Merge branch 'develop' into offline_mode

Signed-off-by: Clayton Littlejohn <56889577+clayton-littlejohn@users.noreply.github.com>

Author: clayton-littlejohn

.gitattributes

@@ -12,3 +12,4 @@
 *.hdf5 filter=lfs diff=lfs merge=lfs -text
 
 *.bat text eol=crlf
+*.sh text eol=lf

.github/workflows/build.yml

@@ -8,9 +8,10 @@ name: Build and Test
 on:
   pull_request:
     branches:
-      - devel
+      - develop
       - main
       - 'release/**'
+      - feature/isaacsim-6-0
 
 # Concurrency control to prevent parallel runs on the same PR
 concurrency:
@@ -25,8 +26,8 @@ permissions:
 
 env:
   NGC_API_KEY: ${{ secrets.NGC_API_KEY }}
-  ISAACSIM_BASE_IMAGE: ${{ vars.ISAACSIM_BASE_IMAGE || 'nvcr.io/nvidia/isaac-sim' }}
-  ISAACSIM_BASE_VERSION: ${{ vars.ISAACSIM_BASE_VERSION || '5.1.0' }}
+  ISAACSIM_BASE_IMAGE: nvcr.io/nvidian/isaac-sim #${{ vars.ISAACSIM_BASE_IMAGE || 'nvcr.io/nvidia/isaac-sim' }}
+  ISAACSIM_BASE_VERSION: 'latest-develop' #${{ vars.ISAACSIM_BASE_VERSION || '5.1.0' }}
   DOCKER_IMAGE_TAG: isaac-lab-dev:${{ github.event_name == 'pull_request' && format('pr-{0}', github.event.pull_request.number) || github.ref_name }}-${{ github.sha }}
 
 jobs:

.github/workflows/check-links.yml

@@ -16,8 +16,9 @@ on:
   push:
     branches:
       - main
-      - devel
+      - develop
       - 'release/**'
+      - 'feature/isaacsim-6-0'
     paths:
       - 'docs/**'
       - '**.md'

.github/workflows/docs.yaml

@@ -9,8 +9,9 @@ on:
   push:
     branches:
       - main
-      - devel
+      - develop
       - 'release/**'
+      - 'feature/isaacsim-6-0'
   pull_request:
     types: [opened, synchronize, reopened]
 
@@ -28,7 +29,7 @@ jobs:
     - id: trigger-deploy
       env:
         REPO_NAME: ${{ secrets.REPO_NAME }}
-      if: "${{ github.repository == env.REPO_NAME && (github.ref == 'refs/heads/main' || github.ref == 'refs/heads/devel' || startsWith(github.ref, 'refs/heads/release/')) }}"
+      if: "${{ github.repository == env.REPO_NAME && (github.ref == 'refs/heads/main' || github.ref == 'refs/heads/develop' || startsWith(github.ref, 'refs/heads/release/')) }}"
       run: echo "defined=true" >> "$GITHUB_OUTPUT"
 
   build-docs:
@@ -43,7 +44,7 @@ jobs:
     - name: Setup python
       uses: actions/setup-python@v2
       with:
-        python-version: "3.11"
+        python-version: "3.12"
         architecture: x64
 
     - name: Install dev requirements

.github/workflows/license-check.yaml

@@ -26,12 +26,25 @@ jobs:
 
     - name: Clean up disk space
       run: |
+        # Remove pre-installed tools
         rm -rf /opt/hostedtoolcache
         rm -rf /usr/share/dotnet
         rm -rf /opt/ghc
+        sudo rm -rf /usr/local/lib/android
+        rm -rf /usr/share/swift
+        rm -rf /usr/local/share/boost
+        sudo rm -rf /usr/local/.ghcup
+        sudo rm -rf /usr/local/lib/node_modules
+        sudo rm -rf /usr/local/share/chromium
+        sudo rm -rf /usr/local/share/powershell
+        # Clean apt cache
+        sudo apt-get clean
+        sudo rm -rf /var/lib/apt/lists/*
+        # Docker cleanup
         docker container prune -f
         docker image prune -af
-        docker volume prune -f || true
+        docker volume prune -f
+        docker system prune -af
 
 
     - name: Set up Python
@@ -40,19 +53,27 @@ jobs:
         python-version: '3.11'  # Adjust as needed
 
     - name: Install dependencies using ./isaaclab.sh -i
+      env:
+        OMNI_KIT_ACCEPT_EULA: yes
+        ACCEPT_EULA: Y
+        ISAACSIM_ACCEPT_EULA: YES
       run: |
         # first install isaac sim
         pip install --upgrade pip
-        pip install 'isaacsim[all,extscache]==${{ vars.ISAACSIM_BASE_VERSION || '5.0.0' }}' --extra-index-url https://pypi.nvidia.com
+        pip install 'isaacsim[all,extscache]==${{ vars.ISAACSIM_BASE_VERSION || '5.1.0' }}' --extra-index-url https://pypi.nvidia.com
         chmod +x ./isaaclab.sh  # Make sure the script is executable
+        # Install torch
+        pip install -U torch==2.9.0 torchvision==0.24.0 --index-url https://download.pytorch.org/whl/cu128
+        # clean up pip cache
+        pip cache purge
         # install all lab dependencies
         ./isaaclab.sh -i
 
     - name: Install pip-licenses
       run: |
-        pip install pip-licenses
-        pip install -r tools/template/requirements.txt
-        pip install -r docs/requirements.txt
+        pip install --no-cache-dir pip-licenses
+        pip install --no-cache-dir -r tools/template/requirements.txt
+        pip install --no-cache-dir -r docs/requirements.txt
 
     # Optional: Print the license report for visibility
     - name: Print License Report
@@ -61,6 +82,8 @@ jobs:
     # Print pipdeptree
     - name: Print pipdeptree
       run: |
+        # clean up pip cache
+        pip cache purge
         pip install pipdeptree
         pipdeptree
 
@@ -89,6 +112,11 @@ jobs:
 
         # Loop through the installed packages and their licenses
         for pkg in $(jq -r '.[].Name' licenses.json); do
+          # Skip packages starting with nvidia (case-insensitive)
+          if [[ "${pkg,,}" == nvidia* ]]; then
+            continue
+          fi
+
           LICENSE=$(jq -r --arg pkg "$pkg" '.[] | select(.Name == $pkg) | .License' licenses.json)
 
           # Check if any of the allowed licenses are a substring of the package's license

.github/workflows/license-exceptions.json

@@ -222,6 +222,11 @@
     "license": "Zlib",
     "comment": "ZLIBL"
   },
+  {
+    "package": "cmeel-tinyxml2",
+    "license": "Zlib",
+    "comment": "Zlib"
+  },
   {
     "package": "cmeel-urdfdom",
     "license": "UNKNOWN",

.github/workflows/postmerge-ci.yml

@@ -9,8 +9,9 @@ on:
   push:
     branches:
       - main
-      - devel
+      - develop
       - release/**
+      - feature/isaacsim-6-0
 
 # Concurrency control to prevent parallel runs
 concurrency:
@@ -22,8 +23,8 @@ permissions:
 
 env:
   NGC_API_KEY: ${{ secrets.NGC_API_KEY }}
-  ISAACSIM_BASE_IMAGE: ${{ vars.ISAACSIM_BASE_IMAGE || 'nvcr.io/nvidia/isaac-sim' }}
-  ISAACSIM_BASE_VERSIONS_STRING: ${{ vars.ISAACSIM_BASE_VERSIONS_STRING || '5.1.0' }}
+  ISAACSIM_BASE_IMAGE: nvcr.io/nvidian/isaac-sim #${{ vars.ISAACSIM_BASE_IMAGE || 'nvcr.io/nvidia/isaac-sim' }}
+  ISAACSIM_BASE_VERSIONS_STRING: 'latest-develop' #${{ vars.ISAACSIM_BASE_VERSIONS_STRING || '5.1.0' }}
   ISAACLAB_IMAGE_NAME: ${{ vars.ISAACLAB_IMAGE_NAME || 'isaac-lab-base' }}
 
 jobs:

.gitignore

@@ -76,3 +76,5 @@ tests/
 
 # Downloaded assets
 offline_assets/*
+# No benchmarks output
+/benchmarks/

CONTRIBUTORS.md

@@ -19,6 +19,7 @@ Guidelines for modifications:
 
 ---
 
+* Antoine Richard
 * Antonio Serrano-Muñoz
 * Ben Johnston
 * Brian McCann
@@ -45,6 +46,7 @@ Guidelines for modifications:
 * Alice Zhou
 * Amr Mousa
 * Andrej Orsula
+* Anke Zhao
 * Anton Bjørndahl Mortensen
 * Antonin Raffin
 * Arjun Bhardwaj
@@ -54,14 +56,15 @@ Guidelines for modifications:
 * Brayden Zhang
 * Brian Bingham
 * Brian McCann
-* Cameron Upright
 * Calvin Yu
+* Cameron Upright
 * Cathy Y. Li
 * Cheng-Rong Lai
 * Chenyu Yang
 * Clayton Littlejohn
 * Connor Smith
 * CY (Chien-Ying) Chen
+* David Leon
 * David Yang
 * Dhananjay Shendre
 * Dongxuan Fan
@@ -95,24 +98,25 @@ Guidelines for modifications:
 * Johnson Sun
 * Juana Du
 * Kaixi Bao
-* Kris Wilson
-* Krishna Lakhi
 * Kourosh Darvish
 * Kousheek Chakraborty
+* Kris Wilson
+* Krishna Lakhi
 * Lionel Gulich
+* Lorenz Wellhausen
 * Lotus Li
 * Louis Le Lay
-* Lorenz Wellhausen
 * Lukas Fröhlich
 * Manuel Schweiger
 * Masoud Moghani
 * Mateo Guaman Castro
 * Maurice Rahme
 * Michael Gussert
-* Michael Noseworthy
 * Michael Lin
+* Michael Noseworthy
 * Miguel Alonso Jr
 * Mihir Kulkarni
+* Mikhail Yurasov
 * Mingxue Gu
 * Mingyu Lee
 * Muhong Guo
@@ -145,17 +149,20 @@ Guidelines for modifications:
 * Shane Reetz
 * Shaoshu Su
 * Shaurya Dewan
-* Sixiang Chen
 * Shundo Kishi
+* Sixiang Chen
+* Song Yi
 * Stefan Van de Mosselaer
 * Stephan Pleines
 * Tiffany Chen
 * Trushant Adeshara
+* Tsz Ki GAO
 * Tyler Lum
 * Victor Khaustov
 * Virgilio Gómez Lambo
 * Vladimir Fokow
 * Wei Yang
+* Weihua Zhang
 * Welf Rehberg
 * Xavier Nal
 * Xiaodi Yuan
@@ -171,11 +178,6 @@ Guidelines for modifications:
 * Zijian Li
 * Ziqi Fan
 * Zoe McCarthy
-* David Leon
-* Song Yi
-* Weihua Zhang
-* Tsz Ki GAO
-* Anke Zhao
 
 ## Acknowledgements
 

README.md

@@ -4,8 +4,8 @@
 
 # Isaac Lab
 
-[![IsaacSim](https://img.shields.io/badge/IsaacSim-5.1.0-silver.svg)](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html)
-[![Python](https://img.shields.io/badge/python-3.11-blue.svg)](https://docs.python.org/3/whatsnew/3.11.html)
+[![IsaacSim](https://img.shields.io/badge/IsaacSim-6.0.0-silver.svg)](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html)
+[![Python](https://img.shields.io/badge/python-3.12-blue.svg)](https://docs.python.org/3/whatsnew/3.12.html)
 [![Linux platform](https://img.shields.io/badge/platform-linux--64-orange.svg)](https://releases.ubuntu.com/22.04/)
 [![Windows platform](https://img.shields.io/badge/platform-windows--64-orange.svg)](https://www.microsoft.com/en-us/)
 [![pre-commit](https://img.shields.io/github/actions/workflow/status/isaac-sim/IsaacLab/pre-commit.yaml?logo=pre-commit&logoColor=white&label=pre-commit&color=brightgreen)](https://github.com/isaac-sim/IsaacLab/actions/workflows/pre-commit.yaml)
@@ -14,6 +14,14 @@
 [![License](https://img.shields.io/badge/license-Apache--2.0-yellow.svg)](https://opensource.org/license/apache-2-0)
 
 
+This branch is a development branch for Isaac Sim 6.0, which is currently only available through the Isaac Sim [GitHub repo](https://github.com/isaac-sim/IsaacSim).
+For installation, please refer to the Isaac Sim GitHub repo to build the latest Isaac Sim branch, and follow the binary installation method in the
+Isaac Lab documentation for Isaac Lab installation.
+
+Note that this branch is currently under active development and may experience breaking changes or error messages.
+Performance issues and regressions may also be observed in some use cases.
+
+
 **Isaac Lab** is a GPU-accelerated, open-source framework designed to unify and simplify robotics research workflows,
 such as reinforcement learning, imitation learning, and motion planning. Built on [NVIDIA Isaac Sim](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html),
 it combines fast and accurate physics and sensor simulation, making it an ideal choice for sim-to-real
@@ -57,6 +65,7 @@ dependency versions for Isaac Sim.
 
 | Isaac Lab Version             | Isaac Sim Version         |
 | ----------------------------- | ------------------------- |
+| `develop` branch              | Isaac Sim 6.0             |
 | `main` branch                 | Isaac Sim 4.5 / 5.0 / 5.1 |
 | `v2.3.X`                      | Isaac Sim 4.5 / 5.0 / 5.1 |
 | `v2.2.X`                      | Isaac Sim 4.5 / 5.0       |