sync main branch

.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

.vscode/tools/settings.template.json

@@ -1,4 +1,9 @@
 {
+    "files.exclude": {
+        "**/.mypy_cache": true,
+        "**/__pycache__": true,
+        "**/*.egg-info": true
+    },
     "files.associations": {
         "*.tpp": "cpp",
         "*.kit": "toml",

CONTRIBUTORS.md

@@ -42,6 +42,7 @@ Guidelines for modifications:
 * Chenyu Yang
 * David Yang
 * Gary Lvov
+* Giulio Romualdi
 * HoJin Jeon
 * Jean Tampon
 * Jia Lin Yuan
@@ -62,6 +63,7 @@ Guidelines for modifications:
 * Rosario Scalise
 * Shafeef Omar
 * Vladimir Fokow
+* Wei Yang
 * Xavier Nal
 * Yang Jin
 * Zhengyu Zhang

docker/.env.base

@@ -4,6 +4,8 @@
 
 # Accept the NVIDIA Omniverse EULA by default
 ACCEPT_EULA=Y
+# NVIDIA Isaac Sim base image
+ISAACSIM_BASE_IMAGE=nvcr.io/nvidia/isaac-sim
 # NVIDIA Isaac Sim version to use (e.g. 4.2.0)
 ISAACSIM_VERSION=4.2.0
 # Derived from the default path in the NVIDIA provided Isaac Sim container

docker/Dockerfile.base

@@ -7,8 +7,9 @@
 # Please check above link for license information.
 
 # Base image
+ARG ISAACSIM_BASE_IMAGE_ARG
 ARG ISAACSIM_VERSION_ARG
-FROM nvcr.io/nvidia/isaac-sim:${ISAACSIM_VERSION_ARG} AS base
+FROM ${ISAACSIM_BASE_IMAGE_ARG}:${ISAACSIM_VERSION_ARG} AS base
 ENV ISAACSIM_VERSION=${ISAACSIM_VERSION_ARG}
 
 # Set default RUN shell to bash

docker/cluster/cluster_interface.sh

@@ -62,11 +62,9 @@ submit_job() {
 
     case $CLUSTER_JOB_SCHEDULER in
         "SLURM")
-            CMD=sbatch
             job_script_file=submit_job_slurm.sh
             ;;
         "PBS")
-            CMD=bash
             job_script_file=submit_job_pbs.sh
             ;;
         *)
@@ -75,7 +73,7 @@ submit_job() {
             ;;
     esac
 
-    ssh $CLUSTER_LOGIN "cd $CLUSTER_ISAACLAB_DIR && $CMD $CLUSTER_ISAACLAB_DIR/docker/cluster/$job_script_file \"$CLUSTER_ISAACLAB_DIR\" \"isaac-lab-$profile\" ${@}"
+    ssh $CLUSTER_LOGIN "cd $CLUSTER_ISAACLAB_DIR && bash $CLUSTER_ISAACLAB_DIR/docker/cluster/$job_script_file \"$CLUSTER_ISAACLAB_DIR\" \"isaac-lab-$profile\" ${@}"
 }
 
 #==
@@ -162,11 +160,17 @@ case $command in
         scp $SCRIPT_DIR/exports/isaac-lab-$profile.tar $CLUSTER_LOGIN:$CLUSTER_SIF_PATH/isaac-lab-$profile.tar
         ;;
     job)
-        [ $# -ge 1 ] && profile=$1 && shift
+        if [ $# -ge 1 ]; then
+            passed_profile=$1
+            if [ -f ".env.$passed_profile" ]; then
+                profile=$passed_profile
+                shift
+            fi
+        fi
         job_args="$@"
-        echo "Executing job command"
-        [ -n "$profile" ] && echo "Using profile: $profile"
-        [ -n "$job_args" ] && echo "Job arguments: $job_args"
+        echo "[INFO] Executing job command"
+        [ -n "$profile" ] && echo -e "\tUsing profile: $profile"
+        [ -n "$job_args" ] && echo -e "\tJob arguments: $job_args"
         source $SCRIPT_DIR/.env.cluster
         # Get current date and time
         current_datetime=$(date +"%Y%m%d_%H%M%S")

docker/docker-compose.yaml

@@ -79,6 +79,7 @@ services:
       context: ../
       dockerfile: docker/Dockerfile.base
       args:
+        - ISAACSIM_BASE_IMAGE_ARG=${ISAACSIM_BASE_IMAGE}
         - ISAACSIM_VERSION_ARG=${ISAACSIM_VERSION}
         - ISAACSIM_ROOT_PATH_ARG=${DOCKER_ISAACSIM_ROOT_PATH}
         - ISAACLAB_PATH_ARG=${DOCKER_ISAACLAB_PATH}

docker/utils/container_interface.py

@@ -142,8 +142,7 @@ def enter(self):
                 "exec",
                 "--interactive",
                 "--tty",
-                "-e",
-                f"DISPLAY={os.environ['DISPLAY']}",
+                *(["-e", f"DISPLAY={os.environ['DISPLAY']}"] if "DISPLAY" in os.environ else []),
                 f"{self.container_name}",
                 "bash",
             ])

docs/source/api/lab/omni.isaac.lab.sim.spawners.rst

@@ -13,6 +13,7 @@
     sensors
     from_files
     materials
+    wrappers
 
   .. rubric:: Classes
 
@@ -302,3 +303,27 @@ Physical Materials
 .. autoclass:: DeformableBodyMaterialCfg
     :members:
     :exclude-members: __init__, func
+
+Wrappers
+--------
+
+.. automodule:: omni.isaac.lab.sim.spawners.wrappers
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    MultiAssetSpawnerCfg
+    MultiUsdFileCfg
+
+.. autofunction:: spawn_multi_asset
+
+.. autoclass:: MultiAssetSpawnerCfg
+    :members:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_multi_usd_file
+
+.. autoclass:: MultiUsdFileCfg
+    :members:
+    :exclude-members: __init__, func

docs/source/how-to/index.rst

@@ -36,6 +36,17 @@ a fixed base robot. This guide goes over the various considerations and steps to
 
     make_fixed_prim
 
+Spawning Multiple Assets
+------------------------
+
+This guide explains how to import and configure different assets in each environment. This is
+useful when you want to create diverse environments with different objects.
+
+.. toctree::
+    :maxdepth: 1
+
+    multi_asset_spawning
+
 Saving Camera Output
 --------------------