Fixes isaaclab scripts to deal with Isaac Sim pip installation

.vscode/tasks.json

@@ -8,7 +8,7 @@
             "label": "setup_python_env",
             "type": "shell",
             "linux": {
-                "command": "export CARB_APP_PATH=${workspaceFolder}/_isaac_sim/kit && export ISAAC_PATH=${workspaceFolder}/_isaac_sim && export EXP_PATH=${workspaceFolder}/_isaac_sim/apps && source ${workspaceFolder}/_isaac_sim/setup_python_env.sh && printenv >${workspaceFolder}/.vscode/.python.env && ${workspaceFolder}/_isaac_sim/python.sh ${workspaceFolder}/.vscode/tools/setup_vscode.py"
+                "command": "${workspaceFolder}/isaaclab.sh -p ${workspaceFolder}/.vscode/tools/setup_vscode.py"
             }
         },
         {

.vscode/tools/launch.template.json

@@ -9,13 +9,7 @@
             "type": "python",
             "request": "launch",
             "program": "${file}",
-            "console": "integratedTerminal",
-            "env": {
-                "EXP_PATH": "${workspaceFolder}/_isaac_sim/apps",
-                "RESOURCE_NAME": "IsaacSim"
-            },
-            "envFile": "${workspaceFolder}/.vscode/.python.env",
-            "preLaunchTask": "setup_python_env"
+            "console": "integratedTerminal"
         },
         {
             "name": "Python: Attach (windows-x86_64/linux-x86_64)",
@@ -30,27 +24,15 @@
             "request": "launch",
             "args" : ["--task", "Isaac-Reach-Franka-v0", "--headless"],
             "program": "${workspaceFolder}/source/standalone/workflows/rsl_rl/train.py",
-            "console": "integratedTerminal",
-            "env": {
-                "EXP_PATH": "${workspaceFolder}/_isaac_sim/apps",
-                "RESOURCE_NAME": "IsaacSim"
-            },
-            "envFile": "${workspaceFolder}/.vscode/.python.env",
-            "preLaunchTask": "setup_python_env"
+            "console": "integratedTerminal"
         },
         {
             "name": "Python: Play Environment",
             "type": "python",
             "request": "launch",
             "args" : ["--task", "Isaac-Reach-Franka-v0", "--num_envs", "32"],
             "program": "${workspaceFolder}/source/standalone/workflows/rsl_rl/play.py",
-            "console": "integratedTerminal",
-            "env": {
-                "EXP_PATH": "${workspaceFolder}/_isaac_sim/apps",
-                "RESOURCE_NAME": "IsaacSim"
-            },
-            "envFile": "${workspaceFolder}/.vscode/.python.env",
-            "preLaunchTask": "setup_python_env"
-        },
+            "console": "integratedTerminal"
+        }
     ]
 }

.vscode/tools/settings.template.json

@@ -68,8 +68,9 @@
     "autoDocstring.docstringFormat": "google",
     "autoDocstring.guessTypes": true,
     // Python environment path
-    "python.defaultInterpreterPath": "${workspaceFolder}/_isaac_sim/kit/python/bin/python3",
-    "python.envFile": "${workspaceFolder}/.vscode/.python.env",
+    // note: the default interpreter is overridden when user selects a workspace interpreter
+    //     in the status bar. For example, the virtual environment python interpreter
+    "python.defaultInterpreterPath": "${workspaceFolder}/_isaac_sim/python.sh",
     // ROS distribution
     "ros.distro": "noetic",
     // Language specific settings

.vscode/tools/setup_vscode.py

@@ -5,10 +5,10 @@
 
 """This script sets up the vs-code settings for the Isaac Lab project.
 
-This script merges the python.analysis.extraPaths from the "_isaac_sim/.vscode/settings.json" file into
+This script merges the python.analysis.extraPaths from the "{ISAACSIM_DIR}/.vscode/settings.json" file into
 the ".vscode/settings.json" file.
 
-This is necessary because Isaac Sim 2022.2.1 does not add the necessary python packages to the python path
+This is necessary because Isaac Sim 2022.2.1 onwards does not add the necessary python packages to the python path
 when the "setup_python_env.sh" is run as part of the vs-code launch configuration.
 """
 
@@ -20,56 +20,87 @@
 
 ISAACLAB_DIR = pathlib.Path(__file__).parents[2]
 """Path to the Isaac Lab directory."""
-ISAACSIM_DIR = os.path.join(ISAACLAB_DIR, "_isaac_sim")
+
+try:
+    import isaacsim  # noqa: F401
+
+    isaacsim_dir = os.environ.get("ISAAC_PATH", "")
+except ModuleNotFoundError or ImportError:
+    isaacsim_dir = os.path.join(ISAACLAB_DIR, "_isaac_sim")
+
+# check if the isaac-sim directory exists
+if not os.path.exists(isaacsim_dir):
+    raise FileNotFoundError(
+        f"Could not find the isaac-sim directory: {isaacsim_dir}. There are two possible reasons for this:"
+        f"\n\t1. The Isaac Sim directory does not exist as a symlink at: {os.path.join(ISAACLAB_DIR, '_isaac_sim')}"
+        "\n\t2. The script could import the 'isaacsim' package. This could be due to the 'isaacsim' package not being "
+        "installed in the Python environment.\n"
+        "\nPlease make sure that the Isaac Sim directory exists or that the 'isaacsim' package is installed."
+    )
+
+ISAACSIM_DIR = isaacsim_dir
 """Path to the isaac-sim directory."""
-# check if ISAACSIM_DIR is valid:
-if not os.path.isdir(ISAACSIM_DIR):
-    ISAACSIM_DIR = os.environ.get("ISAACSIM_PATH", "")
 
 
 def overwrite_python_analysis_extra_paths(isaaclab_settings: str) -> str:
     """Overwrite the python.analysis.extraPaths in the Isaac Lab settings file.
 
     The extraPaths are replaced with the path names from the isaac-sim settings file that exists in the
-    "_isaac_sim/.vscode/settings.json" file.
+    "{ISAACSIM_DIR}/.vscode/settings.json" file.
+
+    If the isaac-sim settings file does not exist, the extraPaths are not overwritten.
 
     Args:
         isaaclab_settings: The settings string to use as template.
 
     Returns:
         The settings string with overwritten python analysis extra paths.
-
-    Raises:
-        FileNotFoundError: If the isaac-sim settings file does not exist.
     """
     # isaac-sim settings
     isaacsim_vscode_filename = os.path.join(ISAACSIM_DIR, ".vscode", "settings.json")
-    # make sure the isaac-sim settings file exists
-    if not os.path.exists(isaacsim_vscode_filename):
-        raise FileNotFoundError(f"Could not find the isaac-sim settings file: {isaacsim_vscode_filename}")
-
-    # read the path names from the isaac-sim settings file
-    with open(isaacsim_vscode_filename) as f:
-        vscode_settings = f.read()
-    # extract the path names
-    # search for the python.analysis.extraPaths section and extract the contents
-    settings = re.search(r"\"python.analysis.extraPaths\": \[.*?\]", vscode_settings, flags=re.MULTILINE | re.DOTALL)
-    settings = settings.group(0)
-    settings = settings.split('"python.analysis.extraPaths": [')[-1]
-    settings = settings.split("]")[0]
-    # change the path names to be relative to the Isaac Lab directory
-    path_names = settings.split(",")
-    path_names = [path_name.strip().strip('"') for path_name in path_names]
-    path_names = ['"${workspaceFolder}/_isaac_sim/' + path_name + '"' for path_name in path_names if len(path_name) > 0]
+
+    # we use the isaac-sim settings file to get the python.analysis.extraPaths for kit extensions
+    # if this file does not exist, we will not add any extra paths
+    if os.path.exists(isaacsim_vscode_filename):
+        # read the path names from the isaac-sim settings file
+        with open(isaacsim_vscode_filename) as f:
+            vscode_settings = f.read()
+        # extract the path names
+        # search for the python.analysis.extraPaths section and extract the contents
+        settings = re.search(
+            r"\"python.analysis.extraPaths\": \[.*?\]", vscode_settings, flags=re.MULTILINE | re.DOTALL
+        )
+        settings = settings.group(0)
+        settings = settings.split('"python.analysis.extraPaths": [')[-1]
+        settings = settings.split("]")[0]
+
+        # read the path names from the isaac-sim settings file
+        path_names = settings.split(",")
+        path_names = [path_name.strip().strip('"') for path_name in path_names]
+        path_names = [path_name for path_name in path_names if len(path_name) > 0]
+
+        # change the path names to be relative to the Isaac Lab directory
+        rel_path = os.path.relpath(ISAACSIM_DIR, ISAACLAB_DIR)
+        path_names = ['"${workspaceFolder}/' + rel_path + "/" + path_name + '"' for path_name in path_names]
+    else:
+        path_names = []
+        print(
+            f"[WARN] Could not find Isaac Sim VSCode settings file: {isaacsim_vscode_filename}."
+            "\n\tThis will result in missing python.analysis.extraPaths in Isaac Lab VSCode settings from Isaac Sim."
+            " It limits the functionality of Python language server in VSCode."
+            "\n\tHowever, it does not affect the functionality of the Isaac Lab project."
+        )
 
     # add the path names that are in the Isaac Lab extensions directory
     isaaclab_extensions = os.listdir(os.path.join(ISAACLAB_DIR, "source", "extensions"))
     path_names.extend(['"${workspaceFolder}/source/extensions/' + ext + '"' for ext in isaaclab_extensions])
 
     # combine them into a single string
     path_names = ",\n\t\t".expandtabs(4).join(path_names)
+    # deal with the path separator being different on Windows and Unix
+    path_names = path_names.replace("/", os.sep)
 
-    # replace the path names in the Isaac Lab settings file with the path names from the isaac-sim settings file
+    # replace the path names in the Isaac Lab settings file with the path names parsed
     isaaclab_settings = re.sub(
         r"\"python.analysis.extraPaths\": \[.*?\]",
         '"python.analysis.extraPaths": [\n\t\t'.expandtabs(4) + path_names + "\n\t]".expandtabs(4),
@@ -95,9 +126,6 @@ def overwrite_default_python_interpreter(isaaclab_settings: str) -> str:
     """
     # read executable name
     python_exe = sys.executable
-    # if python interpreter is from conda, use that. Otherwise, use the template.
-    if "conda" not in python_exe:
-        return isaaclab_settings
     # replace the default python interpreter in the Isaac Lab settings file with the path to the
     # python interpreter in the Isaac Lab directory
     isaaclab_settings = re.sub(
@@ -124,9 +152,9 @@ def main():
 
     # overwrite the python.analysis.extraPaths in the Isaac Lab settings file with the path names
     isaaclab_settings = overwrite_python_analysis_extra_paths(isaaclab_template_settings)
-    # overwrite the default python interpreter in the Isaac Lab settings file
-    # NOTE: thisis disabled since we don't need it. The default interpreter should always be the one from isaac-sim
-    # isaaclab_settings = overwrite_default_python_interpreter(isaaclab_settings)
+    # overwrite the default python interpreter in the Isaac Lab settings file with the path to the
+    # python interpreter used to call this script
+    isaaclab_settings = overwrite_default_python_interpreter(isaaclab_settings)
 
     # add template notice to the top of the file
     header_message = (

docker/Dockerfile.pip

@@ -0,0 +1,100 @@
+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+# This Dockerfile is used to build a Docker image for the Isaac Lab framework.
+#
+# It uses the pip package manager to install Isaac Sim and the Isaac Lab framework.
+#
+# To build the Docker image and run the Docker container, follow the steps below:
+#
+# 1. Build the Docker image:
+#       docker build -t isaac-lab:latest -f docker/Dockerfile.pip .
+# 2. Run the Docker container:
+#       docker run -it --gpus all --rm --network=host --name isaac-lab -v $(pwd):/root/isaaclab isaac-lab:latest
+
+# Base image: Ubuntu 22.04
+FROM ubuntu:22.04 AS base
+
+# Set default RUN shell to bash
+SHELL ["/bin/bash", "-c"]
+
+# Adds labels to the Dockerfile
+LABEL version="1.0"
+LABEL description="Dockerfile for building and running the Isaac Lab framework in Ubuntu 22.04 container image."
+
+# Arguments
+# Path to the Isaac Lab directory
+ENV ISAACLAB_PATH=/root/isaaclab
+# Home dir of docker user, typically '/root'
+ENV DOCKER_USER_HOME=/root
+
+# Set environment variables
+ENV LANG=C.UTF-8
+ENV DEBIAN_FRONTEND=noninteractive
+
+USER root
+
+# Install dependencies and remove cache
+RUN --mount=type=cache,target=/var/cache/apt \
+    apt-get update && apt-get install -y --no-install-recommends \
+    build-essential \
+    cmake \
+    git \
+    libglib2.0-0 \
+    ncurses-term && \
+    apt -y autoremove && apt clean autoclean && \
+    rm -rf /var/lib/apt/lists/*
+
+# for singularity usage, have to create the directories that will binded
+RUN mkdir -p ${DOCKER_USER_HOME}/.cache/ov && \
+    mkdir -p ${DOCKER_USER_HOME}/.cache/pip && \
+    mkdir -p ${DOCKER_USER_HOME}/.cache/nvidia/GLCache &&  \
+    mkdir -p ${DOCKER_USER_HOME}/.nv/ComputeCache && \
+    mkdir -p ${DOCKER_USER_HOME}/.nvidia-omniverse/logs && \
+    mkdir -p ${DOCKER_USER_HOME}/.local/share/ov/data && \
+    mkdir -p ${DOCKER_USER_HOME}/Documents
+
+# for singularity usage, create NVIDIA binary placeholders
+RUN touch /bin/nvidia-smi && \
+    touch /bin/nvidia-debugdump && \
+    touch /bin/nvidia-persistenced && \
+    touch /bin/nvidia-cuda-mps-control && \
+    touch /bin/nvidia-cuda-mps-server && \
+    touch /etc/localtime && \
+    mkdir -p /var/run/nvidia-persistenced && \
+    touch /var/run/nvidia-persistenced/socket
+
+# Install python3 and pip
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    python3 \
+    python3-pip && \
+    apt -y autoremove && apt clean autoclean && \
+    rm -rf /var/lib/apt/lists/*
+# Maintain python3 as the default python version
+RUN update-alternatives --install /usr/bin/python python /usr/bin/python3 1
+RUN update-alternatives --install /usr/bin/pip pip /usr/bin/pip3 1
+
+# Install python packages
+RUN pip3 install --no-cache-dir --upgrade pip && \
+    pip install torch==2.2.2 --index-url https://download.pytorch.org/whl/cu118
+
+RUN pip install isaacsim-rl isaacsim-replicator isaacsim-extscache-physics isaacsim-extscache-kit-sdk isaacsim-extscache-kit isaacsim-app --extra-index-url https://pypi.nvidia.com
+
+# Mount the Isaac Lab directory (files to exclude are defined in .dockerignore)
+COPY ../ ${ISAACLAB_PATH}
+
+# installing Isaac Lab dependencies
+# use pip caching to avoid reinstalling large packages
+RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
+    ${ISAACLAB_PATH}/isaaclab.sh --install
+
+# aliasing isaaclab.sh and python for convenience
+RUN echo "export ISAACLAB_PATH=${ISAACLAB_PATH}" >> ${HOME}/.bashrc && \
+    echo "alias isaaclab=${ISAACLAB_PATH}/isaaclab.sh" >> ${HOME}/.bashrc && \
+    echo "export TZ=$(date +%Z)" >> ${HOME}/.bashrc
+
+# make working directory as the Isaac Lab directory
+# this is the default directory when the container is run
+WORKDIR ${ISAACLAB_PATH}

docs/source/setup/installation/binaries_installation.rst

@@ -1,3 +1,6 @@
+.. _isaacsim-binaries-installation:
+
+
 Installation using Isaac Sim Binaries
 =====================================
 

docs/source/setup/installation/pip_installation.rst

@@ -1,22 +1,24 @@
+.. _isaacsim-pip-installation:
+
 Installation using Isaac Sim pip
 ================================
 
 
 Installing Isaac Sim
 --------------------
 
-.. note::
-
-   Installing Isaac Sim from pip is currently an experimental feature.
-   If errors occur, please report them to the
-   `Isaac Sim Forums <https://docs.omniverse.nvidia.com/isaacsim/latest/common/feedback.html>`_
-   and install Isaac Sim from pre-built binaries.
+From Isaac Sim 4.0 release, it is possible to install Isaac Sim using pip. This approach is experimental and may have
+compatibility issues with some Linux distributions. If you encounter any issues, please report them to the
+`Isaac Sim Forums <https://docs.omniverse.nvidia.com/isaacsim/latest/common/feedback.html>`_.
 
-.. note::
+.. attention::
 
    Installing Isaac Sim with pip requires GLIBC 2.34+ version compatibility.
    To check the GLIBC version on your system, use command ``ldd --version``.
 
+   This may pose compatibility issues with some Linux distributions. For instance, Ubuntu 20.04 LTS has GLIBC 2.31
+   by default. If you encounter compatibility issues, we recommend following the
+   :ref:`Isaac Sim Binaries Installation <isaacsim-binaries-installation>` approach.
 
 -  To use the pip installation approach for Isaac Sim, we recommend first creating a virtual environment.
    Ensure that the python version of the virtual environment is **Python 3.10**.