Changes to prepare for 2.2.0 release (#595)

# Description

Several changes to prepare for the Isaac Lab 2.2 release:

- updating staging server to production
- removing mentions of feature/isaacsim_5_0 branch as those will now be
part of `main`
- updates version to 2.2.0 from 2.1.1

## Type of change

- 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
- [ ] 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

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CITATION.cff

 cff-version: 1.2.0
 message: "If you use this software, please cite both the Isaac Lab repository and the Orbit paper."
 title: Isaac Lab
-version: 2.1.1
+version: 2.2.0
 repository-code: https://github.com/NVIDIA-Omniverse/IsaacLab
 type: software
 authors:

README.md

@@ -14,15 +14,6 @@
 [![License](https://img.shields.io/badge/license-Apache--2.0-yellow.svg)](https://opensource.org/license/apache-2-0)
 
 
-This branch of Isaac Lab is a development branch compatible with the latest
-[Isaac Sim repository](https://github.com/isaac-sim/IsaacSim). Please note that some updates and changes are still being worked
-on until the official Isaac Lab 2.2 release. Currently, this branch requires the latest updates in the Isaac Sim open source repo.
-We are continuously working on enabling backwards compatibility with Isaac Sim 4.5, which is currently not possible with this branch.
-A quick list of updates and changes in this branch can be found in the [Release Notes](https://github.com/isaac-sim/IsaacLab/blob/feature/isaacsim_5_0/docs/source/refs/release_notes.rst).
-To run Isaac Lab with the Open Source Isaac Sim, please refer to
-[Getting Started with Open-Source Isaac Sim](#getting-started-with-open-source-isaac-sim).
-
-
 **Isaac Lab** is a GPU-accelerated, open-source framework designed to unify and simplify robotics research workflows, such as reinforcement learning, imitation learning, and motion planning. Built on [NVIDIA Isaac Sim](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html), it combines fast and accurate physics and sensor simulation, making it an ideal choice for sim-to-real transfer in robotics.
 
 Isaac Lab provides developers with a range of essential features for accurate sensor simulation, such as RTX-based cameras, LIDAR, or contact sensors. The framework's GPU acceleration enables users to run complex simulations and computations faster, which is key for iterative processes like reinforcement learning and data-intensive tasks. Moreover, Isaac Lab can run locally or be distributed across the cloud, offering flexibility for large-scale deployments.
@@ -41,8 +32,7 @@ Isaac Lab offers a comprehensive set of tools and environments designed to facil
 
 ### Getting Started with Open-Source Isaac Sim
 
-Isaac Sim is now open source and available on GitHub! To run Isaac Lab with the open source Isaac Sim repo,
-ensure you are using the `feature/isaacsim_5_0` branch.
+Isaac Sim is now open source and available on GitHub!
 
 For detailed Isaac Sim installation instructions, please refer to
 [Isaac Sim README](https://github.com/isaac-sim/IsaacSim?tab=readme-ov-file#quick-start).
@@ -66,7 +56,7 @@ For detailed Isaac Sim installation instructions, please refer to
 
     ```
     cd ..
-    git clone -b feature/isaacsim_5_0 https://github.com/isaac-sim/IsaacLab.git
+    git clone https://github.com/isaac-sim/IsaacLab.git
     cd isaaclab
     ```
 
@@ -103,13 +93,13 @@ For detailed Isaac Sim installation instructions, please refer to
     Linux:
 
     ```
-    source ../IsaacSim/_build/linux-x86_64/release/setup_conda_env.sh
+    source _isaac_sim/setup_conda_env.sh
     ```
 
     Windows:
 
     ```
-    ..\IsaacSim\_build\windows-x86_64\release\setup_python_env.bat
+    _isaac_sim\setup_python_env.bat
     ```
 
 7. Train!
@@ -128,8 +118,6 @@ For detailed Isaac Sim installation instructions, please refer to
 
 ### Documentation
 
-Note that the current public documentations may not include all features of the latest feature/isaacsim_5_0 branch.
-
 Our [documentation page](https://isaac-sim.github.io/IsaacLab) provides everything you need to get started, including detailed tutorials and step-by-step guides. Follow these links to learn more about:
 
 - [Installation steps](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/index.html#local-installation)
@@ -145,14 +133,13 @@ Below, we outline the recent Isaac Lab releases and GitHub branches and their co
 
 | Isaac Lab Version             | Isaac Sim Version   |
 | ----------------------------- | ------------------- |
-| `main` branch                 | Isaac Sim 5.0       |
+| `main` branch                 | Isaac Sim 4.5 / 5.0 |
 | `v2.2.0`                      | Isaac Sim 4.5 / 5.0 |
 | `v2.1.1`                      | Isaac Sim 4.5       |
 | `v2.1.0`                      | Isaac Sim 4.5       |
 | `v2.0.2`                      | Isaac Sim 4.5       |
 | `v2.0.1`                      | Isaac Sim 4.5       |
 | `v2.0.0`                      | Isaac Sim 4.5       |
-| `feature/isaacsim_5_0` branch | Isaac Sim 4.5 / 5.0 |
 
 
 ## Contributing to Isaac Lab

apps/isaaclab.python.headless.kit

@@ -209,6 +209,6 @@ enabled=true # Enable this for DLSS
 # set the S3 directory manually to the latest published S3
 # note: this is done to ensure prior versions of Isaac Sim still use the latest assets
 [settings]
-persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"

apps/isaaclab.python.headless.rendering.kit

@@ -147,6 +147,6 @@ folders = [
 # set the S3 directory manually to the latest published S3
 # note: this is done to ensure prior versions of Isaac Sim still use the latest assets
 [settings]
-persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"

apps/isaaclab.python.kit

@@ -302,6 +302,6 @@ fabricUseGPUInterop = true
 # set the S3 directory manually to the latest published S3
 # note: this is done to ensure prior versions of Isaac Sim still use the latest assets
 [settings]
-persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"

apps/isaaclab.python.rendering.kit

@@ -145,6 +145,6 @@ folders = [
 # set the S3 directory manually to the latest published S3
 # note: this is done to ensure prior versions of Isaac Sim still use the latest assets
 [settings]
-persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"

apps/isaaclab.python.xr.openxr.headless.kit

@@ -59,6 +59,6 @@ folders = [
 ]
 
 [settings]
-persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"

apps/isaaclab.python.xr.openxr.kit

@@ -86,6 +86,6 @@ folders = [
 # set the S3 directory manually to the latest published S3
 # note: this is done to ensure prior versions of Isaac Sim still use the latest assets
 [settings]
-persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"

source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py

@@ -262,9 +262,7 @@ def _spawn_from_usd_file(
     # check file path exists
     if not stage.ResolveIdentifierToEditTarget(usd_path):
         if "4.5" in usd_path:
-            usd_5_0_path = (
-                usd_path.replace("http", "https").replace("-production.", "-staging.").replace("/4.5", "/5.0")
-            )
+            usd_5_0_path = usd_path.replace("http", "https").replace("/4.5", "/5.0")
             if not stage.ResolveIdentifierToEditTarget(usd_5_0_path):
                 raise FileNotFoundError(f"USD file not found at path at either: '{usd_path}' or '{usd_5_0_path}'.")
             usd_path = usd_5_0_path

source/isaaclab/test/sim/test_schemas.py

@@ -110,7 +110,7 @@ def test_modify_properties_on_articulation_instanced_usd(setup_simulation):
     # spawn asset to the stage
     asset_usd_file = f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_c/anymal_c.usd"
     if "4.5" in ISAAC_NUCLEUS_DIR:
-        asset_usd_file = asset_usd_file.replace("http", "https").replace("production", "staging").replace("4.5", "5.0")
+        asset_usd_file = asset_usd_file.replace("http", "https").replace("4.5", "5.0")
     prim_utils.create_prim("/World/asset_instanced", usd_path=asset_usd_file, translation=(0.0, 0.0, 0.62))
 
     # set properties on the asset and check all properties are set
@@ -135,7 +135,7 @@ def test_modify_properties_on_articulation_usd(setup_simulation):
     # spawn asset to the stage
     asset_usd_file = f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaPanda/franka.usd"
     if "4.5" in ISAAC_NUCLEUS_DIR:
-        asset_usd_file = asset_usd_file.replace("http", "https").replace("production", "staging").replace("4.5", "5.0")
+        asset_usd_file = asset_usd_file.replace("http", "https").replace("4.5", "5.0")
     prim_utils.create_prim("/World/asset", usd_path=asset_usd_file, translation=(0.0, 0.0, 0.62))
 
     # set properties on the asset and check all properties are set