Updates docker version and documentation for pre-built image (#218)

# Description

This PR updates docker and setup.py versions to point to Isaac Sim 4.5. 
In addition, documentation is added for running the new pre-built Isaac
Lab docker container.

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] 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 updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

README.md

@@ -4,7 +4,7 @@
 
 # Isaac Lab
 
-[![IsaacSim](https://img.shields.io/badge/IsaacSim-4.2.0-silver.svg)](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html)
+[![IsaacSim](https://img.shields.io/badge/IsaacSim-4.5.0-silver.svg)](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html)
 [![Python](https://img.shields.io/badge/python-3.10-blue.svg)](https://docs.python.org/3/whatsnew/3.10.html)
 [![Linux platform](https://img.shields.io/badge/platform-linux--64-orange.svg)](https://releases.ubuntu.com/20.04/)
 [![Windows platform](https://img.shields.io/badge/platform-windows--64-orange.svg)](https://www.microsoft.com/en-us/)

docker/.env.base

@@ -6,8 +6,8 @@
 ACCEPT_EULA=Y
 # NVIDIA Isaac Sim base image
 ISAACSIM_BASE_IMAGE=nvcr.io/nvidia/isaac-sim
-# NVIDIA Isaac Sim version to use (e.g. 4.2.0)
-ISAACSIM_VERSION=4.2.0
+# NVIDIA Isaac Sim version to use (e.g. 4.5.0)
+ISAACSIM_VERSION=4.5.0
 # Derived from the default path in the NVIDIA provided Isaac Sim container
 DOCKER_ISAACSIM_ROOT_PATH=/isaac-sim
 # The Isaac Lab path in the container

docs/conf.py

@@ -243,7 +243,7 @@ html_theme_options = {
         {
             "name": "Isaac Sim",
             "url": "https://developer.nvidia.com/isaac-sim",
-            "icon": "https://img.shields.io/badge/IsaacSim-4.2.0-silver.svg",
+            "icon": "https://img.shields.io/badge/IsaacSim-4.5.0-silver.svg",
             "type": "url",
         },
         {

docs/source/deployment/docker.rst

@@ -37,36 +37,6 @@ We recommend using these versions or newer.
     the Isaac Lab directory is placed under the ``/home`` directory tree when using docker.
 
 
-Obtaining the Isaac Sim Container
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-* Get access to the `Isaac Sim container`_ by joining the NVIDIA Developer Program credentials.
-* Generate your `NGC API key`_ to access locked container images from NVIDIA GPU Cloud (NGC).
-
-  * This step requires you to create an NGC account if you do not already have one.
-  * You would also need to install the NGC CLI to perform operations from the command line.
-  * Once you have your generated API key and have installed the NGC CLI, you need to log in to NGC
-    from the terminal.
-
-    .. code:: bash
-
-        ngc config set
-
-* Use the command line to pull the Isaac Sim container image from NGC.
-
-  .. code:: bash
-
-      docker login nvcr.io
-
-  * For the username, enter ``$oauthtoken`` exactly as shown. It is a special username that is used to
-    authenticate with NGC.
-
-    .. code:: text
-
-        Username: $oauthtoken
-        Password: <Your NGC API Key>
-
-
 Directory Organization
 ----------------------
 
@@ -280,6 +250,47 @@ The container defaults to ``FastRTPS``, but ``CylconeDDS`` is also supported. Ea
       :language: bash
 
 
+Running Pre-Built Isaac Lab Container
+-------------------------------------
+
+In Isaac Lab 2.0 release, we introduced a minimal pre-built container that contains a very minimal set
+of Isaac Sim and Omniverse dependencies, along with Isaac Lab 2.0 pre-built into the container.
+This container allows users to pull the container directly from NGC without requiring a local build of
+the docker image. The Isaac Lab 2.0 source code will be available in this container under ``/workspace/IsaacLab``.
+
+This container is designed for running **headless** only and does not allow for X11 forwarding or running
+with the GUI. Please only use this container for headless training. For other use cases, we recommend
+following the above steps to build your own Isaac Lab docker image.
+
+To pull the minimal Isaac Lab container, run:
+
+.. code:: bash
+
+  docker pull nvcr.io/nvidia/isaac-lab:2.0.0
+
+To run the Isaac Lab container with an interactive bash session, run:
+
+.. code:: bash
+
+  docker run --name isaac-lab --entrypoint bash -it --runtime=nvidia --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
+     -e "PRIVACY_CONSENT=Y" \
+     -v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \
+     -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \
+     -v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \
+     -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \
+     -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \
+     -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
+     -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
+     -v ~/docker/isaac-sim/documents:/root/Documents:rw \
+     nvcr.io/nvidia/isaac-lab:2.0.0
+
+To run an example within the container, run:
+
+.. code:: bash
+
+  ./isaaclab.sh -p scripts/tutorials/00_sim/log_time.py --headless
+
+
 .. _`NVIDIA Omniverse EULA`: https://docs.omniverse.nvidia.com/platform/latest/common/NVIDIA_Omniverse_License_Agreement.html
 .. _`container installation`: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html
 .. _`Docker website`: https://docs.docker.com/desktop/install/linux-install/

docs/source/setup/installation/index.rst

 Local Installation
 ==================
 
-.. image:: https://img.shields.io/badge/IsaacSim-4.2.0-silver.svg
+.. image:: https://img.shields.io/badge/IsaacSim-4.5.0-silver.svg
    :target: https://developer.nvidia.com/isaac-sim
-   :alt: IsaacSim 4.2.0
+   :alt: IsaacSim 4.5.0
 
 .. image:: https://img.shields.io/badge/python-3.10-blue.svg
    :target: https://www.python.org/downloads/release/python-31013/
@@ -19,8 +19,8 @@ Local Installation
 
 .. caution::
 
-   We have dropped support for Isaac Sim versions 4.0.0 and below. We recommend using the latest
-   Isaac Sim 4.2.0 release to benefit from the latest features and improvements.
+   We have dropped support for Isaac Sim versions 4.2.0 and below. We recommend using the latest
+   Isaac Sim 4.5.0 release to benefit from the latest features and improvements.
 
    For more information, please refer to the
    `Isaac Sim release notes <https://docs.omniverse.nvidia.com/isaacsim/latest/release_notes.html>`__.

source/isaaclab/isaaclab/app/app_launcher.py

@@ -528,7 +528,7 @@ class AppLauncher:
             os.environ["PXR_WORK_THREAD_LIMIT"] = str(num_threads_per_process)
             os.environ["OPENBLAS_NUM_THREADS"] = str(num_threads_per_process)
             # pass command line variable to kit
-            self._kit_args.append(f"--/plugins/carb.tasking.plugin/threadCount={num_threads_per_process}")
+            sys.argv.append(f"--/plugins/carb.tasking.plugin/threadCount={num_threads_per_process}")
 
         # set physics and rendering device
         launcher_args["physics_gpu"] = self.device_id

source/isaaclab/setup.py

@@ -58,8 +58,7 @@ setup(
     classifiers=[
         "Natural Language :: English",
         "Programming Language :: Python :: 3.10",
-        "Isaac Sim :: 4.2.0",
-        "Isaac Sim :: 4.1.0",
+        "Isaac Sim :: 4.5.0",
     ],
     zip_safe=False,
 )

source/isaaclab_assets/setup.py

@@ -30,8 +30,7 @@ setup(
     classifiers=[
         "Natural Language :: English",
         "Programming Language :: Python :: 3.10",
-        "Isaac Sim :: 4.2.0",
-        "Isaac Sim :: 4.1.0",
+        "Isaac Sim :: 4.5.0",
     ],
     zip_safe=False,
 )

source/isaaclab_rl/setup.py

@@ -73,8 +73,7 @@ setup(
     classifiers=[
         "Natural Language :: English",
         "Programming Language :: Python :: 3.10",
-        "Isaac Sim :: 4.2.0",
-        "Isaac Sim :: 4.1.0",
+        "Isaac Sim :: 4.5.0",
     ],
     zip_safe=False,
 )

source/isaaclab_tasks/setup.py

@@ -47,8 +47,7 @@ setup(
     classifiers=[
         "Natural Language :: English",
         "Programming Language :: Python :: 3.10",
-        "Isaac Sim :: 4.2.0",
-        "Isaac Sim :: 4.1.0",
+        "Isaac Sim :: 4.5.0",
     ],
     zip_safe=False,
 )