Merge branch 'main' into feature/deformable-spawn

.vscode/tools/setup_vscode.py

@@ -27,15 +27,20 @@
     isaacsim_dir = os.environ.get("ISAAC_PATH", "")
 except ModuleNotFoundError or ImportError:
     isaacsim_dir = os.path.join(ISAACLAB_DIR, "_isaac_sim")
+except EOFError:
+    print("Unable to trigger EULA acceptance. This is likely due to the script being run in a non-interactive shell.")
+    print("Please run the script in an interactive shell to accept the EULA.")
+    print("Skipping the setup of the VSCode settings...")
+    sys.exit(0)
 
 # check if the isaac-sim directory exists
 if not os.path.exists(isaacsim_dir):
     raise FileNotFoundError(
-        f"Could not find the isaac-sim directory: {isaacsim_dir}. There are two possible reasons for this:\n"
-        "\t1. The Isaac Sim directory does not exist as a symlink in the Isaac Lab directory.\n"
-        "\t2. The script could import the 'isaacsim' package. This could be due to the 'isaacsim' package not being "
+        f"Could not find the isaac-sim directory: {isaacsim_dir}. There are two possible reasons for this:"
+        f"\n\t1. The Isaac Sim directory does not exist as a symlink at: {os.path.join(ISAACLAB_DIR, '_isaac_sim')}"
+        "\n\t2. The script could import the 'isaacsim' package. This could be due to the 'isaacsim' package not being "
         "installed in the Python environment.\n"
-        "Please make sure that the Isaac Sim directory exists or that the 'isaacsim' package is installed."
+        "\nPlease make sure that the Isaac Sim directory exists or that the 'isaacsim' package is installed."
     )
 
 ISAACSIM_DIR = isaacsim_dir
@@ -48,39 +53,49 @@ def overwrite_python_analysis_extra_paths(isaaclab_settings: str) -> str:
     The extraPaths are replaced with the path names from the isaac-sim settings file that exists in the
     "{ISAACSIM_DIR}/.vscode/settings.json" file.
 
+    If the isaac-sim settings file does not exist, the extraPaths are not overwritten.
+
     Args:
         isaaclab_settings: The settings string to use as template.
 
     Returns:
         The settings string with overwritten python analysis extra paths.
-
-    Raises:
-        FileNotFoundError: If the isaac-sim settings file does not exist.
     """
     # isaac-sim settings
     isaacsim_vscode_filename = os.path.join(ISAACSIM_DIR, ".vscode", "settings.json")
-    # make sure the isaac-sim settings file exists
-    if not os.path.exists(isaacsim_vscode_filename):
-        raise FileNotFoundError(f"Could not find the isaac-sim settings file: {isaacsim_vscode_filename}")
-
-    # read the path names from the isaac-sim settings file
-    with open(isaacsim_vscode_filename) as f:
-        vscode_settings = f.read()
-    # extract the path names
-    # search for the python.analysis.extraPaths section and extract the contents
-    settings = re.search(r"\"python.analysis.extraPaths\": \[.*?\]", vscode_settings, flags=re.MULTILINE | re.DOTALL)
-    settings = settings.group(0)
-    settings = settings.split('"python.analysis.extraPaths": [')[-1]
-    settings = settings.split("]")[0]
-
-    # read the path names from the isaac-sim settings file
-    path_names = settings.split(",")
-    path_names = [path_name.strip().strip('"') for path_name in path_names]
-    path_names = [path_name for path_name in path_names if len(path_name) > 0]
-
-    # change the path names to be relative to the Isaac Lab directory
-    rel_path = os.path.relpath(ISAACSIM_DIR, ISAACLAB_DIR)
-    path_names = ['"${workspaceFolder}/' + rel_path + "/" + path_name + '"' for path_name in path_names]
+
+    # we use the isaac-sim settings file to get the python.analysis.extraPaths for kit extensions
+    # if this file does not exist, we will not add any extra paths
+    if os.path.exists(isaacsim_vscode_filename):
+        # read the path names from the isaac-sim settings file
+        with open(isaacsim_vscode_filename) as f:
+            vscode_settings = f.read()
+        # extract the path names
+        # search for the python.analysis.extraPaths section and extract the contents
+        settings = re.search(
+            r"\"python.analysis.extraPaths\": \[.*?\]", vscode_settings, flags=re.MULTILINE | re.DOTALL
+        )
+        settings = settings.group(0)
+        settings = settings.split('"python.analysis.extraPaths": [')[-1]
+        settings = settings.split("]")[0]
+
+        # read the path names from the isaac-sim settings file
+        path_names = settings.split(",")
+        path_names = [path_name.strip().strip('"') for path_name in path_names]
+        path_names = [path_name for path_name in path_names if len(path_name) > 0]
+
+        # change the path names to be relative to the Isaac Lab directory
+        rel_path = os.path.relpath(ISAACSIM_DIR, ISAACLAB_DIR)
+        path_names = ['"${workspaceFolder}/' + rel_path + "/" + path_name + '"' for path_name in path_names]
+    else:
+        path_names = []
+        print(
+            f"[WARN] Could not find Isaac Sim VSCode settings: {isaacsim_vscode_filename}."
+            "\n\tThis will result in missing 'python.analysis.extraPaths' in the VSCode"
+            "\n\tsettings, which limits the functionality of the Python language server."
+            "\n\tHowever, it does not affect the functionality of the Isaac Lab project."
+            "\n\tWe are working on a fix for this issue with the Isaac Sim team."
+        )
 
     # add the path names that are in the Isaac Lab extensions directory
     isaaclab_extensions = os.listdir(os.path.join(ISAACLAB_DIR, "source", "extensions"))
@@ -89,9 +104,9 @@ def overwrite_python_analysis_extra_paths(isaaclab_settings: str) -> str:
     # combine them into a single string
     path_names = ",\n\t\t".expandtabs(4).join(path_names)
     # deal with the path separator being different on Windows and Unix
-    path_names = path_names.replace("/", os.sep)
+    path_names = path_names.replace("\\", "/")
 
-    # replace the path names in the Isaac Lab settings file with the path names from the isaac-sim settings file
+    # replace the path names in the Isaac Lab settings file with the path names parsed
     isaaclab_settings = re.sub(
         r"\"python.analysis.extraPaths\": \[.*?\]",
         '"python.analysis.extraPaths": [\n\t\t'.expandtabs(4) + path_names + "\n\t]".expandtabs(4),
@@ -116,10 +131,7 @@ def overwrite_default_python_interpreter(isaaclab_settings: str) -> str:
         The settings string with overwritten default python interpreter.
     """
     # read executable name
-    python_exe = sys.executable
-    # if python interpreter is from conda, use that. Otherwise, use the template.
-    if "conda" not in python_exe:
-        return isaaclab_settings
+    python_exe = sys.executable.replace("\\", "/")
     # replace the default python interpreter in the Isaac Lab settings file with the path to the
     # python interpreter in the Isaac Lab directory
     isaaclab_settings = re.sub(
@@ -146,9 +158,9 @@ def main():
 
     # overwrite the python.analysis.extraPaths in the Isaac Lab settings file with the path names
     isaaclab_settings = overwrite_python_analysis_extra_paths(isaaclab_template_settings)
-    # overwrite the default python interpreter in the Isaac Lab settings file
-    # NOTE: thisis disabled since we don't need it. The default interpreter should always be the one from isaac-sim
-    # isaaclab_settings = overwrite_default_python_interpreter(isaaclab_settings)
+    # overwrite the default python interpreter in the Isaac Lab settings file with the path to the
+    # python interpreter used to call this script
+    isaaclab_settings = overwrite_default_python_interpreter(isaaclab_settings)
 
     # add template notice to the top of the file
     header_message = (

CONTRIBUTORS.md

@@ -53,6 +53,7 @@ Guidelines for modifications:
 * Shafeef Omar
 * Vladimir Fokow
 * Zhengyu Zhang
+* Ziqi Fan
 
 ## Acknowledgements
 

docker/Dockerfile.pip

@@ -0,0 +1,100 @@
+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+# This Dockerfile is used to build a Docker image for the Isaac Lab framework.
+#
+# It uses the pip package manager to install Isaac Sim and the Isaac Lab framework.
+#
+# To build the Docker image and run the Docker container, follow the steps below:
+#
+# 1. Build the Docker image:
+#       docker build -t isaac-lab-pip:latest -f docker/Dockerfile.pip .
+# 2. Run the Docker container:
+#       docker run -it --gpus all --rm --network=host --name isaac-lab -v $(pwd):/root/isaaclab isaac-lab-pip:latest
+
+# Base image: Ubuntu 22.04
+FROM ubuntu:22.04 AS base
+
+# Set default RUN shell to bash
+SHELL ["/bin/bash", "-c"]
+
+# Adds labels to the Dockerfile
+LABEL version="1.0"
+LABEL description="Dockerfile for building and running the Isaac Lab framework in Ubuntu 22.04 container image."
+
+# Arguments
+# Path to the Isaac Lab directory
+ENV ISAACLAB_PATH=/root/isaaclab
+# Home dir of docker user, typically '/root'
+ENV DOCKER_USER_HOME=/root
+
+# Set environment variables
+ENV LANG=C.UTF-8
+ENV DEBIAN_FRONTEND=noninteractive
+
+USER root
+
+# Install dependencies and remove cache
+RUN --mount=type=cache,target=/var/cache/apt \
+    apt-get update && apt-get install -y --no-install-recommends \
+    build-essential \
+    cmake \
+    git \
+    libglib2.0-0 \
+    ncurses-term && \
+    apt -y autoremove && apt clean autoclean && \
+    rm -rf /var/lib/apt/lists/*
+
+# for singularity usage, have to create the directories that will binded
+RUN mkdir -p ${DOCKER_USER_HOME}/.cache/ov && \
+    mkdir -p ${DOCKER_USER_HOME}/.cache/pip && \
+    mkdir -p ${DOCKER_USER_HOME}/.cache/nvidia/GLCache &&  \
+    mkdir -p ${DOCKER_USER_HOME}/.nv/ComputeCache && \
+    mkdir -p ${DOCKER_USER_HOME}/.nvidia-omniverse/logs && \
+    mkdir -p ${DOCKER_USER_HOME}/.local/share/ov/data && \
+    mkdir -p ${DOCKER_USER_HOME}/Documents
+
+# for singularity usage, create NVIDIA binary placeholders
+RUN touch /bin/nvidia-smi && \
+    touch /bin/nvidia-debugdump && \
+    touch /bin/nvidia-persistenced && \
+    touch /bin/nvidia-cuda-mps-control && \
+    touch /bin/nvidia-cuda-mps-server && \
+    touch /etc/localtime && \
+    mkdir -p /var/run/nvidia-persistenced && \
+    touch /var/run/nvidia-persistenced/socket
+
+# Install python3 and pip
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    python3 \
+    python3-pip && \
+    apt -y autoremove && apt clean autoclean && \
+    rm -rf /var/lib/apt/lists/*
+# Maintain python3 as the default python version
+RUN update-alternatives --install /usr/bin/python python /usr/bin/python3 1
+RUN update-alternatives --install /usr/bin/pip pip /usr/bin/pip3 1
+
+# Install python packages
+RUN pip3 install --no-cache-dir --upgrade pip && \
+    pip install torch==2.2.2 --index-url https://download.pytorch.org/whl/cu118
+
+RUN pip install isaacsim-rl isaacsim-replicator isaacsim-extscache-physics isaacsim-extscache-kit-sdk isaacsim-extscache-kit isaacsim-app --extra-index-url https://pypi.nvidia.com
+
+# Mount the Isaac Lab directory (files to exclude are defined in .dockerignore)
+COPY ../ ${ISAACLAB_PATH}
+
+# installing Isaac Lab dependencies
+# use pip caching to avoid reinstalling large packages
+RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
+    ${ISAACLAB_PATH}/isaaclab.sh --install
+
+# aliasing isaaclab.sh and python for convenience
+RUN echo "export ISAACLAB_PATH=${ISAACLAB_PATH}" >> ${HOME}/.bashrc && \
+    echo "alias isaaclab=${ISAACLAB_PATH}/isaaclab.sh" >> ${HOME}/.bashrc && \
+    echo "export TZ=$(date +%Z)" >> ${HOME}/.bashrc
+
+# make working directory as the Isaac Lab directory
+# this is the default directory when the container is run
+WORKDIR ${ISAACLAB_PATH}

docker/container.sh

@@ -25,7 +25,7 @@ fi
 
 # print the usage description
 print_help () {
-    echo -e "\nusage: $(basename "$0") [-h] [run] [start] [stop] -- Utility for handling docker in Isaac Lab."
+    echo -e "\nusage: $(basename "$0") [-h] [...] -- Utility for handling Docker in Isaac Lab."
     echo -e "\noptional arguments:"
     echo -e "\t-h, --help                  Display the help content."
     echo -e "\tstart [profile]             Build the docker image and create the container in detached mode."
@@ -36,8 +36,9 @@ print_help () {
     echo -e "\tjob [profile] [job_args]    Submit a job to the cluster."
     echo -e "\tconfig [profile]            Parse, resolve and render compose file in canonical format."
     echo -e "\n"
-    echo -e "[profile] is the optional container profile specification and [job_args] optional arguments specific"
-    echo -e "to the executed script"
+    echo -e "where: "
+    echo -e "\t[profile] is the optional container profile specification. Example: 'isaaclab', 'base', 'ros2'."
+    echo -e "\t[job_args] are optional arguments specific to the executed script."
     echo -e "\n" >&2
 }
 
@@ -56,8 +57,8 @@ install_apptainer() {
 
 install_yq() {
     # Installing yq to handle file parsing
-    # Installation procedure from here: https://github.com/mikefarah/yq
-    read -p "[INFO] Required 'yq' package could not be found. Would you like to install it via wget? (y/N)" yq_answer
+    # Installation procedure from here: https://github.com/mikefarah/yq?tab=readme-ov-file#linux-via-snap
+    read -p "[INFO] Required 'yq' package could not be found. Would you like to install it via snap? (y/N)" yq_answer
     if [ "$yq_answer" != "${yq_answer#[Yy]}" ]; then
         sudo snap install yq
     else
@@ -67,17 +68,29 @@ install_yq() {
 }
 
 set_statefile_variable() {
+    # Check if yq is installed
+    if ! command -v yq &> /dev/null; then
+        install_yq
+    fi
     # Stores key $1 with value $2 in yaml $STATEFILE
     yq -i '.["'"$1"'"] = "'"$2"'"' $STATEFILE
 }
 
 load_statefile_variable() {
+    # Check if yq is installed
+    if ! command -v yq &> /dev/null; then
+        install_yq
+    fi
     # Loads key $1 from yaml $STATEFILE as an envvar
     # If key does not exist, the loaded var will equal "null"
     eval $1="$(yq ".$1" $STATEFILE)"
 }
 
 delete_statefile_variable() {
+    # Check if yq is installed
+    if ! command -v yq &> /dev/null; then
+        install_yq
+    fi
     # Deletes key $1 from yaml $STATEFILE
     yq -i "del(.$1)" $STATEFILE
 }
@@ -270,10 +283,6 @@ if ! command -v docker &> /dev/null; then
     exit 1
 fi
 
-if ! command -v yq &> /dev/null; then
-    install_yq
-fi
-
 # parse arguments
 mode="$1"
 profile_arg="$2" # Capture the second argument as the potential profile argument

docs/source/deployment/docker.rst

@@ -156,18 +156,18 @@ Understanding the mounted volumes
 The ``docker-compose.yaml`` file creates several named volumes that are mounted to the container.
 These are summarized below:
 
-* ``isaac-cache-kit``: This volume is used to store cached Kit resources (`/isaac-sim/kit/cache` in container)
-* ``isaac-cache-ov``: This volume is used to store cached OV resources (`/root/.cache/ov` in container)
-* ``isaac-cache-pip``: This volume is used to store cached pip resources (`/root/.cache/pip`` in container)
-* ``isaac-cache-gl``: This volume is used to store cached GLCache resources (`/root/.cache/nvidia/GLCache` in container)
-* ``isaac-cache-compute``: This volume is used to store cached compute resources (`/root/.nv/ComputeCache` in container)
-* ``isaac-logs``: This volume is used to store logs generated by Omniverse. (`/root/.nvidia-omniverse/logs` in container)
-* ``isaac-carb-logs``: This volume is used to store logs generated by carb. (`/isaac-sim/kit/logs/Kit/Isaac-Sim` in container)
-* ``isaac-data``: This volume is used to store data generated by Omniverse. (`/root/.local/share/ov/data` in container)
-* ``isaac-docs``: This volume is used to store documents generated by Omniverse. (`/root/Documents` in container)
-* ``isaac-lab-docs``: This volume is used to store documentation of Isaac Lab when built inside the container. (`/workspace/isaaclab/docs/_build` in container)
-* ``isaac-lab-logs``: This volume is used to store logs generated by Isaac Lab workflows when run inside the container. (`/workspace/isaaclab/logs` in container)
-* ``isaac-lab-data``: This volume is used to store whatever data users may want to preserve between container runs. (`/workspace/isaaclab/data_storage` in container)
+* ``isaac-cache-kit``: This volume is used to store cached Kit resources (``/isaac-sim/kit/cache`` in container)
+* ``isaac-cache-ov``: This volume is used to store cached OV resources (``/root/.cache/ov`` in container)
+* ``isaac-cache-pip``: This volume is used to store cached pip resources (``/root/.cache/pip`` in container)
+* ``isaac-cache-gl``: This volume is used to store cached GLCache resources (``/root/.cache/nvidia/GLCache`` in container)
+* ``isaac-cache-compute``: This volume is used to store cached compute resources (``/root/.nv/ComputeCache`` in container)
+* ``isaac-logs``: This volume is used to store logs generated by Omniverse. (``/root/.nvidia-omniverse/logs`` in container)
+* ``isaac-carb-logs``: This volume is used to store logs generated by carb. (``/isaac-sim/kit/logs/Kit/Isaac-Sim`` in container)
+* ``isaac-data``: This volume is used to store data generated by Omniverse. (``/root/.local/share/ov/data`` in container)
+* ``isaac-docs``: This volume is used to store documents generated by Omniverse. (``/root/Documents`` in container)
+* ``isaac-lab-docs``: This volume is used to store documentation of Isaac Lab when built inside the container. (``/workspace/isaaclab/docs/_build`` in container)
+* ``isaac-lab-logs``: This volume is used to store logs generated by Isaac Lab workflows when run inside the container. (``/workspace/isaaclab/logs`` in container)
+* ``isaac-lab-data``: This volume is used to store whatever data users may want to preserve between container runs. (``/workspace/isaaclab/data_storage`` in container)
 
 To view the contents of these volumes, you can use the following command:
 

docs/source/deployment/run_docker_example.rst

@@ -131,7 +131,7 @@ the build process when we next run ``./container.sh start``, we may enter the fo
 
   docker image rm isaaclab
 
-A subsequent run of ``docker image ls``` will show that the image tagged **isaaclab** is now gone. We can repeat the process for the
+A subsequent run of ``docker image ls`` will show that the image tagged **isaaclab** is now gone. We can repeat the process for the
 underlying NVIDIA container if we wish to free up more space. If a more powerful method of freeing resources from Docker is desired,
 please consult the documentation for the `docker prune`_ commands.
 

docs/source/setup/installation/binaries_installation.rst

@@ -1,3 +1,6 @@
+.. _isaacsim-binaries-installation:
+
+
 Installation using Isaac Sim Binaries
 =====================================
 

docs/source/setup/installation/pip_installation.rst

@@ -1,22 +1,24 @@
+.. _isaacsim-pip-installation:
+
 Installation using Isaac Sim pip
 ================================
 
 
 Installing Isaac Sim
 --------------------
 
-.. note::
-
-   Installing Isaac Sim from pip is currently an experimental feature.
-   If errors occur, please report them to the
-   `Isaac Sim Forums <https://docs.omniverse.nvidia.com/isaacsim/latest/common/feedback.html>`_
-   and install Isaac Sim from pre-built binaries.
+From Isaac Sim 4.0 release, it is possible to install Isaac Sim using pip. This approach is experimental and may have
+compatibility issues with some Linux distributions. If you encounter any issues, please report them to the
+`Isaac Sim Forums <https://docs.omniverse.nvidia.com/isaacsim/latest/common/feedback.html>`_.
 
-.. note::
+.. attention::
 
    Installing Isaac Sim with pip requires GLIBC 2.34+ version compatibility.
    To check the GLIBC version on your system, use command ``ldd --version``.
 
+   This may pose compatibility issues with some Linux distributions. For instance, Ubuntu 20.04 LTS has GLIBC 2.31
+   by default. If you encounter compatibility issues, we recommend following the
+   :ref:`Isaac Sim Binaries Installation <isaacsim-binaries-installation>` approach.
 
 -  To use the pip installation approach for Isaac Sim, we recommend first creating a virtual environment.
    Ensure that the python version of the virtual environment is **Python 3.10**.