Removes remnants of Isaac Sim 2023.1.1 and Lab 1.0 references (#741)

# Description

There were still a few changes not propagated with the drop of 2023.1.1.
This MR fixes those pieces:

- updating the version number in the docs to 4.1
- updating the nucleus asset server path to 4.1
- removing the physics flushing inside the interactive scene (as it was
needed in 2023.1.1 only)

## 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
- [ ] 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

.github/workflows/postmerge-ci-buildspec.yml

@@ -5,8 +5,8 @@ phases:
     commands:
       - echo "Building a docker image"
       - docker login -u \$oauthtoken -p $NGC_TOKEN nvcr.io
-      - docker build -t $IMAGE_NAME:latest-1.0 --build-arg ISAACSIM_VERSION_ARG=4.1.0 --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab --build-arg DOCKER_USER_HOME_ARG=/root -f docker/Dockerfile.base .
+      - docker build -t $IMAGE_NAME:latest-1.1 --build-arg ISAACSIM_VERSION_ARG=4.1.0 --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab --build-arg DOCKER_USER_HOME_ARG=/root -f docker/Dockerfile.base .
       - echo "Pushing the docker image"
-      - docker push $IMAGE_NAME:latest-1.0
-      - docker tag $IMAGE_NAME:latest-1.0 $IMAGE_NAME:latest-1.0-b$CODEBUILD_BUILD_NUMBER
-      - docker push $IMAGE_NAME:latest-1.0-b$CODEBUILD_BUILD_NUMBER
+      - docker push $IMAGE_NAME:latest-1.1
+      - docker tag $IMAGE_NAME:latest-1.1 $IMAGE_NAME:latest-1.1-b$CODEBUILD_BUILD_NUMBER
+      - docker push $IMAGE_NAME:latest-1.1-b$CODEBUILD_BUILD_NUMBER

docker/Dockerfile.base

@@ -15,7 +15,7 @@ ENV ISAACSIM_VERSION=${ISAACSIM_VERSION_ARG}
 SHELL ["/bin/bash", "-c"]
 
 # Adds labels to the Dockerfile
-LABEL version="1.0"
+LABEL version="1.1"
 LABEL description="Dockerfile for building and running the Isaac Lab framework inside Isaac Sim container image."
 
 # Arguments

docker/Dockerfile.pip

-# 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-pip: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-pip: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/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-4.0-silver.svg",
+            "icon": "https://img.shields.io/badge/IsaacSim-4.1-silver.svg",
             "type": "url",
         },
         {

source/apps/isaaclab.python.headless.kit

@@ -5,7 +5,7 @@
 [package]
 title = "Isaac Lab Python Headless"
 description = "An app for running Isaac Lab headlessly"
-version = "1.0.0"
+version = "1.1.0"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "isaaclab", "python", "headless"]

source/apps/isaaclab.python.headless.rendering.kit

@@ -9,7 +9,7 @@
 [package]
 title = "Isaac Lab Python Headless Camera"
 description = "An app for running Isaac Lab headlessly with rendering enabled"
-version = "1.0.0"
+version = "1.1.0"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]

source/apps/isaaclab.python.kit

@@ -5,7 +5,7 @@
 [package]
 title = "Isaac Lab Python"
 description = "An app for running Isaac Lab"
-version = "1.0.0"
+version = "1.1.0"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "usd"]

source/apps/isaaclab.python.rendering.kit

@@ -9,7 +9,7 @@
 [package]
 title = "Isaac Lab Python Camera"
 description = "An app for running Isaac Lab with rendering enabled"
-version = "1.0.0"
+version = "1.1.0"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]

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

@@ -591,7 +591,7 @@ 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
-        assets_path = "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/4.1"
         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)

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env_cfg.py

@@ -87,12 +87,3 @@ class ManagerBasedEnvCfg:
 
     Please refer to the :class:`omni.isaac.lab.managers.EventManager` class for more details.
     """
-
-    randomization: object | None = None
-    """Randomization settings. Default is None.
-
-    .. deprecated:: 0.3.0
-        This attribute is deprecated and will be removed in v0.4.0. Please use the :attr:`events`
-        attribute to configure the randomization settings.
-
-    """

source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py

@@ -3,7 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-import builtins
 import torch
 from collections.abc import Sequence
 from typing import Any
@@ -12,7 +11,6 @@ import carb
 import omni.usd
 from omni.isaac.cloner import GridCloner
 from omni.isaac.core.prims import XFormPrimView
-from omni.isaac.version import get_version
 from pxr import PhysxSchema
 
 import omni.isaac.lab.sim as sim_utils
@@ -151,10 +149,6 @@ class InteractiveScene:
 
             self.filter_collisions(self._global_prim_paths)
 
-        # read isaac sim version (this includes build tag, release tag etc.)
-        # note: we do it once here because it reads the VERSION file from disk and is not expected to change.
-        self._isaac_sim_version = int(get_version()[0][0])
-
     def clone_environments(self, copy_from_source: bool = False):
         """Creates clones of the environment ``/World/envs/env_0``.
 
@@ -331,13 +325,6 @@ class InteractiveScene:
         # -- sensors
         for sensor in self._sensors.values():
             sensor.reset(env_ids)
-        if builtins.ISAAC_LAUNCHED_FROM_TERMINAL and self._isaac_sim_version < 4:
-            # -- flush physics sim view if called in extension mode and Isaac Sim version is < 4.0
-            # this is needed when using PhysX GPU pipeline since the data needs to be sent to the underlying
-            # PhysX buffers that might live on a separate device
-            # note: In standalone mode, this method is called in the `step()` method of the simulation context.
-            #   So we only need to flush when running in extension mode.
-            sim_utils.SimulationContext.instance().physics_sim_view.flush()  # pyright: ignore [reportOptionalMemberAccess]
 
     def write_data_to_sim(self):
         """Writes the data of the scene entities to the simulation."""
@@ -346,13 +333,6 @@ class InteractiveScene:
             articulation.write_data_to_sim()
         for rigid_object in self._rigid_objects.values():
             rigid_object.write_data_to_sim()
-        if builtins.ISAAC_LAUNCHED_FROM_TERMINAL and self._isaac_sim_version < 4:
-            # -- flush physics sim view if called in extension mode and Isaac Sim version is < 4.0
-            # this is needed when using PhysX GPU pipeline since the data needs to be sent to the underlying
-            # PhysX buffers that might live on a separate device
-            # note: In standalone mode, this method is called in the `step()` method of the simulation context.
-            #   So we only need to flush when running in extension mode.
-            sim_utils.SimulationContext.instance().physics_sim_view.flush()  # pyright: ignore [reportOptionalMemberAccess]
 
     def update(self, dt: float) -> None:
         """Update the scene entities.