Updates code to Isaac Sim 4.2.0 (#120)

# Description

Updates code and docs to Isaac Sim 4.2.0

## Type of change

- New feature (non-breaking change which adds functionality)

## 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
- [ ] 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

README.md

@@ -4,7 +4,7 @@
 
 # Isaac Lab
 
-[![IsaacSim](https://img.shields.io/badge/IsaacSim-4.1-silver.svg)](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html)
+[![IsaacSim](https://img.shields.io/badge/IsaacSim-4.2.0-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

@@ -4,8 +4,8 @@
 
 # Accept the NVIDIA Omniverse EULA by default
 ACCEPT_EULA=Y
-# NVIDIA Isaac Sim version to use (e.g. 4.1.0)
-ISAACSIM_VERSION=4.1.0
+# NVIDIA Isaac Sim version to use (e.g. 4.2.0)
+ISAACSIM_VERSION=4.2.0
 # 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

@@ -226,7 +226,7 @@ html_theme_options = {
         {
             "name": "Isaac Sim",
             "url": "https://developer.nvidia.com/isaac-sim",
-            "icon": "https://img.shields.io/badge/IsaacSim-4.1-silver.svg",
+            "icon": "https://img.shields.io/badge/IsaacSim-4.2.0-silver.svg",
             "type": "url",
         },
         {

docs/source/setup/installation/binaries_installation.rst

@@ -136,7 +136,7 @@ to index the python modules and look for extensions shipped with Isaac Sim.
          cd IsaacLab
          # create a symbolic link
          ln -s path_to_isaac_sim _isaac_sim
-         # For example: ln -s /home/nvidia/.local/share/ov/pkg/isaac-sim-4.1.0 _isaac_sim
+         # For example: ln -s /home/nvidia/.local/share/ov/pkg/isaac-sim-4.2.0 _isaac_sim
 
    .. tab-item:: :icon:`fa-brands fa-windows` Windows
       :sync: windows
@@ -147,7 +147,7 @@ to index the python modules and look for extensions shipped with Isaac Sim.
          cd IsaacLab
          :: create a symbolic link - requires launching Command Prompt with Administrator access
          mklink /D _isaac_sim path_to_isaac_sim
-         :: For example: mklink /D _isaac_sim C:/Users/nvidia/AppData/Local/ov/pkg/isaac-sim-4.1.0
+         :: For example: mklink /D _isaac_sim C:/Users/nvidia/AppData/Local/ov/pkg/isaac-sim-4.2.0
 
 
 Setting up the conda environment (optional)

docs/source/setup/installation/index.rst

 Installation Guide
 ===================
 
-.. image:: https://img.shields.io/badge/IsaacSim-4.1.0-silver.svg
+.. image:: https://img.shields.io/badge/IsaacSim-4.2.0-silver.svg
    :target: https://developer.nvidia.com/isaac-sim
-   :alt: IsaacSim 4.1.0
+   :alt: IsaacSim 4.2.0
 
 .. image:: https://img.shields.io/badge/python-3.10-blue.svg
    :target: https://www.python.org/downloads/release/python-31013/
@@ -19,8 +19,8 @@ Installation Guide
 
 .. caution::
 
-   We have dropped support for Isaac Sim versions 2023.1.1 and below. We recommend using the latest
-   Isaac Sim 4.1.0 release to benefit from the latest features and improvements.
+   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.
 
    For more information, please refer to the
    `Isaac Sim release notes <https://docs.omniverse.nvidia.com/isaacsim/latest/release_notes.html>`__.

docs/source/setup/installation/verifying_installation.rst

@@ -69,7 +69,7 @@ variables to your terminal for the remaining of the installation instructions:
       .. code:: bash
 
          # Isaac Sim root directory
-         export ISAACSIM_PATH="${HOME}/.local/share/ov/pkg/isaac-sim-4.1.0"
+         export ISAACSIM_PATH="${HOME}/.local/share/ov/pkg/isaac-sim-4.2.0"
          # Isaac Sim python executable
          export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
 
@@ -79,7 +79,7 @@ variables to your terminal for the remaining of the installation instructions:
       .. code:: batch
 
          :: Isaac Sim root directory
-         set ISAACSIM_PATH="C:\Users\user\AppData\Local\ov\pkg\isaac-sim-4.1.0"
+         set ISAACSIM_PATH="C:\Users\user\AppData\Local\ov\pkg\isaac-sim-4.2.0"
          :: Isaac Sim python executable
          set ISAACSIM_PYTHON_EXE="%ISAACSIM_PATH:"=%\python.bat"
 

source/apps/isaaclab.python.rendering.kit

@@ -32,7 +32,7 @@ keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]
 app.versionFile = "${exe-path}/VERSION"
 app.folder = "${exe-path}/"
 app.name = "Isaac-Sim"
-app.version = "4.1.0"
+app.version = "4.2.0"
 
 # set the default ros bridge to disable on startup
 isaac.startup.ros_bridge_extension = ""

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py

@@ -743,7 +743,7 @@ def modify_deformable_body_properties(
 
     .. caution::
         The deformable body schema is still under development by the Omniverse team. The current implementation
-        works with the PhysX schemas shipped with Isaac Sim 4.0.0 and 4.1.0. It may change in future releases.
+        works with the PhysX schemas shipped with Isaac Sim 4.0.0 onwards. It may change in future releases.
 
     .. note::
         This function is decorated with :func:`apply_nested` that sets the properties to all the prims

source/extensions/omni.isaac.lab/setup.py

@@ -53,8 +53,8 @@ setup(
     classifiers=[
         "Natural Language :: English",
         "Programming Language :: Python :: 3.10",
+        "Isaac Sim :: 4.2.0",
         "Isaac Sim :: 4.1.0",
-        "Isaac Sim :: 4.0.0",
     ],
     zip_safe=False,
 )

source/extensions/omni.isaac.lab_assets/setup.py

@@ -30,8 +30,8 @@ setup(
     classifiers=[
         "Natural Language :: English",
         "Programming Language :: Python :: 3.10",
+        "Isaac Sim :: 4.2.0",
         "Isaac Sim :: 4.1.0",
-        "Isaac Sim :: 4.0.0",
     ],
     zip_safe=False,
 )

source/extensions/omni.isaac.lab_tasks/setup.py

@@ -78,8 +78,8 @@ setup(
     classifiers=[
         "Natural Language :: English",
         "Programming Language :: Python :: 3.10",
+        "Isaac Sim :: 4.2.0",
         "Isaac Sim :: 4.1.0",
-        "Isaac Sim :: 4.0.0",
     ],
     zip_safe=False,
 )