Merge branch 'develop' into jichuanh/container-profile-first

Author: hujc7

.github/CODEOWNERS

@@ -19,10 +19,10 @@
 
 
 # App experience files
-/apps/ @kellyguo11 @hujc @matthewtrepte @StafaH
+/apps/ @kellyguo11 @hujc7 @matthewtrepte @StafaH
 
 # Core framework
-/source/isaaclab/ @ooctipus @AntoineRichard @kellyguo11 @StafaH @pbarejko
+/source/isaaclab/ @ooctipus @AntoineRichard @kellyguo11 @StafaH @pbarejko @fatimaanes
 /source/isaaclab/isaaclab/envs/mimic_* @peterd-NV @kellyguo11
 /source/isaaclab/isaaclab/envs/manager_based_rl_mimic_env.py @peterd-NV @kellyguo11
 /source/isaaclab/isaaclab/envs/leapp_deployment_env.py @frlai @StafaH @kellyguo11
@@ -35,10 +35,10 @@
 /source/isaaclab_assets/isaaclab_assets/robots/dr_legs.py @david-cao-mueller @aserifi @rubengrandia @AntoineRichard
 
 /source/isaaclab_contrib/ @ooctipus @StafaH @kellyguo11
-/source/isaaclab_experimental/ @hujc @AntoineRichard @kellyguo11
+/source/isaaclab_experimental/ @hujc7 @AntoineRichard @kellyguo11
 /source/isaaclab_mimic/ @kellyguo11 @peterd-NV
 
-/source/isaaclab_newton/ @AntoineRichard @StafaH @hujc @kellyguo11
+/source/isaaclab_newton/ @AntoineRichard @StafaH @hujc7 @kellyguo11
 /source/isaaclab_newton/isaaclab_newton/physics/kamino_manager.py @david-cao-mueller @aserifi @rubengrandia @AntoineRichard
 
 /source/isaaclab_ov/ @huidongc @rilei-nvidia @pbarejko @kellyguo11
@@ -54,30 +54,30 @@
 /source/isaaclab_rl/ @ooctipus @StafaH @ClemensSchwarke @kellyguo11
 /source/isaaclab_rl/test/export/ @frlai @StafaH @kellyguo11
 
-/source/isaaclab_tasks/ @ooctipus @StafaH @kellyguo11 @hujc
+/source/isaaclab_tasks/ @ooctipus @StafaH @kellyguo11 @hujc7
 /source/isaaclab_tasks/isaaclab_tasks/contrib/dr_legs/ @david-cao-mueller @aserifi @rubengrandia @AntoineRichard
 
 # Standalone scripts
 /scripts/ @StafaH @kellyguo11 @ooctipus
-/scripts/benchmarks/ @AntoineRichard @StafaH @kellyguo11 @r-schmitt @fanes
+/scripts/benchmarks/ @AntoineRichard @StafaH @kellyguo11 @r-schmitt @fatimaanes
 /scripts/imitation_learning/ @peterd-NV @rwiltz @kellyguo11
 /scripts/imitation_learning/locomanipulation_sdg/ @jaybdub @peterd-NV @kellyguo11
 /scripts/reinforcement_learning/leapp/ @frlai @StafaH @kellyguo11
 
 # GitHub Actions and infrastructure
 /uv.lock @StafaH @kellyguo11
-/.github/ @kellyguo11 @myurasov-nv @hujc
-/.vscode/ @kellyguo11 @hujc @myurasov-nv @Toni-SM
-/docker/ @myurasov-nv @kellyguo11 @hujc
+/.github/ @kellyguo11 @myurasov-nv @hujc7
+/.vscode/ @kellyguo11 @hujc7 @myurasov-nv @Toni-SM
+/docker/ @myurasov-nv @kellyguo11 @hujc7
 /docs/ @AntoineRichard @kellyguo11 @StafaH @ooctipus
 /tools/ @AntoineRichard @kellyguo11 @StafaH @ooctipus
 
 # Cross-stack review caps
 /source/*/changelog.d/
 
 # RLiNF
-/source/isaaclab_contrib/isaaclab_contrib/rl/rlinf/ @mingxueg @kellyguo11
-/source/isaaclab_contrib/test/rl/test_rlinf_extension.py @mingxueg @kellyguo11
-/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/*rlinf.py @mingxueg @kellyguo11
-/docs/source/experimental-features/rlinf_vla_posttraining.rst @mingxueg @kellyguo11
-/docs/source/api/lab_contrib/isaaclab_contrib.rl.rst @mingxueg @kellyguo11
+/source/isaaclab_contrib/isaaclab_contrib/rl/rlinf/ @mingxueg-nv @kellyguo11
+/source/isaaclab_contrib/test/rl/test_rlinf_extension.py @mingxueg-nv @kellyguo11
+/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/*rlinf.py @mingxueg-nv @kellyguo11
+/docs/source/experimental-features/rlinf_vla_posttraining.rst @mingxueg-nv @kellyguo11
+/docs/source/api/lab_contrib/isaaclab_contrib.rl.rst @mingxueg-nv @kellyguo11

.github/workflows/config.yaml

@@ -9,7 +9,7 @@
 # (frozen at 6.1.0-alpha.2). Both images use Isaac Sim's NGC org, which is current and
 # which the CI credential can reach.
 isaacsim_image_name: nvcr.io/0947644777160149/internal/isaac-sim
-# Pinned to the last known-good build; newer ones fail the rendering tests.
-isaacsim_image_tag: latest-develop@sha256:71019ff76289be944cc4356323e32d17568ee082228e3bf1ef047b741f4fe380
+# Pinned to Isaac Sim commit 307e5486 for reproducible CI.
+isaacsim_image_tag: latest-develop@sha256:a13867a6403488a9e640288f96492e6ecd44c3a525b5b85793a2da68fdac48ad
 isaaclab_image_name: nvcr.io/0947644777160149/internal/isaac-lab
 ovphysx_wheelhouse_image: ""

.gitignore

@@ -77,6 +77,8 @@ _build
 
 # No benchmarks output
 /benchmarks/
+benchmark_*.json
+
 
 # Ruff cache
 **/.ruff_cache/

docker/Dockerfile.kitless

@@ -45,18 +45,20 @@ COPY pyproject.toml uv.lock VERSION LICENSE LICENSE-mimic README.md ./
 COPY source/ source/
 COPY isaaclab.sh ./
 
-# Same entry point as Dockerfile.base. The selector is explicit because OVRTX
-# lives in the `ov` feature a bare --install excludes; OVPhysX stays out until
-# its OmniClient pin is compatible. The venv pins python3.12 to match the
-# runtime stage's libpython3.12, and isaaclab.sh resolves VIRTUAL_ENV first.
+# Same entry point as Dockerfile.base. The selectors are explicit because a bare
+# --install excludes `ov` and `visualizer`; both take `[all]` here. The venv pins
+# python3.12 to match the runtime stage's libpython3.12, and isaaclab.sh resolves
+# VIRTUAL_ENV first.
 RUN uv venv --python /usr/bin/python3.12 --seed --no-managed-python "${VIRTUAL_ENV}" \
  && chmod +x "${ISAACLAB_PATH}/isaaclab.sh" \
- && "${ISAACLAB_PATH}/isaaclab.sh" --install newton,rl[all],ov[ovrtx] \
+ && "${ISAACLAB_PATH}/isaaclab.sh" --install newton,rl[all],ov[all],visualizer[all] \
  && python -c "import importlib.metadata as m; \
       names = {d.metadata['Name'].lower() for d in m.distributions()}; \
       assert 'isaacsim' not in names; \
-      assert 'ovphysx' not in names; \
-      assert 'ovrtx' in names" \
+      assert 'ovphysx' in names; \
+      assert 'ovrtx' in names; \
+      assert 'viser' in names; \
+      assert 'rerun-sdk' in names" \
  && test ! -e "${ISAACLAB_PATH}/_isaac_sim"
 
 # isaaclab.utils.assets parses apps/isaaclab.python.kit at import time to
@@ -89,7 +91,9 @@ ENV NVIDIA_VISIBLE_DEVICES=all
 ENV NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics
 
 # Libraries ovrtx loads at init. GLVND splits these: libgl1 gives libGL.so.1,
-# but libOpenGL.so.0 and libEGL.so.1 need libopengl0 and libegl1.
+# but libOpenGL.so.0 and libEGL.so.1 need libopengl0 and libegl1. libxrender1 is
+# for the Newton GL viewer: pyglet's xlib backend resolves libXrender.so.1 via
+# ctypes at import time and nothing else in this list pulls it in transitively.
 RUN apt-get update \
  && apt-get install -y --no-install-recommends \
       ca-certificates \
@@ -103,6 +107,7 @@ RUN apt-get update \
       libvulkan1 \
       libx11-6 \
       libxext6 \
+      libxrender1 \
       python3 \
  && rm -rf /var/lib/apt/lists/* \
  && if getent passwd ubuntu >/dev/null; then userdel -r ubuntu; fi \

docker/test/test_container_profiles.py

@@ -162,6 +162,7 @@ def test_build_uses_profile_dependency_chain(
 ):
     """Build only the services required by the selected profile."""
     run = MagicMock()
+    run.return_value.returncode = 0
     monkeypatch.setattr("docker.utils.container_interface.subprocess.run", run)
 
     make_interface(profile).build()
@@ -174,6 +175,7 @@ def test_kitless_start_does_not_build_base(
 ):
     """Starting kit-less invokes only its standalone Compose profile."""
     run = MagicMock()
+    run.return_value.returncode = 0
     monkeypatch.setattr("docker.utils.container_interface.subprocess.run", run)
 
     make_interface("kitless").start()
@@ -202,6 +204,7 @@ def test_kitless_enter_and_stop_target_profile_container(
     """Enter and stop use the kit-less service name, environment, and display."""
     interface = make_interface("kitless")
     run = MagicMock()
+    run.return_value.returncode = 0
     monkeypatch.setenv("DISPLAY", ":99")
     monkeypatch.setattr("docker.utils.container_interface.subprocess.run", run)
     monkeypatch.setattr(interface, "is_container_running", MagicMock(return_value=True))

docker/test/test_dockerfile_nonroot.py

@@ -109,21 +109,23 @@ def test_ros2_dockerfile_restores_non_root_runtime_user():
     assert _user_directives(dockerfile_text) == ["root", "isaaclab"]
 
 
-def test_kitless_dockerfile_installs_newton_rl_and_ovrtx_without_isaac_sim_or_ovphysx():
-    """The kit-less image installs Newton, OVRTX, and all core RL frameworks."""
+def test_kitless_dockerfile_installs_newton_rl_ov_and_visualizers_without_isaac_sim():
+    """The kit-less image installs Newton, both OV runtimes, every Newton viewer, and the RL frameworks."""
     dockerfile_text = (DOCKER_DIR / "Dockerfile.kitless").read_text(encoding="utf-8")
 
     assert (
         "FROM ghcr.io/astral-sh/uv:0.9.25@sha256:13e233d08517abdafac4ead26c16d881cd77504a2c40c38c905cf3a0d70131a6 AS uv"
         in dockerfile_text
     )
     # Installed through the same entry point as Dockerfile.base/Dockerfile.curobo.
-    assert '"${ISAACLAB_PATH}/isaaclab.sh" --install newton,rl[all],ov[ovrtx]' in dockerfile_text
+    assert '"${ISAACLAB_PATH}/isaaclab.sh" --install newton,rl[all],ov[all],visualizer[all]' in dockerfile_text
     assert "COPY isaaclab.sh ./" in dockerfile_text
-    assert "ov[ovphysx]" not in dockerfile_text
     assert "'isaacsim' not in names" in dockerfile_text
-    assert "'ovphysx' not in names" in dockerfile_text
+    assert "'ovphysx' in names" in dockerfile_text
     assert "'ovrtx' in names" in dockerfile_text
+    assert "'viser' in names" in dockerfile_text
+    assert "'rerun-sdk' in names" in dockerfile_text
+    assert "libxrender1" in dockerfile_text
     assert 'test ! -e "${ISAACLAB_PATH}/_isaac_sim"' in dockerfile_text
     assert "COPY docker/docker-compose.yaml docker/docker-compose.yaml" in dockerfile_text
     assert "COPY docker/utils/volume_mounts.py docker/utils/volume_mounts.py" in dockerfile_text

docker/utils/container_interface.py

@@ -120,6 +120,29 @@ def print_info(self):
     Operations.
     """
 
+    def _run_docker_command(self, cmd: list[str], action: str, check: bool = True) -> int:
+        """Run a docker command in the context directory and surface its failure.
+
+        Args:
+            cmd: The docker command to run.
+            action: Description of the attempted operation, used in the failure message.
+            check: Whether a non-zero exit code raises. Defaults to True. Pass False for
+                operations whose failure should not abort the caller.
+
+        Returns:
+            The exit code of the command.
+
+        Raises:
+            RuntimeError: If the command exits non-zero and :paramref:`check` is True.
+        """
+        returncode = subprocess.run(cmd, check=False, cwd=self.context_dir, env=self.environ).returncode
+        if returncode != 0:
+            message = f"Failed to {action} (exit code {returncode}). Command: {' '.join(cmd)}"
+            if check:
+                raise RuntimeError(message)
+            print(f"[WARN] {message}\n")
+        return returncode
+
     def is_container_running(self) -> bool:
         """Check if the container is running.
 
@@ -156,7 +179,7 @@ def build(self):
                 + ["--env-file", ".env.base"]
                 + ["build", self.base_service_name]
             )
-            subprocess.run(cmd, check=False, cwd=self.context_dir, env=self.environ)
+            self._run_docker_command(cmd, "build the docker image for the profile 'base'")
             print("[INFO] Finished building the docker image for the profile 'base'.\n")
 
         # build the image for the profile
@@ -169,7 +192,7 @@ def build(self):
                 + self.add_env_files
                 + ["build", self.service_name]
             )
-            subprocess.run(cmd, check=False, cwd=self.context_dir, env=self.environ)
+            self._run_docker_command(cmd, f"build the docker image for the profile '{self.profile}'")
             print(f"[INFO] Finished building the docker image for the profile '{self.profile}'.\n")
 
     def start(self):
@@ -194,7 +217,7 @@ def start(self):
                 + ["--env-file", ".env.base"]
                 + ["build", self.base_service_name]
             )
-            subprocess.run(cmd, check=False, cwd=self.context_dir, env=self.environ)
+            self._run_docker_command(cmd, "build the docker image for the profile 'base'")
 
         # start the container and build the image if not available
         cmd = (
@@ -204,7 +227,7 @@ def start(self):
             + self.add_env_files
             + ["up", "--detach", "--build", "--remove-orphans"]
         )
-        subprocess.run(cmd, check=False, cwd=self.context_dir, env=self.environ)
+        self._run_docker_command(cmd, f"start the container '{self.container_name}'")
 
     def enter(self):
         """Enter the running container by executing a bash shell.
@@ -231,7 +254,7 @@ def stop(self):
             cmd = (
                 ["docker", "compose"] + self.add_yamls + self.add_profiles + self.add_env_files + ["down", "--volumes"]
             )
-            subprocess.run(cmd, check=False, cwd=self.context_dir, env=self.environ)
+            self._run_docker_command(cmd, f"stop the container '{self.container_name}'")
         else:
             print(
                 f"[INFO] Can't stop container '{self.container_name}' as it is not running."
@@ -275,7 +298,8 @@ def copy(self, output_dir: Path | None = None):
             # copy the artifacts
             for container_path, host_path in artifacts.items():
                 cmd = ["docker", "cp", f"{self.container_name}:{container_path}/", host_path]
-                subprocess.run(cmd, check=False, cwd=self.context_dir, env=self.environ)
+                # An absent artifact directory is normal, so warn rather than abort.
+                self._run_docker_command(cmd, f"copy '{container_path}' from the container", check=False)
             print("\n[INFO] Finished copying the artifacts from the container.")
         else:
             raise RuntimeError(f"The container '{self.container_name}' is not running.")
@@ -300,7 +324,7 @@ def config(self, output_yaml: Path | None = None):
 
         # run the docker compose config command to generate the configuration
         cmd = ["docker", "compose"] + self.add_yamls + self.add_profiles + self.add_env_files + ["config"] + output
-        subprocess.run(cmd, check=False, cwd=self.context_dir, env=self.environ)
+        self._run_docker_command(cmd, "generate the docker compose configuration")
 
     """
     Helper functions.

docs/source/_static/css/environment-browser.js

@@ -21,19 +21,19 @@
             ["Isaac-Fourbar-Pole-Swingup", "rsl_rl", "newton_kamino", "", ""],
             ["Isaac-Humanoid", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_mjwarp", "", ""],
             ["Isaac-Humanoid-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
-            ["Isaac-Lift-Cloth-Franka", "rsl_rl", "newton_mjwarp_vbd_proxy,ovphysx", "", ""],
-            ["Isaac-Lift-Cloth-Franka-Camera", "rsl_rl", "newton_mjwarp_vbd_proxy,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", ""],
+            ["Isaac-Lift-Cloth-Franka", "rsl_rl", "newton_mjwarp_vbd_proxy", "", "ik,joint"],
+            ["Isaac-Lift-Cloth-Franka-Camera", "rsl_rl", "newton_mjwarp_vbd_proxy", "isaacsim_rtx,newton_renderer,ovrtx", "ik,joint"],
             ["Isaac-Lift-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp", "", "cube,shapes"],
             ["Isaac-Lift-KukaAllegro", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,shapes"],
             ["Isaac-Lift-KukaAllegro-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo128,albedo256,albedo64,cube,depth128,depth256,depth64,duo_camera,raycaster_depth128,raycaster_depth256,raycaster_depth64,rgb128,rgb256,rgb64,semantic_segmentation128,semantic_segmentation256,semantic_segmentation64,shapes,simple_shading_constant_diffuse128,simple_shading_constant_diffuse256,simple_shading_constant_diffuse64,simple_shading_diffuse_mdl128,simple_shading_diffuse_mdl256,simple_shading_diffuse_mdl64,simple_shading_full_mdl128,simple_shading_full_mdl256,simple_shading_full_mdl64,single_camera"],
-            ["Isaac-Lift-Soft-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy,ovphysx", "", ""],
-            ["Isaac-Lift-Soft-Franka-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", ""],
+            ["Isaac-Lift-Soft-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "", "ik,joint"],
+            ["Isaac-Lift-Soft-Franka-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "isaacsim_rtx,newton_renderer,ovrtx", "ik,joint"],
             ["Isaac-Open-Drawer-Franka", "rl_games,rsl_rl,skrl", "", "", ""],
             ["Isaac-Open-Drawer-Franka-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
             ["Isaac-Pendulum-Direct", "rl_games,skrl", "", "", ""],
-            ["Isaac-Reach-Franka", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "diffik,diffik_abs,joint_pos,newton_ik"],
-            ["Isaac-Reach-Franka-OSC", "rsl_rl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", ""],
-            ["Isaac-Reach-UR10", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", ""],
+            ["Isaac-Reach-Franka", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "diffik,diffik_abs,joint_pos,newton_ik"],
+            ["Isaac-Reach-Franka-OSC", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
+            ["Isaac-Reach-UR10", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
             ["Isaac-Reorient-Cube-Allegro", "rl_games,rsl_rl,skrl", "", "", ""],
             ["Isaac-Reorient-Cube-Allegro-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
             ["Isaac-Reorient-Cube-Shadow-Camera-Direct", "rl_games,rsl_rl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,full,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl"],
@@ -150,7 +150,7 @@
         populateSelect(fields.physics, task.physics, [fields.physics.value, "newton_mjwarp", "isaacsim_physx", "ovphysx", "newton_kamino"]);
         const preferredRenderer = fields.physics.value.startsWith("newton") ? "newton_renderer" : "isaacsim_rtx";
         populateSelect(fields.renderer, task.renderer, [fields.renderer.value, preferredRenderer, "ovrtx"]);
-        populateSelect(fields.presets, task.presets, [fields.presets.value, "rgb", "cube", "single_camera"]);
+        populateSelect(fields.presets, task.presets, [fields.presets.value, "joint", "ik", "rgb", "cube", "single_camera"]);
     };
 
     const currentCommand = () => {

docs/source/api/lab/isaaclab.app.rst

@@ -8,6 +8,7 @@
    .. autosummary::
 
       AppLauncher
+      LoadingScreen
       Scan
 
    .. rubric:: Functions
@@ -16,6 +17,7 @@
 
       launch_simulation
       make_physics_cfg
+      report_activity
       scan
 
 

docs/source/features/include/docker_details.inc

@@ -321,11 +321,12 @@ The container defaults to ``FastRTPS``, but ``CylconeDDS`` is also supported. Ea
 .. rubric:: Using the Kit-less Container
 
 The kit-less container uses Ubuntu 24.04 and Python 3.12 instead of the Isaac Sim base image. It contains
-Newton physics, OVRTX rendering, and the four core RL frameworks: RL Games, RSL-RL, Stable-Baselines3, and SKRL.
-It does not select a visualizer, so training runs headless.
+Newton physics, OVPhysX physics, OVRTX rendering, and the four core RL frameworks: RL Games, RSL-RL,
+Stable-Baselines3, and SKRL. It also carries every Newton viewer -- ``newton``, ``viser``, and ``rerun`` --
+so any of them can be requested with ``--viz``. No visualizer is selected by default, so training runs
+headless unless you ask for one.
 
-The OVPhysX source integration is present, but its external runtime is not included. Use Newton physics in
-this image.
+The ``kit`` visualizer is the exception: it is provided by Omniverse Kit, which this image does not contain.
 
 To build, start, and enter the image through the same ``container.py`` interface as the Isaac Sim images, run: