|
| 21 |
+
- Isaac Sim Version: [e.g. 5.1, this can be obtained by `cat ${ISAACSIM_PATH}/VERSION`]
|
.github/LICENSE_HEADER.txt
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
| 2 |
+
All rights reserved.
|
| 3 |
+
|
| 4 |
+
SPDX-License-Identifier: BSD-3-Clause
|
.github/LICENSE_HEADER_MIMIC.txt
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
Copyright (c) 2024-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
| 2 |
+
All rights reserved.
|
| 3 |
+
|
| 4 |
+
SPDX-License-Identifier: Apache-2.0
|
.github/PULL_REQUEST_TEMPLATE.md
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# Description
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<!--
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Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines.
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Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html
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💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge.
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-->
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Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context.
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List any dependencies that are required for this change.
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Fixes # (issue)
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<!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request.
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This makes it easier for the community to keep track of what is being developed or added, and if a given feature
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is demanded by more than one party. -->
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## Type of change
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<!-- As you go through the list, delete the ones that are not applicable. -->
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- Bug fix (non-breaking change which fixes an issue)
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- New feature (non-breaking change which adds functionality)
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- Breaking change (existing functionality will not work without user modification)
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- Documentation update
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## Screenshots
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Please attach before and after screenshots of the change if applicable.
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<!--
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Example:
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| Before | After |
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| ------ | ----- |
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| _gif/png before_ | _gif/png after_ |
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To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections.
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-->
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## Checklist
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- [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
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- [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format`
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- [ ] I have made corresponding changes to the documentation
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- [ ] My changes generate no new warnings
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- [ ] I have added tests that prove my fix is effective or that my feature works
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- [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file
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- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
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<!--
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As you go through the checklist above, you can mark something as done by putting an x character in it
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For example,
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- [x] I have done this task
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- [ ] I have not done this task
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-->
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.github/actions/combine-results/action.yml
ADDED
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@@ -0,0 +1,103 @@
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# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
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# All rights reserved.
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#
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# SPDX-License-Identifier: BSD-3-Clause
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name: 'Combine XML Test Results'
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description: 'Combines multiple XML test result files into a single file'
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inputs:
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tests-dir:
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description: 'Directory containing test result files'
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default: 'tests'
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required: false
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output-file:
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description: 'Output combined XML file path'
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required: true
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reports-dir:
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description: 'Directory to store the combined results'
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default: 'reports'
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required: false
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runs:
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using: composite
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steps:
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- name: Combine XML Test Results
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shell: sh
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run: |
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# Function to combine multiple XML test results
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combine_xml_results() {
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local tests_dir="$1"
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local output_file="$2"
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local reports_dir="$3"
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echo "Combining test results from: $tests_dir"
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echo "Output file: $output_file"
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echo "Reports directory: $reports_dir"
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# Check if reports directory exists
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if [ ! -d "$reports_dir" ]; then
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echo "⚠️ Reports directory does not exist: $reports_dir"
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mkdir -p "$reports_dir"
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fi
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# Check if tests directory exists
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if [ ! -d "$tests_dir" ]; then
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echo "⚠️ Tests directory does not exist: $tests_dir"
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echo "Creating fallback XML..."
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echo '<?xml version="1.0" encoding="utf-8"?><testsuite name="combined" tests="0" failures="0" errors="1" time="0"><testcase classname="setup" name="no_tests_dir"><error message="Tests directory not found">Tests directory was not found</error></testcase></testsuite>' > "$output_file"
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return
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fi
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# Find all XML files in the tests directory
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echo "Searching for XML files in: $tests_dir"
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xml_files=$(find "$tests_dir" -name "*.xml" -type f 2>/dev/null | sort)
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if [ -z "$xml_files" ]; then
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echo "⚠️ No XML files found in: $tests_dir"
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echo "Creating fallback XML..."
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echo '<?xml version="1.0" encoding="utf-8"?><testsuite name="combined" tests="0" failures="0" errors="1" time="0"><testcase classname="setup" name="no_xml_files"><error message="No XML files found">No XML test result files were found</error></testcase></testsuite>' > "$output_file"
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return
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fi
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# Count XML files found
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file_count=$(echo "$xml_files" | wc -l)
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echo "✅ Found $file_count XML file(s):"
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echo "$xml_files" | while read -r file; do
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echo " - $file ($(wc -c < "$file") bytes)"
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done
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# Create combined XML
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echo "🔄 Combining $file_count XML files..."
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echo '<?xml version="1.0" encoding="utf-8"?>' > "$output_file"
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echo '<testsuites>' >> "$output_file"
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# Process each XML file
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combined_count=0
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echo "$xml_files" | while read -r file; do
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if [ -f "$file" ]; then
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echo " Processing: $file"
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# Remove XML declaration and outer testsuites wrapper from each file
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# Remove first line (XML declaration) and strip outer <testsuites>/</testsuites> tags
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sed '1d; s/^<testsuites>//; s/<\/testsuites>$//' "$file" >> "$output_file" 2>/dev/null || {
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echo " ⚠️ Warning: Could not process $file, skipping..."
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}
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combined_count=$((combined_count + 1))
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fi
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done
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echo '</testsuites>' >> "$output_file"
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echo "✅ Successfully combined $combined_count files into: $output_file"
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+
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# Verify output file was created
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if [ -f "$output_file" ]; then
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echo "✅ Final output file created: $output_file"
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echo "📊 Output file size: $(wc -c < "$output_file") bytes"
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else
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echo "❌ Failed to create output file: $output_file"
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exit 1
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fi
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}
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# Call the function with provided parameters
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combine_xml_results "${{ inputs.tests-dir }}" "${{ inputs.output-file }}" "${{ inputs.reports-dir }}"
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.github/actions/docker-build/action.yml
ADDED
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@@ -0,0 +1,78 @@
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| 1 |
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# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
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# All rights reserved.
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| 3 |
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#
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| 4 |
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# SPDX-License-Identifier: BSD-3-Clause
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| 5 |
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name: 'Build Docker Image'
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| 7 |
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description: 'Builds a Docker image with IsaacSim and IsaacLab dependencies'
|
| 8 |
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| 9 |
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inputs:
|
| 10 |
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image-tag:
|
| 11 |
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description: 'Docker image tag to use'
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| 12 |
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required: true
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| 13 |
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isaacsim-base-image:
|
| 14 |
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description: 'IsaacSim base image'
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| 15 |
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required: true
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| 16 |
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isaacsim-version:
|
| 17 |
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description: 'IsaacSim version'
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| 18 |
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required: true
|
| 19 |
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dockerfile-path:
|
| 20 |
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description: 'Path to Dockerfile'
|
| 21 |
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default: 'docker/Dockerfile.curobo'
|
| 22 |
+
required: false
|
| 23 |
+
context-path:
|
| 24 |
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description: 'Build context path'
|
| 25 |
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default: '.'
|
| 26 |
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required: false
|
| 27 |
+
|
| 28 |
+
runs:
|
| 29 |
+
using: composite
|
| 30 |
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steps:
|
| 31 |
+
- name: NGC Login
|
| 32 |
+
shell: sh
|
| 33 |
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run: |
|
| 34 |
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# Only attempt NGC login if API key is available
|
| 35 |
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if [ -n "${{ env.NGC_API_KEY }}" ]; then
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| 36 |
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echo "Logging into NGC registry..."
|
| 37 |
+
docker login -u \$oauthtoken -p ${{ env.NGC_API_KEY }} nvcr.io
|
| 38 |
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echo "✅ Successfully logged into NGC registry"
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| 39 |
+
else
|
| 40 |
+
echo "⚠️ NGC_API_KEY not available - skipping NGC login"
|
| 41 |
+
echo "This is normal for PRs from forks or when secrets are not configured"
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| 42 |
+
fi
|
| 43 |
+
|
| 44 |
+
- name: Build Docker Image
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| 45 |
+
shell: sh
|
| 46 |
+
run: |
|
| 47 |
+
# Function to build Docker image
|
| 48 |
+
build_docker_image() {
|
| 49 |
+
local image_tag="$1"
|
| 50 |
+
local isaacsim_base_image="$2"
|
| 51 |
+
local isaacsim_version="$3"
|
| 52 |
+
local dockerfile_path="$4"
|
| 53 |
+
local context_path="$5"
|
| 54 |
+
|
| 55 |
+
echo "Building Docker image: $image_tag"
|
| 56 |
+
echo "Using Dockerfile: $dockerfile_path"
|
| 57 |
+
echo "Build context: $context_path"
|
| 58 |
+
|
| 59 |
+
# Build Docker image
|
| 60 |
+
docker buildx build --progress=plain --platform linux/amd64 \
|
| 61 |
+
-t isaac-lab-dev \
|
| 62 |
+
-t $image_tag \
|
| 63 |
+
--build-arg ISAACSIM_BASE_IMAGE_ARG="$isaacsim_base_image" \
|
| 64 |
+
--build-arg ISAACSIM_VERSION_ARG="$isaacsim_version" \
|
| 65 |
+
--build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim \
|
| 66 |
+
--build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab \
|
| 67 |
+
--build-arg DOCKER_USER_HOME_ARG=/root \
|
| 68 |
+
--cache-from type=gha \
|
| 69 |
+
--cache-to type=gha,mode=max \
|
| 70 |
+
-f $dockerfile_path \
|
| 71 |
+
--load $context_path
|
| 72 |
+
|
| 73 |
+
echo "✅ Docker image built successfully: $image_tag"
|
| 74 |
+
docker images | grep isaac-lab-dev
|
| 75 |
+
}
|
| 76 |
+
|
| 77 |
+
# Call the function with provided parameters
|
| 78 |
+
build_docker_image "${{ inputs.image-tag }}" "${{ inputs.isaacsim-base-image }}" "${{ inputs.isaacsim-version }}" "${{ inputs.dockerfile-path }}" "${{ inputs.context-path }}"
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.github/actions/run-tests/action.yml
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
| 2 |
+
# All rights reserved.
|
| 3 |
+
#
|
| 4 |
+
# SPDX-License-Identifier: BSD-3-Clause
|
| 5 |
+
|
| 6 |
+
name: 'Run Tests in Docker Container'
|
| 7 |
+
description: 'Runs pytest tests in a Docker container with GPU support and result collection'
|
| 8 |
+
|
| 9 |
+
inputs:
|
| 10 |
+
test-path:
|
| 11 |
+
description: 'Path to test directory or pytest arguments'
|
| 12 |
+
required: true
|
| 13 |
+
result-file:
|
| 14 |
+
description: 'Name of the result XML file'
|
| 15 |
+
required: true
|
| 16 |
+
container-name:
|
| 17 |
+
description: 'Name for the Docker container'
|
| 18 |
+
required: true
|
| 19 |
+
image-tag:
|
| 20 |
+
description: 'Docker image tag to use'
|
| 21 |
+
required: true
|
| 22 |
+
reports-dir:
|
| 23 |
+
description: 'Directory to store test results'
|
| 24 |
+
default: 'reports'
|
| 25 |
+
required: false
|
| 26 |
+
pytest-options:
|
| 27 |
+
description: 'Additional pytest options (e.g., -k filter)'
|
| 28 |
+
default: ''
|
| 29 |
+
required: false
|
| 30 |
+
filter-pattern:
|
| 31 |
+
description: 'Pattern to filter test files (e.g., isaaclab_tasks)'
|
| 32 |
+
default: ''
|
| 33 |
+
required: false
|
| 34 |
+
|
| 35 |
+
runs:
|
| 36 |
+
using: composite
|
| 37 |
+
steps:
|
| 38 |
+
- name: Run Tests in Docker Container
|
| 39 |
+
shell: bash
|
| 40 |
+
run: |
|
| 41 |
+
# Function to run tests in Docker container
|
| 42 |
+
run_tests() {
|
| 43 |
+
local test_path="$1"
|
| 44 |
+
local result_file="$2"
|
| 45 |
+
local container_name="$3"
|
| 46 |
+
local image_tag="$4"
|
| 47 |
+
local reports_dir="$5"
|
| 48 |
+
local pytest_options="$6"
|
| 49 |
+
local filter_pattern="$7"
|
| 50 |
+
|
| 51 |
+
echo "Running tests in: $test_path"
|
| 52 |
+
if [ -n "$pytest_options" ]; then
|
| 53 |
+
echo "With pytest options: $pytest_options"
|
| 54 |
+
fi
|
| 55 |
+
if [ -n "$filter_pattern" ]; then
|
| 56 |
+
echo "With filter pattern: $filter_pattern"
|
| 57 |
+
fi
|
| 58 |
+
|
| 59 |
+
# Create reports directory
|
| 60 |
+
mkdir -p "$reports_dir"
|
| 61 |
+
|
| 62 |
+
# Clean up any existing container
|
| 63 |
+
docker rm -f $container_name 2>/dev/null || true
|
| 64 |
+
|
| 65 |
+
# Build Docker environment variables
|
| 66 |
+
docker_env_vars="\
|
| 67 |
+
-e OMNI_KIT_ACCEPT_EULA=yes \
|
| 68 |
+
-e ACCEPT_EULA=Y \
|
| 69 |
+
-e OMNI_KIT_DISABLE_CUP=1 \
|
| 70 |
+
-e ISAAC_SIM_HEADLESS=1 \
|
| 71 |
+
-e ISAAC_SIM_LOW_MEMORY=1 \
|
| 72 |
+
-e PYTHONUNBUFFERED=1 \
|
| 73 |
+
-e PYTHONIOENCODING=utf-8 \
|
| 74 |
+
-e TEST_RESULT_FILE=$result_file"
|
| 75 |
+
|
| 76 |
+
if [ -n "$filter_pattern" ]; then
|
| 77 |
+
if [[ "$filter_pattern" == not* ]]; then
|
| 78 |
+
# Handle "not pattern" case
|
| 79 |
+
exclude_pattern="${filter_pattern#not }"
|
| 80 |
+
docker_env_vars="$docker_env_vars -e TEST_EXCLUDE_PATTERN=$exclude_pattern"
|
| 81 |
+
echo "Setting exclude pattern: $exclude_pattern"
|
| 82 |
+
else
|
| 83 |
+
# Handle positive pattern case
|
| 84 |
+
docker_env_vars="$docker_env_vars -e TEST_FILTER_PATTERN=$filter_pattern"
|
| 85 |
+
echo "Setting include pattern: $filter_pattern"
|
| 86 |
+
fi
|
| 87 |
+
else
|
| 88 |
+
echo "No filter pattern provided"
|
| 89 |
+
fi
|
| 90 |
+
|
| 91 |
+
echo "Docker environment variables: '$docker_env_vars'"
|
| 92 |
+
|
| 93 |
+
# Run tests in container with error handling
|
| 94 |
+
echo "🚀 Starting Docker container for tests..."
|
| 95 |
+
if docker run --name $container_name \
|
| 96 |
+
--entrypoint bash --gpus all --network=host \
|
| 97 |
+
--security-opt=no-new-privileges:true \
|
| 98 |
+
--memory=$(echo "$(free -m | awk '/^Mem:/{print $2}') * 0.9 / 1" | bc)m \
|
| 99 |
+
--cpus=$(echo "$(nproc) * 0.9" | bc) \
|
| 100 |
+
--oom-kill-disable=false \
|
| 101 |
+
--ulimit nofile=65536:65536 \
|
| 102 |
+
--ulimit nproc=4096:4096 \
|
| 103 |
+
$docker_env_vars \
|
| 104 |
+
$image_tag \
|
| 105 |
+
-c "
|
| 106 |
+
set -e
|
| 107 |
+
cd /workspace/isaaclab
|
| 108 |
+
mkdir -p tests
|
| 109 |
+
echo 'Starting pytest with path: $test_path'
|
| 110 |
+
/isaac-sim/python.sh -m pytest --ignore=tools/conftest.py $test_path $pytest_options -v --junitxml=tests/$result_file || echo 'Pytest completed with exit code: $?'
|
| 111 |
+
"; then
|
| 112 |
+
echo "✅ Docker container completed successfully"
|
| 113 |
+
else
|
| 114 |
+
echo "⚠️ Docker container failed, but continuing to copy results..."
|
| 115 |
+
fi
|
| 116 |
+
|
| 117 |
+
# Copy test results with error handling
|
| 118 |
+
echo "📋 Attempting to copy test results..."
|
| 119 |
+
if docker cp $container_name:/workspace/isaaclab/tests/$result_file "$reports_dir/$result_file" 2>/dev/null; then
|
| 120 |
+
echo "✅ Test results copied successfully"
|
| 121 |
+
else
|
| 122 |
+
echo "❌ Failed to copy specific result file, trying to copy all test results..."
|
| 123 |
+
if docker cp $container_name:/workspace/isaaclab/tests/ "$reports_dir/" 2>/dev/null; then
|
| 124 |
+
echo "✅ All test results copied successfully"
|
| 125 |
+
# Look for any XML files and use the first one found
|
| 126 |
+
if [ -f "$reports_dir/full_report.xml" ]; then
|
| 127 |
+
mv "$reports_dir/full_report.xml" "$reports_dir/$result_file"
|
| 128 |
+
echo "✅ Found and renamed full_report.xml to $result_file"
|
| 129 |
+
elif [ -f "$reports_dir/test-reports-"*".xml" ]; then
|
| 130 |
+
# Combine individual test reports if no full report exists
|
| 131 |
+
echo "📊 Combining individual test reports..."
|
| 132 |
+
echo '<?xml version="1.0" encoding="utf-8"?><testsuites>' > "$reports_dir/$result_file"
|
| 133 |
+
for xml_file in "$reports_dir"/test-reports-*.xml; do
|
| 134 |
+
if [ -f "$xml_file" ]; then
|
| 135 |
+
echo " Processing: $xml_file"
|
| 136 |
+
sed '1d; /^<testsuite/d; /^<\/testsuite/d' "$xml_file" >> "$reports_dir/$result_file" 2>/dev/null || true
|
| 137 |
+
fi
|
| 138 |
+
done
|
| 139 |
+
echo '</testsuites>' >> "$reports_dir/$result_file"
|
| 140 |
+
echo "✅ Combined individual test reports into $result_file"
|
| 141 |
+
else
|
| 142 |
+
echo "❌ No test result files found, creating fallback"
|
| 143 |
+
echo "<?xml version=\"1.0\" encoding=\"utf-8\"?><testsuite name=\"$container_name\" tests=\"0\" failures=\"0\" errors=\"1\" time=\"0\"><testcase classname=\"setup\" name=\"no_results_found\"><error message=\"No test results found\">Container may have failed to generate any results</error></testcase></testsuite>" > "$reports_dir/$result_file"
|
| 144 |
+
fi
|
| 145 |
+
else
|
| 146 |
+
echo "❌ Failed to copy any test results, creating fallback"
|
| 147 |
+
echo "<?xml version=\"1.0\" encoding=\"utf-8\"?><testsuite name=\"$container_name\" tests=\"0\" failures=\"0\" errors=\"1\" time=\"0\"><testcase classname=\"setup\" name=\"copy_failed\"><error message=\"Failed to copy test results\">Container may have failed to generate results</error></testcase></testsuite>" > "$reports_dir/$result_file"
|
| 148 |
+
fi
|
| 149 |
+
fi
|
| 150 |
+
|
| 151 |
+
# Clean up container
|
| 152 |
+
echo "🧹 Cleaning up Docker container..."
|
| 153 |
+
docker rm $container_name 2>/dev/null || echo "⚠️ Container cleanup failed, but continuing..."
|
| 154 |
+
}
|
| 155 |
+
|
| 156 |
+
# Call the function with provided parameters
|
| 157 |
+
run_tests "${{ inputs.test-path }}" "${{ inputs.result-file }}" "${{ inputs.container-name }}" "${{ inputs.image-tag }}" "${{ inputs.reports-dir }}" "${{ inputs.pytest-options }}" "${{ inputs.filter-pattern }}"
|
.github/labeler.yml
ADDED
|
@@ -0,0 +1,76 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
| 2 |
+
# All rights reserved.
|
| 3 |
+
#
|
| 4 |
+
# SPDX-License-Identifier: BSD-3-Clause
|
| 5 |
+
|
| 6 |
+
# Documentation-related changes
|
| 7 |
+
documentation:
|
| 8 |
+
- all:
|
| 9 |
+
- changed-files:
|
| 10 |
+
- any-glob-to-any-file:
|
| 11 |
+
- 'docs/**'
|
| 12 |
+
- '**/README.md'
|
| 13 |
+
- all-globs-to-all-files:
|
| 14 |
+
- '!docs/licenses/**'
|
| 15 |
+
|
| 16 |
+
# Infrastructure changes
|
| 17 |
+
infrastructure:
|
| 18 |
+
- changed-files:
|
| 19 |
+
- any-glob-to-any-file:
|
| 20 |
+
- .github/**
|
| 21 |
+
- docker/**
|
| 22 |
+
- .dockerignore
|
| 23 |
+
- tools/**
|
| 24 |
+
- .vscode/**
|
| 25 |
+
- environment.yml
|
| 26 |
+
- setup.py
|
| 27 |
+
- pyproject.toml
|
| 28 |
+
- .pre-commit-config.yaml
|
| 29 |
+
- isaaclab.sh
|
| 30 |
+
- isaaclab.bat
|
| 31 |
+
- docs/licenses/**
|
| 32 |
+
|
| 33 |
+
# Assets (USD, glTF, etc.) related changes.
|
| 34 |
+
asset:
|
| 35 |
+
- changed-files:
|
| 36 |
+
- any-glob-to-any-file:
|
| 37 |
+
- source/isaaclab_assets/**
|
| 38 |
+
|
| 39 |
+
# Isaac Sim team related changes.
|
| 40 |
+
isaac-sim:
|
| 41 |
+
- changed-files:
|
| 42 |
+
- any-glob-to-any-file:
|
| 43 |
+
- apps/**
|
| 44 |
+
|
| 45 |
+
# Isaac Mimic team related changes.
|
| 46 |
+
isaac-mimic:
|
| 47 |
+
- changed-files:
|
| 48 |
+
- any-glob-to-any-file:
|
| 49 |
+
- source/isaaclab/isaaclab/devices/**
|
| 50 |
+
- source/isaaclab_mimic/**
|
| 51 |
+
- source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack**
|
| 52 |
+
- source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_and_place**
|
| 53 |
+
- scripts/imitation_learning/**
|
| 54 |
+
|
| 55 |
+
# Isaac Lab team related changes.
|
| 56 |
+
isaac-lab:
|
| 57 |
+
- all:
|
| 58 |
+
- changed-files:
|
| 59 |
+
- any-glob-to-any-file:
|
| 60 |
+
- source/**
|
| 61 |
+
- scripts/**
|
| 62 |
+
- all-globs-to-all-files:
|
| 63 |
+
- '!source/isaaclab_assets/**'
|
| 64 |
+
- '!source/isaaclab_mimic/**'
|
| 65 |
+
- '!source/isaaclab/isaaclab/devices'
|
| 66 |
+
- '!scripts/imitation_learning/**'
|
| 67 |
+
|
| 68 |
+
# Add 'enhancement' label to any PR where the head branch name
|
| 69 |
+
# starts with `feature` or has a `feature` section in the name
|
| 70 |
+
enhancement:
|
| 71 |
+
- head-branch: ['^feature', 'feature']
|
| 72 |
+
|
| 73 |
+
# Add 'bug' label to any PR where the head branch name
|
| 74 |
+
# starts with `fix`/`bug` or has a `fix`/`bug` section in the name
|
| 75 |
+
bug:
|
| 76 |
+
- head-branch: ['^fix', 'fix', '^bug', 'bug']
|
.github/stale.yml
ADDED
|
@@ -0,0 +1,67 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
| 2 |
+
# All rights reserved.
|
| 3 |
+
#
|
| 4 |
+
# SPDX-License-Identifier: BSD-3-Clause
|
| 5 |
+
|
| 6 |
+
# Configuration for probot-stale - https://github.com/probot/stale
|
| 7 |
+
|
| 8 |
+
# Number of days of inactivity before an Issue or Pull Request becomes stale
|
| 9 |
+
daysUntilStale: 60
|
| 10 |
+
|
| 11 |
+
# Number of days of inactivity before an Issue or Pull Request with the stale label is closed.
|
| 12 |
+
# Set to false to disable. If disabled, issues still need to be closed manually, but will remain marked as stale.
|
| 13 |
+
daysUntilClose: 14
|
| 14 |
+
|
| 15 |
+
# Only issues or pull requests with all of these labels are check if stale. Defaults to `[]` (disabled)
|
| 16 |
+
onlyLabels:
|
| 17 |
+
- more-information-needed
|
| 18 |
+
|
| 19 |
+
# Issues or Pull Requests with these labels will never be considered stale. Set to `[]` to disable
|
| 20 |
+
exemptLabels:
|
| 21 |
+
- pinned
|
| 22 |
+
- security
|
| 23 |
+
- "[Status] Maybe Later"
|
| 24 |
+
|
| 25 |
+
# Set to true to ignore issues in a project (defaults to false)
|
| 26 |
+
exemptProjects: true
|
| 27 |
+
|
| 28 |
+
# Set to true to ignore issues in a milestone (defaults to false)
|
| 29 |
+
exemptMilestones: true
|
| 30 |
+
|
| 31 |
+
# Set to true to ignore issues with an assignee (defaults to false)
|
| 32 |
+
exemptAssignees: true
|
| 33 |
+
|
| 34 |
+
# Label to use when marking as stale
|
| 35 |
+
staleLabel: stale
|
| 36 |
+
|
| 37 |
+
# Comment to post when marking as stale. Set to `false` to disable
|
| 38 |
+
markComment: >
|
| 39 |
+
This issue has been automatically marked as stale because it has not had
|
| 40 |
+
recent activity. It will be closed if no further activity occurs. Thank you
|
| 41 |
+
for your contributions.
|
| 42 |
+
|
| 43 |
+
# Comment to post when removing the stale label.
|
| 44 |
+
# unmarkComment: >
|
| 45 |
+
# Your comment here.
|
| 46 |
+
|
| 47 |
+
# Comment to post when closing a stale Issue or Pull Request.
|
| 48 |
+
# closeComment: >
|
| 49 |
+
# Your comment here.
|
| 50 |
+
|
| 51 |
+
# Limit the number of actions per hour, from 1-30. Default is 30
|
| 52 |
+
limitPerRun: 30
|
| 53 |
+
|
| 54 |
+
# Limit to only `issues` or `pulls`
|
| 55 |
+
only: issues
|
| 56 |
+
|
| 57 |
+
# Optionally, specify configuration settings that are specific to just 'issues' or 'pulls':
|
| 58 |
+
# pulls:
|
| 59 |
+
# daysUntilStale: 30
|
| 60 |
+
# markComment: >
|
| 61 |
+
# This pull request has been automatically marked as stale because it has not had
|
| 62 |
+
# recent activity. It will be closed if no further activity occurs. Thank you
|
| 63 |
+
# for your contributions.
|
| 64 |
+
|
| 65 |
+
# issues:
|
| 66 |
+
# exemptLabels:
|
| 67 |
+
# - confirmed
|
.github/workflows/build.yml
ADDED
|
@@ -0,0 +1,222 @@
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|
| 1 |
+
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
| 2 |
+
# All rights reserved.
|
| 3 |
+
#
|
| 4 |
+
# SPDX-License-Identifier: BSD-3-Clause
|
| 5 |
+
|
| 6 |
+
name: Build and Test
|
| 7 |
+
|
| 8 |
+
on:
|
| 9 |
+
pull_request:
|
| 10 |
+
branches:
|
| 11 |
+
- devel
|
| 12 |
+
- main
|
| 13 |
+
- 'release/**'
|
| 14 |
+
|
| 15 |
+
# Concurrency control to prevent parallel runs on the same PR
|
| 16 |
+
concurrency:
|
| 17 |
+
group: ${{ github.workflow }}-${{ github.ref }}
|
| 18 |
+
cancel-in-progress: true
|
| 19 |
+
|
| 20 |
+
permissions:
|
| 21 |
+
contents: read
|
| 22 |
+
pull-requests: write
|
| 23 |
+
checks: write
|
| 24 |
+
issues: read
|
| 25 |
+
|
| 26 |
+
env:
|
| 27 |
+
NGC_API_KEY: ${{ secrets.NGC_API_KEY }}
|
| 28 |
+
ISAACSIM_BASE_IMAGE: ${{ vars.ISAACSIM_BASE_IMAGE || 'nvcr.io/nvidia/isaac-sim' }}
|
| 29 |
+
ISAACSIM_BASE_VERSION: ${{ vars.ISAACSIM_BASE_VERSION || '5.1.0' }}
|
| 30 |
+
DOCKER_IMAGE_TAG: isaac-lab-dev:${{ github.event_name == 'pull_request' && format('pr-{0}', github.event.pull_request.number) || github.ref_name }}-${{ github.sha }}
|
| 31 |
+
|
| 32 |
+
jobs:
|
| 33 |
+
test-isaaclab-tasks:
|
| 34 |
+
runs-on: [self-hosted, gpu]
|
| 35 |
+
timeout-minutes: 180
|
| 36 |
+
continue-on-error: true
|
| 37 |
+
|
| 38 |
+
steps:
|
| 39 |
+
- name: Checkout Code
|
| 40 |
+
uses: actions/checkout@v4
|
| 41 |
+
with:
|
| 42 |
+
fetch-depth: 0
|
| 43 |
+
lfs: true
|
| 44 |
+
|
| 45 |
+
- name: Build Docker Image
|
| 46 |
+
uses: ./.github/actions/docker-build
|
| 47 |
+
with:
|
| 48 |
+
image-tag: ${{ env.DOCKER_IMAGE_TAG }}
|
| 49 |
+
isaacsim-base-image: ${{ env.ISAACSIM_BASE_IMAGE }}
|
| 50 |
+
isaacsim-version: ${{ env.ISAACSIM_BASE_VERSION }}
|
| 51 |
+
|
| 52 |
+
- name: Run IsaacLab Tasks Tests
|
| 53 |
+
uses: ./.github/actions/run-tests
|
| 54 |
+
with:
|
| 55 |
+
test-path: "tools"
|
| 56 |
+
result-file: "isaaclab-tasks-report.xml"
|
| 57 |
+
container-name: "isaac-lab-tasks-test-$$"
|
| 58 |
+
image-tag: ${{ env.DOCKER_IMAGE_TAG }}
|
| 59 |
+
pytest-options: ""
|
| 60 |
+
filter-pattern: "isaaclab_tasks"
|
| 61 |
+
|
| 62 |
+
- name: Copy Test Results from IsaacLab Tasks Container
|
| 63 |
+
run: |
|
| 64 |
+
CONTAINER_NAME="isaac-lab-tasks-test-$$"
|
| 65 |
+
if docker ps -a | grep -q $CONTAINER_NAME; then
|
| 66 |
+
echo "Copying test results from IsaacLab Tasks container..."
|
| 67 |
+
docker cp $CONTAINER_NAME:/workspace/isaaclab/tests/isaaclab-tasks-report.xml reports/ 2>/dev/null || echo "No test results to copy from IsaacLab Tasks container"
|
| 68 |
+
fi
|
| 69 |
+
|
| 70 |
+
- name: Upload IsaacLab Tasks Test Results
|
| 71 |
+
uses: actions/upload-artifact@v4
|
| 72 |
+
if: always()
|
| 73 |
+
with:
|
| 74 |
+
name: isaaclab-tasks-test-results
|
| 75 |
+
path: reports/isaaclab-tasks-report.xml
|
| 76 |
+
retention-days: 1
|
| 77 |
+
compression-level: 9
|
| 78 |
+
|
| 79 |
+
- name: Check Test Results for Fork PRs
|
| 80 |
+
if: github.event.pull_request.head.repo.full_name != github.repository
|
| 81 |
+
run: |
|
| 82 |
+
if [ -f "reports/isaaclab-tasks-report.xml" ]; then
|
| 83 |
+
# Check if the test results contain any failures
|
| 84 |
+
if grep -q 'failures="[1-9]' reports/isaaclab-tasks-report.xml || grep -q 'errors="[1-9]' reports/isaaclab-tasks-report.xml; then
|
| 85 |
+
echo "Tests failed for PR from fork. The test report is in the logs. Failing the job."
|
| 86 |
+
exit 1
|
| 87 |
+
fi
|
| 88 |
+
else
|
| 89 |
+
echo "No test results file found. This might indicate test execution failed."
|
| 90 |
+
exit 1
|
| 91 |
+
fi
|
| 92 |
+
|
| 93 |
+
test-general:
|
| 94 |
+
runs-on: [self-hosted, gpu]
|
| 95 |
+
timeout-minutes: 180
|
| 96 |
+
|
| 97 |
+
steps:
|
| 98 |
+
- name: Checkout Code
|
| 99 |
+
uses: actions/checkout@v4
|
| 100 |
+
with:
|
| 101 |
+
fetch-depth: 0
|
| 102 |
+
lfs: true
|
| 103 |
+
|
| 104 |
+
- name: Build Docker Image
|
| 105 |
+
uses: ./.github/actions/docker-build
|
| 106 |
+
with:
|
| 107 |
+
image-tag: ${{ env.DOCKER_IMAGE_TAG }}
|
| 108 |
+
isaacsim-base-image: ${{ env.ISAACSIM_BASE_IMAGE }}
|
| 109 |
+
isaacsim-version: ${{ env.ISAACSIM_BASE_VERSION }}
|
| 110 |
+
|
| 111 |
+
- name: Run General Tests
|
| 112 |
+
id: run-general-tests
|
| 113 |
+
uses: ./.github/actions/run-tests
|
| 114 |
+
with:
|
| 115 |
+
test-path: "tools"
|
| 116 |
+
result-file: "general-tests-report.xml"
|
| 117 |
+
container-name: "isaac-lab-general-test-$$"
|
| 118 |
+
image-tag: ${{ env.DOCKER_IMAGE_TAG }}
|
| 119 |
+
pytest-options: ""
|
| 120 |
+
filter-pattern: "not isaaclab_tasks"
|
| 121 |
+
|
| 122 |
+
- name: Copy Test Results from General Tests Container
|
| 123 |
+
run: |
|
| 124 |
+
CONTAINER_NAME="isaac-lab-general-test-$$"
|
| 125 |
+
if docker ps -a | grep -q $CONTAINER_NAME; then
|
| 126 |
+
echo "Copying test results from General Tests container..."
|
| 127 |
+
docker cp $CONTAINER_NAME:/workspace/isaaclab/tests/general-tests-report.xml reports/ 2>/dev/null || echo "No test results to copy from General Tests container"
|
| 128 |
+
fi
|
| 129 |
+
|
| 130 |
+
- name: Upload General Test Results
|
| 131 |
+
uses: actions/upload-artifact@v4
|
| 132 |
+
if: always()
|
| 133 |
+
with:
|
| 134 |
+
name: general-test-results
|
| 135 |
+
path: reports/general-tests-report.xml
|
| 136 |
+
retention-days: 1
|
| 137 |
+
compression-level: 9
|
| 138 |
+
|
| 139 |
+
- name: Check Test Results for Fork PRs
|
| 140 |
+
if: github.event.pull_request.head.repo.full_name != github.repository
|
| 141 |
+
run: |
|
| 142 |
+
if [ -f "reports/general-tests-report.xml" ]; then
|
| 143 |
+
# Check if the test results contain any failures
|
| 144 |
+
if grep -q 'failures="[1-9]' reports/general-tests-report.xml || grep -q 'errors="[1-9]' reports/general-tests-report.xml; then
|
| 145 |
+
echo "Tests failed for PR from fork. The test report is in the logs. Failing the job."
|
| 146 |
+
exit 1
|
| 147 |
+
fi
|
| 148 |
+
else
|
| 149 |
+
echo "No test results file found. This might indicate test execution failed."
|
| 150 |
+
exit 1
|
| 151 |
+
fi
|
| 152 |
+
|
| 153 |
+
combine-results:
|
| 154 |
+
needs: [test-isaaclab-tasks, test-general]
|
| 155 |
+
runs-on: [self-hosted, gpu]
|
| 156 |
+
if: always()
|
| 157 |
+
|
| 158 |
+
steps:
|
| 159 |
+
- name: Checkout Code
|
| 160 |
+
uses: actions/checkout@v4
|
| 161 |
+
with:
|
| 162 |
+
fetch-depth: 0
|
| 163 |
+
lfs: false
|
| 164 |
+
|
| 165 |
+
- name: Create Reports Directory
|
| 166 |
+
run: |
|
| 167 |
+
mkdir -p reports
|
| 168 |
+
|
| 169 |
+
- name: Download Test Results
|
| 170 |
+
uses: actions/download-artifact@v4
|
| 171 |
+
with:
|
| 172 |
+
name: isaaclab-tasks-test-results
|
| 173 |
+
path: reports/
|
| 174 |
+
continue-on-error: true
|
| 175 |
+
|
| 176 |
+
- name: Download General Test Results
|
| 177 |
+
uses: actions/download-artifact@v4
|
| 178 |
+
with:
|
| 179 |
+
name: general-test-results
|
| 180 |
+
path: reports/
|
| 181 |
+
|
| 182 |
+
- name: Combine All Test Results
|
| 183 |
+
uses: ./.github/actions/combine-results
|
| 184 |
+
with:
|
| 185 |
+
tests-dir: "reports"
|
| 186 |
+
output-file: "reports/combined-results.xml"
|
| 187 |
+
|
| 188 |
+
- name: Upload Combined Test Results
|
| 189 |
+
uses: actions/upload-artifact@v4
|
| 190 |
+
if: always()
|
| 191 |
+
with:
|
| 192 |
+
name: pr-${{ github.event.pull_request.number }}-combined-test-results
|
| 193 |
+
path: reports/combined-results.xml
|
| 194 |
+
retention-days: 7
|
| 195 |
+
compression-level: 9
|
| 196 |
+
|
| 197 |
+
- name: Comment on Test Results
|
| 198 |
+
id: test-reporter
|
| 199 |
+
if: github.event.pull_request.head.repo.full_name == github.repository
|
| 200 |
+
uses: EnricoMi/publish-unit-test-result-action@v2
|
| 201 |
+
with:
|
| 202 |
+
files: "reports/combined-results.xml"
|
| 203 |
+
check_name: "Tests Summary"
|
| 204 |
+
comment_mode: changes
|
| 205 |
+
comment_title: "Test Results Summary"
|
| 206 |
+
report_individual_runs: false
|
| 207 |
+
deduplicate_classes_by_file_name: true
|
| 208 |
+
compare_to_earlier_commit: true
|
| 209 |
+
fail_on: errors
|
| 210 |
+
action_fail_on_inconclusive: true
|
| 211 |
+
|
| 212 |
+
- name: Report Test Results
|
| 213 |
+
if: github.event.pull_request.head.repo.full_name == github.repository
|
| 214 |
+
uses: dorny/test-reporter@v1
|
| 215 |
+
with:
|
| 216 |
+
name: IsaacLab Build and Test Results
|
| 217 |
+
path: reports/combined-results.xml
|
| 218 |
+
reporter: java-junit
|
| 219 |
+
fail-on-error: true
|
| 220 |
+
only-summary: false
|
| 221 |
+
max-annotations: '50'
|
| 222 |
+
report-title: "IsaacLab Test Results - ${{ github.workflow }}"
|
.github/workflows/check-links.yml
ADDED
|
@@ -0,0 +1,120 @@
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
| 2 |
+
# All rights reserved.
|
| 3 |
+
#
|
| 4 |
+
# SPDX-License-Identifier: BSD-3-Clause
|
| 5 |
+
|
| 6 |
+
name: Check Documentation Links
|
| 7 |
+
|
| 8 |
+
on:
|
| 9 |
+
# Run on pull requests that modify documentation
|
| 10 |
+
pull_request:
|
| 11 |
+
paths:
|
| 12 |
+
- 'docs/**'
|
| 13 |
+
- '**.md'
|
| 14 |
+
- '.github/workflows/check-links.yml'
|
| 15 |
+
# Run on pushes to main branches
|
| 16 |
+
push:
|
| 17 |
+
branches:
|
| 18 |
+
- main
|
| 19 |
+
- devel
|
| 20 |
+
- 'release/**'
|
| 21 |
+
paths:
|
| 22 |
+
- 'docs/**'
|
| 23 |
+
- '**.md'
|
| 24 |
+
- '.github/workflows/check-links.yml'
|
| 25 |
+
# Allow manual trigger
|
| 26 |
+
workflow_dispatch:
|
| 27 |
+
# Run weekly to catch external links that break over time
|
| 28 |
+
schedule:
|
| 29 |
+
- cron: '0 0 * * 0' # Every Sunday at midnight UTC
|
| 30 |
+
|
| 31 |
+
concurrency:
|
| 32 |
+
group: ${{ github.workflow }}-${{ github.ref }}
|
| 33 |
+
cancel-in-progress: true
|
| 34 |
+
|
| 35 |
+
jobs:
|
| 36 |
+
check-links:
|
| 37 |
+
name: Check for Broken Links
|
| 38 |
+
runs-on: ubuntu-latest
|
| 39 |
+
|
| 40 |
+
steps:
|
| 41 |
+
- name: Checkout code
|
| 42 |
+
uses: actions/checkout@v4
|
| 43 |
+
with:
|
| 44 |
+
fetch-depth: 0
|
| 45 |
+
|
| 46 |
+
- name: Restore lychee cache
|
| 47 |
+
uses: actions/cache@v4
|
| 48 |
+
with:
|
| 49 |
+
path: .lycheecache
|
| 50 |
+
key: cache-lychee-${{ github.sha }}
|
| 51 |
+
restore-keys: cache-lychee-
|
| 52 |
+
|
| 53 |
+
- name: Run Link Checker
|
| 54 |
+
uses: lycheeverse/lychee-action@v2
|
| 55 |
+
with:
|
| 56 |
+
# Check all markdown files and documentation
|
| 57 |
+
args: >-
|
| 58 |
+
--verbose
|
| 59 |
+
--no-progress
|
| 60 |
+
--cache
|
| 61 |
+
--max-cache-age 1d
|
| 62 |
+
--exclude-path './docs/_build'
|
| 63 |
+
--exclude-path './apps/warp-*'
|
| 64 |
+
--exclude-path './logs'
|
| 65 |
+
--exclude-path './outputs'
|
| 66 |
+
--exclude-loopback
|
| 67 |
+
--exclude '^file://'
|
| 68 |
+
--exclude '^mailto:'
|
| 69 |
+
--exclude 'localhost'
|
| 70 |
+
--exclude '127\.0\.0\.1'
|
| 71 |
+
--exclude 'example\.com'
|
| 72 |
+
--exclude 'your-organization'
|
| 73 |
+
--exclude 'YOUR_'
|
| 74 |
+
--exclude 'yourdomain'
|
| 75 |
+
--exclude 'user@'
|
| 76 |
+
--exclude 'helm\.ngc\.nvidia\.com'
|
| 77 |
+
--exclude 'slurm\.schedmd\.com'
|
| 78 |
+
--max-retries 3
|
| 79 |
+
--retry-wait-time 5
|
| 80 |
+
--timeout 30
|
| 81 |
+
--accept 200,201,202,203,204,206,301,302,303,307,308,429
|
| 82 |
+
--scheme https
|
| 83 |
+
--scheme http
|
| 84 |
+
'*.md'
|
| 85 |
+
'**/*.md'
|
| 86 |
+
'docs/**/*.rst'
|
| 87 |
+
'docs/**/*.html'
|
| 88 |
+
# Output results to a file
|
| 89 |
+
output: ./lychee-output.md
|
| 90 |
+
# Fail action on broken links
|
| 91 |
+
fail: true
|
| 92 |
+
# Optional: Use GitHub token for authenticated requests (higher rate limit)
|
| 93 |
+
token: ${{ secrets.GITHUB_TOKEN }}
|
| 94 |
+
|
| 95 |
+
- name: Print results to logs
|
| 96 |
+
if: always()
|
| 97 |
+
run: |
|
| 98 |
+
echo "========================================"
|
| 99 |
+
echo "Link Checker Results:"
|
| 100 |
+
echo "========================================"
|
| 101 |
+
if [ -f ./lychee-output.md ]; then
|
| 102 |
+
cat ./lychee-output.md
|
| 103 |
+
echo ""
|
| 104 |
+
echo "========================================"
|
| 105 |
+
|
| 106 |
+
# Also add to GitHub step summary for easy viewing
|
| 107 |
+
echo "## Link Checker Results" >> $GITHUB_STEP_SUMMARY
|
| 108 |
+
echo "" >> $GITHUB_STEP_SUMMARY
|
| 109 |
+
cat ./lychee-output.md >> $GITHUB_STEP_SUMMARY
|
| 110 |
+
else
|
| 111 |
+
echo "No output file generated"
|
| 112 |
+
echo "========================================"
|
| 113 |
+
fi
|
| 114 |
+
|
| 115 |
+
- name: Fail job if broken links found
|
| 116 |
+
if: failure()
|
| 117 |
+
run: |
|
| 118 |
+
echo "❌ Broken links were found in the documentation!"
|
| 119 |
+
echo "Please review the link checker report above and fix all broken links."
|
| 120 |
+
exit 1
|
.github/workflows/daily-compatibility.yml
ADDED
|
@@ -0,0 +1,257 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
| 2 |
+
# All rights reserved.
|
| 3 |
+
#
|
| 4 |
+
# SPDX-License-Identifier: BSD-3-Clause
|
| 5 |
+
|
| 6 |
+
name: Backwards Compatibility Tests
|
| 7 |
+
|
| 8 |
+
on:
|
| 9 |
+
schedule:
|
| 10 |
+
# Run daily at 8 PM PST (4 AM UTC)
|
| 11 |
+
- cron: '0 4 * * *'
|
| 12 |
+
|
| 13 |
+
workflow_dispatch:
|
| 14 |
+
inputs:
|
| 15 |
+
isaacsim_version:
|
| 16 |
+
description: 'IsaacSim version image tag to test'
|
| 17 |
+
required: true
|
| 18 |
+
default: '4.5.0'
|
| 19 |
+
type: string
|
| 20 |
+
|
| 21 |
+
# Concurrency control to prevent parallel runs
|
| 22 |
+
concurrency:
|
| 23 |
+
group: compatibility-${{ github.ref }}-${{ github.event_name }}
|
| 24 |
+
cancel-in-progress: true
|
| 25 |
+
|
| 26 |
+
permissions:
|
| 27 |
+
contents: read
|
| 28 |
+
pull-requests: write
|
| 29 |
+
|
| 30 |
+
env:
|
| 31 |
+
NGC_API_KEY: ${{ secrets.NGC_API_KEY }}
|
| 32 |
+
ISAACSIM_BASE_IMAGE: ${{ vars.ISAACSIM_BASE_IMAGE || 'nvcr.io/nvidia/isaac-sim' }}
|
| 33 |
+
|
| 34 |
+
jobs:
|
| 35 |
+
setup-versions:
|
| 36 |
+
runs-on: ubuntu-latest
|
| 37 |
+
outputs:
|
| 38 |
+
versions: ${{ steps.set-versions.outputs.versions }}
|
| 39 |
+
steps:
|
| 40 |
+
- name: Set Isaac Sim Versions
|
| 41 |
+
id: set-versions
|
| 42 |
+
run: |
|
| 43 |
+
# Define all versions to test in one place
|
| 44 |
+
DEFAULT_VERSIONS='["4.5.0", "5.0.0"]'
|
| 45 |
+
|
| 46 |
+
if [ -n "${{ github.event.inputs.isaacsim_version }}" ]; then
|
| 47 |
+
# If a specific version is provided via workflow_dispatch, use only that
|
| 48 |
+
echo "versions=[\"${{ github.event.inputs.isaacsim_version }}\"]" >> $GITHUB_OUTPUT
|
| 49 |
+
else
|
| 50 |
+
# Otherwise, use all default versions
|
| 51 |
+
echo "versions=$DEFAULT_VERSIONS" >> $GITHUB_OUTPUT
|
| 52 |
+
fi
|
| 53 |
+
|
| 54 |
+
test-isaaclab-tasks-compat:
|
| 55 |
+
needs: setup-versions
|
| 56 |
+
runs-on: [self-hosted, gpu]
|
| 57 |
+
timeout-minutes: 180
|
| 58 |
+
continue-on-error: true
|
| 59 |
+
strategy:
|
| 60 |
+
matrix:
|
| 61 |
+
isaacsim_version: ${{ fromJson(needs.setup-versions.outputs.versions) }}
|
| 62 |
+
fail-fast: false
|
| 63 |
+
env:
|
| 64 |
+
CUDA_VISIBLE_DEVICES: all
|
| 65 |
+
NVIDIA_VISIBLE_DEVICES: all
|
| 66 |
+
NVIDIA_DRIVER_CAPABILITIES: all
|
| 67 |
+
CUDA_HOME: /usr/local/cuda
|
| 68 |
+
LD_LIBRARY_PATH: /usr/local/cuda/lib64:/usr/local/cuda/extras/CUPTI/lib64
|
| 69 |
+
DOCKER_IMAGE_TAG: isaac-lab-compat:${{ github.ref_name }}-${{ github.sha }}-${{ matrix.isaacsim_version }}
|
| 70 |
+
|
| 71 |
+
steps:
|
| 72 |
+
- name: Checkout Code
|
| 73 |
+
uses: actions/checkout@v3
|
| 74 |
+
with:
|
| 75 |
+
fetch-depth: 0
|
| 76 |
+
lfs: true
|
| 77 |
+
|
| 78 |
+
- name: Build Docker Image
|
| 79 |
+
uses: ./.github/actions/docker-build
|
| 80 |
+
with:
|
| 81 |
+
image-tag: ${{ env.DOCKER_IMAGE_TAG }}
|
| 82 |
+
isaacsim-base-image: ${{ env.ISAACSIM_BASE_IMAGE }}
|
| 83 |
+
isaacsim-version: ${{ matrix.isaacsim_version }}
|
| 84 |
+
|
| 85 |
+
- name: Run IsaacLab Tasks Tests
|
| 86 |
+
uses: ./.github/actions/run-tests
|
| 87 |
+
with:
|
| 88 |
+
test-path: "tools"
|
| 89 |
+
result-file: "isaaclab-tasks-compat-report.xml"
|
| 90 |
+
container-name: "isaac-lab-tasks-compat-test-$$"
|
| 91 |
+
image-tag: ${{ env.DOCKER_IMAGE_TAG }}
|
| 92 |
+
pytest-options: ""
|
| 93 |
+
filter-pattern: "isaaclab_tasks"
|
| 94 |
+
|
| 95 |
+
- name: Copy All Test Results from IsaacLab Tasks Container
|
| 96 |
+
run: |
|
| 97 |
+
CONTAINER_NAME="isaac-lab-tasks-compat-test-$$"
|
| 98 |
+
if docker ps -a | grep -q $CONTAINER_NAME; then
|
| 99 |
+
echo "Copying all test results from IsaacLab Tasks container..."
|
| 100 |
+
docker cp $CONTAINER_NAME:/workspace/isaaclab/tests/isaaclab-tasks-compat-report.xml reports/ 2>/dev/null || echo "No test results to copy from IsaacLab Tasks container"
|
| 101 |
+
fi
|
| 102 |
+
|
| 103 |
+
- name: Upload IsaacLab Tasks Test Results
|
| 104 |
+
uses: actions/upload-artifact@v4
|
| 105 |
+
if: always()
|
| 106 |
+
with:
|
| 107 |
+
name: isaaclab-tasks-compat-results-${{ matrix.isaacsim_version }}
|
| 108 |
+
path: reports/isaaclab-tasks-compat-report.xml
|
| 109 |
+
retention-days: 7
|
| 110 |
+
compression-level: 9
|
| 111 |
+
|
| 112 |
+
test-general-compat:
|
| 113 |
+
needs: setup-versions
|
| 114 |
+
runs-on: [self-hosted, gpu]
|
| 115 |
+
timeout-minutes: 180
|
| 116 |
+
strategy:
|
| 117 |
+
matrix:
|
| 118 |
+
isaacsim_version: ${{ fromJson(needs.setup-versions.outputs.versions) }}
|
| 119 |
+
fail-fast: false
|
| 120 |
+
env:
|
| 121 |
+
CUDA_VISIBLE_DEVICES: all
|
| 122 |
+
NVIDIA_VISIBLE_DEVICES: all
|
| 123 |
+
NVIDIA_DRIVER_CAPABILITIES: all
|
| 124 |
+
CUDA_HOME: /usr/local/cuda
|
| 125 |
+
LD_LIBRARY_PATH: /usr/local/cuda/lib64:/usr/local/cuda/extras/CUPTI/lib64
|
| 126 |
+
DOCKER_IMAGE_TAG: isaac-lab-compat:${{ github.ref_name }}-${{ github.sha }}-${{ matrix.isaacsim_version }}
|
| 127 |
+
|
| 128 |
+
steps:
|
| 129 |
+
- name: Checkout Code
|
| 130 |
+
uses: actions/checkout@v3
|
| 131 |
+
with:
|
| 132 |
+
fetch-depth: 0
|
| 133 |
+
lfs: true
|
| 134 |
+
|
| 135 |
+
- name: Build Docker Image
|
| 136 |
+
uses: ./.github/actions/docker-build
|
| 137 |
+
with:
|
| 138 |
+
image-tag: ${{ env.DOCKER_IMAGE_TAG }}
|
| 139 |
+
isaacsim-base-image: ${{ env.ISAACSIM_BASE_IMAGE }}
|
| 140 |
+
isaacsim-version: ${{ matrix.isaacsim_version }}
|
| 141 |
+
|
| 142 |
+
- name: Run General Tests
|
| 143 |
+
uses: ./.github/actions/run-tests
|
| 144 |
+
with:
|
| 145 |
+
test-path: "tools"
|
| 146 |
+
result-file: "general-tests-compat-report.xml"
|
| 147 |
+
container-name: "isaac-lab-general-compat-test-$$"
|
| 148 |
+
image-tag: ${{ env.DOCKER_IMAGE_TAG }}
|
| 149 |
+
pytest-options: ""
|
| 150 |
+
filter-pattern: "not isaaclab_tasks"
|
| 151 |
+
|
| 152 |
+
- name: Copy All Test Results from General Tests Container
|
| 153 |
+
run: |
|
| 154 |
+
CONTAINER_NAME="isaac-lab-general-compat-test-$$"
|
| 155 |
+
if docker ps -a | grep -q $CONTAINER_NAME; then
|
| 156 |
+
echo "Copying all test results from General Tests container..."
|
| 157 |
+
docker cp $CONTAINER_NAME:/workspace/isaaclab/tests/general-tests-compat-report.xml reports/ 2>/dev/null || echo "No test results to copy from General Tests container"
|
| 158 |
+
fi
|
| 159 |
+
|
| 160 |
+
- name: Upload General Test Results
|
| 161 |
+
uses: actions/upload-artifact@v4
|
| 162 |
+
if: always()
|
| 163 |
+
with:
|
| 164 |
+
name: general-tests-compat-results-${{ matrix.isaacsim_version }}
|
| 165 |
+
path: reports/general-tests-compat-report.xml
|
| 166 |
+
retention-days: 7
|
| 167 |
+
compression-level: 9
|
| 168 |
+
|
| 169 |
+
combine-compat-results:
|
| 170 |
+
needs: [test-isaaclab-tasks-compat, test-general-compat]
|
| 171 |
+
runs-on: [self-hosted, gpu]
|
| 172 |
+
if: always()
|
| 173 |
+
|
| 174 |
+
steps:
|
| 175 |
+
- name: Checkout Code
|
| 176 |
+
uses: actions/checkout@v3
|
| 177 |
+
with:
|
| 178 |
+
fetch-depth: 0
|
| 179 |
+
lfs: false
|
| 180 |
+
|
| 181 |
+
- name: Create Reports Directory
|
| 182 |
+
run: |
|
| 183 |
+
mkdir -p reports
|
| 184 |
+
|
| 185 |
+
- name: Download All Test Results
|
| 186 |
+
uses: actions/download-artifact@v4
|
| 187 |
+
with:
|
| 188 |
+
pattern: '*-compat-results-*'
|
| 189 |
+
path: reports/
|
| 190 |
+
merge-multiple: true
|
| 191 |
+
continue-on-error: true
|
| 192 |
+
|
| 193 |
+
- name: Combine All Test Results
|
| 194 |
+
uses: ./.github/actions/combine-results
|
| 195 |
+
with:
|
| 196 |
+
tests-dir: "reports"
|
| 197 |
+
output-file: "reports/combined-compat-results.xml"
|
| 198 |
+
|
| 199 |
+
- name: Upload Combined Test Results
|
| 200 |
+
uses: actions/upload-artifact@v4
|
| 201 |
+
if: always()
|
| 202 |
+
with:
|
| 203 |
+
name: daily-compat-${{ github.run_id }}-combined-test-results
|
| 204 |
+
path: reports/combined-compat-results.xml
|
| 205 |
+
retention-days: 30
|
| 206 |
+
compression-level: 9
|
| 207 |
+
|
| 208 |
+
- name: Report Test Results
|
| 209 |
+
uses: dorny/test-reporter@v1
|
| 210 |
+
if: always()
|
| 211 |
+
with:
|
| 212 |
+
name: IsaacLab Compatibility Test Results (${{ github.event_name }})
|
| 213 |
+
path: reports/combined-compat-results.xml
|
| 214 |
+
reporter: java-junit
|
| 215 |
+
max-annotations: '50'
|
| 216 |
+
report-title: "IsaacLab Compatibility Test Results - ${{ github.event_name }} - ${{ github.ref_name }}"
|
| 217 |
+
|
| 218 |
+
notify-compatibility-status:
|
| 219 |
+
needs: [setup-versions, combine-compat-results]
|
| 220 |
+
runs-on: [self-hosted, gpu]
|
| 221 |
+
if: always()
|
| 222 |
+
|
| 223 |
+
steps:
|
| 224 |
+
- name: Checkout Code
|
| 225 |
+
uses: actions/checkout@v3
|
| 226 |
+
with:
|
| 227 |
+
fetch-depth: 0
|
| 228 |
+
lfs: false
|
| 229 |
+
|
| 230 |
+
- name: Create Compatibility Report
|
| 231 |
+
run: |
|
| 232 |
+
TRIGGER_INFO="**Trigger:** ${{ github.event_name }}"
|
| 233 |
+
ISAACSIM_VERSIONS="${{ join(fromJson(needs.setup-versions.outputs.versions), ', ') }}"
|
| 234 |
+
echo "## Daily Backwards Compatibility Test Results" > compatibility-report.md
|
| 235 |
+
echo "" >> compatibility-report.md
|
| 236 |
+
echo "$TRIGGER_INFO" >> compatibility-report.md
|
| 237 |
+
echo "**IsaacSim Versions Tested:** $ISAACSIM_VERSIONS" >> compatibility-report.md
|
| 238 |
+
echo "**Branch:** ${{ github.ref_name }}" >> compatibility-report.md
|
| 239 |
+
echo "**Commit:** ${{ github.sha }}" >> compatibility-report.md
|
| 240 |
+
echo "**Run ID:** ${{ github.run_id }}" >> compatibility-report.md
|
| 241 |
+
echo "" >> compatibility-report.md
|
| 242 |
+
echo "### Test Status:" >> compatibility-report.md
|
| 243 |
+
echo "- Results: ${{ needs.combine-compat-results.result }}" >> compatibility-report.md
|
| 244 |
+
echo "" >> compatibility-report.md
|
| 245 |
+
echo "### Artifacts:" >> compatibility-report.md
|
| 246 |
+
echo "- [Combined Test Results](https://github.com/${{ github.repository }}/actions/runs/${{ github.run_id }})" >> compatibility-report.md
|
| 247 |
+
echo "" >> compatibility-report.md
|
| 248 |
+
echo "---" >> compatibility-report.md
|
| 249 |
+
echo "*This report was generated automatically by the daily compatibility workflow.*" >> compatibility-report.md
|
| 250 |
+
|
| 251 |
+
- name: Upload Compatibility Report
|
| 252 |
+
uses: actions/upload-artifact@v4
|
| 253 |
+
if: always()
|
| 254 |
+
with:
|
| 255 |
+
name: compatibility-report-${{ github.run_id }}
|
| 256 |
+
path: compatibility-report.md
|
| 257 |
+
retention-days: 30
|
.github/workflows/docs.yaml
ADDED
|
@@ -0,0 +1,87 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
| 2 |
+
# All rights reserved.
|
| 3 |
+
#
|
| 4 |
+
# SPDX-License-Identifier: BSD-3-Clause
|
| 5 |
+
|
| 6 |
+
name: Build & deploy docs
|
| 7 |
+
|
| 8 |
+
on:
|
| 9 |
+
push:
|
| 10 |
+
branches:
|
| 11 |
+
- main
|
| 12 |
+
- devel
|
| 13 |
+
- 'release/**'
|
| 14 |
+
pull_request:
|
| 15 |
+
types: [opened, synchronize, reopened]
|
| 16 |
+
|
| 17 |
+
concurrency:
|
| 18 |
+
group: ${{ github.workflow }}-${{ github.ref }}
|
| 19 |
+
cancel-in-progress: true
|
| 20 |
+
|
| 21 |
+
jobs:
|
| 22 |
+
check-secrets:
|
| 23 |
+
name: Check secrets
|
| 24 |
+
runs-on: ubuntu-latest
|
| 25 |
+
outputs:
|
| 26 |
+
trigger-deploy: ${{ steps.trigger-deploy.outputs.defined }}
|
| 27 |
+
steps:
|
| 28 |
+
- id: trigger-deploy
|
| 29 |
+
env:
|
| 30 |
+
REPO_NAME: ${{ secrets.REPO_NAME }}
|
| 31 |
+
if: "${{ github.repository == env.REPO_NAME && (github.ref == 'refs/heads/main' || github.ref == 'refs/heads/devel' || startsWith(github.ref, 'refs/heads/release/')) }}"
|
| 32 |
+
run: echo "defined=true" >> "$GITHUB_OUTPUT"
|
| 33 |
+
|
| 34 |
+
build-docs:
|
| 35 |
+
name: Build Docs
|
| 36 |
+
runs-on: ubuntu-latest
|
| 37 |
+
needs: [check-secrets]
|
| 38 |
+
|
| 39 |
+
steps:
|
| 40 |
+
- name: Checkout code
|
| 41 |
+
uses: actions/checkout@v2
|
| 42 |
+
|
| 43 |
+
- name: Setup python
|
| 44 |
+
uses: actions/setup-python@v2
|
| 45 |
+
with:
|
| 46 |
+
python-version: "3.11"
|
| 47 |
+
architecture: x64
|
| 48 |
+
|
| 49 |
+
- name: Install dev requirements
|
| 50 |
+
working-directory: ./docs
|
| 51 |
+
run: pip install -r requirements.txt
|
| 52 |
+
|
| 53 |
+
- name: Check branch docs building
|
| 54 |
+
working-directory: ./docs
|
| 55 |
+
if: needs.check-secrets.outputs.trigger-deploy != 'true'
|
| 56 |
+
run: make current-docs
|
| 57 |
+
|
| 58 |
+
- name: Generate multi-version docs
|
| 59 |
+
working-directory: ./docs
|
| 60 |
+
run: |
|
| 61 |
+
git fetch --prune --unshallow --tags
|
| 62 |
+
make multi-docs
|
| 63 |
+
|
| 64 |
+
- name: Upload docs artifact
|
| 65 |
+
uses: actions/upload-artifact@v4
|
| 66 |
+
with:
|
| 67 |
+
name: docs-html
|
| 68 |
+
path: ./docs/_build
|
| 69 |
+
|
| 70 |
+
deploy-docs:
|
| 71 |
+
name: Deploy Docs
|
| 72 |
+
runs-on: ubuntu-latest
|
| 73 |
+
needs: [check-secrets, build-docs]
|
| 74 |
+
if: needs.check-secrets.outputs.trigger-deploy == 'true'
|
| 75 |
+
|
| 76 |
+
steps:
|
| 77 |
+
- name: Download docs artifact
|
| 78 |
+
uses: actions/download-artifact@v4
|
| 79 |
+
with:
|
| 80 |
+
name: docs-html
|
| 81 |
+
path: ./docs/_build
|
| 82 |
+
|
| 83 |
+
- name: Deploy to gh-pages
|
| 84 |
+
uses: peaceiris/actions-gh-pages@v3
|
| 85 |
+
with:
|
| 86 |
+
github_token: ${{ secrets.GITHUB_TOKEN }}
|
| 87 |
+
publish_dir: ./docs/_build
|
.github/workflows/labeler.yml
ADDED
|
@@ -0,0 +1,17 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
| 2 |
+
# All rights reserved.
|
| 3 |
+
#
|
| 4 |
+
# SPDX-License-Identifier: BSD-3-Clause
|
| 5 |
+
|
| 6 |
+
name: "Pull Request Labeler"
|
| 7 |
+
on:
|
| 8 |
+
- pull_request_target
|
| 9 |
+
|
| 10 |
+
jobs:
|
| 11 |
+
labeler:
|
| 12 |
+
permissions:
|
| 13 |
+
contents: read
|
| 14 |
+
pull-requests: write
|
| 15 |
+
runs-on: ubuntu-latest
|
| 16 |
+
steps:
|
| 17 |
+
- uses: actions/labeler@v6
|
.github/workflows/license-check.yaml
ADDED
|
@@ -0,0 +1,136 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
| 2 |
+
# All rights reserved.
|
| 3 |
+
#
|
| 4 |
+
# SPDX-License-Identifier: BSD-3-Clause
|
| 5 |
+
|
| 6 |
+
name: Check Python Dependency Licenses
|
| 7 |
+
|
| 8 |
+
on:
|
| 9 |
+
pull_request:
|
| 10 |
+
types: [opened, synchronize, reopened]
|
| 11 |
+
|
| 12 |
+
concurrency:
|
| 13 |
+
group: ${{ github.workflow }}-${{ github.ref }}
|
| 14 |
+
cancel-in-progress: true
|
| 15 |
+
|
| 16 |
+
jobs:
|
| 17 |
+
license-check:
|
| 18 |
+
runs-on: ubuntu-24.04
|
| 19 |
+
|
| 20 |
+
steps:
|
| 21 |
+
- name: Checkout code
|
| 22 |
+
uses: actions/checkout@v3
|
| 23 |
+
|
| 24 |
+
# - name: Install jq
|
| 25 |
+
# run: sudo apt-get update && sudo apt-get install -y jq
|
| 26 |
+
|
| 27 |
+
- name: Clean up disk space
|
| 28 |
+
run: |
|
| 29 |
+
rm -rf /opt/hostedtoolcache
|
| 30 |
+
rm -rf /usr/share/dotnet
|
| 31 |
+
rm -rf /opt/ghc
|
| 32 |
+
docker container prune -f
|
| 33 |
+
docker image prune -af
|
| 34 |
+
docker volume prune -f || true
|
| 35 |
+
|
| 36 |
+
|
| 37 |
+
- name: Set up Python
|
| 38 |
+
uses: actions/setup-python@v4
|
| 39 |
+
with:
|
| 40 |
+
python-version: '3.11' # Adjust as needed
|
| 41 |
+
|
| 42 |
+
- name: Install dependencies using ./isaaclab.sh -i
|
| 43 |
+
run: |
|
| 44 |
+
# first install isaac sim
|
| 45 |
+
pip install --upgrade pip
|
| 46 |
+
pip install 'isaacsim[all,extscache]==${{ vars.ISAACSIM_BASE_VERSION || '5.0.0' }}' --extra-index-url https://pypi.nvidia.com
|
| 47 |
+
chmod +x ./isaaclab.sh # Make sure the script is executable
|
| 48 |
+
# install all lab dependencies
|
| 49 |
+
./isaaclab.sh -i
|
| 50 |
+
|
| 51 |
+
- name: Install pip-licenses
|
| 52 |
+
run: |
|
| 53 |
+
pip install pip-licenses
|
| 54 |
+
pip install -r tools/template/requirements.txt
|
| 55 |
+
pip install -r docs/requirements.txt
|
| 56 |
+
|
| 57 |
+
# Optional: Print the license report for visibility
|
| 58 |
+
- name: Print License Report
|
| 59 |
+
run: pip-licenses --from=mixed --format=markdown
|
| 60 |
+
|
| 61 |
+
# Print pipdeptree
|
| 62 |
+
- name: Print pipdeptree
|
| 63 |
+
run: |
|
| 64 |
+
pip install pipdeptree
|
| 65 |
+
pipdeptree
|
| 66 |
+
|
| 67 |
+
- name: Check licenses against whitelist and exceptions
|
| 68 |
+
run: |
|
| 69 |
+
# Define the whitelist of allowed licenses
|
| 70 |
+
ALLOWED_LICENSES="MIT Apache BSD ISC zlib"
|
| 71 |
+
|
| 72 |
+
# Load the exceptions list from the exceptions.json file
|
| 73 |
+
EXCEPTIONS_FILE=".github/workflows/license-exceptions.json"
|
| 74 |
+
|
| 75 |
+
# Initialize counter for failed packages
|
| 76 |
+
FAILED_PACKAGES=0
|
| 77 |
+
|
| 78 |
+
# Get the list of installed packages and their licenses
|
| 79 |
+
pip-licenses --from=mixed --format=json > licenses.json
|
| 80 |
+
|
| 81 |
+
# Check the output of pip-licenses to ensure it is valid JSON
|
| 82 |
+
if ! jq empty licenses.json; then
|
| 83 |
+
echo "ERROR: Failed to parse pip-licenses output. Exiting..."
|
| 84 |
+
exit 1
|
| 85 |
+
fi
|
| 86 |
+
|
| 87 |
+
# Split ALLOWED_LICENSES into individual words
|
| 88 |
+
IFS=' ' read -r -a allowed_licenses <<< "$ALLOWED_LICENSES"
|
| 89 |
+
|
| 90 |
+
# Loop through the installed packages and their licenses
|
| 91 |
+
for pkg in $(jq -r '.[].Name' licenses.json); do
|
| 92 |
+
LICENSE=$(jq -r --arg pkg "$pkg" '.[] | select(.Name == $pkg) | .License' licenses.json)
|
| 93 |
+
|
| 94 |
+
# Check if any of the allowed licenses are a substring of the package's license
|
| 95 |
+
match_found=false
|
| 96 |
+
for allowed_license in "${allowed_licenses[@]}"; do
|
| 97 |
+
if [[ "$LICENSE" == *"$allowed_license"* ]]; then
|
| 98 |
+
match_found=true
|
| 99 |
+
break
|
| 100 |
+
fi
|
| 101 |
+
done
|
| 102 |
+
|
| 103 |
+
if [ "$match_found" = false ]; then
|
| 104 |
+
# Check if the package is in the exceptions list
|
| 105 |
+
EXCEPTION=$(jq -r --arg pkg "$pkg" --arg license "$LICENSE" \
|
| 106 |
+
'.[] | select(.package == $pkg)' "$EXCEPTIONS_FILE")
|
| 107 |
+
|
| 108 |
+
# If the package is in the exceptions list
|
| 109 |
+
if [ -n "$EXCEPTION" ]; then
|
| 110 |
+
# If the license is provided in the exceptions list, check the license
|
| 111 |
+
EXCEPTION_LICENSE=$(echo "$EXCEPTION" | jq -r '.license')
|
| 112 |
+
|
| 113 |
+
# echo "Comparing licenses for $pkg:"
|
| 114 |
+
# echo " EXCEPTION_LICENSE='${EXCEPTION_LICENSE}' (len=${#EXCEPTION_LICENSE})"
|
| 115 |
+
# echo " LICENSE='${LICENSE}' (len=${#LICENSE})"
|
| 116 |
+
|
| 117 |
+
# If the exceptions list has a license and doesn't match the current license
|
| 118 |
+
if [ "$EXCEPTION_LICENSE" != "null" ] && [ "$EXCEPTION_LICENSE" != "$LICENSE" ]; then
|
| 119 |
+
echo "ERROR: $pkg has license: $LICENSE"
|
| 120 |
+
FAILED_PACKAGES=$((FAILED_PACKAGES + 1)) # Increment the counter
|
| 121 |
+
fi
|
| 122 |
+
else
|
| 123 |
+
# If the package is not in the exceptions list
|
| 124 |
+
echo "ERROR: $pkg has license: $LICENSE"
|
| 125 |
+
FAILED_PACKAGES=$((FAILED_PACKAGES + 1)) # Increment the counter
|
| 126 |
+
fi
|
| 127 |
+
fi
|
| 128 |
+
done
|
| 129 |
+
|
| 130 |
+
# After all packages are processed, check if there were any errors
|
| 131 |
+
if [ "$FAILED_PACKAGES" -gt 0 ]; then
|
| 132 |
+
echo "ERROR: $FAILED_PACKAGES packages were flagged."
|
| 133 |
+
exit 1 # Fail the build
|
| 134 |
+
else
|
| 135 |
+
echo "All packages were checked."
|
| 136 |
+
fi
|
.github/workflows/license-exceptions.json
ADDED
|
@@ -0,0 +1,448 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
+
"package": "isaaclab",
|
| 4 |
+
"license": null
|
| 5 |
+
},
|
| 6 |
+
{
|
| 7 |
+
"package": "isaaclab_assets",
|
| 8 |
+
"license": null
|
| 9 |
+
},
|
| 10 |
+
{
|
| 11 |
+
"package": "isaaclab_contrib",
|
| 12 |
+
"license": null
|
| 13 |
+
},
|
| 14 |
+
{
|
| 15 |
+
"package": "isaaclab_mimic",
|
| 16 |
+
"license": null
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"package": "isaaclab_rl",
|
| 20 |
+
"license": null
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"package": "isaaclab_tasks",
|
| 24 |
+
"license": null
|
| 25 |
+
},
|
| 26 |
+
{
|
| 27 |
+
"package": "isaacsim",
|
| 28 |
+
"license": null
|
| 29 |
+
},
|
| 30 |
+
{
|
| 31 |
+
"package": "isaacsim-app",
|
| 32 |
+
"license": null
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"package": "isaacsim-asset",
|
| 36 |
+
"license": null
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"package": "isaacsim-benchmark",
|
| 40 |
+
"license": null
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"package": "isaacsim-code-editor",
|
| 44 |
+
"license": null
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"package": "isaacsim-core",
|
| 48 |
+
"license": null
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"package": "isaacsim-cortex",
|
| 52 |
+
"license": null
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"package": "isaacsim-example",
|
| 56 |
+
"license": null
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"package": "isaacsim-extscache-kit",
|
| 60 |
+
"license": null
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"package": "isaacsim-extscache-kit-sdk",
|
| 64 |
+
"license": null
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"package": "isaacsim-extscache-physics",
|
| 68 |
+
"license": null
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"package": "isaacsim-gui",
|
| 72 |
+
"license": null
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"package": "isaacsim-kernel",
|
| 76 |
+
"license": null
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"package": "isaacsim-replicator",
|
| 80 |
+
"license": null
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"package": "isaacsim-rl",
|
| 84 |
+
"license": null
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"package": "isaacsim-robot",
|
| 88 |
+
"license": null
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"package": "isaacsim-robot-motion",
|
| 92 |
+
"license": null
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"package": "isaacsim-robot-setup",
|
| 96 |
+
"license": null
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"package": "isaacsim-ros1",
|
| 100 |
+
"license": null
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"package": "isaacsim-ros2",
|
| 104 |
+
"license": null
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"package": "isaacsim-sensor",
|
| 108 |
+
"license": null
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"package": "isaacsim-storage",
|
| 112 |
+
"license": null
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"package": "isaacsim-template",
|
| 116 |
+
"license": null
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"package": "isaacsim-test",
|
| 120 |
+
"license": null
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"package": "isaacsim-utils",
|
| 124 |
+
"license": null
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"package": "nvidia-cublas-cu12",
|
| 128 |
+
"license": null
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"package": "nvidia-cuda-cupti-cu12",
|
| 132 |
+
"license": null
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"package": "nvidia-cuda-nvrtc-cu12",
|
| 136 |
+
"license": null
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"package": "nvidia-cuda-runtime-cu12",
|
| 140 |
+
"license": null
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"package": "nvidia-cudnn-cu12",
|
| 144 |
+
"license": null
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"package": "nvidia-cufft-cu12",
|
| 148 |
+
"license": null
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"package": "nvidia-cufile-cu12",
|
| 152 |
+
"license": null
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"package": "nvidia-curand-cu12",
|
| 156 |
+
"license": null
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"package": "nvidia-cusolver-cu12",
|
| 160 |
+
"license": null
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"package": "nvidia-cusparse-cu12",
|
| 164 |
+
"license": null
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"package": "nvidia-cusparselt-cu12",
|
| 168 |
+
"license": null
|
| 169 |
+
},
|
| 170 |
+
{
|
| 171 |
+
"package": "nvidia-nccl-cu12",
|
| 172 |
+
"license": null
|
| 173 |
+
},
|
| 174 |
+
{
|
| 175 |
+
"package": "nvidia-nvjitlink-cu12",
|
| 176 |
+
"license": null
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"package": "nvidia-nvtx-cu12",
|
| 180 |
+
"license": null
|
| 181 |
+
},
|
| 182 |
+
{
|
| 183 |
+
"package": "omniverse-kit",
|
| 184 |
+
"license": null
|
| 185 |
+
},
|
| 186 |
+
{
|
| 187 |
+
"package": "warp-lang",
|
| 188 |
+
"license": null
|
| 189 |
+
},
|
| 190 |
+
{
|
| 191 |
+
"package": "cmeel",
|
| 192 |
+
"license": "UNKNOWN",
|
| 193 |
+
"comment": "BSD"
|
| 194 |
+
},
|
| 195 |
+
{
|
| 196 |
+
"package": "cmeel-assimp",
|
| 197 |
+
"license": "UNKNOWN",
|
| 198 |
+
"comment": "BSD"
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"package": "cmeel-boost",
|
| 202 |
+
"license": "BSL-1.0",
|
| 203 |
+
"comment": "BSL"
|
| 204 |
+
},
|
| 205 |
+
{
|
| 206 |
+
"package": "cmeel-console-bridge",
|
| 207 |
+
"license": "Zlib",
|
| 208 |
+
"comment": "ZLIBL"
|
| 209 |
+
},
|
| 210 |
+
{
|
| 211 |
+
"package": "cmeel-octomap",
|
| 212 |
+
"license": "UNKNOWN",
|
| 213 |
+
"comment": "BSD"
|
| 214 |
+
},
|
| 215 |
+
{
|
| 216 |
+
"package": "cmeel-qhull",
|
| 217 |
+
"license": "UNKNOWN",
|
| 218 |
+
"comment": "custom / OSRB"
|
| 219 |
+
},
|
| 220 |
+
{
|
| 221 |
+
"package": "cmeel-tinyxml",
|
| 222 |
+
"license": "Zlib",
|
| 223 |
+
"comment": "ZLIBL"
|
| 224 |
+
},
|
| 225 |
+
{
|
| 226 |
+
"package": "cmeel-urdfdom",
|
| 227 |
+
"license": "UNKNOWN",
|
| 228 |
+
"comment": "BSD"
|
| 229 |
+
},
|
| 230 |
+
{
|
| 231 |
+
"package": "cmeel-zlib",
|
| 232 |
+
"license": "Zlib",
|
| 233 |
+
"comment": "ZLIBL"
|
| 234 |
+
},
|
| 235 |
+
{
|
| 236 |
+
"package": "matplotlib",
|
| 237 |
+
"license": "Python Software Foundation License"
|
| 238 |
+
},
|
| 239 |
+
{
|
| 240 |
+
"package": "certifi",
|
| 241 |
+
"license": "Mozilla Public License 2.0 (MPL 2.0)"
|
| 242 |
+
},
|
| 243 |
+
{
|
| 244 |
+
"package": "rl_games",
|
| 245 |
+
"license": "UNKNOWN",
|
| 246 |
+
"comment": "MIT"
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"package": "robomimic",
|
| 250 |
+
"license": "UNKNOWN",
|
| 251 |
+
"comment": "MIT"
|
| 252 |
+
},
|
| 253 |
+
{
|
| 254 |
+
"package": "hpp-fcl",
|
| 255 |
+
"license": "UNKNOWN",
|
| 256 |
+
"comment": "BSD"
|
| 257 |
+
},
|
| 258 |
+
{
|
| 259 |
+
"package": "pin",
|
| 260 |
+
"license": "UNKNOWN",
|
| 261 |
+
"comment": "BSD"
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"package": "eigenpy",
|
| 265 |
+
"license": "UNKNOWN",
|
| 266 |
+
"comment": "BSD"
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"package": "qpsolvers",
|
| 270 |
+
"license": "GNU Lesser General Public License v3 (LGPLv3)",
|
| 271 |
+
"comment": "OSRB"
|
| 272 |
+
},
|
| 273 |
+
{
|
| 274 |
+
"package": "quadprog",
|
| 275 |
+
"license": "GNU General Public License v2 or later (GPLv2+)",
|
| 276 |
+
"comment": "OSRB"
|
| 277 |
+
},
|
| 278 |
+
{
|
| 279 |
+
"package": "Markdown",
|
| 280 |
+
"license": "UNKNOWN",
|
| 281 |
+
"comment": "BSD"
|
| 282 |
+
},
|
| 283 |
+
{
|
| 284 |
+
"package": "anytree",
|
| 285 |
+
"license": "UNKNOWN",
|
| 286 |
+
"comment": "Apache"
|
| 287 |
+
},
|
| 288 |
+
{
|
| 289 |
+
"package": "click",
|
| 290 |
+
"license": "UNKNOWN",
|
| 291 |
+
"comment": "BSD"
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"package": "egl_probe",
|
| 295 |
+
"license": "UNKNOWN",
|
| 296 |
+
"comment": "MIT"
|
| 297 |
+
},
|
| 298 |
+
{
|
| 299 |
+
"package": "filelock",
|
| 300 |
+
"license": "Unlicense",
|
| 301 |
+
"comment": "no condition"
|
| 302 |
+
},
|
| 303 |
+
{
|
| 304 |
+
"package": "proglog",
|
| 305 |
+
"license": "UNKNOWN",
|
| 306 |
+
"comment": "MIT"
|
| 307 |
+
},
|
| 308 |
+
{
|
| 309 |
+
"package": "termcolor",
|
| 310 |
+
"license": "UNKNOWN",
|
| 311 |
+
"comment": "MIT"
|
| 312 |
+
},
|
| 313 |
+
{
|
| 314 |
+
"package": "typing_extensions",
|
| 315 |
+
"license": "Python Software Foundation License",
|
| 316 |
+
"comment": "PSFL / OSRB"
|
| 317 |
+
},
|
| 318 |
+
{
|
| 319 |
+
"package": "urllib3",
|
| 320 |
+
"license": "UNKNOWN",
|
| 321 |
+
"comment": "MIT"
|
| 322 |
+
},
|
| 323 |
+
{
|
| 324 |
+
"package": "h5py",
|
| 325 |
+
"license": "UNKNOWN",
|
| 326 |
+
"comment": "BSD"
|
| 327 |
+
},
|
| 328 |
+
{
|
| 329 |
+
"package": "pillow",
|
| 330 |
+
"license": "UNKNOWN",
|
| 331 |
+
"comment": "MIT"
|
| 332 |
+
},
|
| 333 |
+
{
|
| 334 |
+
"package": "pygame",
|
| 335 |
+
"license": "GNU Library or Lesser General Public License (LGPL)",
|
| 336 |
+
"comment": "OSRB"
|
| 337 |
+
},
|
| 338 |
+
{
|
| 339 |
+
"package": "scikit-learn",
|
| 340 |
+
"license": "UNKNOWN",
|
| 341 |
+
"comment": "BSD"
|
| 342 |
+
},
|
| 343 |
+
{
|
| 344 |
+
"package": "tensorboardX",
|
| 345 |
+
"license": "UNKNOWN",
|
| 346 |
+
"comment": "MIT"
|
| 347 |
+
},
|
| 348 |
+
{
|
| 349 |
+
"package": "attrs",
|
| 350 |
+
"license": "UNKNOWN",
|
| 351 |
+
"comment": "MIT"
|
| 352 |
+
},
|
| 353 |
+
{
|
| 354 |
+
"package": "jsonschema",
|
| 355 |
+
"license": "UNKNOWN",
|
| 356 |
+
"comment": "MIT"
|
| 357 |
+
},
|
| 358 |
+
{
|
| 359 |
+
"package": "jsonschema-specifications",
|
| 360 |
+
"license": "UNKNOWN",
|
| 361 |
+
"comment": "MIT"
|
| 362 |
+
},
|
| 363 |
+
{
|
| 364 |
+
"package": "referencing",
|
| 365 |
+
"license": "UNKNOWN",
|
| 366 |
+
"comment": "MIT"
|
| 367 |
+
},
|
| 368 |
+
{
|
| 369 |
+
"package": "regex",
|
| 370 |
+
"license": "UNKNOWN",
|
| 371 |
+
"comment": "Apache 2.0"
|
| 372 |
+
},
|
| 373 |
+
{
|
| 374 |
+
"package": "anyio",
|
| 375 |
+
"license": "UNKNOWN",
|
| 376 |
+
"comment": "MIT"
|
| 377 |
+
},
|
| 378 |
+
{
|
| 379 |
+
"package" : "hf-xet",
|
| 380 |
+
"license" : "UNKNOWN",
|
| 381 |
+
"comment": "Apache 2.0"
|
| 382 |
+
},
|
| 383 |
+
{
|
| 384 |
+
"package": "rpds-py",
|
| 385 |
+
"license" : "UNKNOWN",
|
| 386 |
+
"comment": "MIT"
|
| 387 |
+
},
|
| 388 |
+
{
|
| 389 |
+
"package": "typing-inspection",
|
| 390 |
+
"license" : "UNKNOWN",
|
| 391 |
+
"comment": "MIT"
|
| 392 |
+
},
|
| 393 |
+
{
|
| 394 |
+
"package": "ml_dtypes",
|
| 395 |
+
"license" : "UNKNOWN",
|
| 396 |
+
"comment": "Apache 2.0"
|
| 397 |
+
},
|
| 398 |
+
{
|
| 399 |
+
"package": "zipp",
|
| 400 |
+
"license" : "UNKNOWN",
|
| 401 |
+
"comment": "MIT"
|
| 402 |
+
},
|
| 403 |
+
{
|
| 404 |
+
"package": "fsspec",
|
| 405 |
+
"license" : "UNKNOWN",
|
| 406 |
+
"comment": "BSD"
|
| 407 |
+
},
|
| 408 |
+
{
|
| 409 |
+
"package": "numpy-quaternion",
|
| 410 |
+
"license": "UNKNOWN",
|
| 411 |
+
"comment": "MIT"
|
| 412 |
+
},
|
| 413 |
+
{
|
| 414 |
+
"package": "aiohappyeyeballs",
|
| 415 |
+
"license": "Other/Proprietary License; Python Software Foundation License",
|
| 416 |
+
"comment": "PSFL / OSRB"
|
| 417 |
+
},
|
| 418 |
+
{
|
| 419 |
+
"package": "cffi",
|
| 420 |
+
"license": "UNKNOWN",
|
| 421 |
+
"comment": "MIT"
|
| 422 |
+
},
|
| 423 |
+
{
|
| 424 |
+
"package": "trio",
|
| 425 |
+
"license": "UNKNOWN",
|
| 426 |
+
"comment": "MIT"
|
| 427 |
+
},
|
| 428 |
+
{
|
| 429 |
+
"package": "pipdeptree",
|
| 430 |
+
"license": "UNKNOWN",
|
| 431 |
+
"comment": "MIT"
|
| 432 |
+
},
|
| 433 |
+
{
|
| 434 |
+
"package": "msgpack",
|
| 435 |
+
"license": "UNKNOWN",
|
| 436 |
+
"comment": "Apache 2.0"
|
| 437 |
+
},
|
| 438 |
+
{
|
| 439 |
+
"package": "onnx-ir",
|
| 440 |
+
"license": "UNKNOWN",
|
| 441 |
+
"comment": "Apache 2.0"
|
| 442 |
+
},
|
| 443 |
+
{
|
| 444 |
+
"package": "matplotlib-inline",
|
| 445 |
+
"license": "UNKNOWN",
|
| 446 |
+
"comment": "BSD-3"
|
| 447 |
+
}
|
| 448 |
+
]
|
.github/workflows/postmerge-ci.yml
ADDED
|
@@ -0,0 +1,170 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
| 2 |
+
# All rights reserved.
|
| 3 |
+
#
|
| 4 |
+
# SPDX-License-Identifier: BSD-3-Clause
|
| 5 |
+
|
| 6 |
+
name: Post-Merge CI
|
| 7 |
+
|
| 8 |
+
on:
|
| 9 |
+
push:
|
| 10 |
+
branches:
|
| 11 |
+
- main
|
| 12 |
+
- devel
|
| 13 |
+
- release/**
|
| 14 |
+
|
| 15 |
+
# Concurrency control to prevent parallel runs
|
| 16 |
+
concurrency:
|
| 17 |
+
group: postmerge-ci-${{ github.ref }}
|
| 18 |
+
cancel-in-progress: true
|
| 19 |
+
|
| 20 |
+
permissions:
|
| 21 |
+
contents: read
|
| 22 |
+
|
| 23 |
+
env:
|
| 24 |
+
NGC_API_KEY: ${{ secrets.NGC_API_KEY }}
|
| 25 |
+
ISAACSIM_BASE_IMAGE: ${{ vars.ISAACSIM_BASE_IMAGE || 'nvcr.io/nvidia/isaac-sim' }}
|
| 26 |
+
ISAACSIM_BASE_VERSIONS_STRING: ${{ vars.ISAACSIM_BASE_VERSIONS_STRING || '5.1.0' }}
|
| 27 |
+
ISAACLAB_IMAGE_NAME: ${{ vars.ISAACLAB_IMAGE_NAME || 'isaac-lab-base' }}
|
| 28 |
+
|
| 29 |
+
jobs:
|
| 30 |
+
build-and-push-images:
|
| 31 |
+
runs-on: [self-hosted, gpu]
|
| 32 |
+
timeout-minutes: 180
|
| 33 |
+
environment:
|
| 34 |
+
name: postmerge-production
|
| 35 |
+
url: https://github.com/${{ github.repository }}
|
| 36 |
+
env:
|
| 37 |
+
DOCKER_HOST: unix:///var/run/docker.sock
|
| 38 |
+
DOCKER_TLS_CERTDIR: ""
|
| 39 |
+
|
| 40 |
+
steps:
|
| 41 |
+
- name: Checkout Code
|
| 42 |
+
uses: actions/checkout@v4
|
| 43 |
+
with:
|
| 44 |
+
fetch-depth: 0
|
| 45 |
+
lfs: true
|
| 46 |
+
|
| 47 |
+
- name: Set up QEMU
|
| 48 |
+
uses: docker/setup-qemu-action@v3
|
| 49 |
+
with:
|
| 50 |
+
platforms: linux/arm64
|
| 51 |
+
|
| 52 |
+
- name: Set up Docker Buildx
|
| 53 |
+
uses: docker/setup-buildx-action@v3
|
| 54 |
+
with:
|
| 55 |
+
platforms: linux/amd64,linux/arm64
|
| 56 |
+
driver-opts: |
|
| 57 |
+
image=moby/buildkit:buildx-stable-1
|
| 58 |
+
|
| 59 |
+
- name: Login to NGC
|
| 60 |
+
run: |
|
| 61 |
+
# Only attempt NGC login if API key is available
|
| 62 |
+
if [ -n "${{ env.NGC_API_KEY }}" ]; then
|
| 63 |
+
echo "Logging into NGC registry..."
|
| 64 |
+
docker login -u \$oauthtoken -p ${{ env.NGC_API_KEY }} nvcr.io
|
| 65 |
+
echo "✅ Successfully logged into NGC registry"
|
| 66 |
+
else
|
| 67 |
+
echo "⚠️ NGC_API_KEY not available - skipping NGC login"
|
| 68 |
+
echo "This is normal when secrets are not configured"
|
| 69 |
+
fi
|
| 70 |
+
|
| 71 |
+
- name: Build and Push Docker Images
|
| 72 |
+
run: |
|
| 73 |
+
# Determine branch name
|
| 74 |
+
BRANCH_NAME="${{ github.ref_name }}"
|
| 75 |
+
|
| 76 |
+
# Replace '/' with '-' and remove any invalid characters for Docker tag
|
| 77 |
+
SAFE_BRANCH_NAME=$(echo $BRANCH_NAME | sed 's/[^a-zA-Z0-9._-]/-/g')
|
| 78 |
+
|
| 79 |
+
# Use "latest" if branch name is empty or only contains invalid characters
|
| 80 |
+
if [ -z "$SAFE_BRANCH_NAME" ]; then
|
| 81 |
+
SAFE_BRANCH_NAME="latest"
|
| 82 |
+
fi
|
| 83 |
+
|
| 84 |
+
# Get the git repository short name
|
| 85 |
+
REPO_SHORT_NAME="${{ github.event.repository.name }}"
|
| 86 |
+
if [ -z "$REPO_SHORT_NAME" ]; then
|
| 87 |
+
REPO_SHORT_NAME="verification"
|
| 88 |
+
fi
|
| 89 |
+
|
| 90 |
+
echo "Building images for branch: $BRANCH_NAME"
|
| 91 |
+
echo "Safe branch name: $SAFE_BRANCH_NAME"
|
| 92 |
+
echo "Repository name: $REPO_SHORT_NAME"
|
| 93 |
+
echo "IsaacSim versions: ${{ env.ISAACSIM_BASE_VERSIONS_STRING }}"
|
| 94 |
+
|
| 95 |
+
# Parse the env variable string into an array
|
| 96 |
+
IMAGE_BASE_VERSIONS_STRING="${{ env.ISAACSIM_BASE_VERSIONS_STRING }}"
|
| 97 |
+
# Use set to split the string into positional parameters, then convert to array
|
| 98 |
+
set -- $IMAGE_BASE_VERSIONS_STRING
|
| 99 |
+
IMAGE_BASE_VERSIONS=("$@")
|
| 100 |
+
|
| 101 |
+
for IMAGE_BASE_VERSION in "${IMAGE_BASE_VERSIONS[@]}"; do
|
| 102 |
+
IMAGE_BASE_VERSION=$(echo "$IMAGE_BASE_VERSION" | tr -d '[:space:]')
|
| 103 |
+
|
| 104 |
+
# Skip empty versions
|
| 105 |
+
if [ -z "$IMAGE_BASE_VERSION" ]; then
|
| 106 |
+
continue
|
| 107 |
+
fi
|
| 108 |
+
|
| 109 |
+
# Combine repo short name and branch name for the tag
|
| 110 |
+
COMBINED_TAG="${REPO_SHORT_NAME}-${SAFE_BRANCH_NAME}-${IMAGE_BASE_VERSION}"
|
| 111 |
+
BUILD_TAG="${COMBINED_TAG}-b${{ github.run_number }}"
|
| 112 |
+
|
| 113 |
+
# Determine if multiarch is supported by inspecting the base image manifest
|
| 114 |
+
echo "Checking if base image supports multiarch..."
|
| 115 |
+
BASE_IMAGE_FULL="${{ env.ISAACSIM_BASE_IMAGE }}:${IMAGE_BASE_VERSION}"
|
| 116 |
+
|
| 117 |
+
# Get architectures from the base image manifest
|
| 118 |
+
ARCHITECTURES=$(docker manifest inspect "$BASE_IMAGE_FULL" 2>/dev/null | grep -o '"architecture": "[^"]*"' | cut -d'"' -f4 | sort -u)
|
| 119 |
+
|
| 120 |
+
if [ -z "$ARCHITECTURES" ]; then
|
| 121 |
+
echo "Could not inspect base image manifest: $BASE_IMAGE_FULL"
|
| 122 |
+
echo "Defaulting to AMD64 only for safety"
|
| 123 |
+
BUILD_PLATFORMS="linux/amd64"
|
| 124 |
+
else
|
| 125 |
+
echo "Base image architectures found:"
|
| 126 |
+
echo "$ARCHITECTURES" | sed 's/^/ - /'
|
| 127 |
+
|
| 128 |
+
# Check if both amd64 and arm64 are present
|
| 129 |
+
HAS_AMD64=$(echo "$ARCHITECTURES" | grep -c "amd64" || true)
|
| 130 |
+
HAS_ARM64=$(echo "$ARCHITECTURES" | grep -c "arm64" || true)
|
| 131 |
+
|
| 132 |
+
if [ "$HAS_AMD64" -gt 0 ] && [ "$HAS_ARM64" -gt 0 ]; then
|
| 133 |
+
echo "Base image supports multiarch (amd64 + arm64)"
|
| 134 |
+
BUILD_PLATFORMS="linux/amd64,linux/arm64"
|
| 135 |
+
elif [ "$HAS_AMD64" -gt 0 ]; then
|
| 136 |
+
echo "Base image only supports amd64"
|
| 137 |
+
BUILD_PLATFORMS="linux/amd64"
|
| 138 |
+
elif [ "$HAS_ARM64" -gt 0 ]; then
|
| 139 |
+
echo "Base image only supports arm64"
|
| 140 |
+
BUILD_PLATFORMS="linux/arm64"
|
| 141 |
+
else
|
| 142 |
+
echo "Unknown architecture support, defaulting to amd64"
|
| 143 |
+
BUILD_PLATFORMS="linux/amd64"
|
| 144 |
+
fi
|
| 145 |
+
fi
|
| 146 |
+
|
| 147 |
+
echo "Building image: ${{ env.ISAACLAB_IMAGE_NAME }}:$COMBINED_TAG"
|
| 148 |
+
echo "IsaacSim version: $IMAGE_BASE_VERSION"
|
| 149 |
+
echo "Base image: $BASE_IMAGE_FULL"
|
| 150 |
+
echo "Target platforms: $BUILD_PLATFORMS"
|
| 151 |
+
|
| 152 |
+
# Build Docker image once with both tags for multiple architectures
|
| 153 |
+
docker buildx build \
|
| 154 |
+
--platform $BUILD_PLATFORMS \
|
| 155 |
+
--progress=plain \
|
| 156 |
+
-t ${{ env.ISAACLAB_IMAGE_NAME }}:$COMBINED_TAG \
|
| 157 |
+
-t ${{ env.ISAACLAB_IMAGE_NAME }}:$BUILD_TAG \
|
| 158 |
+
--build-arg ISAACSIM_BASE_IMAGE_ARG=${{ env.ISAACSIM_BASE_IMAGE }} \
|
| 159 |
+
--build-arg ISAACSIM_VERSION_ARG=$IMAGE_BASE_VERSION \
|
| 160 |
+
--build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim \
|
| 161 |
+
--build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab \
|
| 162 |
+
--build-arg DOCKER_USER_HOME_ARG=/root \
|
| 163 |
+
--cache-from type=gha \
|
| 164 |
+
--cache-to type=gha,mode=max \
|
| 165 |
+
-f docker/Dockerfile.base \
|
| 166 |
+
--push .
|
| 167 |
+
|
| 168 |
+
echo "✅ Successfully built and pushed: ${{ env.ISAACLAB_IMAGE_NAME }}:$COMBINED_TAG (platforms: $BUILD_PLATFORMS)"
|
| 169 |
+
echo "✅ Successfully built and pushed: ${{ env.ISAACLAB_IMAGE_NAME }}:$BUILD_TAG (platforms: $BUILD_PLATFORMS)"
|
| 170 |
+
done
|
.github/workflows/pre-commit.yaml
ADDED
|
@@ -0,0 +1,20 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
| 2 |
+
# All rights reserved.
|
| 3 |
+
#
|
| 4 |
+
# SPDX-License-Identifier: BSD-3-Clause
|
| 5 |
+
|
| 6 |
+
name: Run linters using pre-commit
|
| 7 |
+
|
| 8 |
+
on:
|
| 9 |
+
pull_request:
|
| 10 |
+
types: [opened, synchronize, reopened]
|
| 11 |
+
|
| 12 |
+
jobs:
|
| 13 |
+
pre-commit:
|
| 14 |
+
runs-on: ubuntu-latest
|
| 15 |
+
steps:
|
| 16 |
+
- uses: actions/checkout@v3
|
| 17 |
+
- uses: actions/setup-python@v3
|
| 18 |
+
with:
|
| 19 |
+
python-version: "3.12"
|
| 20 |
+
- uses: pre-commit/action@v3.0.0
|
.gitignore
ADDED
|
@@ -0,0 +1,78 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# C++
|
| 2 |
+
**/cmake-build*/
|
| 3 |
+
**/build*/
|
| 4 |
+
**/*.so
|
| 5 |
+
**/*.log*
|
| 6 |
+
|
| 7 |
+
# Omniverse
|
| 8 |
+
**/*.dmp
|
| 9 |
+
**/.thumbs
|
| 10 |
+
|
| 11 |
+
# No USD files allowed in the repo
|
| 12 |
+
# **/*.usd
|
| 13 |
+
**/*.usda
|
| 14 |
+
**/*.usdc
|
| 15 |
+
**/*.usdz
|
| 16 |
+
|
| 17 |
+
# Python
|
| 18 |
+
.DS_Store
|
| 19 |
+
**/*.egg-info/
|
| 20 |
+
**/__pycache__/
|
| 21 |
+
**/.pytest_cache/
|
| 22 |
+
**/*.pyc
|
| 23 |
+
**/*.pb
|
| 24 |
+
|
| 25 |
+
# Docker/Singularity
|
| 26 |
+
**/*.sif
|
| 27 |
+
docker/cluster/exports/
|
| 28 |
+
docker/.container.cfg
|
| 29 |
+
|
| 30 |
+
# IDE
|
| 31 |
+
**/.idea/
|
| 32 |
+
**/.vscode/
|
| 33 |
+
# Don't ignore the top-level .vscode directory as it is
|
| 34 |
+
# used to configure VS Code settings
|
| 35 |
+
!.vscode
|
| 36 |
+
|
| 37 |
+
# Outputs
|
| 38 |
+
**/output/*
|
| 39 |
+
**/outputs/*
|
| 40 |
+
**/videos/*
|
| 41 |
+
**/wandb/*
|
| 42 |
+
**/.neptune/*
|
| 43 |
+
docker/artifacts/
|
| 44 |
+
*.tmp
|
| 45 |
+
|
| 46 |
+
# Doc Outputs
|
| 47 |
+
**/docs/_build/*
|
| 48 |
+
**/generated/*
|
| 49 |
+
|
| 50 |
+
# Isaac-Sim packman
|
| 51 |
+
_isaac_sim*
|
| 52 |
+
_repo
|
| 53 |
+
_build
|
| 54 |
+
.lastformat
|
| 55 |
+
|
| 56 |
+
# RL-Games
|
| 57 |
+
**/runs/*
|
| 58 |
+
**/logs/*
|
| 59 |
+
**/recordings/*
|
| 60 |
+
|
| 61 |
+
# Pre-Trained Checkpoints
|
| 62 |
+
/.pretrained_checkpoints/
|
| 63 |
+
|
| 64 |
+
# Teleop Recorded Dataset
|
| 65 |
+
/large_datasets/
|
| 66 |
+
|
| 67 |
+
# Tests
|
| 68 |
+
tests/
|
| 69 |
+
|
| 70 |
+
# Docker history
|
| 71 |
+
.isaac-lab-docker-history
|
| 72 |
+
|
| 73 |
+
# TacSL sensor
|
| 74 |
+
**/tactile_record/*
|
| 75 |
+
**/gelsight_r15_data/*
|
| 76 |
+
|
| 77 |
+
# IsaacSim Assets
|
| 78 |
+
assets/
|
.pre-commit-config.yaml
ADDED
|
@@ -0,0 +1,71 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
| 2 |
+
# All rights reserved.
|
| 3 |
+
#
|
| 4 |
+
# SPDX-License-Identifier: BSD-3-Clause
|
| 5 |
+
|
| 6 |
+
repos:
|
| 7 |
+
- repo: https://github.com/astral-sh/ruff-pre-commit
|
| 8 |
+
rev: v0.14.10
|
| 9 |
+
hooks:
|
| 10 |
+
# Run the linter
|
| 11 |
+
- id: ruff
|
| 12 |
+
args: ["--fix"]
|
| 13 |
+
# Run the formatter
|
| 14 |
+
- id: ruff-format
|
| 15 |
+
- repo: https://github.com/pre-commit/pre-commit-hooks
|
| 16 |
+
rev: v6.0.0
|
| 17 |
+
hooks:
|
| 18 |
+
- id: trailing-whitespace
|
| 19 |
+
- id: check-symlinks
|
| 20 |
+
- id: destroyed-symlinks
|
| 21 |
+
- id: check-added-large-files
|
| 22 |
+
args: ["--maxkb=2000"] # restrict files more than 2 MB. Should use git-lfs instead.
|
| 23 |
+
- id: check-yaml
|
| 24 |
+
- id: check-merge-conflict
|
| 25 |
+
- id: check-case-conflict
|
| 26 |
+
- id: check-executables-have-shebangs
|
| 27 |
+
- id: check-toml
|
| 28 |
+
- id: end-of-file-fixer
|
| 29 |
+
- id: check-shebang-scripts-are-executable
|
| 30 |
+
- id: detect-private-key
|
| 31 |
+
- id: debug-statements
|
| 32 |
+
- repo: https://github.com/codespell-project/codespell
|
| 33 |
+
rev: v2.4.1
|
| 34 |
+
hooks:
|
| 35 |
+
- id: codespell
|
| 36 |
+
additional_dependencies:
|
| 37 |
+
- tomli
|
| 38 |
+
exclude: "CONTRIBUTORS.md|docs/source/setup/walkthrough/concepts_env_design.rst"
|
| 39 |
+
# FIXME: Figure out why this is getting stuck under VPN.
|
| 40 |
+
# - repo: https://github.com/RobertCraigie/pyright-python
|
| 41 |
+
# rev: v1.1.315
|
| 42 |
+
# hooks:
|
| 43 |
+
# - id: pyright
|
| 44 |
+
- repo: https://github.com/Lucas-C/pre-commit-hooks
|
| 45 |
+
rev: v1.5.5
|
| 46 |
+
hooks:
|
| 47 |
+
- id: insert-license
|
| 48 |
+
files: \.(py|ya?ml)$
|
| 49 |
+
args:
|
| 50 |
+
# - --remove-header # Remove existing license headers. Useful when updating license.
|
| 51 |
+
- --license-filepath
|
| 52 |
+
- .github/LICENSE_HEADER.txt
|
| 53 |
+
- --use-current-year
|
| 54 |
+
exclude: "source/isaaclab_mimic/|scripts/imitation_learning/isaaclab_mimic/"
|
| 55 |
+
# Apache 2.0 license for mimic files
|
| 56 |
+
- repo: https://github.com/Lucas-C/pre-commit-hooks
|
| 57 |
+
rev: v1.5.5
|
| 58 |
+
hooks:
|
| 59 |
+
- id: insert-license
|
| 60 |
+
files: ^(source/isaaclab_mimic|scripts/imitation_learning/isaaclab_mimic)/.*\.py$
|
| 61 |
+
args:
|
| 62 |
+
# - --remove-header # Remove existing license headers. Useful when updating license.
|
| 63 |
+
- --license-filepath
|
| 64 |
+
- .github/LICENSE_HEADER_MIMIC.txt
|
| 65 |
+
- --use-current-year
|
| 66 |
+
- repo: https://github.com/pre-commit/pygrep-hooks
|
| 67 |
+
rev: v1.10.0
|
| 68 |
+
hooks:
|
| 69 |
+
- id: rst-backticks
|
| 70 |
+
- id: rst-directive-colons
|
| 71 |
+
- id: rst-inline-touching-normal
|
.vscode/.gitignore
ADDED
|
@@ -0,0 +1,10 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Note: These files are kept for development purposes only.
|
| 2 |
+
!tools/launch.template.json
|
| 3 |
+
!tools/settings.template.json
|
| 4 |
+
!tools/setup_vscode.py
|
| 5 |
+
!extensions.json
|
| 6 |
+
!tasks.json
|
| 7 |
+
|
| 8 |
+
# Ignore all other files
|
| 9 |
+
.python.env
|
| 10 |
+
*.json
|
.vscode/extensions.json
ADDED
|
@@ -0,0 +1,12 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
// See http://go.microsoft.com/fwlink/?LinkId=827846
|
| 3 |
+
// for the documentation about the extensions.json format
|
| 4 |
+
"recommendations": [
|
| 5 |
+
"ms-vscode.cpptools",
|
| 6 |
+
"ms-python.python",
|
| 7 |
+
"ms-python.vscode-pylance",
|
| 8 |
+
"ban.spellright",
|
| 9 |
+
"ms-iot.vscode-ros",
|
| 10 |
+
"ExecutableBookProject.myst-highlight",
|
| 11 |
+
]
|
| 12 |
+
}
|
.vscode/launch.json
ADDED
|
@@ -0,0 +1,61 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
| 1 |
+
// This file is a template and is automatically generated by the setup_vscode.py script.
|
| 2 |
+
// Do not edit this file directly.
|
| 3 |
+
//
|
| 4 |
+
// Generated from: /home/user/isaaclab/.vscode/tools/launch.template.json
|
| 5 |
+
{
|
| 6 |
+
// Use IntelliSense to learn about possible attributes.
|
| 7 |
+
// Hover to view descriptions of existing attributes.
|
| 8 |
+
// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
|
| 9 |
+
"version": "0.2.0",
|
| 10 |
+
"configurations": [
|
| 11 |
+
{
|
| 12 |
+
"name": "Python: Current File",
|
| 13 |
+
"type": "python",
|
| 14 |
+
"request": "launch",
|
| 15 |
+
"program": "${file}",
|
| 16 |
+
"console": "integratedTerminal"
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"name": "Python: Attach (windows-x86_64/linux-x86_64)",
|
| 20 |
+
"type": "python",
|
| 21 |
+
"request": "attach",
|
| 22 |
+
"port": 3000,
|
| 23 |
+
"host": "localhost"
|
| 24 |
+
},
|
| 25 |
+
{
|
| 26 |
+
"name": "Python: Train Environment",
|
| 27 |
+
"type": "python",
|
| 28 |
+
"request": "launch",
|
| 29 |
+
"args" : ["--task", "Isaac-Reach-Franka-v0", "--headless"],
|
| 30 |
+
"program": "${workspaceFolder}/scripts/reinforcement_learning/rsl_rl/train.py",
|
| 31 |
+
"console": "integratedTerminal"
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"name": "Python: Play Environment",
|
| 35 |
+
"type": "python",
|
| 36 |
+
"request": "launch",
|
| 37 |
+
"args" : ["--task", "Isaac-Reach-Franka-v0", "--num_envs", "32"],
|
| 38 |
+
"program": "${workspaceFolder}/scripts/reinforcement_learning/rsl_rl/play.py",
|
| 39 |
+
"console": "integratedTerminal"
|
| 40 |
+
},
|
| 41 |
+
{
|
| 42 |
+
"name": "Python: SinglePytest",
|
| 43 |
+
"type": "python",
|
| 44 |
+
"request": "launch",
|
| 45 |
+
"module": "pytest",
|
| 46 |
+
"args": [
|
| 47 |
+
"${file}"
|
| 48 |
+
],
|
| 49 |
+
"console": "integratedTerminal"
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "Python: ALL Pytest",
|
| 53 |
+
"type": "python",
|
| 54 |
+
"request": "launch",
|
| 55 |
+
"module": "pytest",
|
| 56 |
+
"args": ["source/isaaclab/test"],
|
| 57 |
+
"console": "integratedTerminal",
|
| 58 |
+
"justMyCode": false
|
| 59 |
+
}
|
| 60 |
+
]
|
| 61 |
+
}
|
.vscode/settings.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
// This file is a template and is automatically generated by the setup_vscode.py script.
|
| 2 |
+
// Do not edit this file directly.
|
| 3 |
+
//
|
| 4 |
+
// Generated from: /home/user/isaaclab/.vscode/tools/settings.template.json
|
| 5 |
+
{
|
| 6 |
+
"files.exclude": {
|
| 7 |
+
"**/.mypy_cache": true,
|
| 8 |
+
"**/__pycache__": true,
|
| 9 |
+
"**/*.egg-info": true
|
| 10 |
+
},
|
| 11 |
+
"files.associations": {
|
| 12 |
+
"*.tpp": "cpp",
|
| 13 |
+
"*.kit": "toml",
|
| 14 |
+
"*.rst": "restructuredtext"
|
| 15 |
+
},
|
| 16 |
+
"editor.rulers": [120],
|
| 17 |
+
|
| 18 |
+
// files to be ignored by the linter
|
| 19 |
+
"files.watcherExclude": {
|
| 20 |
+
"**/.git/objects/**": true,
|
| 21 |
+
"**/.git/subtree-cache/**": true,
|
| 22 |
+
"**/node_modules/**": true,
|
| 23 |
+
"**/_isaac_sim/**": true,
|
| 24 |
+
"**/_compiler/**": true
|
| 25 |
+
},
|
| 26 |
+
// Configuration for spelling checker
|
| 27 |
+
"spellright.language": [
|
| 28 |
+
"en-US-10-1."
|
| 29 |
+
],
|
| 30 |
+
"spellright.documentTypes": [
|
| 31 |
+
"markdown",
|
| 32 |
+
"latex",
|
| 33 |
+
"plaintext",
|
| 34 |
+
"cpp",
|
| 35 |
+
"asciidoc",
|
| 36 |
+
"python",
|
| 37 |
+
"restructuredtext"
|
| 38 |
+
],
|
| 39 |
+
"cSpell.words": [
|
| 40 |
+
"literalinclude",
|
| 41 |
+
"linenos",
|
| 42 |
+
"instanceable",
|
| 43 |
+
"isaacSim",
|
| 44 |
+
"jacobians",
|
| 45 |
+
"pointcloud",
|
| 46 |
+
"ridgeback",
|
| 47 |
+
"rllib",
|
| 48 |
+
"robomimic",
|
| 49 |
+
"teleoperation",
|
| 50 |
+
"xform",
|
| 51 |
+
"numpy",
|
| 52 |
+
"flatcache",
|
| 53 |
+
"physx",
|
| 54 |
+
"dpad",
|
| 55 |
+
"gamepad",
|
| 56 |
+
"linspace",
|
| 57 |
+
"upsampled",
|
| 58 |
+
"downsampled",
|
| 59 |
+
"arange",
|
| 60 |
+
"discretization",
|
| 61 |
+
"trimesh",
|
| 62 |
+
"uninstanceable",
|
| 63 |
+
"coeff",
|
| 64 |
+
"prestartup"
|
| 65 |
+
],
|
| 66 |
+
// This enables python language server. Seems to work slightly better than jedi:
|
| 67 |
+
"python.languageServer": "Pylance",
|
| 68 |
+
// Use ruff as a formatter and linter
|
| 69 |
+
"ruff.configuration": "${workspaceFolder}/pyproject.toml",
|
| 70 |
+
// Use docstring generator
|
| 71 |
+
"autoDocstring.docstringFormat": "google",
|
| 72 |
+
"autoDocstring.guessTypes": true,
|
| 73 |
+
// Python environment path
|
| 74 |
+
// note: the default interpreter is overridden when user selects a workspace interpreter
|
| 75 |
+
// in the status bar. For example, the virtual environment python interpreter
|
| 76 |
+
"python.defaultInterpreterPath": "/home/user/miniconda3/envs/env_isaaclab_51/bin/python",
|
| 77 |
+
// ROS distribution
|
| 78 |
+
"ros.distro": "noetic",
|
| 79 |
+
// Language specific settings
|
| 80 |
+
"[python]": {
|
| 81 |
+
"editor.tabSize": 4
|
| 82 |
+
},
|
| 83 |
+
"[restructuredtext]": {
|
| 84 |
+
"editor.tabSize": 2
|
| 85 |
+
},
|
| 86 |
+
// Python extra paths
|
| 87 |
+
// Note: this is filled up when "./isaaclab.sh -i" is run
|
| 88 |
+
"python.analysis.extraPaths": [
|
| 89 |
+
"${workspaceFolder}/source/isaaclab_tasks",
|
| 90 |
+
"${workspaceFolder}/source/isaaclab",
|
| 91 |
+
"${workspaceFolder}/source/isaaclab_assets",
|
| 92 |
+
"${workspaceFolder}/source/isaaclab_contrib",
|
| 93 |
+
"${workspaceFolder}/source/isaaclab_mimic",
|
| 94 |
+
"${workspaceFolder}/source/isaaclab_rl"
|
| 95 |
+
]
|
| 96 |
+
}
|
.vscode/tasks.json
ADDED
|
@@ -0,0 +1,29 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
// See https://go.microsoft.com/fwlink/?LinkId=733558
|
| 3 |
+
// for the documentation about the tasks.json format
|
| 4 |
+
"version": "2.0.0",
|
| 5 |
+
"tasks": [
|
| 6 |
+
{
|
| 7 |
+
// setup python env
|
| 8 |
+
"label": "setup_python_env",
|
| 9 |
+
"type": "shell",
|
| 10 |
+
"linux": {
|
| 11 |
+
"command": "${workspaceFolder}/isaaclab.sh -p ${workspaceFolder}/.vscode/tools/setup_vscode.py"
|
| 12 |
+
},
|
| 13 |
+
"windows": {
|
| 14 |
+
"command": "${workspaceFolder}/isaaclab.bat -p ${workspaceFolder}/.vscode/tools/setup_vscode.py"
|
| 15 |
+
}
|
| 16 |
+
},
|
| 17 |
+
{
|
| 18 |
+
// run formatter
|
| 19 |
+
"label": "run_formatter",
|
| 20 |
+
"type": "shell",
|
| 21 |
+
"linux": {
|
| 22 |
+
"command": "${workspaceFolder}/isaaclab.sh --format"
|
| 23 |
+
},
|
| 24 |
+
"windows": {
|
| 25 |
+
"command": "${workspaceFolder}/isaaclab.bat --format"
|
| 26 |
+
}
|
| 27 |
+
}
|
| 28 |
+
]
|
| 29 |
+
}
|
.vscode/tools/launch.template.json
ADDED
|
@@ -0,0 +1,57 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
// Use IntelliSense to learn about possible attributes.
|
| 3 |
+
// Hover to view descriptions of existing attributes.
|
| 4 |
+
// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
|
| 5 |
+
"version": "0.2.0",
|
| 6 |
+
"configurations": [
|
| 7 |
+
{
|
| 8 |
+
"name": "Python: Current File",
|
| 9 |
+
"type": "python",
|
| 10 |
+
"request": "launch",
|
| 11 |
+
"program": "${file}",
|
| 12 |
+
"console": "integratedTerminal"
|
| 13 |
+
},
|
| 14 |
+
{
|
| 15 |
+
"name": "Python: Attach (windows-x86_64/linux-x86_64)",
|
| 16 |
+
"type": "python",
|
| 17 |
+
"request": "attach",
|
| 18 |
+
"port": 3000,
|
| 19 |
+
"host": "localhost"
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"name": "Python: Train Environment",
|
| 23 |
+
"type": "python",
|
| 24 |
+
"request": "launch",
|
| 25 |
+
"args" : ["--task", "Isaac-Reach-Franka-v0", "--headless"],
|
| 26 |
+
"program": "${workspaceFolder}/scripts/reinforcement_learning/rsl_rl/train.py",
|
| 27 |
+
"console": "integratedTerminal"
|
| 28 |
+
},
|
| 29 |
+
{
|
| 30 |
+
"name": "Python: Play Environment",
|
| 31 |
+
"type": "python",
|
| 32 |
+
"request": "launch",
|
| 33 |
+
"args" : ["--task", "Isaac-Reach-Franka-v0", "--num_envs", "32"],
|
| 34 |
+
"program": "${workspaceFolder}/scripts/reinforcement_learning/rsl_rl/play.py",
|
| 35 |
+
"console": "integratedTerminal"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"name": "Python: SinglePytest",
|
| 39 |
+
"type": "python",
|
| 40 |
+
"request": "launch",
|
| 41 |
+
"module": "pytest",
|
| 42 |
+
"args": [
|
| 43 |
+
"${file}"
|
| 44 |
+
],
|
| 45 |
+
"console": "integratedTerminal"
|
| 46 |
+
},
|
| 47 |
+
{
|
| 48 |
+
"name": "Python: ALL Pytest",
|
| 49 |
+
"type": "python",
|
| 50 |
+
"request": "launch",
|
| 51 |
+
"module": "pytest",
|
| 52 |
+
"args": ["source/isaaclab/test"],
|
| 53 |
+
"console": "integratedTerminal",
|
| 54 |
+
"justMyCode": false
|
| 55 |
+
}
|
| 56 |
+
]
|
| 57 |
+
}
|
.vscode/tools/settings.template.json
ADDED
|
@@ -0,0 +1,85 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"files.exclude": {
|
| 3 |
+
"**/.mypy_cache": true,
|
| 4 |
+
"**/__pycache__": true,
|
| 5 |
+
"**/*.egg-info": true
|
| 6 |
+
},
|
| 7 |
+
"files.associations": {
|
| 8 |
+
"*.tpp": "cpp",
|
| 9 |
+
"*.kit": "toml",
|
| 10 |
+
"*.rst": "restructuredtext"
|
| 11 |
+
},
|
| 12 |
+
"editor.rulers": [120],
|
| 13 |
+
|
| 14 |
+
// files to be ignored by the linter
|
| 15 |
+
"files.watcherExclude": {
|
| 16 |
+
"**/.git/objects/**": true,
|
| 17 |
+
"**/.git/subtree-cache/**": true,
|
| 18 |
+
"**/node_modules/**": true,
|
| 19 |
+
"**/_isaac_sim/**": true,
|
| 20 |
+
"**/_compiler/**": true
|
| 21 |
+
},
|
| 22 |
+
// Configuration for spelling checker
|
| 23 |
+
"spellright.language": [
|
| 24 |
+
"en-US-10-1."
|
| 25 |
+
],
|
| 26 |
+
"spellright.documentTypes": [
|
| 27 |
+
"markdown",
|
| 28 |
+
"latex",
|
| 29 |
+
"plaintext",
|
| 30 |
+
"cpp",
|
| 31 |
+
"asciidoc",
|
| 32 |
+
"python",
|
| 33 |
+
"restructuredtext"
|
| 34 |
+
],
|
| 35 |
+
"cSpell.words": [
|
| 36 |
+
"literalinclude",
|
| 37 |
+
"linenos",
|
| 38 |
+
"instanceable",
|
| 39 |
+
"isaacSim",
|
| 40 |
+
"jacobians",
|
| 41 |
+
"pointcloud",
|
| 42 |
+
"ridgeback",
|
| 43 |
+
"rllib",
|
| 44 |
+
"robomimic",
|
| 45 |
+
"teleoperation",
|
| 46 |
+
"xform",
|
| 47 |
+
"numpy",
|
| 48 |
+
"flatcache",
|
| 49 |
+
"physx",
|
| 50 |
+
"dpad",
|
| 51 |
+
"gamepad",
|
| 52 |
+
"linspace",
|
| 53 |
+
"upsampled",
|
| 54 |
+
"downsampled",
|
| 55 |
+
"arange",
|
| 56 |
+
"discretization",
|
| 57 |
+
"trimesh",
|
| 58 |
+
"uninstanceable",
|
| 59 |
+
"coeff",
|
| 60 |
+
"prestartup"
|
| 61 |
+
],
|
| 62 |
+
// This enables python language server. Seems to work slightly better than jedi:
|
| 63 |
+
"python.languageServer": "Pylance",
|
| 64 |
+
// Use ruff as a formatter and linter
|
| 65 |
+
"ruff.configuration": "${workspaceFolder}/pyproject.toml",
|
| 66 |
+
// Use docstring generator
|
| 67 |
+
"autoDocstring.docstringFormat": "google",
|
| 68 |
+
"autoDocstring.guessTypes": true,
|
| 69 |
+
// Python environment path
|
| 70 |
+
// note: the default interpreter is overridden when user selects a workspace interpreter
|
| 71 |
+
// in the status bar. For example, the virtual environment python interpreter
|
| 72 |
+
"python.defaultInterpreterPath": "${workspaceFolder}/_isaac_sim/python.sh",
|
| 73 |
+
// ROS distribution
|
| 74 |
+
"ros.distro": "noetic",
|
| 75 |
+
// Language specific settings
|
| 76 |
+
"[python]": {
|
| 77 |
+
"editor.tabSize": 4
|
| 78 |
+
},
|
| 79 |
+
"[restructuredtext]": {
|
| 80 |
+
"editor.tabSize": 2
|
| 81 |
+
},
|
| 82 |
+
// Python extra paths
|
| 83 |
+
// Note: this is filled up when "./isaaclab.sh -i" is run
|
| 84 |
+
"python.analysis.extraPaths": []
|
| 85 |
+
}
|
.vscode/tools/setup_vscode.py
ADDED
|
@@ -0,0 +1,205 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
| 2 |
+
# All rights reserved.
|
| 3 |
+
#
|
| 4 |
+
# SPDX-License-Identifier: BSD-3-Clause
|
| 5 |
+
|
| 6 |
+
"""This script sets up the vs-code settings for the Isaac Lab project.
|
| 7 |
+
|
| 8 |
+
This script merges the python.analysis.extraPaths from the "{ISAACSIM_DIR}/.vscode/settings.json" file into
|
| 9 |
+
the ".vscode/settings.json" file.
|
| 10 |
+
|
| 11 |
+
This is necessary because Isaac Sim 2022.2.1 onwards does not add the necessary python packages to the python path
|
| 12 |
+
when the "setup_python_env.sh" is run as part of the vs-code launch configuration.
|
| 13 |
+
"""
|
| 14 |
+
|
| 15 |
+
import re
|
| 16 |
+
import sys
|
| 17 |
+
import os
|
| 18 |
+
import pathlib
|
| 19 |
+
|
| 20 |
+
|
| 21 |
+
ISAACLAB_DIR = pathlib.Path(__file__).parents[2]
|
| 22 |
+
"""Path to the Isaac Lab directory."""
|
| 23 |
+
|
| 24 |
+
try:
|
| 25 |
+
import isaacsim # noqa: F401
|
| 26 |
+
|
| 27 |
+
isaacsim_dir = os.environ.get("ISAAC_PATH", "")
|
| 28 |
+
except ModuleNotFoundError or ImportError:
|
| 29 |
+
isaacsim_dir = os.path.join(ISAACLAB_DIR, "_isaac_sim")
|
| 30 |
+
except EOFError:
|
| 31 |
+
print("Unable to trigger EULA acceptance. This is likely due to the script being run in a non-interactive shell.")
|
| 32 |
+
print("Please run the script in an interactive shell to accept the EULA.")
|
| 33 |
+
print("Skipping the setup of the VSCode settings...")
|
| 34 |
+
sys.exit(0)
|
| 35 |
+
|
| 36 |
+
# check if the isaac-sim directory exists
|
| 37 |
+
if not os.path.exists(isaacsim_dir):
|
| 38 |
+
raise FileNotFoundError(
|
| 39 |
+
f"Could not find the isaac-sim directory: {isaacsim_dir}. There are two possible reasons for this:"
|
| 40 |
+
f"\n\t1. The Isaac Sim directory does not exist as a symlink at: {os.path.join(ISAACLAB_DIR, '_isaac_sim')}"
|
| 41 |
+
"\n\t2. The script could not import the 'isaacsim' package. This could be due to the 'isaacsim' package not "
|
| 42 |
+
"being installed in the Python environment.\n"
|
| 43 |
+
"\nPlease make sure that the Isaac Sim directory exists or that the 'isaacsim' package is installed."
|
| 44 |
+
)
|
| 45 |
+
|
| 46 |
+
ISAACSIM_DIR = isaacsim_dir
|
| 47 |
+
"""Path to the isaac-sim directory."""
|
| 48 |
+
|
| 49 |
+
|
| 50 |
+
def overwrite_python_analysis_extra_paths(isaaclab_settings: str) -> str:
|
| 51 |
+
"""Overwrite the python.analysis.extraPaths in the Isaac Lab settings file.
|
| 52 |
+
|
| 53 |
+
The extraPaths are replaced with the path names from the isaac-sim settings file that exists in the
|
| 54 |
+
"{ISAACSIM_DIR}/.vscode/settings.json" file.
|
| 55 |
+
|
| 56 |
+
If the isaac-sim settings file does not exist, the extraPaths are not overwritten.
|
| 57 |
+
|
| 58 |
+
Args:
|
| 59 |
+
isaaclab_settings: The settings string to use as template.
|
| 60 |
+
|
| 61 |
+
Returns:
|
| 62 |
+
The settings string with overwritten python analysis extra paths.
|
| 63 |
+
"""
|
| 64 |
+
# isaac-sim settings
|
| 65 |
+
isaacsim_vscode_filename = os.path.join(ISAACSIM_DIR, ".vscode", "settings.json")
|
| 66 |
+
|
| 67 |
+
# we use the isaac-sim settings file to get the python.analysis.extraPaths for kit extensions
|
| 68 |
+
# if this file does not exist, we will not add any extra paths
|
| 69 |
+
if os.path.exists(isaacsim_vscode_filename):
|
| 70 |
+
# read the path names from the isaac-sim settings file
|
| 71 |
+
with open(isaacsim_vscode_filename) as f:
|
| 72 |
+
vscode_settings = f.read()
|
| 73 |
+
# extract the path names
|
| 74 |
+
# search for the python.analysis.extraPaths section and extract the contents
|
| 75 |
+
settings = re.search(
|
| 76 |
+
r"\"python.analysis.extraPaths\": \[.*?\]", vscode_settings, flags=re.MULTILINE | re.DOTALL
|
| 77 |
+
)
|
| 78 |
+
settings = settings.group(0)
|
| 79 |
+
settings = settings.split('"python.analysis.extraPaths": [')[-1]
|
| 80 |
+
settings = settings.split("]")[0]
|
| 81 |
+
|
| 82 |
+
# read the path names from the isaac-sim settings file
|
| 83 |
+
path_names = settings.split(",")
|
| 84 |
+
path_names = [path_name.strip().strip('"') for path_name in path_names]
|
| 85 |
+
path_names = [path_name for path_name in path_names if len(path_name) > 0]
|
| 86 |
+
|
| 87 |
+
# change the path names to be relative to the Isaac Lab directory
|
| 88 |
+
rel_path = os.path.relpath(ISAACSIM_DIR, ISAACLAB_DIR)
|
| 89 |
+
path_names = ['"${workspaceFolder}/' + rel_path + "/" + path_name + '"' for path_name in path_names]
|
| 90 |
+
else:
|
| 91 |
+
path_names = []
|
| 92 |
+
print(
|
| 93 |
+
f"[WARN] Could not find Isaac Sim VSCode settings: {isaacsim_vscode_filename}."
|
| 94 |
+
"\n\tThis will result in missing 'python.analysis.extraPaths' in the VSCode"
|
| 95 |
+
"\n\tsettings, which limits the functionality of the Python language server."
|
| 96 |
+
"\n\tHowever, it does not affect the functionality of the Isaac Lab project."
|
| 97 |
+
"\n\tWe are working on a fix for this issue with the Isaac Sim team."
|
| 98 |
+
)
|
| 99 |
+
|
| 100 |
+
# add the path names that are in the Isaac Lab extensions directory
|
| 101 |
+
isaaclab_extensions = os.listdir(os.path.join(ISAACLAB_DIR, "source"))
|
| 102 |
+
path_names.extend(['"${workspaceFolder}/source/' + ext + '"' for ext in isaaclab_extensions])
|
| 103 |
+
|
| 104 |
+
# combine them into a single string
|
| 105 |
+
path_names = ",\n\t\t".expandtabs(4).join(path_names)
|
| 106 |
+
# deal with the path separator being different on Windows and Unix
|
| 107 |
+
path_names = path_names.replace("\\", "/")
|
| 108 |
+
|
| 109 |
+
# replace the path names in the Isaac Lab settings file with the path names parsed
|
| 110 |
+
isaaclab_settings = re.sub(
|
| 111 |
+
r"\"python.analysis.extraPaths\": \[.*?\]",
|
| 112 |
+
'"python.analysis.extraPaths": [\n\t\t'.expandtabs(4) + path_names + "\n\t]".expandtabs(4),
|
| 113 |
+
isaaclab_settings,
|
| 114 |
+
flags=re.DOTALL,
|
| 115 |
+
)
|
| 116 |
+
# return the Isaac Lab settings string
|
| 117 |
+
return isaaclab_settings
|
| 118 |
+
|
| 119 |
+
|
| 120 |
+
def overwrite_default_python_interpreter(isaaclab_settings: str) -> str:
|
| 121 |
+
"""Overwrite the default python interpreter in the Isaac Lab settings file.
|
| 122 |
+
|
| 123 |
+
The default python interpreter is replaced with the path to the python interpreter used by the
|
| 124 |
+
isaac-sim project. This is necessary because the default python interpreter is the one shipped with
|
| 125 |
+
isaac-sim.
|
| 126 |
+
|
| 127 |
+
Args:
|
| 128 |
+
isaaclab_settings: The settings string to use as template.
|
| 129 |
+
|
| 130 |
+
Returns:
|
| 131 |
+
The settings string with overwritten default python interpreter.
|
| 132 |
+
"""
|
| 133 |
+
# read executable name
|
| 134 |
+
python_exe = sys.executable.replace("\\", "/")
|
| 135 |
+
|
| 136 |
+
# We make an exception for replacing the default interpreter if the
|
| 137 |
+
# path (/kit/python/bin/python3) indicates that we are using a local/container
|
| 138 |
+
# installation of IsaacSim. We will preserve the calling script as the default, python.sh.
|
| 139 |
+
# We want to use python.sh because it modifies LD_LIBRARY_PATH and PYTHONPATH
|
| 140 |
+
# (among other envars) that we need for all of our dependencies to be accessible.
|
| 141 |
+
if "kit/python/bin/python3" in python_exe:
|
| 142 |
+
return isaaclab_settings
|
| 143 |
+
# replace the default python interpreter in the Isaac Lab settings file with the path to the
|
| 144 |
+
# python interpreter in the Isaac Lab directory
|
| 145 |
+
isaaclab_settings = re.sub(
|
| 146 |
+
r"\"python.defaultInterpreterPath\": \".*?\"",
|
| 147 |
+
f'"python.defaultInterpreterPath": "{python_exe}"',
|
| 148 |
+
isaaclab_settings,
|
| 149 |
+
flags=re.DOTALL,
|
| 150 |
+
)
|
| 151 |
+
# return the Isaac Lab settings file
|
| 152 |
+
return isaaclab_settings
|
| 153 |
+
|
| 154 |
+
|
| 155 |
+
def main():
|
| 156 |
+
# Isaac Lab template settings
|
| 157 |
+
isaaclab_vscode_template_filename = os.path.join(ISAACLAB_DIR, ".vscode", "tools", "settings.template.json")
|
| 158 |
+
# make sure the Isaac Lab template settings file exists
|
| 159 |
+
if not os.path.exists(isaaclab_vscode_template_filename):
|
| 160 |
+
raise FileNotFoundError(
|
| 161 |
+
f"Could not find the Isaac Lab template settings file: {isaaclab_vscode_template_filename}"
|
| 162 |
+
)
|
| 163 |
+
# read the Isaac Lab template settings file
|
| 164 |
+
with open(isaaclab_vscode_template_filename) as f:
|
| 165 |
+
isaaclab_template_settings = f.read()
|
| 166 |
+
|
| 167 |
+
# overwrite the python.analysis.extraPaths in the Isaac Lab settings file with the path names
|
| 168 |
+
isaaclab_settings = overwrite_python_analysis_extra_paths(isaaclab_template_settings)
|
| 169 |
+
# overwrite the default python interpreter in the Isaac Lab settings file with the path to the
|
| 170 |
+
# python interpreter used to call this script
|
| 171 |
+
isaaclab_settings = overwrite_default_python_interpreter(isaaclab_settings)
|
| 172 |
+
|
| 173 |
+
# add template notice to the top of the file
|
| 174 |
+
header_message = (
|
| 175 |
+
"// This file is a template and is automatically generated by the setup_vscode.py script.\n"
|
| 176 |
+
"// Do not edit this file directly.\n"
|
| 177 |
+
"// \n"
|
| 178 |
+
f"// Generated from: {isaaclab_vscode_template_filename}\n"
|
| 179 |
+
)
|
| 180 |
+
isaaclab_settings = header_message + isaaclab_settings
|
| 181 |
+
|
| 182 |
+
# write the Isaac Lab settings file
|
| 183 |
+
isaaclab_vscode_filename = os.path.join(ISAACLAB_DIR, ".vscode", "settings.json")
|
| 184 |
+
with open(isaaclab_vscode_filename, "w") as f:
|
| 185 |
+
f.write(isaaclab_settings)
|
| 186 |
+
|
| 187 |
+
# copy the launch.json file if it doesn't exist
|
| 188 |
+
isaaclab_vscode_launch_filename = os.path.join(ISAACLAB_DIR, ".vscode", "launch.json")
|
| 189 |
+
isaaclab_vscode_template_launch_filename = os.path.join(ISAACLAB_DIR, ".vscode", "tools", "launch.template.json")
|
| 190 |
+
if not os.path.exists(isaaclab_vscode_launch_filename):
|
| 191 |
+
# read template launch settings
|
| 192 |
+
with open(isaaclab_vscode_template_launch_filename) as f:
|
| 193 |
+
isaaclab_template_launch_settings = f.read()
|
| 194 |
+
# add header
|
| 195 |
+
header_message = header_message.replace(
|
| 196 |
+
isaaclab_vscode_template_filename, isaaclab_vscode_template_launch_filename
|
| 197 |
+
)
|
| 198 |
+
isaaclab_launch_settings = header_message + isaaclab_template_launch_settings
|
| 199 |
+
# write the Isaac Lab launch settings file
|
| 200 |
+
with open(isaaclab_vscode_launch_filename, "w") as f:
|
| 201 |
+
f.write(isaaclab_launch_settings)
|
| 202 |
+
|
| 203 |
+
|
| 204 |
+
if __name__ == "__main__":
|
| 205 |
+
main()
|
CITATION.cff
ADDED
|
@@ -0,0 +1,227 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
cff-version: 1.2.0
|
| 2 |
+
message: "If you use this software, please cite the technical report of Isaac Lab."
|
| 3 |
+
title: Isaac Lab
|
| 4 |
+
version: 2.3.0
|
| 5 |
+
repository-code: https://github.com/isaac-sim/IsaacLab
|
| 6 |
+
type: software
|
| 7 |
+
authors:
|
| 8 |
+
- name: Isaac Lab Project Developers
|
| 9 |
+
identifiers:
|
| 10 |
+
- type: url
|
| 11 |
+
value: https://github.com/isaac-sim/IsaacLab
|
| 12 |
+
- type: doi
|
| 13 |
+
value: 10.48550/arXiv.2511.04831
|
| 14 |
+
url: https://isaac-sim.github.io/IsaacLab
|
| 15 |
+
license: BSD-3-Clause
|
| 16 |
+
preferred-citation:
|
| 17 |
+
type: article
|
| 18 |
+
title: Isaac Lab - A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
|
| 19 |
+
authors:
|
| 20 |
+
- family-names: Mittal
|
| 21 |
+
given-names: Mayank
|
| 22 |
+
- family-names: Roth
|
| 23 |
+
given-names: Pascal
|
| 24 |
+
- family-names: Tigue
|
| 25 |
+
given-names: James
|
| 26 |
+
- family-names: Richard
|
| 27 |
+
given-names: Antoine
|
| 28 |
+
- family-names: Zhang
|
| 29 |
+
given-names: Octi
|
| 30 |
+
- family-names: Du
|
| 31 |
+
given-names: Peter
|
| 32 |
+
- family-names: Serrano-Muñoz
|
| 33 |
+
given-names: Antonio
|
| 34 |
+
- family-names: Yao
|
| 35 |
+
given-names: Xinjie
|
| 36 |
+
- family-names: Zurbrügg
|
| 37 |
+
given-names: René
|
| 38 |
+
- family-names: Rudin
|
| 39 |
+
given-names: Nikita
|
| 40 |
+
- family-names: Wawrzyniak
|
| 41 |
+
given-names: Lukasz
|
| 42 |
+
- family-names: Rakhsha
|
| 43 |
+
given-names: Milad
|
| 44 |
+
- family-names: Denzler
|
| 45 |
+
given-names: Alain
|
| 46 |
+
- family-names: Heiden
|
| 47 |
+
given-names: Eric
|
| 48 |
+
- family-names: Borovicka
|
| 49 |
+
given-names: Ales
|
| 50 |
+
- family-names: Ahmed
|
| 51 |
+
given-names: Ossama
|
| 52 |
+
- family-names: Akinola
|
| 53 |
+
given-names: Iretiayo
|
| 54 |
+
- family-names: Anwar
|
| 55 |
+
given-names: Abrar
|
| 56 |
+
- family-names: Carlson
|
| 57 |
+
given-names: Mark T.
|
| 58 |
+
- family-names: Feng
|
| 59 |
+
given-names: Ji Yuan
|
| 60 |
+
- family-names: Garg
|
| 61 |
+
given-names: Animesh
|
| 62 |
+
- family-names: Gasoto
|
| 63 |
+
given-names: Renato
|
| 64 |
+
- family-names: Gulich
|
| 65 |
+
given-names: Lionel
|
| 66 |
+
- family-names: Guo
|
| 67 |
+
given-names: Yijie
|
| 68 |
+
- family-names: Gussert
|
| 69 |
+
given-names: M.
|
| 70 |
+
- family-names: Hansen
|
| 71 |
+
given-names: Alex
|
| 72 |
+
- family-names: Kulkarni
|
| 73 |
+
given-names: Mihir
|
| 74 |
+
- family-names: Li
|
| 75 |
+
given-names: Chenran
|
| 76 |
+
- family-names: Liu
|
| 77 |
+
given-names: Wei
|
| 78 |
+
- family-names: Makoviychuk
|
| 79 |
+
given-names: Viktor
|
| 80 |
+
- family-names: Malczyk
|
| 81 |
+
given-names: Grzegorz
|
| 82 |
+
- family-names: Mazhar
|
| 83 |
+
given-names: Hammad
|
| 84 |
+
- family-names: Moghani
|
| 85 |
+
given-names: Masoud
|
| 86 |
+
- family-names: Murali
|
| 87 |
+
given-names: Adithyavairavan
|
| 88 |
+
- family-names: Noseworthy
|
| 89 |
+
given-names: Michael
|
| 90 |
+
- family-names: Poddubny
|
| 91 |
+
given-names: Alexander
|
| 92 |
+
- family-names: Ratliff
|
| 93 |
+
given-names: Nathan
|
| 94 |
+
- family-names: Rehberg
|
| 95 |
+
given-names: Welf
|
| 96 |
+
- family-names: Schwarke
|
| 97 |
+
given-names: Clemens
|
| 98 |
+
- family-names: Singh
|
| 99 |
+
given-names: Ritvik
|
| 100 |
+
- family-names: Smith
|
| 101 |
+
given-names: James Latham
|
| 102 |
+
- family-names: Tang
|
| 103 |
+
given-names: Bingjie
|
| 104 |
+
- family-names: Thaker
|
| 105 |
+
given-names: Ruchik
|
| 106 |
+
- family-names: Trepte
|
| 107 |
+
given-names: Matthew
|
| 108 |
+
- family-names: Van Wyk
|
| 109 |
+
given-names: Karl
|
| 110 |
+
- family-names: Yu
|
| 111 |
+
given-names: Fangzhou
|
| 112 |
+
- family-names: Millane
|
| 113 |
+
given-names: Alex
|
| 114 |
+
- family-names: Ramasamy
|
| 115 |
+
given-names: Vikram
|
| 116 |
+
- family-names: Steiner
|
| 117 |
+
given-names: Remo
|
| 118 |
+
- family-names: Subramanian
|
| 119 |
+
given-names: Sangeeta
|
| 120 |
+
- family-names: Volk
|
| 121 |
+
given-names: Clemens
|
| 122 |
+
- family-names: Chen
|
| 123 |
+
given-names: CY
|
| 124 |
+
- family-names: Jawale
|
| 125 |
+
given-names: Neel
|
| 126 |
+
- family-names: Kuruttukulam
|
| 127 |
+
given-names: Ashwin Varghese
|
| 128 |
+
- family-names: Lin
|
| 129 |
+
given-names: Michael A.
|
| 130 |
+
- family-names: Mandlekar
|
| 131 |
+
given-names: Ajay
|
| 132 |
+
- family-names: Patzwaldt
|
| 133 |
+
given-names: Karsten
|
| 134 |
+
- family-names: Welsh
|
| 135 |
+
given-names: John
|
| 136 |
+
- family-names: Lafleche
|
| 137 |
+
given-names: Jean-Francois
|
| 138 |
+
- family-names: Moënne-Loccoz
|
| 139 |
+
given-names: Nicolas
|
| 140 |
+
- family-names: Park
|
| 141 |
+
given-names: Soowan
|
| 142 |
+
- family-names: Stepinski
|
| 143 |
+
given-names: Rob
|
| 144 |
+
- family-names: Van Gelder
|
| 145 |
+
given-names: Dirk
|
| 146 |
+
- family-names: Amevor
|
| 147 |
+
given-names: Chris
|
| 148 |
+
- family-names: Carius
|
| 149 |
+
given-names: Jan
|
| 150 |
+
- family-names: Chang
|
| 151 |
+
given-names: Jumyung
|
| 152 |
+
- family-names: He Chen
|
| 153 |
+
given-names: Anka
|
| 154 |
+
- family-names: Ciechomski
|
| 155 |
+
given-names: Pablo de Heras
|
| 156 |
+
- family-names: Daviet
|
| 157 |
+
given-names: Gilles
|
| 158 |
+
- family-names: Mohajerani
|
| 159 |
+
given-names: Mohammad
|
| 160 |
+
- family-names: von Muralt
|
| 161 |
+
given-names: Julia
|
| 162 |
+
- family-names: Reutskyy
|
| 163 |
+
given-names: Viktor
|
| 164 |
+
- family-names: Sauter
|
| 165 |
+
given-names: Michael
|
| 166 |
+
- family-names: Schirm
|
| 167 |
+
given-names: Simon
|
| 168 |
+
- family-names: Shi
|
| 169 |
+
given-names: Eric L.
|
| 170 |
+
- family-names: Terdiman
|
| 171 |
+
given-names: Pierre
|
| 172 |
+
- family-names: Vilella
|
| 173 |
+
given-names: Kenny
|
| 174 |
+
- family-names: Widmer
|
| 175 |
+
given-names: Tobias
|
| 176 |
+
- family-names: Yeoman
|
| 177 |
+
given-names: Gordon
|
| 178 |
+
- family-names: Chen
|
| 179 |
+
given-names: Tiffany
|
| 180 |
+
- family-names: Grizan
|
| 181 |
+
given-names: Sergey
|
| 182 |
+
- family-names: Li
|
| 183 |
+
given-names: Cathy
|
| 184 |
+
- family-names: Li
|
| 185 |
+
given-names: Lotus
|
| 186 |
+
- family-names: Smith
|
| 187 |
+
given-names: Connor
|
| 188 |
+
- family-names: Wiltz
|
| 189 |
+
given-names: Rafael
|
| 190 |
+
- family-names: Alexis
|
| 191 |
+
given-names: Kostas
|
| 192 |
+
- family-names: Chang
|
| 193 |
+
given-names: Yan
|
| 194 |
+
- family-names: Fan
|
| 195 |
+
given-names: Linxi "Jim"
|
| 196 |
+
- family-names: Farshidian
|
| 197 |
+
given-names: Farbod
|
| 198 |
+
- family-names: Handa
|
| 199 |
+
given-names: Ankur
|
| 200 |
+
- family-names: Huang
|
| 201 |
+
given-names: Spencer
|
| 202 |
+
- family-names: Hutter
|
| 203 |
+
given-names: Marco
|
| 204 |
+
- family-names: Narang
|
| 205 |
+
given-names: Yashraj
|
| 206 |
+
- family-names: Pouya
|
| 207 |
+
given-names: Soha
|
| 208 |
+
- family-names: Sheng
|
| 209 |
+
given-names: Shiwei
|
| 210 |
+
- family-names: Zhu
|
| 211 |
+
given-names: Yuke
|
| 212 |
+
- family-names: Macklin
|
| 213 |
+
given-names: Miles
|
| 214 |
+
- family-names: Moravanszky
|
| 215 |
+
given-names: Adam
|
| 216 |
+
- family-names: Reist
|
| 217 |
+
given-names: Philipp
|
| 218 |
+
- family-names: Guo
|
| 219 |
+
given-names: Yunrong
|
| 220 |
+
- family-names: Hoeller
|
| 221 |
+
given-names: David
|
| 222 |
+
- family-names: State
|
| 223 |
+
given-names: Gavriel
|
| 224 |
+
journal: arXiv preprint arXiv:2511.04831
|
| 225 |
+
year: 2025
|
| 226 |
+
url: https://arxiv.org/abs/2511.04831
|
| 227 |
+
doi: 10.48550/arXiv.2511.04831
|
CONTRIBUTING.md
ADDED
|
@@ -0,0 +1,45 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Contribution Guidelines
|
| 2 |
+
|
| 3 |
+
Isaac Lab is a community maintained project. We wholeheartedly welcome contributions to the project to make
|
| 4 |
+
the framework more mature and useful for everyone. These may happen in forms of bug reports, feature requests,
|
| 5 |
+
design proposals and more.
|
| 6 |
+
|
| 7 |
+
For general information on how to contribute see
|
| 8 |
+
<https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html>.
|
| 9 |
+
|
| 10 |
+
---
|
| 11 |
+
|
| 12 |
+
Developer Certificate of Origin
|
| 13 |
+
Version 1.1
|
| 14 |
+
|
| 15 |
+
Copyright (C) 2004, 2006 The Linux Foundation and its contributors.
|
| 16 |
+
|
| 17 |
+
Everyone is permitted to copy and distribute verbatim copies of this
|
| 18 |
+
license document, but changing it is not allowed.
|
| 19 |
+
|
| 20 |
+
|
| 21 |
+
Developer's Certificate of Origin 1.1
|
| 22 |
+
|
| 23 |
+
By making a contribution to this project, I certify that:
|
| 24 |
+
|
| 25 |
+
(a) The contribution was created in whole or in part by me and I
|
| 26 |
+
have the right to submit it under the open source license
|
| 27 |
+
indicated in the file; or
|
| 28 |
+
|
| 29 |
+
(b) The contribution is based upon previous work that, to the best
|
| 30 |
+
of my knowledge, is covered under an appropriate open source
|
| 31 |
+
license and I have the right under that license to submit that
|
| 32 |
+
work with modifications, whether created in whole or in part
|
| 33 |
+
by me, under the same open source license (unless I am
|
| 34 |
+
permitted to submit under a different license), as indicated
|
| 35 |
+
in the file; or
|
| 36 |
+
|
| 37 |
+
(c) The contribution was provided directly to me by some other
|
| 38 |
+
person who certified (a), (b) or (c) and I have not modified
|
| 39 |
+
it.
|
| 40 |
+
|
| 41 |
+
(d) I understand and agree that this project and the contribution
|
| 42 |
+
are public and that a record of the contribution (including all
|
| 43 |
+
personal information I submit with it, including my sign-off) is
|
| 44 |
+
maintained indefinitely and may be redistributed consistent with
|
| 45 |
+
this project or the open source license(s) involved.
|
CONTRIBUTORS.md
ADDED
|
@@ -0,0 +1,188 @@
|
|
|
|
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|
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|
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|
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|
|
|
|
|
| 1 |
+
# Isaac Lab Developers and Contributors
|
| 2 |
+
|
| 3 |
+
This is the official list of Isaac Lab Project developers and contributors.
|
| 4 |
+
|
| 5 |
+
To see the full list of contributors, please check the revision history in the source control.
|
| 6 |
+
|
| 7 |
+
Guidelines for modifications:
|
| 8 |
+
|
| 9 |
+
* Please keep the **lists sorted alphabetically**.
|
| 10 |
+
* Names should be added to this file as: *individual names* or *organizations*.
|
| 11 |
+
* E-mail addresses are tracked elsewhere to avoid spam.
|
| 12 |
+
|
| 13 |
+
## Developers
|
| 14 |
+
|
| 15 |
+
* Boston Dynamics AI Institute, Inc.
|
| 16 |
+
* ETH Zurich
|
| 17 |
+
* NVIDIA Corporation & Affiliates
|
| 18 |
+
* University of Toronto
|
| 19 |
+
|
| 20 |
+
---
|
| 21 |
+
|
| 22 |
+
* Antonio Serrano-Muñoz
|
| 23 |
+
* Ben Johnston
|
| 24 |
+
* Brian McCann
|
| 25 |
+
* Clemens Schwarke
|
| 26 |
+
* David Hoeller
|
| 27 |
+
* Farbod Farshidian
|
| 28 |
+
* Hunter Hansen
|
| 29 |
+
* James Smith
|
| 30 |
+
* James Tigue
|
| 31 |
+
* Kelly (Yunrong) Guo
|
| 32 |
+
* Matthew Trepte
|
| 33 |
+
* Mayank Mittal
|
| 34 |
+
* Nikita Rudin
|
| 35 |
+
* Octi (Zhengyu) Zhang
|
| 36 |
+
* Pascal Roth
|
| 37 |
+
* Sheikh Dawood
|
| 38 |
+
* Ossama Ahmed
|
| 39 |
+
* Greg Attra
|
| 40 |
+
|
| 41 |
+
## Contributors
|
| 42 |
+
|
| 43 |
+
* Alessandro Assirelli
|
| 44 |
+
* Alex Omar
|
| 45 |
+
* Alice Zhou
|
| 46 |
+
* Amr Mousa
|
| 47 |
+
* Andrej Orsula
|
| 48 |
+
* Anton Bjørndahl Mortensen
|
| 49 |
+
* Antonin Raffin
|
| 50 |
+
* Arjun Bhardwaj
|
| 51 |
+
* Ashwin Varghese Kuruttukulam
|
| 52 |
+
* Bikram Pandit
|
| 53 |
+
* Bingjie Tang
|
| 54 |
+
* Brayden Zhang
|
| 55 |
+
* Brian Bingham
|
| 56 |
+
* Brian McCann
|
| 57 |
+
* Cameron Upright
|
| 58 |
+
* Calvin Yu
|
| 59 |
+
* Cathy Y. Li
|
| 60 |
+
* Cheng-Rong Lai
|
| 61 |
+
* Chenyu Yang
|
| 62 |
+
* Connor Smith
|
| 63 |
+
* CY (Chien-Ying) Chen
|
| 64 |
+
* David Yang
|
| 65 |
+
* Dhananjay Shendre
|
| 66 |
+
* Dongxuan Fan
|
| 67 |
+
* Dorsa Rohani
|
| 68 |
+
* Emily Sturman
|
| 69 |
+
* Emmanuel Ferdman
|
| 70 |
+
* Fabian Jenelten
|
| 71 |
+
* Felipe Mohr
|
| 72 |
+
* Felix Yu
|
| 73 |
+
* Gary Lvov
|
| 74 |
+
* Giulio Romualdi
|
| 75 |
+
* Grzegorz Malczyk
|
| 76 |
+
* Haoran Zhou
|
| 77 |
+
* Harsh Patel
|
| 78 |
+
* HoJin Jeon
|
| 79 |
+
* Hongwei Xiong
|
| 80 |
+
* Hongyu Li
|
| 81 |
+
* Hougant Chen
|
| 82 |
+
* Huihua Zhao
|
| 83 |
+
* Iretiayo Akinola
|
| 84 |
+
* Jack Zeng
|
| 85 |
+
* Jan Kerner
|
| 86 |
+
* Jean Tampon
|
| 87 |
+
* Jeonghwan Kim
|
| 88 |
+
* Jia Lin Yuan
|
| 89 |
+
* Jiakai Zhang
|
| 90 |
+
* Jinghuan Shang
|
| 91 |
+
* Jingzhou Liu
|
| 92 |
+
* Jinqi Wei
|
| 93 |
+
* Jinyeob Kim
|
| 94 |
+
* Johnson Sun
|
| 95 |
+
* Juana Du
|
| 96 |
+
* Kaixi Bao
|
| 97 |
+
* Kris Wilson
|
| 98 |
+
* Krishna Lakhi
|
| 99 |
+
* Kourosh Darvish
|
| 100 |
+
* Kousheek Chakraborty
|
| 101 |
+
* Lionel Gulich
|
| 102 |
+
* Lotus Li
|
| 103 |
+
* Louis Le Lay
|
| 104 |
+
* Lorenz Wellhausen
|
| 105 |
+
* Lukas Fröhlich
|
| 106 |
+
* Manuel Schweiger
|
| 107 |
+
* Masoud Moghani
|
| 108 |
+
* Mateo Guaman Castro
|
| 109 |
+
* Maurice Rahme
|
| 110 |
+
* Michael Gussert
|
| 111 |
+
* Michael Noseworthy
|
| 112 |
+
* Michael Lin
|
| 113 |
+
* Miguel Alonso Jr
|
| 114 |
+
* Mihir Kulkarni
|
| 115 |
+
* Mingxue Gu
|
| 116 |
+
* Mingyu Lee
|
| 117 |
+
* Muhong Guo
|
| 118 |
+
* Narendra Dahile
|
| 119 |
+
* Neel Anand Jawale
|
| 120 |
+
* Nicola Loi
|
| 121 |
+
* Norbert Cygiert
|
| 122 |
+
* Nuoyan Chen (Alvin)
|
| 123 |
+
* Nuralem Abizov
|
| 124 |
+
* Ori Gadot
|
| 125 |
+
* Oyindamola Omotuyi
|
| 126 |
+
* Özhan Özen
|
| 127 |
+
* Patrick Yin
|
| 128 |
+
* Peter Du
|
| 129 |
+
* Philipp Reist
|
| 130 |
+
* Pulkit Goyal
|
| 131 |
+
* Qian Wan
|
| 132 |
+
* Qingyang Jiang
|
| 133 |
+
* Qinxi Yu
|
| 134 |
+
* Rafael Wiltz
|
| 135 |
+
* Renaud Poncelet
|
| 136 |
+
* René Zurbrügg
|
| 137 |
+
* Ritvik Singh
|
| 138 |
+
* Rosario Scalise
|
| 139 |
+
* Ryan Gresia
|
| 140 |
+
* Ryley McCarroll
|
| 141 |
+
* Sahara Yuta
|
| 142 |
+
* Sergey Grizan
|
| 143 |
+
* Shafeef Omar
|
| 144 |
+
* Shane Reetz
|
| 145 |
+
* Shaoshu Su
|
| 146 |
+
* Shaurya Dewan
|
| 147 |
+
* Sixiang Chen
|
| 148 |
+
* Shundo Kishi
|
| 149 |
+
* Stefan Van de Mosselaer
|
| 150 |
+
* Stephan Pleines
|
| 151 |
+
* Tiffany Chen
|
| 152 |
+
* Trushant Adeshara
|
| 153 |
+
* Tyler Lum
|
| 154 |
+
* Victor Khaustov
|
| 155 |
+
* Virgilio Gómez Lambo
|
| 156 |
+
* Vladimir Fokow
|
| 157 |
+
* Wei Yang
|
| 158 |
+
* Welf Rehberg
|
| 159 |
+
* Xavier Nal
|
| 160 |
+
* Xiaodi Yuan
|
| 161 |
+
* Xinjie Yao
|
| 162 |
+
* Xinpeng Liu
|
| 163 |
+
* Yang Jin
|
| 164 |
+
* Yanzi Zhu
|
| 165 |
+
* Yijie Guo
|
| 166 |
+
* Yohan Choi
|
| 167 |
+
* Yujian Zhang
|
| 168 |
+
* Yun Liu
|
| 169 |
+
* Zehao Wang
|
| 170 |
+
* Zijian Li
|
| 171 |
+
* Ziqi Fan
|
| 172 |
+
* Zoe McCarthy
|
| 173 |
+
* David Leon
|
| 174 |
+
* Song Yi
|
| 175 |
+
* Weihua Zhang
|
| 176 |
+
* Tsz Ki GAO
|
| 177 |
+
* Anke Zhao
|
| 178 |
+
|
| 179 |
+
## Acknowledgements
|
| 180 |
+
|
| 181 |
+
* Ajay Mandlekar
|
| 182 |
+
* Animesh Garg
|
| 183 |
+
* Buck Babich
|
| 184 |
+
* Gavriel State
|
| 185 |
+
* Hammad Mazhar
|
| 186 |
+
* Marco Hutter
|
| 187 |
+
* Yan Chang
|
| 188 |
+
* Yashraj Narang
|
LICENSE
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
| 1 |
+
Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
| 2 |
+
|
| 3 |
+
All rights reserved.
|
| 4 |
+
|
| 5 |
+
SPDX-License-Identifier: BSD-3-Clause
|
| 6 |
+
|
| 7 |
+
Redistribution and use in source and binary forms, with or without modification,
|
| 8 |
+
are permitted provided that the following conditions are met:
|
| 9 |
+
|
| 10 |
+
1. Redistributions of source code must retain the above copyright notice,
|
| 11 |
+
this list of conditions and the following disclaimer.
|
| 12 |
+
|
| 13 |
+
2. Redistributions in binary form must reproduce the above copyright notice,
|
| 14 |
+
this list of conditions and the following disclaimer in the documentation
|
| 15 |
+
and/or other materials provided with the distribution.
|
| 16 |
+
|
| 17 |
+
3. Neither the name of the copyright holder nor the names of its contributors
|
| 18 |
+
may be used to endorse or promote products derived from this software without
|
| 19 |
+
specific prior written permission.
|
| 20 |
+
|
| 21 |
+
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
| 22 |
+
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
| 23 |
+
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
| 24 |
+
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
|
| 25 |
+
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
| 26 |
+
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
| 27 |
+
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
| 28 |
+
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
| 29 |
+
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
| 30 |
+
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
LICENSE-mimic
ADDED
|
@@ -0,0 +1,175 @@
|
|
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|
|
|
| 1 |
+
|
| 2 |
+
Apache License
|
| 3 |
+
Version 2.0, January 2004
|
| 4 |
+
http://www.apache.org/licenses/
|
| 5 |
+
|
| 6 |
+
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
|
| 7 |
+
|
| 8 |
+
1. Definitions.
|
| 9 |
+
|
| 10 |
+
"License" shall mean the terms and conditions for use, reproduction,
|
| 11 |
+
and distribution as defined by Sections 1 through 9 of this document.
|
| 12 |
+
|
| 13 |
+
"Licensor" shall mean the copyright owner or entity authorized by
|
| 14 |
+
the copyright owner that is granting the License.
|
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|
README.md
ADDED
|
@@ -0,0 +1,141 @@
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|
| 1 |
+
|
| 2 |
+
|
| 3 |
+
---
|
| 4 |
+
|
| 5 |
+
# Isaac Lab
|
| 6 |
+
|
| 7 |
+
[](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html)
|
| 8 |
+
[](https://docs.python.org/3/whatsnew/3.11.html)
|
| 9 |
+
[](https://releases.ubuntu.com/22.04/)
|
| 10 |
+
[](https://www.microsoft.com/en-us/)
|
| 11 |
+
[](https://github.com/isaac-sim/IsaacLab/actions/workflows/pre-commit.yaml)
|
| 12 |
+
[](https://github.com/isaac-sim/IsaacLab/actions/workflows/docs.yaml)
|
| 13 |
+
[](https://opensource.org/licenses/BSD-3-Clause)
|
| 14 |
+
[](https://opensource.org/license/apache-2-0)
|
| 15 |
+
|
| 16 |
+
|
| 17 |
+
**Isaac Lab** is a GPU-accelerated, open-source framework designed to unify and simplify robotics research workflows,
|
| 18 |
+
such as reinforcement learning, imitation learning, and motion planning. Built on [NVIDIA Isaac Sim](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html),
|
| 19 |
+
it combines fast and accurate physics and sensor simulation, making it an ideal choice for sim-to-real
|
| 20 |
+
transfer in robotics.
|
| 21 |
+
|
| 22 |
+
Isaac Lab provides developers with a range of essential features for accurate sensor simulation, such as RTX-based
|
| 23 |
+
cameras, LIDAR, or contact sensors. The framework's GPU acceleration enables users to run complex simulations and
|
| 24 |
+
computations faster, which is key for iterative processes like reinforcement learning and data-intensive tasks.
|
| 25 |
+
Moreover, Isaac Lab can run locally or be distributed across the cloud, offering flexibility for large-scale deployments.
|
| 26 |
+
|
| 27 |
+
A detailed description of Isaac Lab can be found in our [arXiv paper](https://arxiv.org/abs/2511.04831).
|
| 28 |
+
|
| 29 |
+
## Key Features
|
| 30 |
+
|
| 31 |
+
Isaac Lab offers a comprehensive set of tools and environments designed to facilitate robot learning:
|
| 32 |
+
|
| 33 |
+
- **Robots**: A diverse collection of robots, from manipulators, quadrupeds, to humanoids, with more than 16 commonly available models.
|
| 34 |
+
- **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.
|
| 35 |
+
- **Physics**: Rigid bodies, articulated systems, deformable objects
|
| 36 |
+
- **Sensors**: RGB/depth/segmentation cameras, camera annotations, IMU, contact sensors, ray casters.
|
| 37 |
+
|
| 38 |
+
|
| 39 |
+
## Getting Started
|
| 40 |
+
|
| 41 |
+
### Documentation
|
| 42 |
+
|
| 43 |
+
Our [documentation page](https://isaac-sim.github.io/IsaacLab) provides everything you need to get started, including
|
| 44 |
+
detailed tutorials and step-by-step guides. Follow these links to learn more about:
|
| 45 |
+
|
| 46 |
+
- [Installation steps](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/index.html#local-installation)
|
| 47 |
+
- [Reinforcement learning](https://isaac-sim.github.io/IsaacLab/main/source/overview/reinforcement-learning/rl_existing_scripts.html)
|
| 48 |
+
- [Tutorials](https://isaac-sim.github.io/IsaacLab/main/source/tutorials/index.html)
|
| 49 |
+
- [Available environments](https://isaac-sim.github.io/IsaacLab/main/source/overview/environments.html)
|
| 50 |
+
|
| 51 |
+
|
| 52 |
+
## Isaac Sim Version Dependency
|
| 53 |
+
|
| 54 |
+
Isaac Lab is built on top of Isaac Sim and requires specific versions of Isaac Sim that are compatible with each
|
| 55 |
+
release of Isaac Lab. Below, we outline the recent Isaac Lab releases and GitHub branches and their corresponding
|
| 56 |
+
dependency versions for Isaac Sim.
|
| 57 |
+
|
| 58 |
+
| Isaac Lab Version | Isaac Sim Version |
|
| 59 |
+
| ----------------------------- | ------------------------- |
|
| 60 |
+
| `main` branch | Isaac Sim 4.5 / 5.0 / 5.1 |
|
| 61 |
+
| `v2.3.X` | Isaac Sim 4.5 / 5.0 / 5.1 |
|
| 62 |
+
| `v2.2.X` | Isaac Sim 4.5 / 5.0 |
|
| 63 |
+
| `v2.1.X` | Isaac Sim 4.5 |
|
| 64 |
+
| `v2.0.X` | Isaac Sim 4.5 |
|
| 65 |
+
|
| 66 |
+
|
| 67 |
+
## Contributing to Isaac Lab
|
| 68 |
+
|
| 69 |
+
We wholeheartedly welcome contributions from the community to make this framework mature and useful for everyone.
|
| 70 |
+
These may happen as bug reports, feature requests, or code contributions. For details, please check our
|
| 71 |
+
[contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html).
|
| 72 |
+
|
| 73 |
+
## Show & Tell: Share Your Inspiration
|
| 74 |
+
|
| 75 |
+
We encourage you to utilize our [Show & Tell](https://github.com/isaac-sim/IsaacLab/discussions/categories/show-and-tell)
|
| 76 |
+
area in the `Discussions` section of this repository. This space is designed for you to:
|
| 77 |
+
|
| 78 |
+
* Share the tutorials you've created
|
| 79 |
+
* Showcase your learning content
|
| 80 |
+
* Present exciting projects you've developed
|
| 81 |
+
|
| 82 |
+
By sharing your work, you'll inspire others and contribute to the collective knowledge
|
| 83 |
+
of our community. Your contributions can spark new ideas and collaborations, fostering
|
| 84 |
+
innovation in robotics and simulation.
|
| 85 |
+
|
| 86 |
+
## Troubleshooting
|
| 87 |
+
|
| 88 |
+
Please see the [troubleshooting](https://isaac-sim.github.io/IsaacLab/main/source/refs/troubleshooting.html) section for
|
| 89 |
+
common fixes or [submit an issue](https://github.com/isaac-sim/IsaacLab/issues).
|
| 90 |
+
|
| 91 |
+
For issues related to Isaac Sim, we recommend checking its [documentation](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html)
|
| 92 |
+
or opening a question on its [forums](https://forums.developer.nvidia.com/c/agx-autonomous-machines/isaac/67).
|
| 93 |
+
|
| 94 |
+
## Support
|
| 95 |
+
|
| 96 |
+
* Please use GitHub [Discussions](https://github.com/isaac-sim/IsaacLab/discussions) for discussing ideas,
|
| 97 |
+
asking questions, and requests for new features.
|
| 98 |
+
* Github [Issues](https://github.com/isaac-sim/IsaacLab/issues) should only be used to track executable pieces of
|
| 99 |
+
work with a definite scope and a clear deliverable. These can be fixing bugs, documentation issues, new features,
|
| 100 |
+
or general updates.
|
| 101 |
+
|
| 102 |
+
## Connect with the NVIDIA Omniverse Community
|
| 103 |
+
|
| 104 |
+
Do you have a project or resource you'd like to share more widely? We'd love to hear from you!
|
| 105 |
+
Reach out to the NVIDIA Omniverse Community team at OmniverseCommunity@nvidia.com to explore opportunities
|
| 106 |
+
to spotlight your work.
|
| 107 |
+
|
| 108 |
+
You can also join the conversation on the [Omniverse Discord](https://discord.com/invite/nvidiaomniverse) to
|
| 109 |
+
connect with other developers, share your projects, and help grow a vibrant, collaborative ecosystem
|
| 110 |
+
where creativity and technology intersect. Your contributions can make a meaningful impact on the Isaac Lab
|
| 111 |
+
community and beyond!
|
| 112 |
+
|
| 113 |
+
## License
|
| 114 |
+
|
| 115 |
+
The Isaac Lab framework is released under [BSD-3 License](LICENSE). The `isaaclab_mimic` extension and its
|
| 116 |
+
corresponding standalone scripts are released under [Apache 2.0](LICENSE-mimic). The license files of its
|
| 117 |
+
dependencies and assets are present in the [`docs/licenses`](docs/licenses) directory.
|
| 118 |
+
|
| 119 |
+
Note that Isaac Lab requires Isaac Sim, which includes components under proprietary licensing terms. Please see the [Isaac Sim license](docs/licenses/dependencies/isaacsim-license.txt) for information on Isaac Sim licensing.
|
| 120 |
+
|
| 121 |
+
Note that the `isaaclab_mimic` extension requires cuRobo, which has proprietary licensing terms that can be found in [`docs/licenses/dependencies/cuRobo-license.txt`](docs/licenses/dependencies/cuRobo-license.txt).
|
| 122 |
+
|
| 123 |
+
|
| 124 |
+
## Citation
|
| 125 |
+
|
| 126 |
+
If you use Isaac Lab in your research, please cite the technical report:
|
| 127 |
+
|
| 128 |
+
```
|
| 129 |
+
@article{mittal2025isaaclab,
|
| 130 |
+
title={Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning},
|
| 131 |
+
author={Mayank Mittal and Pascal Roth and James Tigue and Antoine Richard and Octi Zhang and Peter Du and Antonio Serrano-Muñoz and Xinjie Yao and René Zurbrügg and Nikita Rudin and Lukasz Wawrzyniak and Milad Rakhsha and Alain Denzler and Eric Heiden and Ales Borovicka and Ossama Ahmed and Iretiayo Akinola and Abrar Anwar and Mark T. Carlson and Ji Yuan Feng and Animesh Garg and Renato Gasoto and Lionel Gulich and Yijie Guo and M. Gussert and Alex Hansen and Mihir Kulkarni and Chenran Li and Wei Liu and Viktor Makoviychuk and Grzegorz Malczyk and Hammad Mazhar and Masoud Moghani and Adithyavairavan Murali and Michael Noseworthy and Alexander Poddubny and Nathan Ratliff and Welf Rehberg and Clemens Schwarke and Ritvik Singh and James Latham Smith and Bingjie Tang and Ruchik Thaker and Matthew Trepte and Karl Van Wyk and Fangzhou Yu and Alex Millane and Vikram Ramasamy and Remo Steiner and Sangeeta Subramanian and Clemens Volk and CY Chen and Neel Jawale and Ashwin Varghese Kuruttukulam and Michael A. Lin and Ajay Mandlekar and Karsten Patzwaldt and John Welsh and Huihua Zhao and Fatima Anes and Jean-Francois Lafleche and Nicolas Moënne-Loccoz and Soowan Park and Rob Stepinski and Dirk Van Gelder and Chris Amevor and Jan Carius and Jumyung Chang and Anka He Chen and Pablo de Heras Ciechomski and Gilles Daviet and Mohammad Mohajerani and Julia von Muralt and Viktor Reutskyy and Michael Sauter and Simon Schirm and Eric L. Shi and Pierre Terdiman and Kenny Vilella and Tobias Widmer and Gordon Yeoman and Tiffany Chen and Sergey Grizan and Cathy Li and Lotus Li and Connor Smith and Rafael Wiltz and Kostas Alexis and Yan Chang and David Chu and Linxi "Jim" Fan and Farbod Farshidian and Ankur Handa and Spencer Huang and Marco Hutter and Yashraj Narang and Soha Pouya and Shiwei Sheng and Yuke Zhu and Miles Macklin and Adam Moravanszky and Philipp Reist and Yunrong Guo and David Hoeller and Gavriel State},
|
| 132 |
+
journal={arXiv preprint arXiv:2511.04831},
|
| 133 |
+
year={2025},
|
| 134 |
+
url={https://arxiv.org/abs/2511.04831}
|
| 135 |
+
}
|
| 136 |
+
```
|
| 137 |
+
|
| 138 |
+
## Acknowledgement
|
| 139 |
+
|
| 140 |
+
Isaac Lab development initiated from the [Orbit](https://isaac-orbit.github.io/) framework.
|
| 141 |
+
We gratefully acknowledge the authors of Orbit for their foundational contributions.
|
SECURITY.md
ADDED
|
@@ -0,0 +1,38 @@
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Security
|
| 2 |
+
|
| 3 |
+
NVIDIA is dedicated to the security and trust of our software products and services, including all source code
|
| 4 |
+
repositories managed through our organization.
|
| 5 |
+
|
| 6 |
+
If you need to report a security issue, please use the appropriate contact points outlined below. **Please do
|
| 7 |
+
not report security vulnerabilities through GitHub.**
|
| 8 |
+
|
| 9 |
+
## Reporting Potential Security Vulnerability in an NVIDIA Product
|
| 10 |
+
|
| 11 |
+
To report a potential security vulnerability in any NVIDIA product:
|
| 12 |
+
|
| 13 |
+
- Web: [Security Vulnerability Submission Form](https://www.nvidia.com/object/submit-security-vulnerability.html)
|
| 14 |
+
|
| 15 |
+
- E-Mail: psirt@nvidia.com
|
| 16 |
+
|
| 17 |
+
- We encourage you to use the following PGP key for secure email communication: [NVIDIA public PGP Key for communication](https://www.nvidia.com/en-us/security/pgp-key)
|
| 18 |
+
|
| 19 |
+
- Please include the following information:
|
| 20 |
+
|
| 21 |
+
- Product/Driver name and version/branch that contains the vulnerability
|
| 22 |
+
|
| 23 |
+
- Type of vulnerability (code execution, denial of service, buffer overflow, etc.)
|
| 24 |
+
|
| 25 |
+
- Instructions to reproduce the vulnerability
|
| 26 |
+
|
| 27 |
+
- Proof-of-concept or exploit code
|
| 28 |
+
|
| 29 |
+
- Potential impact of the vulnerability, including how an attacker could exploit the vulnerability
|
| 30 |
+
|
| 31 |
+
While NVIDIA currently does not have a bug bounty program, we do offer acknowledgement when an
|
| 32 |
+
externally reported security issue is addressed under our coordinated vulnerability disclosure policy. Please
|
| 33 |
+
visit our [Product Security Incident Response Team (PSIRT)](https://www.nvidia.com/en-us/security/psirt-policies/)
|
| 34 |
+
policies page for more information.
|
| 35 |
+
|
| 36 |
+
## NVIDIA Product Security
|
| 37 |
+
|
| 38 |
+
For all security-related concerns, please visit NVIDIA's Product Security portal at: https://www.nvidia.com/en-us/security
|
VERSION
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
2.3.0
|
apps/isaaclab.python.headless.kit
ADDED
|
@@ -0,0 +1,220 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
##
|
| 2 |
+
# Adapted from: _isaac_sim/apps/omni.isaac.sim.python.gym.headless.kit
|
| 3 |
+
##
|
| 4 |
+
|
| 5 |
+
[package]
|
| 6 |
+
title = "Isaac Lab Python Headless"
|
| 7 |
+
description = "An app for running Isaac Lab headlessly"
|
| 8 |
+
version = "2.3.0"
|
| 9 |
+
|
| 10 |
+
# That makes it browsable in UI with "experience" filter
|
| 11 |
+
keywords = ["experience", "app", "isaaclab", "python", "headless"]
|
| 12 |
+
|
| 13 |
+
[settings]
|
| 14 |
+
# Note: This path was adapted to be respective to the kit-exe file location
|
| 15 |
+
app.versionFile = "${exe-path}/VERSION"
|
| 16 |
+
app.folder = "${exe-path}/"
|
| 17 |
+
app.name = "Isaac-Sim"
|
| 18 |
+
app.version = "5.1.0"
|
| 19 |
+
|
| 20 |
+
##################################
|
| 21 |
+
# Omniverse related dependencies #
|
| 22 |
+
##################################
|
| 23 |
+
[dependencies]
|
| 24 |
+
"omni.physx" = {}
|
| 25 |
+
"omni.physx.tensors" = {}
|
| 26 |
+
"omni.physx.fabric" = {}
|
| 27 |
+
"omni.warp.core" = {}
|
| 28 |
+
"usdrt.scenegraph" = {}
|
| 29 |
+
"omni.kit.telemetry" = {}
|
| 30 |
+
"omni.kit.loop" = {}
|
| 31 |
+
# this is needed to create physics material through CreatePreviewSurfaceMaterialPrim
|
| 32 |
+
"omni.kit.usd.mdl" = {}
|
| 33 |
+
# this is used for converting assets that have the wrong units
|
| 34 |
+
"omni.usd.metrics.assembler.ui" = {}
|
| 35 |
+
|
| 36 |
+
[settings]
|
| 37 |
+
app.content.emptyStageOnStart = false
|
| 38 |
+
|
| 39 |
+
# Disable print outs on extension startup information
|
| 40 |
+
# this only disables the app print_and_log function
|
| 41 |
+
app.enableStdoutOutput = false
|
| 42 |
+
|
| 43 |
+
# default viewport is fill
|
| 44 |
+
app.runLoops.rendering_0.fillResolution = false
|
| 45 |
+
exts."omni.kit.window.viewport".blockingGetViewportDrawable = false
|
| 46 |
+
|
| 47 |
+
# Fix PlayButtonGroup error
|
| 48 |
+
exts."omni.kit.widget.toolbar".PlayButton.enabled = false
|
| 49 |
+
|
| 50 |
+
# disable replicator orchestrator for better runtime perf
|
| 51 |
+
exts."omni.replicator.core".Orchestrator.enabled = false
|
| 52 |
+
|
| 53 |
+
[settings.app.settings]
|
| 54 |
+
persistent = true
|
| 55 |
+
dev_build = false
|
| 56 |
+
fabricDefaultStageFrameHistoryCount = 3 # needed for omni.syntheticdata TODO105 still true?
|
| 57 |
+
|
| 58 |
+
[settings.app.python]
|
| 59 |
+
# These disable the kit app from also printing out python output, which gets confusing
|
| 60 |
+
interceptSysStdOutput = false
|
| 61 |
+
logSysStdOutput = false
|
| 62 |
+
|
| 63 |
+
[settings]
|
| 64 |
+
# MGPU is always on, you can turn it from the settings, and force this off to save even more resource if you
|
| 65 |
+
# only want to use a single GPU on your MGPU system
|
| 66 |
+
# False for Isaac Sim
|
| 67 |
+
renderer.multiGpu.enabled = true
|
| 68 |
+
renderer.multiGpu.autoEnable = true
|
| 69 |
+
'rtx-transient'.resourcemanager.enableTextureStreaming = true
|
| 70 |
+
app.asyncRendering = false
|
| 71 |
+
app.asyncRenderingLowLatency = false
|
| 72 |
+
app.hydraEngine.waitIdle = false
|
| 73 |
+
# app.hydra.aperture.conform = 4 # in 105.1 pixels are square by default
|
| 74 |
+
omni.replicator.asyncRendering = false
|
| 75 |
+
|
| 76 |
+
### FSD
|
| 77 |
+
# this .kit file is used for headless, no-rendering cases. There won't be a scene delegate
|
| 78 |
+
# created, but setting useFSD to false here is done to not do full fabric population, but
|
| 79 |
+
# instead to minimal population
|
| 80 |
+
app.useFabricSceneDelegate = false
|
| 81 |
+
|
| 82 |
+
# Enable Iray and pxr by setting this to "rtx,iray,pxr"
|
| 83 |
+
renderer.enabled = "rtx"
|
| 84 |
+
|
| 85 |
+
# Avoid warning on shutdown from audio context
|
| 86 |
+
app.audio.enabled = false
|
| 87 |
+
|
| 88 |
+
# Enable Vulkan - avoids torch+cu12 error on windows
|
| 89 |
+
app.vulkan = true
|
| 90 |
+
|
| 91 |
+
# Set profiler backend to NVTX by default
|
| 92 |
+
app.profilerBackend = "nvtx"
|
| 93 |
+
|
| 94 |
+
# Disables rate limit in runloop
|
| 95 |
+
app.runLoops.main.rateLimitEnabled=false
|
| 96 |
+
|
| 97 |
+
# hide NonToggleable Exts
|
| 98 |
+
exts."omni.kit.window.extensions".hideNonToggleableExts = true
|
| 99 |
+
exts."omni.kit.window.extensions".showFeatureOnly = false
|
| 100 |
+
|
| 101 |
+
# set the default ros bridge to disable on startup
|
| 102 |
+
isaac.startup.ros_bridge_extension = ""
|
| 103 |
+
|
| 104 |
+
# disable the metrics assembler change listener, we don't want to do any runtime changes
|
| 105 |
+
metricsAssembler.changeListenerEnabled = false
|
| 106 |
+
|
| 107 |
+
# Extensions
|
| 108 |
+
###############################
|
| 109 |
+
[settings.exts."omni.kit.registry.nucleus"]
|
| 110 |
+
registries = [
|
| 111 |
+
{ name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/107/shared" },
|
| 112 |
+
{ name = "kit/sdk", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/sdk/${kit_version_short}/${kit_git_hash}" },
|
| 113 |
+
{ name = "kit/community", url = "https://dw290v42wisod.cloudfront.net/exts/kit/community" },
|
| 114 |
+
]
|
| 115 |
+
|
| 116 |
+
[settings.app.extensions]
|
| 117 |
+
skipPublishVerification = false
|
| 118 |
+
registryEnabled = true
|
| 119 |
+
|
| 120 |
+
[settings.crashreporter.data]
|
| 121 |
+
experience = "Isaac Sim"
|
| 122 |
+
|
| 123 |
+
[settings.persistent]
|
| 124 |
+
app.file.recentFiles = []
|
| 125 |
+
app.stage.upAxis = "Z"
|
| 126 |
+
app.stage.movePrimInPlace = false
|
| 127 |
+
app.stage.instanceableOnCreatingReference = false
|
| 128 |
+
app.stage.materialStrength = "weakerThanDescendants"
|
| 129 |
+
|
| 130 |
+
app.transform.gizmoUseSRT = true
|
| 131 |
+
app.viewport.grid.scale = 1.0
|
| 132 |
+
app.viewport.pickingMode = "kind:model.ALL"
|
| 133 |
+
app.viewport.camMoveVelocity = 0.05 # 5 m/s
|
| 134 |
+
app.viewport.gizmo.scale = 0.01 # scaled to meters
|
| 135 |
+
app.viewport.previewOnPeek = false
|
| 136 |
+
app.viewport.snapToSurface = false
|
| 137 |
+
app.viewport.displayOptions = 31951 # Disable Frame Rate and Resolution by default
|
| 138 |
+
app.window.uiStyle = "NvidiaDark"
|
| 139 |
+
app.primCreation.DefaultXformOpType = "Scale, Orient, Translate"
|
| 140 |
+
app.primCreation.DefaultXformOpOrder="xformOp:translate, xformOp:orient, xformOp:scale"
|
| 141 |
+
app.primCreation.typedDefaults.camera.clippingRange = [0.01, 10000000.0]
|
| 142 |
+
simulation.minFrameRate = 15
|
| 143 |
+
simulation.defaultMetersPerUnit = 1.0
|
| 144 |
+
omnigraph.updateToUsd = false
|
| 145 |
+
omnigraph.useSchemaPrims = true
|
| 146 |
+
omnigraph.disablePrimNodes = true
|
| 147 |
+
omni.replicator.captureOnPlay = true
|
| 148 |
+
omnihydra.useSceneGraphInstancing = true
|
| 149 |
+
renderer.startupMessageDisplayed = true # hides the IOMMU popup window
|
| 150 |
+
|
| 151 |
+
# Make Detail panel visible by default
|
| 152 |
+
app.omniverse.content_browser.options_menu.show_details = true
|
| 153 |
+
app.omniverse.filepicker.options_menu.show_details = true
|
| 154 |
+
|
| 155 |
+
[settings.physics]
|
| 156 |
+
updateToUsd = false
|
| 157 |
+
updateParticlesToUsd = false
|
| 158 |
+
updateVelocitiesToUsd = false
|
| 159 |
+
updateForceSensorsToUsd = false
|
| 160 |
+
outputVelocitiesLocalSpace = false
|
| 161 |
+
useFastCache = false
|
| 162 |
+
visualizationDisplayJoints = false
|
| 163 |
+
fabricUpdateTransformations = false
|
| 164 |
+
fabricUpdateVelocities = false
|
| 165 |
+
fabricUpdateForceSensors = false
|
| 166 |
+
fabricUpdateJointStates = false
|
| 167 |
+
### When Direct GPU mode is enabled (suppressReadback=true) use direct interop between PhysX GPU and Fabric
|
| 168 |
+
fabricUseGPUInterop = true
|
| 169 |
+
|
| 170 |
+
# Performance improvement
|
| 171 |
+
resourcemonitor.timeBetweenQueries = 100
|
| 172 |
+
|
| 173 |
+
# Register extension folder from this repo in kit
|
| 174 |
+
[settings.app.exts]
|
| 175 |
+
folders = [
|
| 176 |
+
"${exe-path}/exts", # kit extensions
|
| 177 |
+
"${exe-path}/extscore", # kit core extensions
|
| 178 |
+
"${exe-path}/../exts", # isaac extensions
|
| 179 |
+
"${exe-path}/../extsDeprecated", # deprecated isaac extensions
|
| 180 |
+
"${exe-path}/../extscache", # isaac cache extensions
|
| 181 |
+
"${exe-path}/../extsPhysics", # isaac physics extensions
|
| 182 |
+
"${exe-path}/../isaacsim/exts", # isaac extensions for pip
|
| 183 |
+
"${exe-path}/../isaacsim/extsDeprecated", # deprecated isaac extensions
|
| 184 |
+
"${exe-path}/../isaacsim/extscache", # isaac cache extensions for pip
|
| 185 |
+
"${exe-path}/../isaacsim/extsPhysics", # isaac physics extensions for pip
|
| 186 |
+
"${app}", # needed to find other app files
|
| 187 |
+
"${app}/../source", # needed to find extensions in Isaac Lab
|
| 188 |
+
]
|
| 189 |
+
|
| 190 |
+
[settings.ngx]
|
| 191 |
+
enabled=true # Enable this for DLSS
|
| 192 |
+
|
| 193 |
+
########################
|
| 194 |
+
# Isaac Sim Extensions #
|
| 195 |
+
########################
|
| 196 |
+
[dependencies]
|
| 197 |
+
"isaacsim.simulation_app" = {}
|
| 198 |
+
"isaacsim.core.api" = {}
|
| 199 |
+
"isaacsim.core.cloner" = {}
|
| 200 |
+
"isaacsim.core.utils" = {}
|
| 201 |
+
"isaacsim.core.version" = {}
|
| 202 |
+
|
| 203 |
+
########################
|
| 204 |
+
# Isaac Lab Extensions #
|
| 205 |
+
########################
|
| 206 |
+
|
| 207 |
+
# Load Isaac Lab extensions last
|
| 208 |
+
"isaaclab" = {order = 1000}
|
| 209 |
+
"isaaclab_assets" = {order = 1000}
|
| 210 |
+
"isaaclab_tasks" = {order = 1000}
|
| 211 |
+
"isaaclab_mimic" = {order = 1000}
|
| 212 |
+
"isaaclab_rl" = {order = 1000}
|
| 213 |
+
|
| 214 |
+
# Asset path
|
| 215 |
+
# set the S3 directory manually to the latest published S3
|
| 216 |
+
# note: this is done to ensure prior versions of Isaac Sim still use the latest assets
|
| 217 |
+
[settings]
|
| 218 |
+
persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
|
| 219 |
+
persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
|
| 220 |
+
persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
|
apps/isaaclab.python.headless.rendering.kit
ADDED
|
@@ -0,0 +1,161 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
##
|
| 2 |
+
# Adapted from: https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs/blob/main/apps/omni.isaac.sim.python.gym.camera.kit
|
| 3 |
+
#
|
| 4 |
+
# This app file designed specifically towards vision-based RL tasks. It provides necessary settings to enable
|
| 5 |
+
# multiple cameras to be rendered each frame. Additional settings are also applied to increase performance when
|
| 6 |
+
# rendering cameras across multiple environments.
|
| 7 |
+
##
|
| 8 |
+
|
| 9 |
+
[package]
|
| 10 |
+
title = "Isaac Lab Python Headless Camera"
|
| 11 |
+
description = "An app for running Isaac Lab headlessly with rendering enabled"
|
| 12 |
+
version = "2.3.0"
|
| 13 |
+
|
| 14 |
+
# That makes it browsable in UI with "experience" filter
|
| 15 |
+
keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]
|
| 16 |
+
|
| 17 |
+
[dependencies]
|
| 18 |
+
# Isaac Lab minimal app
|
| 19 |
+
"isaaclab.python.headless" = {}
|
| 20 |
+
"omni.replicator.core" = {}
|
| 21 |
+
|
| 22 |
+
# Rendering
|
| 23 |
+
"omni.kit.material.library" = {}
|
| 24 |
+
"omni.kit.viewport.rtx" = {}
|
| 25 |
+
|
| 26 |
+
[settings.isaaclab]
|
| 27 |
+
# This is used to check that this experience file is loaded when using cameras
|
| 28 |
+
cameras_enabled = true
|
| 29 |
+
|
| 30 |
+
[settings]
|
| 31 |
+
# Note: This path was adapted to be respective to the kit-exe file location
|
| 32 |
+
app.versionFile = "${exe-path}/VERSION"
|
| 33 |
+
app.folder = "${exe-path}/"
|
| 34 |
+
app.name = "Isaac-Sim"
|
| 35 |
+
app.version = "5.1.0"
|
| 36 |
+
|
| 37 |
+
### FSD
|
| 38 |
+
app.useFabricSceneDelegate = true
|
| 39 |
+
# Temporary, should be enabled by default in Kit soon
|
| 40 |
+
rtx.hydra.readTransformsFromFabricInRenderDelegate = true
|
| 41 |
+
|
| 42 |
+
# Disable print outs on extension startup information
|
| 43 |
+
# this only disables the app print_and_log function
|
| 44 |
+
app.enableStdoutOutput = false
|
| 45 |
+
|
| 46 |
+
# set the default ros bridge to disable on startup
|
| 47 |
+
isaac.startup.ros_bridge_extension = ""
|
| 48 |
+
|
| 49 |
+
# Flags for better rendering performance
|
| 50 |
+
# Disabling these settings reduces renderer VRAM usage and improves rendering performance, but at some quality cost
|
| 51 |
+
rtx.translucency.enabled = false
|
| 52 |
+
rtx.reflections.enabled = false
|
| 53 |
+
rtx.indirectDiffuse.enabled = false
|
| 54 |
+
rtx-transient.dlssg.enabled = false
|
| 55 |
+
rtx.directLighting.sampledLighting.enabled = true
|
| 56 |
+
rtx.directLighting.sampledLighting.samplesPerPixel = 1
|
| 57 |
+
rtx.sceneDb.ambientLightIntensity = 1.0
|
| 58 |
+
# rtx.shadows.enabled = false
|
| 59 |
+
|
| 60 |
+
# Avoids replicator warning
|
| 61 |
+
rtx.pathtracing.maxSamplesPerLaunch = 1000000
|
| 62 |
+
# Avoids silent trimming of tiles
|
| 63 |
+
rtx.viewTile.limit = 1000000
|
| 64 |
+
|
| 65 |
+
# Disable present thread to improve performance
|
| 66 |
+
exts."omni.renderer.core".present.enabled=false
|
| 67 |
+
|
| 68 |
+
# Disabling these settings reduces renderer VRAM usage and improves rendering performance, but at some quality cost
|
| 69 |
+
rtx.raytracing.cached.enabled = false
|
| 70 |
+
rtx.ambientOcclusion.enabled = false
|
| 71 |
+
|
| 72 |
+
# Set the DLSS model
|
| 73 |
+
rtx.post.dlss.execMode = 0 # can be 0 (Performance), 1 (Balanced), 2 (Quality), or 3 (Auto)
|
| 74 |
+
|
| 75 |
+
# Avoids unnecessary GPU context initialization
|
| 76 |
+
renderer.multiGpu.maxGpuCount=1
|
| 77 |
+
|
| 78 |
+
# Force synchronous rendering to improve training results
|
| 79 |
+
omni.replicator.asyncRendering = false
|
| 80 |
+
|
| 81 |
+
# Avoids frame offset issue
|
| 82 |
+
app.updateOrder.checkForHydraRenderComplete = 1000
|
| 83 |
+
app.renderer.waitIdle=true
|
| 84 |
+
app.hydraEngine.waitIdle=true
|
| 85 |
+
|
| 86 |
+
# Forces serial processing for omni graph to avoid NCCL timeout hangs in distributed training
|
| 87 |
+
app.execution.debug.forceSerial = true
|
| 88 |
+
|
| 89 |
+
app.audio.enabled = false
|
| 90 |
+
|
| 91 |
+
# Enable Vulkan - avoids torch+cu12 error on windows
|
| 92 |
+
app.vulkan = true
|
| 93 |
+
|
| 94 |
+
# Set profiler backend to NVTX by default
|
| 95 |
+
app.profilerBackend = "nvtx"
|
| 96 |
+
|
| 97 |
+
# Disables rate limit in runloop
|
| 98 |
+
app.runLoops.main.rateLimitEnabled=false
|
| 99 |
+
|
| 100 |
+
# disable replicator orchestrator for better runtime perf
|
| 101 |
+
exts."omni.replicator.core".Orchestrator.enabled = false
|
| 102 |
+
|
| 103 |
+
# disable the metrics assembler change listener, we don't want to do any runtime changes
|
| 104 |
+
metricsAssembler.changeListenerEnabled = false
|
| 105 |
+
|
| 106 |
+
[settings.exts."omni.kit.registry.nucleus"]
|
| 107 |
+
registries = [
|
| 108 |
+
{ name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/107/shared" },
|
| 109 |
+
{ name = "kit/sdk", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/sdk/${kit_version_short}/${kit_git_hash}" },
|
| 110 |
+
{ name = "kit/community", url = "https://dw290v42wisod.cloudfront.net/exts/kit/community" },
|
| 111 |
+
]
|
| 112 |
+
|
| 113 |
+
[settings.app.python]
|
| 114 |
+
# These disable the kit app from also printing out python output, which gets confusing
|
| 115 |
+
interceptSysStdOutput = false
|
| 116 |
+
logSysStdOutput = false
|
| 117 |
+
|
| 118 |
+
[settings.app.renderer]
|
| 119 |
+
skipWhileMinimized = false
|
| 120 |
+
sleepMsOnFocus = 0
|
| 121 |
+
sleepMsOutOfFocus = 0
|
| 122 |
+
|
| 123 |
+
[settings.physics]
|
| 124 |
+
updateToUsd = false
|
| 125 |
+
updateParticlesToUsd = false
|
| 126 |
+
updateVelocitiesToUsd = false
|
| 127 |
+
updateForceSensorsToUsd = false
|
| 128 |
+
outputVelocitiesLocalSpace = false
|
| 129 |
+
useFastCache = false
|
| 130 |
+
visualizationDisplayJoints = false
|
| 131 |
+
fabricUpdateTransformations = false
|
| 132 |
+
fabricUpdateVelocities = false
|
| 133 |
+
fabricUpdateForceSensors = false
|
| 134 |
+
fabricUpdateJointStates = false
|
| 135 |
+
### When Direct GPU mode is enabled (suppressReadback=true) use direct interop between PhysX GPU and Fabric
|
| 136 |
+
fabricUseGPUInterop = true
|
| 137 |
+
|
| 138 |
+
# Register extension folder from this repo in kit
|
| 139 |
+
[settings.app.exts]
|
| 140 |
+
folders = [
|
| 141 |
+
"${exe-path}/exts", # kit extensions
|
| 142 |
+
"${exe-path}/extscore", # kit core extensions
|
| 143 |
+
"${exe-path}/../exts", # isaac extensions
|
| 144 |
+
"${exe-path}/../extsDeprecated", # deprecated isaac extensions
|
| 145 |
+
"${exe-path}/../extscache", # isaac cache extensions
|
| 146 |
+
"${exe-path}/../extsPhysics", # isaac physics extensions
|
| 147 |
+
"${exe-path}/../isaacsim/exts", # isaac extensions for pip
|
| 148 |
+
"${exe-path}/../isaacsim/extsDeprecated", # deprecated isaac extensions
|
| 149 |
+
"${exe-path}/../isaacsim/extscache", # isaac cache extensions for pip
|
| 150 |
+
"${exe-path}/../isaacsim/extsPhysics", # isaac physics extensions for pip
|
| 151 |
+
"${app}", # needed to find other app files
|
| 152 |
+
"${app}/../source", # needed to find extensions in Isaac Lab
|
| 153 |
+
]
|
| 154 |
+
|
| 155 |
+
# Asset path
|
| 156 |
+
# set the S3 directory manually to the latest published S3
|
| 157 |
+
# note: this is done to ensure prior versions of Isaac Sim still use the latest assets
|
| 158 |
+
[settings]
|
| 159 |
+
persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
|
| 160 |
+
persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
|
| 161 |
+
persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
|
apps/isaaclab.python.kit
ADDED
|
@@ -0,0 +1,307 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
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|
| 1 |
+
##
|
| 2 |
+
# Adapted from: _isaac_sim/apps/isaacsim.exp.base.kit
|
| 3 |
+
##
|
| 4 |
+
|
| 5 |
+
[package]
|
| 6 |
+
title = "Isaac Lab Python"
|
| 7 |
+
description = "An app for running Isaac Lab"
|
| 8 |
+
version = "2.3.0"
|
| 9 |
+
|
| 10 |
+
# That makes it browsable in UI with "experience" filter
|
| 11 |
+
keywords = ["experience", "app", "usd"]
|
| 12 |
+
|
| 13 |
+
[dependencies]
|
| 14 |
+
# Isaac Sim extensions
|
| 15 |
+
"isaacsim.app.about" = {}
|
| 16 |
+
"isaacsim.asset.browser" = {}
|
| 17 |
+
"isaacsim.core.api" = {}
|
| 18 |
+
"isaacsim.core.cloner" = {}
|
| 19 |
+
"isaacsim.core.nodes" = {}
|
| 20 |
+
"isaacsim.core.simulation_manager" = {}
|
| 21 |
+
"isaacsim.core.throttling" = {}
|
| 22 |
+
"isaacsim.core.utils" = {}
|
| 23 |
+
"isaacsim.core.version" = {}
|
| 24 |
+
"isaacsim.gui.menu" = {}
|
| 25 |
+
"isaacsim.gui.property" = {}
|
| 26 |
+
"isaacsim.replicator.behavior" = {}
|
| 27 |
+
"isaacsim.robot.manipulators" = {}
|
| 28 |
+
"isaacsim.robot.policy.examples" = {}
|
| 29 |
+
"isaacsim.robot.schema" = {}
|
| 30 |
+
"isaacsim.robot.wheeled_robots" = {}
|
| 31 |
+
"isaacsim.sensors.camera" = {}
|
| 32 |
+
"isaacsim.sensors.physics" = {}
|
| 33 |
+
"isaacsim.sensors.physx" = {}
|
| 34 |
+
"isaacsim.sensors.rtx" = {}
|
| 35 |
+
"isaacsim.simulation_app" = {}
|
| 36 |
+
"isaacsim.storage.native" = {}
|
| 37 |
+
"isaacsim.util.debug_draw" = {}
|
| 38 |
+
|
| 39 |
+
# Isaac Sim Extra
|
| 40 |
+
"isaacsim.asset.importer.mjcf" = {}
|
| 41 |
+
"isaacsim.asset.importer.urdf" = {version = "2.4.31", exact = true}
|
| 42 |
+
"omni.physx.bundle" = {}
|
| 43 |
+
"omni.physx.tensors" = {}
|
| 44 |
+
"omni.replicator.core" = {}
|
| 45 |
+
"omni.replicator.replicator_yaml" = {}
|
| 46 |
+
"omni.syntheticdata" = {}
|
| 47 |
+
"semantics.schema.editor" = {}
|
| 48 |
+
"semantics.schema.property" = {}
|
| 49 |
+
|
| 50 |
+
# Kit based editor extensions
|
| 51 |
+
"omni.anim.curve.core" = {}
|
| 52 |
+
"omni.graph.action" = {}
|
| 53 |
+
"omni.graph.core" = {}
|
| 54 |
+
"omni.graph.nodes" = {}
|
| 55 |
+
"omni.graph.scriptnode" = {}
|
| 56 |
+
"omni.graph.ui_nodes" = {}
|
| 57 |
+
"omni.hydra.engine.stats" = {}
|
| 58 |
+
"omni.hydra.rtx" = {}
|
| 59 |
+
"omni.kit.mainwindow" = {}
|
| 60 |
+
"omni.kit.manipulator.camera" = {}
|
| 61 |
+
"omni.kit.manipulator.prim" = {}
|
| 62 |
+
"omni.kit.manipulator.selection" = {}
|
| 63 |
+
"omni.kit.material.library" = {}
|
| 64 |
+
"omni.kit.menu.common" = { order = 1000 }
|
| 65 |
+
"omni.kit.menu.create" = {}
|
| 66 |
+
"omni.kit.menu.stage" = {}
|
| 67 |
+
"omni.kit.menu.utils" = {}
|
| 68 |
+
"omni.kit.primitive.mesh" = {}
|
| 69 |
+
"omni.kit.property.bundle" = {}
|
| 70 |
+
"omni.kit.raycast.query" = {}
|
| 71 |
+
"omni.kit.stagerecorder.bundle" = {}
|
| 72 |
+
"omni.kit.stage_template.core" = {}
|
| 73 |
+
"omni.kit.telemetry" = {}
|
| 74 |
+
"omni.kit.tool.asset_importer" = {}
|
| 75 |
+
"omni.kit.tool.collect" = {}
|
| 76 |
+
"omni.kit.viewport.legacy_gizmos" = {}
|
| 77 |
+
"omni.kit.viewport.menubar.camera" = {}
|
| 78 |
+
"omni.kit.viewport.menubar.display" = {}
|
| 79 |
+
"omni.kit.viewport.menubar.lighting" = {}
|
| 80 |
+
"omni.kit.viewport.menubar.render" = {}
|
| 81 |
+
"omni.kit.viewport.menubar.settings" = {}
|
| 82 |
+
"omni.kit.viewport.scene_camera_model" = {}
|
| 83 |
+
"omni.kit.viewport.window" = {}
|
| 84 |
+
"omni.kit.window.console" = {}
|
| 85 |
+
"omni.kit.window.content_browser" = {}
|
| 86 |
+
"omni.kit.window.property" = {}
|
| 87 |
+
"omni.kit.window.script_editor" = {}
|
| 88 |
+
"omni.kit.window.stage" = {}
|
| 89 |
+
"omni.kit.window.status_bar" = {}
|
| 90 |
+
"omni.kit.window.toolbar" = {}
|
| 91 |
+
"omni.physics.stageupdate" = {}
|
| 92 |
+
"omni.rtx.settings.core" = {}
|
| 93 |
+
"omni.uiaudio" = {}
|
| 94 |
+
"omni.usd.metrics.assembler.ui" = {}
|
| 95 |
+
"omni.usd.schema.metrics.assembler" = {}
|
| 96 |
+
"omni.warp.core" = {}
|
| 97 |
+
|
| 98 |
+
########################
|
| 99 |
+
# Isaac Lab Extensions #
|
| 100 |
+
########################
|
| 101 |
+
|
| 102 |
+
# Load Isaac Lab extensions last
|
| 103 |
+
"isaaclab" = {order = 1000}
|
| 104 |
+
"isaaclab_assets" = {order = 1000}
|
| 105 |
+
"isaaclab_tasks" = {order = 1000}
|
| 106 |
+
"isaaclab_mimic" = {order = 1000}
|
| 107 |
+
"isaaclab_rl" = {order = 1000}
|
| 108 |
+
|
| 109 |
+
[settings]
|
| 110 |
+
exts."omni.kit.material.library".ui_show_list = [
|
| 111 |
+
"OmniPBR",
|
| 112 |
+
"OmniGlass",
|
| 113 |
+
"OmniSurface",
|
| 114 |
+
"USD Preview Surface",
|
| 115 |
+
]
|
| 116 |
+
exts."omni.kit.renderer.core".present.enabled = false # Fixes MGPU stability issue
|
| 117 |
+
exts."omni.kit.viewport.window".windowMenu.entryCount = 2 # Allow user to create two viewports by default
|
| 118 |
+
exts."omni.kit.viewport.window".windowMenu.label = "" # Put Viewport menuitem under Window menu
|
| 119 |
+
exts."omni.rtx.window.settings".window_menu = "Window" # Where to put the render settings menuitem
|
| 120 |
+
exts."omni.usd".locking.onClose = false # reduce time it takes to close/create stage
|
| 121 |
+
renderer.asyncInit = true # Don't block while renderer inits
|
| 122 |
+
renderer.gpuEnumeration.glInterop.enabled = false # Improves startup speed.
|
| 123 |
+
rendergraph.mgpu.backend = "copyQueue" # In MGPU configurations, This setting can be removed if IOMMU is disabled for better performance, copyQueue improves stability and performance when IOMMU is enabled
|
| 124 |
+
rtx-transient.dlssg.enabled = false # DLSSG frame generation is not compatible with synthetic data generation
|
| 125 |
+
rtx.hydra.mdlMaterialWarmup = true # start loading the MDL shaders needed before any delegate is actually created.
|
| 126 |
+
omni.replicator.asyncRendering = false # Async rendering must be disabled for SDG
|
| 127 |
+
exts."omni.kit.test".includeTests = ["*isaac*"] # Add isaac tests to test runner
|
| 128 |
+
foundation.verifyOsVersion.enabled = false
|
| 129 |
+
|
| 130 |
+
# disable the metrics assembler change listener, we don't want to do any runtime changes
|
| 131 |
+
metricsAssembler.changeListenerEnabled = false
|
| 132 |
+
|
| 133 |
+
# set the default ros bridge to disable on startup
|
| 134 |
+
isaac.startup.ros_bridge_extension = ""
|
| 135 |
+
|
| 136 |
+
# Disable for base application
|
| 137 |
+
[settings."filter:platform"."windows-x86_64"]
|
| 138 |
+
isaac.startup.ros_bridge_extension = ""
|
| 139 |
+
[settings."filter:platform"."linux-x86_64"]
|
| 140 |
+
isaac.startup.ros_bridge_extension = ""
|
| 141 |
+
|
| 142 |
+
# menu styling
|
| 143 |
+
[settings.exts."omni.kit.menu.utils"]
|
| 144 |
+
logDeprecated = false
|
| 145 |
+
margin_size = [18, 3]
|
| 146 |
+
tick_spacing = [10, 6]
|
| 147 |
+
margin_size_posttick = [0, 3]
|
| 148 |
+
separator_size = [14, 10]
|
| 149 |
+
root_spacing = 3
|
| 150 |
+
post_label_spaces = 6
|
| 151 |
+
color_tick_enabled = 0xFFFAC434
|
| 152 |
+
color_separator = 0xFF7E7E7E
|
| 153 |
+
color_label_enabled = 0xFFEEEEEE
|
| 154 |
+
menu_title_color = 0xFF202020
|
| 155 |
+
menu_title_line_color = 0xFF5E5E5E
|
| 156 |
+
menu_title_text_color = 0xFF8F8F8F
|
| 157 |
+
menu_title_text_height = 24
|
| 158 |
+
menu_title_close_color = 0xFFC6C6C6
|
| 159 |
+
indent_all_ticks = false
|
| 160 |
+
show_menu_titles = true
|
| 161 |
+
|
| 162 |
+
[settings.app]
|
| 163 |
+
name = "Isaac-Sim"
|
| 164 |
+
version = "5.1.0"
|
| 165 |
+
versionFile = "${exe-path}/VERSION"
|
| 166 |
+
content.emptyStageOnStart = true
|
| 167 |
+
fastShutdown = true
|
| 168 |
+
file.ignoreUnsavedOnExit = true
|
| 169 |
+
font.file = "${fonts}/OpenSans-SemiBold.ttf"
|
| 170 |
+
font.size = 16
|
| 171 |
+
gatherRenderResults = true # True to prevent artifacts in multiple viewport configurations, can be set to false for better performance in some cases
|
| 172 |
+
hangDetector.enabled = true
|
| 173 |
+
hangDetector.timeout = 120
|
| 174 |
+
player.useFixedTimeStepping = true
|
| 175 |
+
settings.fabricDefaultStageFrameHistoryCount = 3 # needed for omni.syntheticdata TODO105 still true?
|
| 176 |
+
settings.persistent = true # settings are persistent for this app
|
| 177 |
+
|
| 178 |
+
vulkan = true # Explicitly enable Vulkan (on by default on Linux, off by default on Windows)
|
| 179 |
+
### async rendering settings
|
| 180 |
+
asyncRendering = false
|
| 181 |
+
asyncRenderingLowLatency = false
|
| 182 |
+
|
| 183 |
+
[settings.app.window]
|
| 184 |
+
iconPath = "${isaacsim.simulation_app}/data/omni.isaac.sim.png"
|
| 185 |
+
title = "Isaac Sim"
|
| 186 |
+
|
| 187 |
+
[settings.app.python]
|
| 188 |
+
# These disable the kit app from also printing out python output, which gets confusing
|
| 189 |
+
interceptSysStdOutput = false
|
| 190 |
+
logSysStdOutput = false
|
| 191 |
+
|
| 192 |
+
[settings.app.renderer]
|
| 193 |
+
resolution.height = 720
|
| 194 |
+
resolution.width = 1280
|
| 195 |
+
skipWhileMinimized = false # python app does not throttle
|
| 196 |
+
sleepMsOnFocus = 0 # python app does not throttle
|
| 197 |
+
sleepMsOutOfFocus = 0 # python app does not throttle
|
| 198 |
+
|
| 199 |
+
[settings.app.viewport]
|
| 200 |
+
defaultCamPos.x = 5
|
| 201 |
+
defaultCamPos.y = 5
|
| 202 |
+
defaultCamPos.z = 5
|
| 203 |
+
defaults.fillViewport = false # default to not fill viewport
|
| 204 |
+
grid.enabled = true
|
| 205 |
+
outline.enabled = true
|
| 206 |
+
boundingBoxes.enabled = false
|
| 207 |
+
show.camera=false
|
| 208 |
+
show.lights=false
|
| 209 |
+
|
| 210 |
+
[settings.telemetry]
|
| 211 |
+
enableAnonymousAppName = true # Anonymous Kit application usage telemetry
|
| 212 |
+
enableAnonymousData = true # Anonymous Kit application usage telemetry
|
| 213 |
+
|
| 214 |
+
[settings.persistent]
|
| 215 |
+
app.primCreation.DefaultXformOpOrder = "xformOp:translate, xformOp:orient, xformOp:scale"
|
| 216 |
+
app.primCreation.DefaultXformOpType = "Scale, Orient, Translate"
|
| 217 |
+
app.primCreation.typedDefaults.camera.clippingRange = [0.01, 10000000.0] # Meters default
|
| 218 |
+
app.primCreation.DefaultXformOpPrecision = "Double"
|
| 219 |
+
app.primCreation.DefaultRotationOrder = "ZYX"
|
| 220 |
+
app.primCreation.PrimCreationWithDefaultXformOps = true
|
| 221 |
+
app.stage.timeCodeRange = [0, 1000000]
|
| 222 |
+
app.stage.upAxis = "Z" # Isaac Sim default Z up
|
| 223 |
+
app.viewport.camMoveVelocity = 0.05 # Meters default
|
| 224 |
+
app.viewport.gizmo.scale = 0.01 # Meters default
|
| 225 |
+
app.viewport.grid.scale = 1.0 # Meters default
|
| 226 |
+
app.viewport.camShowSpeedOnStart = false # Hide camera speed on startup
|
| 227 |
+
app.omniverse.gamepadCameraControl = false # Disable gamepad control for camera by default
|
| 228 |
+
exts."omni.anim.navigation.core".navMesh.config.autoRebakeOnChanges = false
|
| 229 |
+
exts."omni.anim.navigation.core".navMesh.viewNavMesh = false
|
| 230 |
+
physics.visualizationDisplayJoints = false # improves performance
|
| 231 |
+
physics.visualizationSimulationOutput = false # improves performance
|
| 232 |
+
physics.resetOnStop = true # Physics state is reset on stop
|
| 233 |
+
renderer.startupMessageDisplayed = true # hides the IOMMU popup window
|
| 234 |
+
resourcemonitor.timeBetweenQueries = 100 # improves performance
|
| 235 |
+
simulation.defaultMetersPerUnit = 1.0 # Meters default
|
| 236 |
+
omni.replicator.captureOnPlay = true
|
| 237 |
+
|
| 238 |
+
[settings]
|
| 239 |
+
### async rendering settings
|
| 240 |
+
omni.replicator.asyncRendering = false
|
| 241 |
+
app.asyncRendering = false
|
| 242 |
+
app.asyncRenderingLowLatency = false
|
| 243 |
+
|
| 244 |
+
### FSD
|
| 245 |
+
app.useFabricSceneDelegate = true
|
| 246 |
+
rtx.hydra.readTransformsFromFabricInRenderDelegate = true
|
| 247 |
+
|
| 248 |
+
# disable replicator orchestrator for better runtime perf
|
| 249 |
+
exts."omni.replicator.core".Orchestrator.enabled = false
|
| 250 |
+
|
| 251 |
+
[settings.app.livestream]
|
| 252 |
+
outDirectory = "${data}"
|
| 253 |
+
|
| 254 |
+
# Extensions
|
| 255 |
+
###############################
|
| 256 |
+
[settings.exts."omni.kit.registry.nucleus"]
|
| 257 |
+
registries = [
|
| 258 |
+
{ name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/107/shared" },
|
| 259 |
+
{ name = "kit/sdk", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/sdk/${kit_version_short}/${kit_git_hash}" },
|
| 260 |
+
{ name = "kit/community", url = "https://dw290v42wisod.cloudfront.net/exts/kit/community" },
|
| 261 |
+
]
|
| 262 |
+
|
| 263 |
+
[settings.app.extensions]
|
| 264 |
+
skipPublishVerification = false
|
| 265 |
+
registryEnabled = true
|
| 266 |
+
|
| 267 |
+
# Register extension folder from this repo in kit
|
| 268 |
+
[settings.app.exts]
|
| 269 |
+
folders = [
|
| 270 |
+
"${exe-path}/exts", # kit extensions
|
| 271 |
+
"${exe-path}/extscore", # kit core extensions
|
| 272 |
+
"${exe-path}/../exts", # isaac extensions
|
| 273 |
+
"${exe-path}/../extsDeprecated", # deprecated isaac extensions
|
| 274 |
+
"${exe-path}/../extscache", # isaac cache extensions
|
| 275 |
+
"${exe-path}/../extsPhysics", # isaac physics extensions
|
| 276 |
+
"${exe-path}/../isaacsim/exts", # isaac extensions for pip
|
| 277 |
+
"${exe-path}/../isaacsim/extsDeprecated", # deprecated isaac extensions
|
| 278 |
+
"${exe-path}/../isaacsim/extscache", # isaac cache extensions for pip
|
| 279 |
+
"${exe-path}/../isaacsim/extsPhysics", # isaac physics extensions for pip
|
| 280 |
+
"${app}", # needed to find other app files
|
| 281 |
+
"${app}/../source", # needed to find extensions in Isaac Lab
|
| 282 |
+
]
|
| 283 |
+
|
| 284 |
+
[settings.physics]
|
| 285 |
+
autoPopupSimulationOutputWindow = false
|
| 286 |
+
updateToUsd = false
|
| 287 |
+
updateVelocitiesToUsd = false
|
| 288 |
+
updateParticlesToUsd = false
|
| 289 |
+
updateVelocitiesToUsd = false
|
| 290 |
+
updateForceSensorsToUsd = false
|
| 291 |
+
outputVelocitiesLocalSpace = false
|
| 292 |
+
useFastCache = false
|
| 293 |
+
visualizationDisplayJoints = false
|
| 294 |
+
fabricUpdateTransformations = false
|
| 295 |
+
fabricUpdateVelocities = false
|
| 296 |
+
fabricUpdateForceSensors = false
|
| 297 |
+
fabricUpdateJointStates = false
|
| 298 |
+
### When Direct GPU mode is enabled (suppressReadback=true) use direct interop between PhysX GPU and Fabric
|
| 299 |
+
fabricUseGPUInterop = true
|
| 300 |
+
|
| 301 |
+
# Asset path
|
| 302 |
+
# set the S3 directory manually to the latest published S3
|
| 303 |
+
# note: this is done to ensure prior versions of Isaac Sim still use the latest assets
|
| 304 |
+
[settings]
|
| 305 |
+
persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
|
| 306 |
+
persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
|
| 307 |
+
persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
|
apps/isaaclab.python.rendering.kit
ADDED
|
@@ -0,0 +1,150 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
##
|
| 2 |
+
# Adapted from: https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs/blob/main/apps/omni.isaac.sim.python.gym.camera.kit
|
| 3 |
+
#
|
| 4 |
+
# This app file designed specifically towards vision-based RL tasks. It provides necessary settings to enable
|
| 5 |
+
# multiple cameras to be rendered each frame. Additional settings are also applied to increase performance when
|
| 6 |
+
# rendering cameras across multiple environments.
|
| 7 |
+
##
|
| 8 |
+
|
| 9 |
+
[package]
|
| 10 |
+
title = "Isaac Lab Python Camera"
|
| 11 |
+
description = "An app for running Isaac Lab with rendering enabled"
|
| 12 |
+
version = "2.3.0"
|
| 13 |
+
|
| 14 |
+
# That makes it browsable in UI with "experience" filter
|
| 15 |
+
keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]
|
| 16 |
+
|
| 17 |
+
[dependencies]
|
| 18 |
+
# Isaac Lab minimal app
|
| 19 |
+
"isaaclab.python" = {}
|
| 20 |
+
|
| 21 |
+
# PhysX
|
| 22 |
+
"omni.kit.property.physx" = {}
|
| 23 |
+
|
| 24 |
+
# Rendering
|
| 25 |
+
"omni.kit.material.library" = {}
|
| 26 |
+
|
| 27 |
+
[settings.isaaclab]
|
| 28 |
+
# This is used to check that this experience file is loaded when using cameras
|
| 29 |
+
cameras_enabled = true
|
| 30 |
+
|
| 31 |
+
[settings]
|
| 32 |
+
# Note: This path was adapted to be respective to the kit-exe file location
|
| 33 |
+
app.versionFile = "${exe-path}/VERSION"
|
| 34 |
+
app.folder = "${exe-path}/"
|
| 35 |
+
app.name = "Isaac-Sim"
|
| 36 |
+
app.version = "5.1.0"
|
| 37 |
+
|
| 38 |
+
### FSD
|
| 39 |
+
app.useFabricSceneDelegate = true
|
| 40 |
+
# Temporary, should be enabled by default in Kit soon
|
| 41 |
+
rtx.hydra.readTransformsFromFabricInRenderDelegate = true
|
| 42 |
+
|
| 43 |
+
# Disable print outs on extension startup information
|
| 44 |
+
# this only disables the app print_and_log function
|
| 45 |
+
app.enableStdoutOutput = false
|
| 46 |
+
|
| 47 |
+
# set the default ros bridge to disable on startup
|
| 48 |
+
isaac.startup.ros_bridge_extension = ""
|
| 49 |
+
|
| 50 |
+
# Flags for better rendering performance
|
| 51 |
+
# Disabling these settings reduces renderer VRAM usage and improves rendering performance, but at some quality cost
|
| 52 |
+
rtx.translucency.enabled = false
|
| 53 |
+
rtx.reflections.enabled = false
|
| 54 |
+
rtx.indirectDiffuse.enabled = false
|
| 55 |
+
rtx-transient.dlssg.enabled = false
|
| 56 |
+
rtx.directLighting.sampledLighting.enabled = true
|
| 57 |
+
rtx.directLighting.sampledLighting.samplesPerPixel = 1
|
| 58 |
+
rtx.sceneDb.ambientLightIntensity = 1.0
|
| 59 |
+
# rtx.shadows.enabled = false
|
| 60 |
+
|
| 61 |
+
# Avoids replicator warning
|
| 62 |
+
rtx.pathtracing.maxSamplesPerLaunch = 1000000
|
| 63 |
+
# Avoids silent trimming of tiles
|
| 64 |
+
rtx.viewTile.limit = 1000000
|
| 65 |
+
|
| 66 |
+
# Disable present thread to improve performance
|
| 67 |
+
exts."omni.renderer.core".present.enabled=false
|
| 68 |
+
|
| 69 |
+
# Disabling these settings reduces renderer VRAM usage and improves rendering performance, but at some quality cost
|
| 70 |
+
rtx.raytracing.cached.enabled = false
|
| 71 |
+
rtx.ambientOcclusion.enabled = false
|
| 72 |
+
|
| 73 |
+
# Set the DLSS model
|
| 74 |
+
rtx.post.dlss.execMode = 0 # can be 0 (Performance), 1 (Balanced), 2 (Quality), or 3 (Auto)
|
| 75 |
+
|
| 76 |
+
# Avoids unnecessary GPU context initialization
|
| 77 |
+
renderer.multiGpu.maxGpuCount=1
|
| 78 |
+
|
| 79 |
+
# Force synchronous rendering to improve training results
|
| 80 |
+
omni.replicator.asyncRendering = false
|
| 81 |
+
|
| 82 |
+
# Avoids frame offset issue
|
| 83 |
+
app.updateOrder.checkForHydraRenderComplete = 1000
|
| 84 |
+
app.renderer.waitIdle=true
|
| 85 |
+
app.hydraEngine.waitIdle=true
|
| 86 |
+
|
| 87 |
+
app.audio.enabled = false
|
| 88 |
+
|
| 89 |
+
# disable replicator orchestrator for better runtime perf
|
| 90 |
+
exts."omni.replicator.core".Orchestrator.enabled = false
|
| 91 |
+
|
| 92 |
+
# disable the metrics assembler change listener, we don't want to do any runtime changes
|
| 93 |
+
metricsAssembler.changeListenerEnabled = false
|
| 94 |
+
|
| 95 |
+
[settings.physics]
|
| 96 |
+
updateToUsd = false
|
| 97 |
+
updateParticlesToUsd = false
|
| 98 |
+
updateVelocitiesToUsd = false
|
| 99 |
+
updateForceSensorsToUsd = false
|
| 100 |
+
outputVelocitiesLocalSpace = false
|
| 101 |
+
useFastCache = false
|
| 102 |
+
visualizationDisplayJoints = false
|
| 103 |
+
fabricUpdateTransformations = false
|
| 104 |
+
fabricUpdateVelocities = false
|
| 105 |
+
fabricUpdateForceSensors = false
|
| 106 |
+
fabricUpdateJointStates = false
|
| 107 |
+
### When Direct GPU mode is enabled (suppressReadback=true) use direct interop between PhysX GPU and Fabric
|
| 108 |
+
fabricUseGPUInterop = true
|
| 109 |
+
|
| 110 |
+
[settings.exts."omni.kit.registry.nucleus"]
|
| 111 |
+
registries = [
|
| 112 |
+
{ name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/107/shared" },
|
| 113 |
+
{ name = "kit/sdk", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/sdk/${kit_version_short}/${kit_git_hash}" },
|
| 114 |
+
{ name = "kit/community", url = "https://dw290v42wisod.cloudfront.net/exts/kit/community" },
|
| 115 |
+
]
|
| 116 |
+
|
| 117 |
+
[settings.app.python]
|
| 118 |
+
# These disable the kit app from also printing out python output, which gets confusing
|
| 119 |
+
interceptSysStdOutput = false
|
| 120 |
+
logSysStdOutput = false
|
| 121 |
+
|
| 122 |
+
[settings.app.renderer]
|
| 123 |
+
skipWhileMinimized = false
|
| 124 |
+
sleepMsOnFocus = 0
|
| 125 |
+
sleepMsOutOfFocus = 0
|
| 126 |
+
|
| 127 |
+
# Register extension folder from this repo in kit
|
| 128 |
+
[settings.app.exts]
|
| 129 |
+
folders = [
|
| 130 |
+
"${exe-path}/exts", # kit extensions
|
| 131 |
+
"${exe-path}/extscore", # kit core extensions
|
| 132 |
+
"${exe-path}/../exts", # isaac extensions
|
| 133 |
+
"${exe-path}/../extsDeprecated", # deprecated isaac extensions
|
| 134 |
+
"${exe-path}/../extscache", # isaac cache extensions
|
| 135 |
+
"${exe-path}/../extsPhysics", # isaac physics extensions
|
| 136 |
+
"${exe-path}/../isaacsim/exts", # isaac extensions for pip
|
| 137 |
+
"${exe-path}/../isaacsim/extsDeprecated", # deprecated isaac extensions
|
| 138 |
+
"${exe-path}/../isaacsim/extscache", # isaac cache extensions for pip
|
| 139 |
+
"${exe-path}/../isaacsim/extsPhysics", # isaac physics extensions for pip
|
| 140 |
+
"${app}", # needed to find other app files
|
| 141 |
+
"${app}/../source", # needed to find extensions in Isaac Lab
|
| 142 |
+
]
|
| 143 |
+
|
| 144 |
+
# Asset path
|
| 145 |
+
# set the S3 directory manually to the latest published S3
|
| 146 |
+
# note: this is done to ensure prior versions of Isaac Sim still use the latest assets
|
| 147 |
+
[settings]
|
| 148 |
+
persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
|
| 149 |
+
persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
|
| 150 |
+
persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
|
apps/isaaclab.python.xr.openxr.headless.kit
ADDED
|
@@ -0,0 +1,64 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
##
|
| 2 |
+
# Adapted from: apps/isaaclab.python.xr.openxr.kit
|
| 3 |
+
##
|
| 4 |
+
|
| 5 |
+
[package]
|
| 6 |
+
title = "Isaac Lab Python OpenXR Headless"
|
| 7 |
+
description = "An app for running Isaac Lab with OpenXR in headless mode"
|
| 8 |
+
version = "2.3.0"
|
| 9 |
+
|
| 10 |
+
# That makes it browsable in UI with "experience" filter
|
| 11 |
+
keywords = ["experience", "app", "usd", "headless"]
|
| 12 |
+
|
| 13 |
+
[settings]
|
| 14 |
+
# Note: This path was adapted to be respective to the kit-exe file location
|
| 15 |
+
app.versionFile = "${exe-path}/VERSION"
|
| 16 |
+
app.folder = "${exe-path}/"
|
| 17 |
+
app.name = "Isaac-Sim"
|
| 18 |
+
app.version = "5.1.0"
|
| 19 |
+
|
| 20 |
+
### FSD
|
| 21 |
+
app.useFabricSceneDelegate = true
|
| 22 |
+
# Temporary, should be enabled by default in Kit soon
|
| 23 |
+
rtx.hydra.readTransformsFromFabricInRenderDelegate = true
|
| 24 |
+
|
| 25 |
+
# xr optimizations
|
| 26 |
+
xr.skipInputDeviceUSDWrites = true
|
| 27 |
+
'rtx-transient'.resourcemanager.enableTextureStreaming = false
|
| 28 |
+
|
| 29 |
+
[settings.isaaclab]
|
| 30 |
+
# This is used to check that this experience file is loaded when using cameras
|
| 31 |
+
cameras_enabled = true
|
| 32 |
+
|
| 33 |
+
[dependencies]
|
| 34 |
+
"isaaclab.python.xr.openxr" = {}
|
| 35 |
+
|
| 36 |
+
[settings]
|
| 37 |
+
xr.profile.ar.enabled = true
|
| 38 |
+
|
| 39 |
+
[settings.app.python]
|
| 40 |
+
# These disable the kit app from also printing out python output, which gets confusing
|
| 41 |
+
interceptSysStdOutput = false
|
| 42 |
+
logSysStdOutput = false
|
| 43 |
+
|
| 44 |
+
# Register extension folder from this repo in kit
|
| 45 |
+
[settings.app.exts]
|
| 46 |
+
folders = [
|
| 47 |
+
"${exe-path}/exts", # kit extensions
|
| 48 |
+
"${exe-path}/extscore", # kit core extensions
|
| 49 |
+
"${exe-path}/../exts", # isaac extensions
|
| 50 |
+
"${exe-path}/../extsDeprecated", # deprecated isaac extensions
|
| 51 |
+
"${exe-path}/../extscache", # isaac cache extensions
|
| 52 |
+
"${exe-path}/../extsPhysics", # isaac physics extensions
|
| 53 |
+
"${exe-path}/../isaacsim/exts", # isaac extensions for pip
|
| 54 |
+
"${exe-path}/../isaacsim/extsDeprecated", # deprecated isaac extensions
|
| 55 |
+
"${exe-path}/../isaacsim/extscache", # isaac cache extensions for pip
|
| 56 |
+
"${exe-path}/../isaacsim/extsPhysics", # isaac physics extensions for pip
|
| 57 |
+
"${app}", # needed to find other app files
|
| 58 |
+
"${app}/../source", # needed to find extensions in Isaac Lab
|
| 59 |
+
]
|
| 60 |
+
|
| 61 |
+
[settings]
|
| 62 |
+
persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
|
| 63 |
+
persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
|
| 64 |
+
persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
|
apps/isaaclab.python.xr.openxr.kit
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
##
|
| 2 |
+
# Adapted from: _isaac_sim/apps/isaacsim.exp.xr.openxr.kit
|
| 3 |
+
##
|
| 4 |
+
|
| 5 |
+
[package]
|
| 6 |
+
title = "Isaac Lab Python OpenXR"
|
| 7 |
+
description = "An app for running Isaac Lab with OpenXR"
|
| 8 |
+
version = "2.3.0"
|
| 9 |
+
|
| 10 |
+
# That makes it browsable in UI with "experience" filter
|
| 11 |
+
keywords = ["experience", "app", "usd"]
|
| 12 |
+
|
| 13 |
+
[settings]
|
| 14 |
+
# Note: This path was adapted to be respective to the kit-exe file location
|
| 15 |
+
app.versionFile = "${exe-path}/VERSION"
|
| 16 |
+
app.folder = "${exe-path}/"
|
| 17 |
+
app.name = "Isaac-Sim"
|
| 18 |
+
app.version = "5.1.0"
|
| 19 |
+
|
| 20 |
+
### async rendering settings
|
| 21 |
+
# omni.replicator.asyncRendering needs to be false for external camera rendering
|
| 22 |
+
omni.replicator.asyncRendering = false
|
| 23 |
+
app.asyncRendering = true
|
| 24 |
+
app.asyncRenderingLowLatency = true
|
| 25 |
+
|
| 26 |
+
# For XR, set this back to default "#define OMNI_MAX_DEVICE_GROUP_DEVICE_COUNT 16"
|
| 27 |
+
renderer.multiGpu.maxGpuCount = 16
|
| 28 |
+
renderer.gpuEnumeration.glInterop.enabled = true # Allow Kit XR OpenXR to render headless
|
| 29 |
+
|
| 30 |
+
### FSD
|
| 31 |
+
app.useFabricSceneDelegate = true
|
| 32 |
+
# Temporary, should be enabled by default in Kit soon
|
| 33 |
+
rtx.hydra.readTransformsFromFabricInRenderDelegate = true
|
| 34 |
+
|
| 35 |
+
# xr optimizations
|
| 36 |
+
xr.skipInputDeviceUSDWrites = true
|
| 37 |
+
'rtx-transient'.resourcemanager.enableTextureStreaming = false
|
| 38 |
+
|
| 39 |
+
[dependencies]
|
| 40 |
+
"isaaclab.python" = {}
|
| 41 |
+
|
| 42 |
+
# Kit extensions
|
| 43 |
+
"omni.kit.xr.system.openxr" = {}
|
| 44 |
+
"omni.kit.xr.profile.ar" = {}
|
| 45 |
+
|
| 46 |
+
[settings.isaaclab]
|
| 47 |
+
# This is used to check that this experience file is loaded when using cameras
|
| 48 |
+
cameras_enabled = true
|
| 49 |
+
|
| 50 |
+
[settings]
|
| 51 |
+
app.xr.enabled = true
|
| 52 |
+
# Set profiler backend to NVTX by default
|
| 53 |
+
app.profilerBackend = "nvtx"
|
| 54 |
+
|
| 55 |
+
# xr settings
|
| 56 |
+
xr.ui.enabled = false
|
| 57 |
+
xr.depth.aov = "GBufferDepth"
|
| 58 |
+
defaults.xr.profile.ar.anchorMode = "custom anchor"
|
| 59 |
+
rtx.rendermode = "RaytracedLighting"
|
| 60 |
+
persistent.xr.profile.ar.renderQuality = "performance"
|
| 61 |
+
persistent.xr.profile.ar.render.nearPlane = 0.15
|
| 62 |
+
xr.openxr.components."omni.kit.xr.openxr.ext.hand_tracking".enabled = true
|
| 63 |
+
xr.openxr.components."isaacsim.xr.openxr.hand_tracking".enabled = true
|
| 64 |
+
|
| 65 |
+
[settings.app.python]
|
| 66 |
+
# These disable the kit app from also printing out python output, which gets confusing
|
| 67 |
+
interceptSysStdOutput = false
|
| 68 |
+
logSysStdOutput = false
|
| 69 |
+
|
| 70 |
+
# Register extension folder from this repo in kit
|
| 71 |
+
[settings.app.exts]
|
| 72 |
+
folders = [
|
| 73 |
+
"${exe-path}/exts", # kit extensions
|
| 74 |
+
"${exe-path}/extscore", # kit core extensions
|
| 75 |
+
"${exe-path}/../exts", # isaac extensions
|
| 76 |
+
"${exe-path}/../extsDeprecated", # deprecated isaac extensions
|
| 77 |
+
"${exe-path}/../extscache", # isaac cache extensions
|
| 78 |
+
"${exe-path}/../extsPhysics", # isaac physics extensions
|
| 79 |
+
"${exe-path}/../isaacsim/exts", # isaac extensions for pip
|
| 80 |
+
"${exe-path}/../isaacsim/extsDeprecated", # deprecated isaac extensions
|
| 81 |
+
"${exe-path}/../isaacsim/extscache", # isaac cache extensions for pip
|
| 82 |
+
"${exe-path}/../isaacsim/extsPhysics", # isaac physics extensions for pip
|
| 83 |
+
"${app}", # needed to find other app files
|
| 84 |
+
"${app}/../source", # needed to find extensions in Isaac Lab
|
| 85 |
+
]
|
| 86 |
+
|
| 87 |
+
# Asset path
|
| 88 |
+
# set the S3 directory manually to the latest published S3
|
| 89 |
+
# note: this is done to ensure prior versions of Isaac Sim still use the latest assets
|
| 90 |
+
[settings]
|
| 91 |
+
persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
|
| 92 |
+
persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
|
| 93 |
+
persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
|
apps/isaacsim_4_5/extension.toml
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
# This is not an extension
|
apps/isaacsim_4_5/isaaclab.python.headless.kit
ADDED
|
@@ -0,0 +1,202 @@
|
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|
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|
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|
|
|
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|
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|
|
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|
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|
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|
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|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
##
|
| 2 |
+
# Adapted from: _isaac_sim/apps/omni.isaac.sim.python.gym.headless.kit
|
| 3 |
+
##
|
| 4 |
+
|
| 5 |
+
[package]
|
| 6 |
+
title = "Isaac Lab Python Headless"
|
| 7 |
+
description = "An app for running Isaac Lab headlessly"
|
| 8 |
+
version = "2.3.0"
|
| 9 |
+
|
| 10 |
+
# That makes it browsable in UI with "experience" filter
|
| 11 |
+
keywords = ["experience", "app", "isaaclab", "python", "headless"]
|
| 12 |
+
|
| 13 |
+
[settings]
|
| 14 |
+
# Note: This path was adapted to be respective to the kit-exe file location
|
| 15 |
+
app.versionFile = "${exe-path}/VERSION"
|
| 16 |
+
app.folder = "${exe-path}/"
|
| 17 |
+
app.name = "Isaac-Sim"
|
| 18 |
+
app.version = "4.5.0"
|
| 19 |
+
|
| 20 |
+
##################################
|
| 21 |
+
# Omniverse related dependencies #
|
| 22 |
+
##################################
|
| 23 |
+
[dependencies]
|
| 24 |
+
"omni.physx" = {}
|
| 25 |
+
"omni.physx.tensors" = {}
|
| 26 |
+
"omni.physx.fabric" = {}
|
| 27 |
+
"omni.warp.core" = {}
|
| 28 |
+
"usdrt.scenegraph" = {}
|
| 29 |
+
"omni.kit.telemetry" = {}
|
| 30 |
+
"omni.kit.loop" = {}
|
| 31 |
+
|
| 32 |
+
[settings]
|
| 33 |
+
app.content.emptyStageOnStart = false
|
| 34 |
+
|
| 35 |
+
# Disable print outs on extension startup information
|
| 36 |
+
# this only disables the app print_and_log function
|
| 37 |
+
app.enableStdoutOutput = false
|
| 38 |
+
|
| 39 |
+
# default viewport is fill
|
| 40 |
+
app.runLoops.rendering_0.fillResolution = false
|
| 41 |
+
exts."omni.kit.window.viewport".blockingGetViewportDrawable = false
|
| 42 |
+
|
| 43 |
+
# Fix PlayButtonGroup error
|
| 44 |
+
exts."omni.kit.widget.toolbar".PlayButton.enabled = false
|
| 45 |
+
|
| 46 |
+
# disable replicator orchestrator for better runtime perf
|
| 47 |
+
exts."omni.replicator.core".Orchestrator.enabled = false
|
| 48 |
+
|
| 49 |
+
[settings.app.settings]
|
| 50 |
+
persistent = true
|
| 51 |
+
dev_build = false
|
| 52 |
+
fabricDefaultStageFrameHistoryCount = 3 # needed for omni.syntheticdata TODO105 still true?
|
| 53 |
+
|
| 54 |
+
[settings.app.python]
|
| 55 |
+
# These disable the kit app from also printing out python output, which gets confusing
|
| 56 |
+
interceptSysStdOutput = false
|
| 57 |
+
logSysStdOutput = false
|
| 58 |
+
|
| 59 |
+
[settings]
|
| 60 |
+
# MGPU is always on, you can turn it from the settings, and force this off to save even more resource if you
|
| 61 |
+
# only want to use a single GPU on your MGPU system
|
| 62 |
+
# False for Isaac Sim
|
| 63 |
+
renderer.multiGpu.enabled = true
|
| 64 |
+
renderer.multiGpu.autoEnable = true
|
| 65 |
+
'rtx-transient'.resourcemanager.enableTextureStreaming = true
|
| 66 |
+
app.asyncRendering = false
|
| 67 |
+
app.asyncRenderingLowLatency = false
|
| 68 |
+
app.hydraEngine.waitIdle = false
|
| 69 |
+
# app.hydra.aperture.conform = 4 # in 105.1 pixels are square by default
|
| 70 |
+
omni.replicator.asyncRendering = false
|
| 71 |
+
|
| 72 |
+
# Enable Iray and pxr by setting this to "rtx,iray,pxr"
|
| 73 |
+
renderer.enabled = "rtx"
|
| 74 |
+
|
| 75 |
+
# Avoid warning on shutdown from audio context
|
| 76 |
+
app.audio.enabled = false
|
| 77 |
+
|
| 78 |
+
# Enable Vulkan - avoids torch+cu12 error on windows
|
| 79 |
+
app.vulkan = true
|
| 80 |
+
|
| 81 |
+
# Set profiler backend to NVTX by default
|
| 82 |
+
app.profilerBackend = "nvtx"
|
| 83 |
+
|
| 84 |
+
# hide NonToggleable Exts
|
| 85 |
+
exts."omni.kit.window.extensions".hideNonToggleableExts = true
|
| 86 |
+
exts."omni.kit.window.extensions".showFeatureOnly = false
|
| 87 |
+
|
| 88 |
+
# set the default ros bridge to disable on startup
|
| 89 |
+
isaac.startup.ros_bridge_extension = ""
|
| 90 |
+
|
| 91 |
+
# Extensions
|
| 92 |
+
###############################
|
| 93 |
+
[settings.exts."omni.kit.registry.nucleus"]
|
| 94 |
+
registries = [
|
| 95 |
+
{ name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/106/shared" },
|
| 96 |
+
{ name = "kit/sdk", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/sdk/${kit_version_short}/${kit_git_hash}" },
|
| 97 |
+
{ name = "kit/community", url = "https://dw290v42wisod.cloudfront.net/exts/kit/community" },
|
| 98 |
+
]
|
| 99 |
+
|
| 100 |
+
[settings.app.extensions]
|
| 101 |
+
skipPublishVerification = false
|
| 102 |
+
registryEnabled = true
|
| 103 |
+
|
| 104 |
+
[settings.crashreporter.data]
|
| 105 |
+
experience = "Isaac Sim"
|
| 106 |
+
|
| 107 |
+
[settings.persistent]
|
| 108 |
+
app.file.recentFiles = []
|
| 109 |
+
app.stage.upAxis = "Z"
|
| 110 |
+
app.stage.movePrimInPlace = false
|
| 111 |
+
app.stage.instanceableOnCreatingReference = false
|
| 112 |
+
app.stage.materialStrength = "weakerThanDescendants"
|
| 113 |
+
|
| 114 |
+
app.transform.gizmoUseSRT = true
|
| 115 |
+
app.viewport.grid.scale = 1.0
|
| 116 |
+
app.viewport.pickingMode = "kind:model.ALL"
|
| 117 |
+
app.viewport.camMoveVelocity = 0.05 # 5 m/s
|
| 118 |
+
app.viewport.gizmo.scale = 0.01 # scaled to meters
|
| 119 |
+
app.viewport.previewOnPeek = false
|
| 120 |
+
app.viewport.snapToSurface = false
|
| 121 |
+
app.viewport.displayOptions = 31951 # Disable Frame Rate and Resolution by default
|
| 122 |
+
app.window.uiStyle = "NvidiaDark"
|
| 123 |
+
app.primCreation.DefaultXformOpType = "Scale, Orient, Translate"
|
| 124 |
+
app.primCreation.DefaultXformOpOrder="xformOp:translate, xformOp:orient, xformOp:scale"
|
| 125 |
+
app.primCreation.typedDefaults.camera.clippingRange = [0.01, 10000000.0]
|
| 126 |
+
simulation.minFrameRate = 15
|
| 127 |
+
simulation.defaultMetersPerUnit = 1.0
|
| 128 |
+
omnigraph.updateToUsd = false
|
| 129 |
+
omnigraph.useSchemaPrims = true
|
| 130 |
+
omnigraph.disablePrimNodes = true
|
| 131 |
+
omni.replicator.captureOnPlay = true
|
| 132 |
+
omnihydra.useSceneGraphInstancing = true
|
| 133 |
+
renderer.startupMessageDisplayed = true # hides the IOMMU popup window
|
| 134 |
+
|
| 135 |
+
# Make Detail panel visible by default
|
| 136 |
+
app.omniverse.content_browser.options_menu.show_details = true
|
| 137 |
+
app.omniverse.filepicker.options_menu.show_details = true
|
| 138 |
+
|
| 139 |
+
[settings.physics]
|
| 140 |
+
updateToUsd = false
|
| 141 |
+
updateParticlesToUsd = false
|
| 142 |
+
updateVelocitiesToUsd = false
|
| 143 |
+
updateForceSensorsToUsd = false
|
| 144 |
+
outputVelocitiesLocalSpace = false
|
| 145 |
+
useFastCache = false
|
| 146 |
+
visualizationDisplayJoints = false
|
| 147 |
+
fabricUpdateTransformations = false
|
| 148 |
+
fabricUpdateVelocities = false
|
| 149 |
+
fabricUpdateForceSensors = false
|
| 150 |
+
fabricUpdateJointStates = false
|
| 151 |
+
|
| 152 |
+
# Performance improvement
|
| 153 |
+
resourcemonitor.timeBetweenQueries = 100
|
| 154 |
+
|
| 155 |
+
# Register extension folder from this repo in kit
|
| 156 |
+
[settings.app.exts]
|
| 157 |
+
folders = [
|
| 158 |
+
"${exe-path}/exts", # kit extensions
|
| 159 |
+
"${exe-path}/extscore", # kit core extensions
|
| 160 |
+
"${exe-path}/../exts", # isaac extensions
|
| 161 |
+
"${exe-path}/../extsDeprecated", # deprecated isaac extensions
|
| 162 |
+
"${exe-path}/../extscache", # isaac cache extensions
|
| 163 |
+
"${exe-path}/../extsPhysics", # isaac physics extensions
|
| 164 |
+
"${exe-path}/../isaacsim/exts", # isaac extensions for pip
|
| 165 |
+
"${exe-path}/../isaacsim/extsDeprecated", # deprecated isaac extensions
|
| 166 |
+
"${exe-path}/../isaacsim/extscache", # isaac cache extensions for pip
|
| 167 |
+
"${exe-path}/../isaacsim/extsPhysics", # isaac physics extensions for pip
|
| 168 |
+
"${app}", # needed to find other app files
|
| 169 |
+
"${app}/../../source", # needed to find extensions in Isaac Lab
|
| 170 |
+
]
|
| 171 |
+
|
| 172 |
+
[settings.ngx]
|
| 173 |
+
enabled=true # Enable this for DLSS
|
| 174 |
+
|
| 175 |
+
########################
|
| 176 |
+
# Isaac Sim Extensions #
|
| 177 |
+
########################
|
| 178 |
+
[dependencies]
|
| 179 |
+
"isaacsim.simulation_app" = {}
|
| 180 |
+
"isaacsim.core.api" = {}
|
| 181 |
+
"isaacsim.core.cloner" = {}
|
| 182 |
+
"isaacsim.core.utils" = {}
|
| 183 |
+
"isaacsim.core.version" = {}
|
| 184 |
+
|
| 185 |
+
########################
|
| 186 |
+
# Isaac Lab Extensions #
|
| 187 |
+
########################
|
| 188 |
+
|
| 189 |
+
# Load Isaac Lab extensions last
|
| 190 |
+
"isaaclab" = {order = 1000}
|
| 191 |
+
"isaaclab_assets" = {order = 1000}
|
| 192 |
+
"isaaclab_tasks" = {order = 1000}
|
| 193 |
+
"isaaclab_mimic" = {order = 1000}
|
| 194 |
+
"isaaclab_rl" = {order = 1000}
|
| 195 |
+
|
| 196 |
+
# Asset path
|
| 197 |
+
# set the S3 directory manually to the latest published S3
|
| 198 |
+
# note: this is done to ensure prior versions of Isaac Sim still use the latest assets
|
| 199 |
+
[settings]
|
| 200 |
+
persistent.isaac.asset_root.default = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
|
| 201 |
+
persistent.isaac.asset_root.cloud = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
|
| 202 |
+
persistent.isaac.asset_root.nvidia = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
|
apps/isaacsim_4_5/isaaclab.python.headless.rendering.kit
ADDED
|
@@ -0,0 +1,145 @@
|
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|
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|
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|
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|
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|
|
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|
|
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|
|
|
|
|
|
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|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
##
|
| 2 |
+
# Adapted from: https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs/blob/main/apps/omni.isaac.sim.python.gym.camera.kit
|
| 3 |
+
#
|
| 4 |
+
# This app file designed specifically towards vision-based RL tasks. It provides necessary settings to enable
|
| 5 |
+
# multiple cameras to be rendered each frame. Additional settings are also applied to increase performance when
|
| 6 |
+
# rendering cameras across multiple environments.
|
| 7 |
+
##
|
| 8 |
+
|
| 9 |
+
[package]
|
| 10 |
+
title = "Isaac Lab Python Headless Camera"
|
| 11 |
+
description = "An app for running Isaac Lab headlessly with rendering enabled"
|
| 12 |
+
version = "2.3.0"
|
| 13 |
+
|
| 14 |
+
# That makes it browsable in UI with "experience" filter
|
| 15 |
+
keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]
|
| 16 |
+
|
| 17 |
+
[dependencies]
|
| 18 |
+
# Isaac Lab minimal app
|
| 19 |
+
"isaaclab.python.headless" = {}
|
| 20 |
+
"omni.replicator.core" = {}
|
| 21 |
+
|
| 22 |
+
# Rendering
|
| 23 |
+
"omni.kit.material.library" = {}
|
| 24 |
+
"omni.kit.viewport.rtx" = {}
|
| 25 |
+
|
| 26 |
+
[settings.isaaclab]
|
| 27 |
+
# This is used to check that this experience file is loaded when using cameras
|
| 28 |
+
cameras_enabled = true
|
| 29 |
+
|
| 30 |
+
[settings]
|
| 31 |
+
# Note: This path was adapted to be respective to the kit-exe file location
|
| 32 |
+
app.versionFile = "${exe-path}/VERSION"
|
| 33 |
+
app.folder = "${exe-path}/"
|
| 34 |
+
app.name = "Isaac-Sim"
|
| 35 |
+
app.version = "4.5.0"
|
| 36 |
+
|
| 37 |
+
# Disable print outs on extension startup information
|
| 38 |
+
# this only disables the app print_and_log function
|
| 39 |
+
app.enableStdoutOutput = false
|
| 40 |
+
|
| 41 |
+
# set the default ros bridge to disable on startup
|
| 42 |
+
isaac.startup.ros_bridge_extension = ""
|
| 43 |
+
|
| 44 |
+
# Flags for better rendering performance
|
| 45 |
+
# Disabling these settings reduces renderer VRAM usage and improves rendering performance, but at some quality cost
|
| 46 |
+
rtx.translucency.enabled = false
|
| 47 |
+
rtx.reflections.enabled = false
|
| 48 |
+
rtx.indirectDiffuse.enabled = false
|
| 49 |
+
rtx-transient.dlssg.enabled = false
|
| 50 |
+
rtx.directLighting.sampledLighting.enabled = true
|
| 51 |
+
rtx.directLighting.sampledLighting.samplesPerPixel = 1
|
| 52 |
+
rtx.sceneDb.ambientLightIntensity = 1.0
|
| 53 |
+
# rtx.shadows.enabled = false
|
| 54 |
+
|
| 55 |
+
# Avoids replicator warning
|
| 56 |
+
rtx.pathtracing.maxSamplesPerLaunch = 1000000
|
| 57 |
+
# Avoids silent trimming of tiles
|
| 58 |
+
rtx.viewTile.limit = 1000000
|
| 59 |
+
|
| 60 |
+
# Disable present thread to improve performance
|
| 61 |
+
exts."omni.renderer.core".present.enabled=false
|
| 62 |
+
|
| 63 |
+
# Disabling these settings reduces renderer VRAM usage and improves rendering performance, but at some quality cost
|
| 64 |
+
rtx.raytracing.cached.enabled = false
|
| 65 |
+
rtx.ambientOcclusion.enabled = false
|
| 66 |
+
|
| 67 |
+
# Set the DLSS model
|
| 68 |
+
rtx.post.dlss.execMode = 0 # can be 0 (Performance), 1 (Balanced), 2 (Quality), or 3 (Auto)
|
| 69 |
+
|
| 70 |
+
# Avoids unnecessary GPU context initialization
|
| 71 |
+
renderer.multiGpu.maxGpuCount=1
|
| 72 |
+
|
| 73 |
+
# Force synchronous rendering to improve training results
|
| 74 |
+
omni.replicator.asyncRendering = false
|
| 75 |
+
|
| 76 |
+
# Avoids frame offset issue
|
| 77 |
+
app.updateOrder.checkForHydraRenderComplete = 1000
|
| 78 |
+
app.renderer.waitIdle=true
|
| 79 |
+
app.hydraEngine.waitIdle=true
|
| 80 |
+
|
| 81 |
+
app.audio.enabled = false
|
| 82 |
+
|
| 83 |
+
# Enable Vulkan - avoids torch+cu12 error on windows
|
| 84 |
+
app.vulkan = true
|
| 85 |
+
|
| 86 |
+
# Set profiler backend to NVTX by default
|
| 87 |
+
app.profilerBackend = "nvtx"
|
| 88 |
+
|
| 89 |
+
# disable replicator orchestrator for better runtime perf
|
| 90 |
+
exts."omni.replicator.core".Orchestrator.enabled = false
|
| 91 |
+
|
| 92 |
+
[settings.exts."omni.kit.registry.nucleus"]
|
| 93 |
+
registries = [
|
| 94 |
+
{ name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/106/shared" },
|
| 95 |
+
{ name = "kit/sdk", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/sdk/${kit_version_short}/${kit_git_hash}" },
|
| 96 |
+
{ name = "kit/community", url = "https://dw290v42wisod.cloudfront.net/exts/kit/community" },
|
| 97 |
+
]
|
| 98 |
+
|
| 99 |
+
[settings.app.python]
|
| 100 |
+
# These disable the kit app from also printing out python output, which gets confusing
|
| 101 |
+
interceptSysStdOutput = false
|
| 102 |
+
logSysStdOutput = false
|
| 103 |
+
|
| 104 |
+
[settings.app.renderer]
|
| 105 |
+
skipWhileMinimized = false
|
| 106 |
+
sleepMsOnFocus = 0
|
| 107 |
+
sleepMsOutOfFocus = 0
|
| 108 |
+
|
| 109 |
+
[settings.physics]
|
| 110 |
+
updateToUsd = false
|
| 111 |
+
updateParticlesToUsd = false
|
| 112 |
+
updateVelocitiesToUsd = false
|
| 113 |
+
updateForceSensorsToUsd = false
|
| 114 |
+
outputVelocitiesLocalSpace = false
|
| 115 |
+
useFastCache = false
|
| 116 |
+
visualizationDisplayJoints = false
|
| 117 |
+
fabricUpdateTransformations = false
|
| 118 |
+
fabricUpdateVelocities = false
|
| 119 |
+
fabricUpdateForceSensors = false
|
| 120 |
+
fabricUpdateJointStates = false
|
| 121 |
+
|
| 122 |
+
# Register extension folder from this repo in kit
|
| 123 |
+
[settings.app.exts]
|
| 124 |
+
folders = [
|
| 125 |
+
"${exe-path}/exts", # kit extensions
|
| 126 |
+
"${exe-path}/extscore", # kit core extensions
|
| 127 |
+
"${exe-path}/../exts", # isaac extensions
|
| 128 |
+
"${exe-path}/../extsDeprecated", # deprecated isaac extensions
|
| 129 |
+
"${exe-path}/../extscache", # isaac cache extensions
|
| 130 |
+
"${exe-path}/../extsPhysics", # isaac physics extensions
|
| 131 |
+
"${exe-path}/../isaacsim/exts", # isaac extensions for pip
|
| 132 |
+
"${exe-path}/../isaacsim/extsDeprecated", # deprecated isaac extensions
|
| 133 |
+
"${exe-path}/../isaacsim/extscache", # isaac cache extensions for pip
|
| 134 |
+
"${exe-path}/../isaacsim/extsPhysics", # isaac physics extensions for pip
|
| 135 |
+
"${app}", # needed to find other app files
|
| 136 |
+
"${app}/../../source", # needed to find extensions in Isaac Lab
|
| 137 |
+
]
|
| 138 |
+
|
| 139 |
+
# Asset path
|
| 140 |
+
# set the S3 directory manually to the latest published S3
|
| 141 |
+
# note: this is done to ensure prior versions of Isaac Sim still use the latest assets
|
| 142 |
+
[settings]
|
| 143 |
+
persistent.isaac.asset_root.default = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
|
| 144 |
+
persistent.isaac.asset_root.cloud = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
|
| 145 |
+
persistent.isaac.asset_root.nvidia = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
|