Updates asset and docker paths to Isaac Sim 4.2 (#129)

# Description

Updates asset and docker paths to Isaac Sim 4.2

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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

@@ -5,7 +5,7 @@ phases:
     commands:
       - echo "Building a docker image"
       - docker login -u \$oauthtoken -p $NGC_TOKEN nvcr.io
-      - 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 .
+      - docker build -t $IMAGE_NAME:latest-1.1 --build-arg ISAACSIM_VERSION_ARG=4.2.0 --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-1.1
       - docker tag $IMAGE_NAME:latest-1.1 $IMAGE_NAME:latest-1.1-b$CODEBUILD_BUILD_NUMBER

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

@@ -4,7 +4,7 @@ phases:
   pre_build:
     commands:
       - echo "Launching EC2 instance to run tests"
-      - INSTANCE_ID=$(aws ec2 run-instances --image-id ami-05c519412a83cc291 --count 1 --instance-type g5.2xlarge --key-name production/ssh/isaaclab --security-group-ids sg-02617e4b8916794c4 --subnet-id subnet-0907ceaeb40fd9eac --block-device-mappings 'DeviceName=/dev/sda1,Ebs={VolumeSize=500}' --output text --query 'Instances[0].InstanceId')
+      - INSTANCE_ID=$(aws ec2 run-instances --image-id ami-064d9f428f75cebb1 --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=$INSTANCE_ID" --query 'Reservations[*].Instances[*].[PrivateIpAddress]' --output text)
       - mkdir -p ~/.ssh
@@ -41,7 +41,7 @@ phases:
         '
       - ssh ubuntu@$EC2_INSTANCE_IP "docker login -u \\\$oauthtoken -p $NGC_TOKEN nvcr.io"
       - ssh ubuntu@$EC2_INSTANCE_IP "cd $SRC_DIR;
-          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 build -t isaac-lab-dev --build-arg ISAACSIM_VERSION_ARG=4.2.0 --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:

docs/source/features/hydra.rst

@@ -111,7 +111,7 @@ Setting parameters to None
 
 To set parameters to None, use the ``null`` keyword, which is a special keyword in Hydra that is automatically converted to None.
 In the above example, we could also disable the ``joint_pos_rel`` observation by setting it to None with
-``env.observations.policy.joint_pos_rel.func=null``.
+``env.observations.policy.joint_pos_rel=null``.
 
 Dictionaries
 ^^^^^^^^^^^^

source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py

@@ -643,7 +643,7 @@ def _load_extensions(self):
 
         # set the nucleus directory manually to the latest published Nucleus
         # note: this is done to ensure prior versions of Isaac Sim still use the latest assets
-        assets_path = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.1"
+        assets_path = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.2"
         carb_settings_iface.set_string("/persistent/isaac/asset_root/default", assets_path)
         carb_settings_iface.set_string("/persistent/isaac/asset_root/cloud", assets_path)
         carb_settings_iface.set_string("/persistent/isaac/asset_root/nvidia", assets_path)

source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py

@@ -42,7 +42,7 @@ class TiledCamera(Camera):
     - ``"rgba"``: A 4-channel rendered color image with alpha channel.
     - ``"distance_to_camera"``: An image containing the distance to camera optical center.
     - ``"distance_to_image_plane"``: An image containing distances of 3D points from camera plane along camera's z-axis.
-    - ``"depth"``: The same as ``"distance_to_image_plane"``.
+    - ``"depth"``: Alias for ``"distance_to_image_plane"``.
     - ``"normals"``: An image containing the local surface normal vectors at each pixel.
     - ``"motion_vectors"``: An image containing the motion vector data at each pixel.
     - ``"semantic_segmentation"``: The semantic segmentation data.
@@ -207,7 +207,7 @@ def _initialize_impl(self):
                 annotator = rep.AnnotatorRegistry.get_annotator(
                     "distance_to_image_plane", device=self.device, do_array_copy=False
                 )
-                self._annotators["distance_to_image_plane"] = annotator
+                self._annotators[annotator_type] = annotator
             # note: we are verbose here to make it easier to understand the code.
             #   if colorize is true, the data is mapped to colors and a uint8 4 channel image is returned.
             #   if colorize is false, the data is returned as a uint32 image with ids as values.
@@ -279,9 +279,6 @@ def _update_buffers_impl(self, env_ids: Sequence[int]):
             # alias rgb as first 3 channels of rgba
             if data_type == "rgba" and "rgb" in self.cfg.data_types:
                 self._data.output["rgb"] = self._data.output["rgba"][..., :3]
-            # alias depth as distance_to_image_plane
-            elif data_type == "distance_to_image_plane" and "depth" in self.cfg.data_types:
-                self._data.output["depth"] = self._data.output["distance_to_image_plane"]
 
     """
     Private Helpers
@@ -327,13 +324,14 @@ def _create_buffers(self):
         if "rgb" in self.cfg.data_types:
             # RGB is the first 3 channels of RGBA
             data_dict["rgb"] = data_dict["rgba"][..., :3]
-        if "depth" in self.cfg.data_types or "distance_to_image_plane" in self.cfg.data_types:
+        if "distance_to_image_plane" in self.cfg.data_types:
             data_dict["distance_to_image_plane"] = torch.zeros(
                 (self._view.count, self.cfg.height, self.cfg.width, 1), device=self.device, dtype=torch.float32
             ).contiguous()
         if "depth" in self.cfg.data_types:
-            # assume distance_to_image_plane if depth is included in data types
-            data_dict["depth"] = data_dict["distance_to_image_plane"]
+            data_dict["depth"] = torch.zeros(
+                (self._view.count, self.cfg.height, self.cfg.width, 1), device=self.device, dtype=torch.float32
+            ).contiguous()
         if "distance_to_camera" in self.cfg.data_types:
             data_dict["distance_to_camera"] = torch.zeros(
                 (self._view.count, self.cfg.height, self.cfg.width, 1), device=self.device, dtype=torch.float32

source/extensions/omni.isaac.lab/test/sensors/test_tiled_camera.py

@@ -247,7 +247,7 @@ def test_data_types(self):
         self.assertTrue(camera_both.is_initialized)
         self.assertListEqual(list(camera_distance.data.output.keys()), ["distance_to_camera"])
         self.assertListEqual(list(camera_depth.data.output.keys()), ["depth"])
-        self.assertListEqual(list(camera_both.data.output.keys()), ["distance_to_camera"])
+        self.assertListEqual(list(camera_both.data.output.keys()), ["depth", "distance_to_camera"])
 
         del camera_distance, camera_depth, camera_both
 
@@ -272,7 +272,7 @@ def test_depth_only_camera(self):
         # Check if camera prim is set correctly and that it is a camera prim
         self.assertEqual(camera._sensor_prims[1].GetPath().pathString, "/World/Origin_1/CameraSensor")
         self.assertIsInstance(camera._sensor_prims[0], UsdGeom.Camera)
-        self.assertListEqual(sorted(camera.data.output.keys()), sorted(["depth", "distance_to_image_plane"]))
+        self.assertListEqual(sorted(camera.data.output.keys()), ["distance_to_camera"])
 
         # Simulate for a few steps
         # note: This is a workaround to ensure that the textures are loaded.
@@ -295,12 +295,12 @@ def test_depth_only_camera(self):
             # update camera
             camera.update(self.dt)
             # check image data
-            im_data = camera.data.output["depth"]
+            im_data = camera.data.output["distance_to_camera"]
             self.assertEqual(im_data.shape, (num_cameras, self.camera_cfg.height, self.camera_cfg.width, 1))
             for i in range(4):
                 self.assertGreater((im_data[i]).mean().item(), 0.0)
         # Check data type of image
-        self.assertEqual(camera.data.output["depth"].dtype, torch.float)
+        self.assertEqual(camera.data.output["distance_to_camera"].dtype, torch.float)
         del camera
 
     def test_rgba_only_camera(self):

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/ik_abs_env_cfg.py

@@ -60,7 +60,7 @@ def __post_init__(self):
             prim_path="{ENV_REGEX_NS}/Object",
             init_state=DeformableObjectCfg.InitialStateCfg(pos=[0.5, 0, 0.05], rot=[0.707, 0, 0, 0.707]),
             spawn=UsdFileCfg(
-                usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Objects/teddy_bear.usd",
+                usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Objects/Teddy_Bear/teddy_bear.usd",
                 scale=(0.01, 0.01, 0.01),
             ),
         )