Merge branch 'isaac-sim:main' into main

.aws/mirror-buildspec.yml

@@ -0,0 +1,15 @@
+version: 0.2
+
+phases:
+  install:
+    runtime-versions:
+      nodejs: 14
+  pre_build:
+    commands:
+      - git config --global user.name "Isaac LAB CI Bot"
+      - git config --global user.email "[email protected]"
+  build:
+    commands:
+      - git remote set-url origin https://github.com/${TARGET_REPO}.git
+      - git checkout $SOURCE_BRANCH
+      - git push --force https://[email protected]/${TARGET_REPO}.git $SOURCE_BRANCH:$TARGET_BRANCH

.aws/postmerge-ci-buildspec.yml

@@ -0,0 +1,44 @@
+version: 0.2
+
+phases:
+  build:
+    commands:
+      - echo "Building and pushing Docker image"
+      - |
+        # Determine branch name or use fallback
+        if [ -n "$CODEBUILD_WEBHOOK_HEAD_REF" ]; then
+          BRANCH_NAME=$(echo $CODEBUILD_WEBHOOK_HEAD_REF | sed 's/refs\/heads\///')
+        elif [ -n "$CODEBUILD_SOURCE_VERSION" ]; then
+          BRANCH_NAME=$CODEBUILD_SOURCE_VERSION
+        else
+          BRANCH_NAME="unknown"
+        fi
+
+        # Replace '/' with '-' and remove any invalid characters for Docker tag
+        SAFE_BRANCH_NAME=$(echo $BRANCH_NAME | sed 's/[^a-zA-Z0-9._-]/-/g')
+
+        # Use "latest" if branch name is empty or only contains invalid characters
+        if [ -z "$SAFE_BRANCH_NAME" ]; then
+          SAFE_BRANCH_NAME="latest"
+        fi
+
+        # Get the git repository short name
+        REPO_SHORT_NAME=$(basename -s .git `git config --get remote.origin.url`)
+        if [ -z "$REPO_SHORT_NAME" ]; then
+          REPO_SHORT_NAME="verification"
+        fi
+
+        # Combine repo short name and branch name for the tag
+        COMBINED_TAG="${REPO_SHORT_NAME}-${SAFE_BRANCH_NAME}"
+
+        docker login -u \$oauthtoken -p $NGC_TOKEN nvcr.io
+        docker build -t $IMAGE_NAME:$COMBINED_TAG \
+          --build-arg ISAACSIM_BASE_IMAGE_ARG=$ISAACSIM_BASE_IMAGE \
+          --build-arg ISAACSIM_VERSION_ARG=$ISAACSIM_BASE_VERSION \
+          --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim \
+          --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab \
+          --build-arg DOCKER_USER_HOME_ARG=/root \
+          -f docker/Dockerfile.base .
+        docker push $IMAGE_NAME:$COMBINED_TAG
+        docker tag $IMAGE_NAME:$COMBINED_TAG $IMAGE_NAME:$COMBINED_TAG-b$CODEBUILD_BUILD_NUMBER
+        docker push $IMAGE_NAME:$COMBINED_TAG-b$CODEBUILD_BUILD_NUMBER

.aws/premerge-ci-buildspec.yml

@@ -0,0 +1,84 @@
+version: 0.2
+
+phases:
+  pre_build:
+    commands:
+      - echo "Launching EC2 instance to run tests"
+      - |
+        INSTANCE_ID=$(aws ec2 run-instances \
+          --image-id ami-0b3a9d48380433e49 \
+          --count 1 \
+          --instance-type g5.2xlarge \
+          --key-name production/ssh/isaaclab \
+          --security-group-ids sg-02617e4b8916794c4 \
+          --subnet-id subnet-0907ceaeb40fd9eac \
+          --block-device-mappings '[{"DeviceName":"/dev/sda1","Ebs":{"VolumeSize":500}}]' \
+          --output text \
+          --query 'Instances[0].InstanceId')
+      - aws ec2 wait instance-running --instance-ids $INSTANCE_ID
+      - |
+        EC2_INSTANCE_IP=$(aws ec2 describe-instances \
+          --filters "Name=instance-state-name,Values=running" "Name=instance-id,Values=$INSTANCE_ID" \
+          --query 'Reservations[*].Instances[*].[PrivateIpAddress]' \
+          --output text)
+      - mkdir -p ~/.ssh
+      - |
+        aws ec2 describe-key-pairs --include-public-key --key-name production/ssh/isaaclab \
+          --query 'KeyPairs[0].PublicKey' --output text > ~/.ssh/id_rsa.pub
+      - |
+        aws secretsmanager get-secret-value --secret-id production/ssh/isaaclab \
+          --query SecretString --output text > ~/.ssh/id_rsa
+      - chmod 400 ~/.ssh/id_*
+      - echo "Host $EC2_INSTANCE_IP\n\tStrictHostKeyChecking no\n" >> ~/.ssh/config
+      - |
+        aws ec2-instance-connect send-ssh-public-key \
+          --instance-id $INSTANCE_ID \
+          --availability-zone us-west-2a \
+          --ssh-public-key file://~/.ssh/id_rsa.pub \
+          --instance-os-user ubuntu
+
+  build:
+    commands:
+      - echo "Running tests on EC2 instance"
+      - SRC_DIR=$(basename $CODEBUILD_SRC_DIR)
+      - cd ..
+      - |
+        bash -c '
+        function retry_scp() {
+          local retries=5
+          local wait_time=30
+          local count=0
+          while [ $count -lt $retries ]; do
+            sleep $wait_time
+            scp -r $SRC_DIR ubuntu@$EC2_INSTANCE_IP:~
+            if [ $? -eq 0 ]; then
+              echo "SCP command succeeded"
+              return 0
+            fi
+            count=$((count + 1))
+            echo "SCP command failed. Retrying in $wait_time seconds..."
+          done
+          echo "SCP command failed after $retries attempts."
+          return 1
+        }
+        retry_scp
+        '
+      - ssh ubuntu@$EC2_INSTANCE_IP "docker login -u \\\$oauthtoken -p $NGC_TOKEN nvcr.io"
+      - |
+        ssh ubuntu@$EC2_INSTANCE_IP "
+          cd $SRC_DIR
+          DOCKER_BUILDKIT=1 docker build -t isaac-lab-dev \
+            --build-arg ISAACSIM_BASE_IMAGE_ARG=$ISAACSIM_BASE_IMAGE \
+            --build-arg ISAACSIM_VERSION_ARG=$ISAACSIM_BASE_VERSION \
+            --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim \
+            --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab \
+            --build-arg DOCKER_USER_HOME_ARG=/root \
+            -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:
+    commands:
+      - echo "Terminating EC2 instance"
+      - aws ec2 terminate-instances --instance-ids $INSTANCE_ID

.dockerignore

@@ -12,8 +12,8 @@ docs/
 **/videos/*
 *.tmp
 # ignore docker
-docker/exports/
-docker/.container.yaml
+docker/cluster/exports/
+docker/.container.cfg
 # ignore recordings
 recordings/
 # ignore __pycache__

.github/CODEOWNERS

@@ -0,0 +1,76 @@
+# Codeowners are designated by their GitHub username. They are
+# the people who are responsible for reviewing and approving PRs
+# that modify the files that match the pattern.
+#
+# Codeowners are not the same as contributors. They are not
+# automatically added to the PR, but they will be requested to
+# review the PR when it is created.
+#
+# As a general rule, the codeowners are the people who are
+# most familiar with the code that the PR is modifying. If you
+# are not sure who to add, ask in the issue or in the PR itself.
+#
+# The format of the file is as follows:
+# <file pattern> <codeowners>
+
+
+# App experience files
+# These are the files that are used to launch the app with the correct settings and configurations
+/source/apps/ @kellyguo11 @hhansen-bdai @Mayankm96 @Dhoeller19
+
+# Core Framework
+/source/extensions/omni.isaac.lab/ @Dhoeller19 @Mayankm96 @jsmith-bdai @kellyguo11
+/source/extensions/omni.isaac.lab/omni/isaac/lab/actuators @Dhoeller19 @Mayankm96 @nikitardn @jtigue-bdai
+/source/extensions/omni.isaac.lab/omni/isaac/lab/app @hhansen-bdai @kellyguo11
+/source/extensions/omni.isaac.lab/omni/isaac/lab/assets @jsmith-bdai @Dhoeller19 @kellyguo11 @Mayankm96 @jtigue-bdai
+/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/deformable_object @kellyguo11 @Mayankm96 @masoudmoghani
+/source/extensions/omni.isaac.lab/omni/isaac/lab/controllers @Mayankm96
+/source/extensions/omni.isaac.lab/omni/isaac/lab/envs @jsmith-bdai @Dhoeller19 @kellyguo11 @Mayankm96
+/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_* @jsmith-bdai @Dhoeller19 @Mayankm96
+/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_* @kellyguo11
+/source/extensions/omni.isaac.lab/omni/isaac/lab/managers @jsmith-bdai @Dhoeller19 @Mayankm96
+/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors @jsmith-bdai @Dhoeller19 @pascal-roth @Mayankm96 @jtigue-bdai
+/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera @kellyguo11 @pascal-roth
+/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor @jtigue-bdai
+/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer @jsmith-bdai
+/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster @pascal-roth @Dhoeller19
+/source/extensions/omni.isaac.lab/omni/isaac/lab/sim @Mayankm96 @jsmith-bdai
+/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py @Dhoeller19 @kellyguo11
+/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains @Dhoeller19 @Mayankm96 @nikitardn
+/source/extensions/omni.isaac.lab/omni/isaac/lab/utils @Mayankm96 @jsmith-bdai
+/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/modifiers @jtigue-bdai
+/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation @jtigue-bdai
+/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise @jtigue-bdai @kellyguo11
+/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp @Dhoeller19 @pascal-roth
+/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py @Dhoeller19 @kellyguo11 @Mayankm96
+/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py @jsmith-bdai @Dhoeller19 @Mayankm96
+/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/configclass.py @Mayankm96 @Dhoeller19
+
+# RL Environment
+/source/extensions/omni.isaac.lab_tasks/ @Dhoeller19 @Mayankm96 @jsmith-bdai @kellyguo11
+/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct @Dhoeller19 @kellyguo11
+/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based @Dhoeller19 @Mayankm96 @jsmith-bdai @jtigue-bdai
+
+# Assets
+/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/ @Dhoeller19 @pascal-roth @jsmith-bdai
+
+# Standalone Scripts
+/source/standalone/demos/ @jsmith-bdai @jtigue-bdai @Dhoeller19 @kellyguo11 @Mayankm96
+/source/standalone/environments/ @Mayankm96
+/source/standalone/tools/ @jsmith-bdai @Mayankm96
+/source/standalone/tutorials/ @jsmith-bdai @pascal-roth @kellyguo11 @Dhoeller19 @Mayankm96
+/source/standalone/workflows/ @jsmith-bdai @Dhoeller19 @kellyguo11 @Mayankm96
+
+# Github Actions
+# This list is for people wanting to be notified every time there's a change
+# related to Github Actions
+/.github/ @kellyguo11 @jsmith-bdai
+
+# Visual Studio Code
+/.vscode/ @hhansen-bdai @Mayankm96
+
+# Infrastructure (Docker, Docs, Tools)
+/docker/ @hhansen-bdai @pascal-roth
+/docs/ @jsmith-bdai @Dhoeller19 @kellyguo11 @Mayankm96
+/tools/ @hhansen-bdai @jsmith-bdai @Dhoeller19
+/isaaclab.* @hhansen-bdai @Dhoeller19 @Mayankm96 @kellyguo11

.github/workflows/docs.yaml

@@ -1,12 +1,34 @@
 name: Build & deploy docs
 
-on: [push]
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    types: [opened, synchronize, reopened]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
+  check-secrets:
+    name: Check secrets
+    runs-on: ubuntu-latest
+    outputs:
+      trigger-deploy: ${{ steps.trigger-deploy.outputs.defined }}
+    steps:
+    - id: trigger-deploy
+      env:
+        REPO_NAME: ${{ secrets.REPO_NAME }}
+        BRANCH_REF: ${{ secrets.BRANCH_REF }}
+      if: "${{ github.repository == env.REPO_NAME && github.ref == env.BRANCH_REF }}"
+      run: echo "defined=true" >> "$GITHUB_OUTPUT"
+
   build-docs:
-    name: Build and deploy documentation
+    name: Build Docs
     runs-on: ubuntu-latest
-    if: github.repository == 'isaac-sim/IsaacLab' && github.ref == 'refs/heads/main'
+    needs: [check-secrets]
 
     steps:
     - name: Checkout code
@@ -22,12 +44,38 @@ jobs:
       working-directory: ./docs
       run: pip install -r requirements.txt
 
-    - name: Generate docs
+    - name: Check branch docs building
       working-directory: ./docs
-      run: make html
+      if: needs.check-secrets.outputs.trigger-deploy != 'true'
+      run: make current-docs
+
+    - name: Generate multi-version docs
+      working-directory: ./docs
+      run: |
+        git fetch --prune --unshallow --tags
+        make multi-docs
+
+    - name: Upload docs artifact
+      uses: actions/upload-artifact@v4
+      with:
+        name: docs-html
+        path: ./docs/_build
+
+  deploy-docs:
+    name: Deploy Docs
+    runs-on: ubuntu-latest
+    needs: [check-secrets, build-docs]
+    if: needs.check-secrets.outputs.trigger-deploy == 'true'
+
+    steps:
+    - name: Download docs artifact
+      uses: actions/download-artifact@v4
+      with:
+        name: docs-html
+        path: ./docs/_build
 
     - name: Deploy to gh-pages
       uses: peaceiris/actions-gh-pages@v3
       with:
         github_token: ${{ secrets.GITHUB_TOKEN }}
-        publish_dir: ./docs/_build/html
+        publish_dir: ./docs/_build

.gitignore

@@ -24,8 +24,8 @@
 
 # Docker/Singularity
 **/*.sif
-docker/exports/
-docker/.container.yaml
+docker/cluster/exports/
+docker/.container.cfg
 
 # IDE
 **/.idea/