Adds PIP dependencies to extension.toml file (#84)

Fixes Isaac Lab when run in extension mode. 

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## 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
- [x] I have run all the tests with `./isaaclab.sh --test` and they pass
- [ ] 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

docs/source/setup/template.rst

@@ -4,7 +4,7 @@ Building your Own Project
 Traditionally, building new projects that utilize Isaac Lab's features required creating your own
 extensions within the Isaac Lab repository. However, this approach can obscure project visibility and
 complicate updates from one version of Isaac Lab to another. To circumvent these challenges, we now
-provide a pre-configured and customizable `extension template <https://github.com/isaac-sim/IsaacLab.ext_template>`_
+provide a pre-configured and customizable `extension template <https://github.com/isaac-sim/IsaacLabExtensionTemplate>`_
 for creating projects in an isolated environment.
 
 This template serves three distinct use cases:
@@ -22,4 +22,4 @@ This template serves three distinct use cases:
   features and improvements in Isaac Lab.
 
 
-To get started, please follow the instructions in the `extension template repository <https://github.com/isaac-sim/IsaacLab.ext_template>`_.
+To get started, please follow the instructions in the `extension template repository <https://github.com/isaac-sim/IsaacLabExtensionTemplate>`_.

source/extensions/omni.isaac.lab/config/extension.toml

@@ -13,7 +13,31 @@ keywords = ["kit", "robotics", "learning", "ai"]
 
 [dependencies]
 "omni.isaac.core" = {}
+"omni.isaac.ml_archive" = {}
 "omni.replicator.core" = {}
 
+[python.pipapi]
+requirements = [
+    "numpy",
+    "prettytable==3.3.0",
+    "tensordict",
+    "toml",
+    "hidapi",
+    "gymnasium==0.29.0",
+    "trimesh"
+]
+
+modules = [
+    "numpy",
+    "prettytable",
+    "tensordict",
+    "toml",
+    "hid",
+    "gymnasium",
+    "trimesh"
+]
+
+use_online_index=true
+
 [[python.module]]
 name = "omni.isaac.lab"

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

@@ -594,14 +594,10 @@ class AppLauncher:
 
         # 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
-        carb_settings_iface.set_string(
-            "/persistent/isaac/asset_root/default",
-            "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.0",
-        )
-        carb_settings_iface.set_string(
-            "/persistent/isaac/asset_root/nvidia",
-            "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.0",
-        )
+        assets_path = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.0"
+        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)
 
         # disable physics backwards compatibility check
         carb_settings_iface.set_int(physx_impl.SETTING_BACKWARD_COMPATIBILITY, 0)

source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py

@@ -21,31 +21,8 @@ from typing import Literal
 import carb
 import omni.client
 
-try:
-    import omni.isaac.nucleus as nucleus_utils
-except ModuleNotFoundError:
-    import omni.isaac.core.utils.nucleus as nucleus_utils
-
-# note: we check only once at the start of the module to prevent multiple checks on the Nucleus Server
-NUCLEUS_ASSET_ROOT_DIR = nucleus_utils.get_assets_root_path()
-"""Path to the root directory on the Nucleus Server.
-
-This is resolved using Isaac Sim's Nucleus API. If the Nucleus Server is not running, then this
-will be set to None. The path is resolved using the following steps:
-
-1. Based on simulation parameter: ``/persistent/isaac/asset_root/default``.
-2. Iterating over all the connected Nucleus Servers and checking for the first server that has the the connected status.
-3. Based on simulation parameter: ``/persistent/isaac/asset_root/cloud``.
-"""
-
-# check nucleus connection
-if NUCLEUS_ASSET_ROOT_DIR is None:
-    msg = (
-        "Unable to perform Nucleus login on Omniverse. Assets root path is not set.\n"
-        "\tPlease check: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html#omniverse-nucleus"
-    )
-    carb.log_error(msg)
-    raise RuntimeError(msg)
+NUCLEUS_ASSET_ROOT_DIR = carb.settings.get_settings().get("/persistent/isaac/asset_root/cloud")
+"""Path to the root directory on the Nucleus Server."""
 
 NVIDIA_NUCLEUS_DIR = f"{NUCLEUS_ASSET_ROOT_DIR}/NVIDIA"
 """Path to the root directory on the NVIDIA Nucleus Server."""

source/extensions/omni.isaac.lab_tasks/config/extension.toml

@@ -14,9 +14,27 @@ keywords = ["robotics", "rl", "il", "learning"]
 [dependencies]
 "omni.isaac.lab" = {}
 "omni.isaac.lab_assets" = {}
-"omni.isaac.core" = {}
-"omni.isaac.gym" = {}
-"omni.replicator.isaac" = {}
+
+[python.pipapi]
+requirements = [
+    "h5py",
+    "tensorboard",
+    "stable-baselines3>=2.1",
+    "rl-games==1.6.1",
+    "rsl-rl@git+https://github.com/leggedrobotics/rsl_rl.git",
+    "skrl>=1.1.0"
+]
+
+modules = [
+    "h5py",
+    "tensorboard",
+    "stable_baselines3",
+    "rl_games",
+    "rsl_rl",
+    "skrl"
+]
+
+use_online_index=true
 
 [[python.module]]
 name = "omni.isaac.lab_tasks"