Linear program object placement

.github/workflows/ci.yml

@@ -28,16 +28,18 @@ env:
 
 
 jobs:
-  test:
-    name: Run pre commit checks and tests
-    runs-on: [self-hosted, zurich]
-    timeout-minutes: 45
+
+  pre_commit:
+    name: Pre-commit
+    runs-on: [self-hosted, gpu]
+    timeout-minutes: 30
 
     container:
-      image: nvcr.io/nvstaging/isaac-amr/isaaclab_arena:latest
-      credentials:
-        username: $oauthtoken
-        password: ${{ env.NGC_API_KEY }}
+      image: python:3.11-slim
+
+    env:
+      # We're getting issues with the markers on the checked out files.
+      SKIP: check-executables-have-shebangs
 
     steps:
       - &install_git_step
@@ -54,25 +56,23 @@ jobs:
         name: Clean up symlinks in submodules directory
         run: |
           rm -f .git/modules/submodules/IsaacLab/index.lock || true
-          rm -rf submodules/IsaacLab || true
+          rm -rf submodules/* || true
+
+      # Fix "detected dubious ownership in repository" inside containers
+      - &mark_repo_safe_step
+        name: Mark repo as safe for git
+        run: git config --global --add safe.directory "$PWD"
 
       # Checkout Code
       - &checkout_step
         name: Checkout Code
         uses: actions/checkout@v4
         with:
-          fetch-depth: 0
-          clean: true
           submodules: true
           # LFS checkout here somehow causes issues when LFS stuff changes over time.
           # So I do LFS manually in a step after.
           # lfs: true
 
-      # Fix "detected dubious ownership in repository" inside containers
-      - &mark_repo_safe_step
-        name: Mark repo as safe for git
-        run: git config --global --add safe.directory "$PWD"
-
       # Pull LFS files explicitly (in case checkout didn't get them all)
       - &git_lfs_step
         name: Git LFS
@@ -81,77 +81,118 @@ jobs:
           git lfs install --local
           git lfs pull
 
-      - &setup_python_step
-        name: Setup Python
-        uses: actions/setup-python@v3
+      - name: git status
+        run: |
+          git status
+
+      - name: Run pre-commit
+        uses: pre-commit/[email protected]
+        with:
+          extra_args: --all-files --verbose
+
+  test:
+    name: Run tests
+    runs-on: [self-hosted, gpu]
+    timeout-minutes: 60
+    needs: [pre_commit]
+
+    container:
+      image: nvcr.io/nvstaging/isaac-amr/isaaclab_arena:latest
+      credentials:
+        username: $oauthtoken
+        password: ${{ env.NGC_API_KEY }}
+
+    steps:
+      # nvidia-smi
+      - &nvidia_smi
+        name: nvidia-smi
+        run: nvidia-smi
+
+      # Setup
+      - *install_git_step
+      - *cleanup_step
+      - *mark_repo_safe_step
+      - *checkout_step
+      - *git_lfs_step
 
       - &install_project_step
         name: Install project and link isaac-sim
         run: |
           pip install --no-cache-dir -e .
           [ -e ./submodules/IsaacLab/_isaac_sim ] || ln -s /isaac-sim ./submodules/IsaacLab/_isaac_sim
 
-      - name: Run pre-commit
-        run: |
-          pip install --no-cache-dir --upgrade pip pre-commit
-          pre-commit run --all-files
-
+      # Run the tests (excluding the gr00t related tests)
       - name: Run pytest excluding policy-related tests. First we run all tests without cameras.
         run: /isaac-sim/python.sh -m pytest -sv -m "not with_cameras" isaaclab_arena/tests/ --ignore=isaaclab_arena/tests/policy/
 
       - name: Run pytest excluding policy-related tests. Now we run all tests with cameras.
         run: /isaac-sim/python.sh -m pytest -sv -m with_cameras isaaclab_arena/tests/ --ignore=isaaclab_arena/tests/policy/
 
+
   test_policy:
     name: Run policy-related tests with GR00T & cuda12_8 deps
-    runs-on: [self-hosted, zurich]
-    timeout-minutes: 30
+    runs-on: [self-hosted, gpu]
+    timeout-minutes: 60
+    needs: [pre_commit]
 
     container:
       image: nvcr.io/nvstaging/isaac-amr/isaaclab_arena:cuda_gr00t
       credentials:
         username: $oauthtoken
         password: ${{ env.NGC_API_KEY }}
     steps:
+      # nvidia-smi
+      - *nvidia_smi
+
       # Setup.
       - *install_git_step
       - *cleanup_step
-      - *checkout_step
       - *mark_repo_safe_step
+      - *checkout_step
       - *git_lfs_step
-      - *setup_python_step
       - *install_project_step
 
+      # Run the policy (GR00T) related tests.
       - name: Run policy-related pytest
         run: /isaac-sim/python.sh -m pytest -sv isaaclab_arena/tests/policy/
 
+
   build_docs_pre_merge:
     name: Build the docs (pre-merge)
-    runs-on: [self-hosted, zurich]
+    runs-on: [self-hosted, gpu]
     timeout-minutes: 30
+    needs: [pre_commit]
 
     container:
       image: python:3.11-slim
 
     steps:
       # Setup.
       - *install_git_step
+      - *mark_repo_safe_step
       - *cleanup_step
-      - *checkout_step
+
+      # Checkout all branches, and tags, such that sphinx-multiversion can build the docs for all versions.
+      - name: Checkout Code
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          fetch-tags: true
 
       # Build docs
       - name: Build docs
+        working-directory: ./docs
         run: |
-          cd docs
           pip3 install -r requirements.txt
-          make SPHINXOPTS=-W html
-          touch ./_build/html/.nojekyll
+          make SPHINXOPTS=-W multi-docs
+          touch ./_build/.nojekyll
+
 
   build_and_push_image_post_merge:
     name: Build & push NGC image (post-merge)
-    runs-on: [self-hosted, zurich]
-    timeout-minutes: 60
-    needs: [test, test_policy, build_docs_pre_merge]       # only push if tests passed
+    runs-on: [self-hosted, gpu]
+    timeout-minutes: 90
+    needs: [test, test_policy]       # only push if tests passed
     if: github.event_name == 'push' && github.ref == 'refs/heads/main'
 
     container:

.github/workflows/gh-pages.yml

@@ -28,7 +28,7 @@ env:
 jobs:
   deploy_docs:
     name: Deploy the docs
-    runs-on: [self-hosted, zurich]
+    runs-on: [self-hosted, gpu]
     timeout-minutes: 30
 
     container:
@@ -48,33 +48,24 @@ jobs:
         with:
           clean: true
           fetch-depth: 0
+          fetch-tags: true
+
+      # Fix "detected dubious ownership in repository" inside containers
+      - name: Mark repo as safe for git
+        run: git config --global --add safe.directory "$PWD"
 
       # Build docs
       - name: Build docs
         run: |
           cd docs
           pip3 install -r requirements.txt
-          make SPHINXOPTS=-W html
-          touch ./_build/html/.nojekyll
+          make SPHINXOPTS=-W multi-docs
+          touch ./_build/.nojekyll
 
       - name: Copy redirect file
         run: |
           cp ./docs/_redirect/index.html ./docs/_build/index.html
 
-      # Upload docs artifact
-      - name: Upload docs artifact
-        uses: actions/upload-artifact@v4
-        with:
-          name: docs-html
-          path: ./docs/_build
-
-      # Download docs artifact
-      - name: Download docs artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: docs-html
-          path: ./docs/_build
-
       # Deploy to gh-pages
       - name: Deploy to gh-pages
         uses: peaceiris/actions-gh-pages@v3

.vscode/settings.json

@@ -0,0 +1,18 @@
+{
+    "python.analysis.extraPaths": [
+        "${workspaceFolder}",
+        "${workspaceFolder}/submodules/IsaacLab/source/isaaclab",
+        "${workspaceFolder}/submodules/IsaacLab/source/isaaclab_assets",
+        "${workspaceFolder}/submodules/IsaacLab/source/isaaclab_rl",
+        "${workspaceFolder}/submodules/IsaacLab/source/isaaclab_mimic",
+        "${workspaceFolder}/submodules/IsaacLab/source/isaaclab_tasks",
+    ],
+    "cursorpyright.analysis.extraPaths": [
+        "${workspaceFolder}",
+        "${workspaceFolder}/submodules/IsaacLab/source/isaaclab",
+        "${workspaceFolder}/submodules/IsaacLab/source/isaaclab_assets",
+        "${workspaceFolder}/submodules/IsaacLab/source/isaaclab_rl",
+        "${workspaceFolder}/submodules/IsaacLab/source/isaaclab_mimic",
+        "${workspaceFolder}/submodules/IsaacLab/source/isaaclab_tasks",
+    ]
+}

README.md

@@ -6,7 +6,7 @@
 
 Isaac-Lab Arena is a comprehensive robotics simulation framework that enhances NVIDIA Isaac Lab by providing a composable, scalable system for creating diverse simulation environments and evaluating robot learning policies. The framework enables researchers and developers to rapidly prototype and test robotic tasks with various robot embodiments, objects, and environments.
 
-To get started with Isaac-Lab Arena, see our [documentation site](https://fictional-disco-qm1zq12.pages.github.io/html/index.html).
+To get started with Isaac-Lab Arena, see our [documentation site](https://isaac-sim.github.io/IsaacLab-Arena/main/index.html).
 
 <div align="center">
 

docker/Dockerfile.isaaclab_arena

@@ -115,6 +115,7 @@ COPY *.* ${WORKDIR}/
 COPY isaaclab_arena ${WORKDIR}/isaaclab_arena
 COPY isaaclab_arena_g1 ${WORKDIR}/isaaclab_arena_g1
 COPY isaaclab_arena_gr00t ${WORKDIR}/isaaclab_arena_gr00t
+COPY isaaclab_arena_environments ${WORKDIR}/isaaclab_arena_environments
 COPY docs ${WORKDIR}/docs
 
 # Install IsaacLab Arena

docker/run_docker.sh

@@ -135,11 +135,7 @@ else
                     "--net=host"
                     "--runtime=nvidia"
                     "--gpus=all"
-                    "-v" "./docs:${WORKDIR}/docs"
-                    "-v" "./isaaclab_arena:${WORKDIR}/isaaclab_arena"
-                    "-v" "./isaaclab_arena_g1:${WORKDIR}/isaaclab_arena_g1"
-                    "-v" "./isaaclab_arena_gr00t:${WORKDIR}/isaaclab_arena_gr00t"
-                    "-v" "./submodules/IsaacLab:${WORKDIR}/submodules/IsaacLab"
+                    "-v" ".:${WORKDIR}"
                     $(add_volume_if_it_exists $DATASETS_HOST_MOUNT_DIRECTORY /datasets)
                     $(add_volume_if_it_exists $MODELS_HOST_MOUNT_DIRECTORY /models)
                     $(add_volume_if_it_exists $EVAL_HOST_MOUNT_DIRECTORY /eval)

docs/Makefile

@@ -10,12 +10,18 @@ BUILDDIR         = _build
 
 
 # Put it first so that "make" without argument is like "make help".
+.PHONY: help Makefile
 help:
 	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
 
-.PHONY: help Makefile
+
+.PHONY: multi-docs
+multi-docs:
+	@sphinx-multiversion --verbose "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS)
+	@cp _redirect/index.html $(BUILDDIR)/index.html
+
 
 # Catch-all target: route all unknown targets to Sphinx using the new
 # "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
 %: Makefile
-	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)/current" $(SPHINXOPTS) $(O)

docs/_redirect/index.html

@@ -3,6 +3,6 @@
   <head>
     <title>Redirecting to the latest Isaac Lab Arena documentation</title>
     <meta charset="utf-8">
-    <meta http-equiv="refresh" content="0; url=./html/index.html">
+    <meta http-equiv="refresh" content="0; url=./main/index.html">
   </head>
 </html>

docs/_templates/versioning.html

@@ -0,0 +1,21 @@
+{% if versions %}
+<nav class="bd-links bd-docs-nav">
+    <div class="bd-toc-item navbar-nav">
+      <ul class="nav bd-sidenav">
+        <li class="toctree-l1 has-children" style="display: flex; justify-content: center; align-items: center; flex-direction: column;">
+          <div  style ="text-align:center;">
+            <label for="version-select" style="font-weight: bold; display: block;">Version</label>
+          </div>
+          <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
+            {%- for item in versions.branches %}
+            <option value="{{ item.url }}" {% if item == current_version %}selected{% endif %}>{{ item.name }}</option>
+            {%- endfor %}
+            {%- for item in versions.tags|reverse %}
+            <option value="{{ item.url }}" {% if item == current_version %}selected{% endif %}>{{ item.name }}</option>
+            {%- endfor %}
+          </select>
+        </li>
+      </ul>
+    </div>
+</nav>
+{% endif %}

docs/conf.py

@@ -66,6 +66,7 @@
     "sphinx_tabs.tabs",
     "sphinx_design",
     "sphinx_copybutton",
+    "sphinx_multiversion",
     "isaaclab_arena_doc_tools",
 ]
 
@@ -87,7 +88,7 @@
 # List of patterns, relative to source directory, that match files and
 # directories to ignore when looking for source files.
 # This pattern also affects html_static_path and html_extra_path.
-exclude_patterns = ["_build", "Thumbs.db", ".DS_Store", "venv_docs"]
+exclude_patterns = ["_build", "_templates", "Thumbs.db", ".DS_Store", "venv_docs"]
 
 # Be picky about missing references
 nitpicky = True  # warns on broken references
@@ -119,20 +120,19 @@
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
-# html_static_path = []
 html_static_path = ["_static"]
 html_css_files = ["custom.css"]
 
+# Versioning
+smv_remote_whitelist = r"^.*$"
+smv_branch_whitelist = r"^(main|release/.*)$"
+smv_tag_whitelist = r"^v.*$"
+html_sidebars = {"**": ["versioning.html", "sidebar-nav-bs"]}
 # Todos
 todo_include_todos = True
 
 # Linkcheck
-# NOTE(alexmillane, 2025-05-09): The links in the main example page are relative links
-# which are only valid post-build. linkcheck doesn't like this. So here we ignore
-# links to the example pages via html.
-linkcheck_ignore = [
-    # r'pages/torch_examples_.*\.html',    # Ignore all pages/torch_examples_*.html links
-]
+linkcheck_ignore = []
 
 temporary_linkcheck_ignore = [
     # TemporaryLinkcheckIgnore(