Merge branch 'main' of github.com:isaac-sim/IsaacLab into perf_improv…

…ement_internal

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

@@ -5,8 +5,8 @@ phases:
     commands:
       - echo "Building a docker image"
       - docker login -u \$oauthtoken -p $NGC_TOKEN nvcr.io
-      - docker build -t $IMAGE_NAME:latest-1.0 --build-arg ISAACSIM_VERSION_ARG=4.0.0 --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab --build-arg DOCKER_USER_HOME_ARG=/root -f docker/Dockerfile.base .
+      - docker build -t $IMAGE_NAME:latest-1.1 --build-arg ISAACSIM_VERSION_ARG=4.1.0 --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab --build-arg DOCKER_USER_HOME_ARG=/root -f docker/Dockerfile.base .
       - echo "Pushing the docker image"
-      - docker push $IMAGE_NAME:latest-1.0
-      - docker tag $IMAGE_NAME:latest-1.0 $IMAGE_NAME:latest-1.0-b$CODEBUILD_BUILD_NUMBER
-      - docker push $IMAGE_NAME:latest-1.0-b$CODEBUILD_BUILD_NUMBER
+      - docker push $IMAGE_NAME:latest-1.1
+      - docker tag $IMAGE_NAME:latest-1.1 $IMAGE_NAME:latest-1.1-b$CODEBUILD_BUILD_NUMBER
+      - docker push $IMAGE_NAME:latest-1.1-b$CODEBUILD_BUILD_NUMBER

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

@@ -40,7 +40,7 @@ phases:
         '
       - ssh ubuntu@$EC2_INSTANCE_IP "docker login -u \\\$oauthtoken -p $NGC_TOKEN nvcr.io"
       - ssh ubuntu@$EC2_INSTANCE_IP "cd IsaacLab;
-          docker build -t isaac-lab-dev --build-arg ISAACSIM_VERSION_ARG=4.0.0 --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab --build-arg DOCKER_USER_HOME_ARG=/root -f docker/Dockerfile.base . ;
+          docker build -t isaac-lab-dev --build-arg ISAACSIM_VERSION_ARG=4.1.0 --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab --build-arg DOCKER_USER_HOME_ARG=/root -f docker/Dockerfile.base . ;
           docker run --rm --entrypoint bash --gpus all --network=host --name isaac-lab-test isaac-lab-dev ./isaaclab.sh -t &&
           exit $?"
   post_build:

CONTRIBUTORS.md

@@ -41,6 +41,7 @@ Guidelines for modifications:
 * Chenyu Yang
 * Jia Lin Yuan
 * Jingzhou Liu
+* Johnson Sun
 * Kourosh Darvish
 * Lorenz Wellhausen
 * Muhong Guo

README.md

@@ -4,7 +4,7 @@
 
 # Isaac Lab
 
-[![IsaacSim](https://img.shields.io/badge/IsaacSim-4.0-silver.svg)](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html)
+[![IsaacSim](https://img.shields.io/badge/IsaacSim-4.1-silver.svg)](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html)
 [![Python](https://img.shields.io/badge/python-3.10-blue.svg)](https://docs.python.org/3/whatsnew/3.10.html)
 [![Linux platform](https://img.shields.io/badge/platform-linux--64-orange.svg)](https://releases.ubuntu.com/20.04/)
 [![Windows platform](https://img.shields.io/badge/platform-windows--64-orange.svg)](https://www.microsoft.com/en-us/)

VERSION

@@ -1 +1 @@
-1.0.0
+1.1.0

docker/.env.base

@@ -4,8 +4,8 @@
 
 # Accept the NVIDIA Omniverse EULA by default
 ACCEPT_EULA=Y
-# NVIDIA Isaac Sim version to use (e.g. 4.0.0, 2023.1.1)
-ISAACSIM_VERSION=4.0.0
+# NVIDIA Isaac Sim version to use (e.g. 4.1.0)
+ISAACSIM_VERSION=4.1.0
 # Derived from the default path in the NVIDIA provided Isaac Sim container
 DOCKER_ISAACSIM_ROOT_PATH=/isaac-sim
 # The Isaac Lab path in the container

docker/Dockerfile.base

@@ -15,7 +15,7 @@ ENV ISAACSIM_VERSION=${ISAACSIM_VERSION_ARG}
 SHELL ["/bin/bash", "-c"]
 
 # Adds labels to the Dockerfile
-LABEL version="1.0"
+LABEL version="1.1"
 LABEL description="Dockerfile for building and running the Isaac Lab framework inside Isaac Sim container image."
 
 # Arguments

docker/container.sh

@@ -224,9 +224,9 @@ x11_check() {
     else
         echo "[INFO] X11 Forwarding is configured as $__ISAACLAB_X11_FORWARDING_ENABLED in .container.yaml"
         if [ "$__ISAACLAB_X11_FORWARDING_ENABLED" = "1" ]; then
-            echo "[INFO] To disable X11 forwarding, set __ISAACLAB_X11_FORWARDING_ENABLED=0 in .container.yaml"
+            echo "[INFO] To disable X11 forwarding, set \`__ISAACLAB_X11_FORWARDING_ENABLED: 0\` in .container.yaml"
         else
-            echo "[INFO] To enable X11 forwarding, set __ISAACLAB_X11_FORWARDING_ENABLED=1 in .container.yaml"
+            echo "[INFO] To enable X11 forwarding, set \`__ISAACLAB_X11_FORWARDING_ENABLED: 1\` in .container.yaml"
         fi
     fi
 

docs/conf.py

@@ -226,7 +226,7 @@
         {
             "name": "Isaac Sim",
             "url": "https://developer.nvidia.com/isaac-sim",
-            "icon": "https://img.shields.io/badge/IsaacSim-4.0-silver.svg",
+            "icon": "https://img.shields.io/badge/IsaacSim-4.1-silver.svg",
             "type": "url",
         },
         {

docs/source/_static/css/custom.css

@@ -26,6 +26,7 @@ html[data-theme="light"] {
     --pst-color-link: var(--pst-color-primary);
     --pst-color-link-hover: #789841;
     --pst-color-table-row-hover-bg: #daedb9;
+    --pst-color-accent: var(--pst-color-primary);
 }
 
 /* anything related to the dark theme */
@@ -51,6 +52,7 @@ html[data-theme="dark"] {
     --pst-color-link: var(--pst-color-primary);
     --pst-color-link-hover: #aee354;
     --pst-color-table-row-hover-bg: #3a550b;
+    --pst-color-accent: var(--pst-color-primary);
 }
 
 a {

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

@@ -94,21 +94,6 @@ Event Manager
     :members:
     :exclude-members: __init__
 
-Randomization Manager
----------------------
-
-.. deprecated:: v0.3
-    The Randomization Manager is deprecated and will be removed in v0.4.
-    Please use the :class:`EventManager` class instead.
-
-.. autoclass:: RandomizationManager
-    :members:
-    :inherited-members:
-    :show-inheritance:
-
-.. autoclass:: RandomizationTermCfg
-    :members:
-    :exclude-members: __init__
 
 Command Manager
 ---------------

docs/source/deployment/docker.rst

@@ -137,6 +137,17 @@ directories to the ``docker/artifacts`` directory. This is useful for copying th
     ./docker/container.sh stop
 
 
+X11 forwarding
+~~~~~~~~~~~~~~
+
+The container supports X11 forwarding, which allows the user to run GUI applications from the container and display them
+on the host machine.
+
+The first time a container is started with ``./docker/container.sh start``, the script prompts
+the user whether to activate X11 forwarding. This will create a file ``docker/.container.yaml`` to store the user's choice.
+Subsequently, X11 forwarding can be toggled by changing ``__ISAACLAB_X11_FORWARDING_ENABLED`` to 0 or 1 in ``docker/.container.yaml``.
+
+
 Python Interpreter
 ~~~~~~~~~~~~~~~~~~
 

docs/source/features/tiled_rendering.rst

@@ -9,7 +9,7 @@ Tiled Rendering
 
 .. note::
 
-    This feature is only available from Isaac Sim version 4.0.0.
+    This feature is only available from Isaac Sim version 4.0.0 onwards.
 
     Tiled rendering requires heavy memory resources. We recommend running at most 256 cameras in the scene.
 

docs/source/how-to/add_own_library.rst

@@ -4,7 +4,7 @@ Adding your own learning library
 Isaac Lab comes pre-integrated with a number of libraries (such as RSL-RL, RL-Games, SKRL, Stable Baselines, etc.).
 However, you may want to integrate your own library with Isaac Lab or use a different version of the libraries than
 the one installed by Isaac Lab. This is possible as long as the library is available as Python package that supports
-the Python version used by the underlying simulator. For instance, if you are using Isaac Sim 2023.1.1, you need
+the Python version used by the underlying simulator. For instance, if you are using Isaac Sim 4.0.0 onwards, you need
 to ensure that the library is available for Python 3.10.
 
 Using a different version of a library

docs/source/migration/migrating_from_isaacgymenvs.rst

@@ -11,6 +11,11 @@ As both IsaacGymEnvs and the Isaac Gym Preview Release are now deprecated, the f
 the key differences between IsaacGymEnvs and Isaac Lab, as well as differences in APIs between Isaac Gym Preview
 Release and Isaac Sim.
 
+.. note::
+
+  The following changes are with respect to Isaac Lab 1.0 release. Please refer to the `release notes`_ for any changes
+  in the future releases.
+
 
 Task Config Setup
 ~~~~~~~~~~~~~~~~~
@@ -782,7 +787,7 @@ The ``progress_buf`` variable has also been renamed to ``episode_length_buf``.
 |     velocities = 0.5 * (torch.rand((len(env_ids), self.num_dof),      |                                                                           |
 |         device=self.device) - 0.5)                                    |     time_out = self.episode_length_buf >= self.max_episode_length - 1     |
 |                                                                       |     out_of_bounds = torch.any(torch.abs(                                  |
-|     self.dof_pos[env_ids, :] = positions[:]                           |         self.joint_pos[:, self._pole_dof_idx] > self.cfg.max_cart_pos),   |
+|     self.dof_pos[env_ids, :] = positions[:]                           |         self.joint_pos[:, self._cart_dof_idx]) > self.cfg.max_cart_pos,   |
 |     self.dof_vel[env_ids, :] = velocities[:]                          |         dim=1)                                                            |
 |                                                                       |     out_of_bounds = out_of_bounds | torch.any(                            |
 |     env_ids_int32 = env_ids.to(dtype=torch.int32)                     |         torch.abs(self.joint_pos[:, self._pole_dof_idx]) > math.pi / 2,   |
@@ -920,3 +925,4 @@ To launch inferencing in Isaac Lab, use the command:
 
 .. _IsaacGymEnvs: https://github.com/isaac-sim/IsaacGymEnvs
 .. _Isaac Gym Preview Release: https://developer.nvidia.com/isaac-gym
+.. _release notes: https://github.com/isaac-sim/IsaacLab/releases

docs/source/migration/migrating_from_omniisaacgymenvs.rst

@@ -12,6 +12,10 @@ We have updated OmniIsaacGymEnvs to Isaac Sim version 4.0.0 to support the migra
 to Isaac Lab. Moving forward, OmniIsaacGymEnvs will be deprecated and future development
 will continue in Isaac Lab.
 
+.. note::
+
+  The following changes are with respect to Isaac Lab 1.0 release. Please refer to the `release notes`_ for any changes
+  in the future releases.
 
 Task Config Setup
 ~~~~~~~~~~~~~~~~~
@@ -706,7 +710,7 @@ reset the ``episode_length_buf`` buffer.
 |   resets = torch.where(                                          |                                                                          |
 |     torch.abs(self.pole_pos) > math.pi / 2, 1, resets)           |     time_out = self.episode_length_buf >= self.max_episode_length - 1    |
 |   resets = torch.where(                                          |     out_of_bounds = torch.any(torch.abs(                                 |
-|     self.progress_buf >= self._max_episode_length, 1, resets)    |         self.joint_pos[:, self._pole_dof_idx] > self.cfg.max_cart_pos),  |
+|     self.progress_buf >= self._max_episode_length, 1, resets)    |         self.joint_pos[:, self._cart_dof_idx]) > self.cfg.max_cart_pos,  |
 |   self.reset_buf[:] = resets                                     |         dim=1)                                                           |
 |                                                                  |     out_of_bounds = out_of_bounds | torch.any(                           |
 |                                                                  |         torch.abs(self.joint_pos[:, self._pole_dof_idx]) > math.pi / 2,  |
@@ -992,3 +996,4 @@ To launch inferencing in Isaac Lab, use the command:
 
 
 .. _`OmniIsaacGymEnvs`: https://github.com/isaac-sim/OmniIsaacGymEnvs
+.. _release notes: https://github.com/isaac-sim/IsaacLab/releases

docs/source/migration/migrating_from_orbit.rst

@@ -8,6 +8,12 @@ From Orbit
 Since `Orbit`_ was used as basis for Isaac Lab, migrating from Orbit to Isaac Lab is straightforward.
 The following sections describe the changes that need to be made to your code to migrate from Orbit to Isaac Lab.
 
+.. note::
+
+  The following changes are with respect to Isaac Lab 1.0 release. Please refer to the `release notes`_ for any changes
+  in the future releases.
+
+
 Renaming of the launch script
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
@@ -129,3 +135,4 @@ should now be:
 
 
 .. _Orbit: https://isaac-orbit.github.io/
+.. _release notes: https://github.com/isaac-sim/IsaacLab/releases

docs/source/setup/installation/binaries_installation.rst

@@ -136,7 +136,7 @@ to index the python modules and look for extensions shipped with Isaac Sim.
          cd IsaacLab
          # create a symbolic link
          ln -s path_to_isaac_sim _isaac_sim
-         # For example: ln -s /home/nvidia/.local/share/ov/pkg/isaac-sim-4.0.0 _isaac_sim
+         # For example: ln -s /home/nvidia/.local/share/ov/pkg/isaac-sim-4.1.0 _isaac_sim
 
    .. tab-item:: :icon:`fa-brands fa-windows` Windows
       :sync: windows
@@ -147,7 +147,7 @@ to index the python modules and look for extensions shipped with Isaac Sim.
          cd IsaacLab
          :: create a symbolic link - requires launching Command Prompt with Administrator access
          mklink /D _isaac_sim path_to_isaac_sim
-         :: For example: mklink /D _isaac_sim C:/Users/nvidia/AppData/Local/ov/pkg/isaac-sim-4.0.0
+         :: For example: mklink /D _isaac_sim C:/Users/nvidia/AppData/Local/ov/pkg/isaac-sim-4.1.0
 
 
 Setting up the conda environment (optional)

docs/source/setup/installation/index.rst

@@ -1,9 +1,9 @@
 Installation Guide
 ===================
 
-.. image:: https://img.shields.io/badge/IsaacSim-4.0-silver.svg
+.. image:: https://img.shields.io/badge/IsaacSim-4.1.0-silver.svg
    :target: https://developer.nvidia.com/isaac-sim
-   :alt: IsaacSim 4.0
+   :alt: IsaacSim 4.1.0
 
 .. image:: https://img.shields.io/badge/python-3.10-blue.svg
    :target: https://www.python.org/downloads/release/python-31013/
@@ -20,7 +20,7 @@ Installation Guide
 .. caution::
 
    We have dropped support for Isaac Sim versions 2023.1.1 and below. We recommend using the latest
-   Isaac Sim 4.0 release to benefit from the latest features and improvements.
+   Isaac Sim 4.1.0 release to benefit from the latest features and improvements.
 
    For more information, please refer to the
    `Isaac Sim release notes <https://docs.omniverse.nvidia.com/isaacsim/latest/release_notes.html>`__.
@@ -31,7 +31,7 @@ Installation Guide
     For the full list of system requirements for Isaac Sim, please refer to the
     `Isaac Sim system requirements <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/requirements.html#system-requirements>`_.
 
-As an experimental feature in Isaac Sim 4.0 release, Isaac Sim can also be installed through pip.
+As an experimental feature since Isaac Sim 4.0 release, Isaac Sim can also be installed through pip.
 This simplifies the installation
 process by avoiding the need to download the Omniverse Launcher and installing Isaac Sim through
 the launcher. Therefore, there are two ways to install Isaac Lab:

docs/source/setup/installation/verifying_installation.rst

@@ -69,7 +69,7 @@ variables to your terminal for the remaining of the installation instructions:
       .. code:: bash
 
          # Isaac Sim root directory
-         export ISAACSIM_PATH="${HOME}/.local/share/ov/pkg/isaac-sim-4.0.0"
+         export ISAACSIM_PATH="${HOME}/.local/share/ov/pkg/isaac-sim-4.1.0"
          # Isaac Sim python executable
          export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
 
@@ -79,7 +79,7 @@ variables to your terminal for the remaining of the installation instructions:
       .. code:: batch
 
          :: Isaac Sim root directory
-         set ISAACSIM_PATH="C:\Users\user\AppData\Local\ov\pkg\isaac-sim-4.0.0"
+         set ISAACSIM_PATH="C:\Users\user\AppData\Local\ov\pkg\isaac-sim-4.1.0"
          :: Isaac Sim python executable
          set ISAACSIM_PYTHON_EXE="%ISAACSIM_PATH%\python.bat"