Fixes some tests and add new setting for time stepping (#451)

This change reverts some changes in the unit tests that were hacks
required in previous kit builds. Some of the issues have been fixed in
more recent versions.

We are now also setting `/app/player/useFixedTimeStepping=False` in
Isaac Lab as Isaac Sim used to do this by default, but is no longer
applying this setting in 5.0.

We are also dropping official support for Ubuntu 20.04 and adding
support for Ubuntu 24.04.

<!-- 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)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

- [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

<!--
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
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.github/ISSUE_TEMPLATE/bug.md

@@ -31,11 +31,11 @@ Describe the characteristic of your environment:
 
 <!-- Please complete the following description. -->
 - Commit: [e.g. 8f3b9ca]
-- Isaac Sim Version: [e.g. 2022.2.0, this can be obtained by `cat ${ISAACSIM_PATH}/VERSION`]
-- OS: [e.g. Ubuntu 20.04]
-- GPU: [e.g. RTX 2060 Super]
-- CUDA: [e.g. 11.4]
-- GPU Driver: [e.g. 470.82.01, this can be seen by using `nvidia-smi` command.]
+- Isaac Sim Version: [e.g. 5.0, this can be obtained by `cat ${ISAACSIM_PATH}/VERSION`]
+- OS: [e.g. Ubuntu 22.04]
+- GPU: [e.g. RTX 5090]
+- CUDA: [e.g. 12.8]
+- GPU Driver: [e.g. 553.05, this can be seen by using `nvidia-smi` command.]
 
 ### Additional context
 

README.md

@@ -6,7 +6,7 @@
 
 [![IsaacSim](https://img.shields.io/badge/IsaacSim-5.0.0-silver.svg)](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html)
 [![Python](https://img.shields.io/badge/python-3.11-blue.svg)](https://docs.python.org/3/whatsnew/3.11.html)
-[![Linux platform](https://img.shields.io/badge/platform-linux--64-orange.svg)](https://releases.ubuntu.com/20.04/)
+[![Linux platform](https://img.shields.io/badge/platform-linux--64-orange.svg)](https://releases.ubuntu.com/22.04/)
 [![Windows platform](https://img.shields.io/badge/platform-windows--64-orange.svg)](https://www.microsoft.com/en-us/)
 [![pre-commit](https://img.shields.io/github/actions/workflow/status/isaac-sim/IsaacLab/pre-commit.yaml?logo=pre-commit&logoColor=white&label=pre-commit&color=brightgreen)](https://github.com/isaac-sim/IsaacLab/actions/workflows/pre-commit.yaml)
 [![docs status](https://img.shields.io/github/actions/workflow/status/isaac-sim/IsaacLab/docs.yaml?label=docs&color=brightgreen)](https://github.com/isaac-sim/IsaacLab/actions/workflows/docs.yaml)

apps/isaaclab.python.headless.kit

@@ -30,9 +30,8 @@ app.version = "5.0.0"
 "omni.kit.loop" = {}
 # this is needed to create physics material through CreatePreviewSurfaceMaterialPrim
 "omni.kit.usd.mdl" = {}
+# this is used for converting assets that have the wrong units
 "omni.usd.metrics.assembler.ui" = {}
-# this is now needed in Kit 107.3 for CPU kinematics rigid body tests to pass
-"omni.volume" = {}
 
 [settings]
 app.content.emptyStageOnStart = false

docs/source/refs/release_notes.rst

@@ -13,6 +13,10 @@ Breaking Changes
 * :attr:`~isaaclab.sim.spawners.PhysicsMaterialCfg.improve_patch_friction` is now removed. The simulation will always behave as if this attribute is set to true.
 * Native Livestreaming support has been removed. ``LIVESTREAM=1`` can now be used for WebRTC streaming over public networks and
   ``LIVESTREAM=2`` for private and local networks with WebRTC streaming.
+* Python version has been updated to 3.11 from 3.10
+* Official support for Ubuntu 20.04 has been dropped. We now officially support Ubuntu 22.04 and 24.04 Linux platforms.
+* Isaac Sim 5.0 no longer sets ``/app/player/useFixedTimeStepping=False`` by default. We now do this in Isaac Lab.
+
 
 v2.1.0
 ======

docs/source/setup/installation/index.rst

@@ -50,8 +50,7 @@ The Isaac Lab pip packages only provide the core framework extensions for Isaac
 standalone training, inferencing, and example scripts. Therefore, this workflow is recommended for projects that are
 built as external extensions outside of Isaac Lab, which utilizes user-defined runner scripts.
 
-For Ubuntu 22.04 and Windows systems, we recommend using Isaac Sim pip installation.
-For Ubuntu 20.04 systems, we recommend installing Isaac Sim through binaries.
+We recommend using Isaac Sim pip installation for a simplified installation experience.
 
 For users getting started with Isaac Lab, we recommend installing Isaac Lab by cloning the repo.
 
@@ -59,7 +58,7 @@ For users getting started with Isaac Lab, we recommend installing Isaac Lab by c
 .. toctree::
     :maxdepth: 2
 
-    Pip installation (recommended for Ubuntu 22.04 and Windows) <pip_installation>
-    Binary installation (recommended for Ubuntu 20.04) <binaries_installation>
+    Pip installation (recommended) <pip_installation>
+    Binary installation <binaries_installation>
     Advanced installation (Isaac Lab pip) <isaaclab_pip_installation>
     Asset caching <asset_caching>

docs/source/setup/quickstart.rst

@@ -27,13 +27,7 @@ Quick Installation Guide
 There are many ways to :ref:`install <isaaclab-installation-root>` Isaac Lab, but for the purposes of this quickstart guide, we will follow the
 pip install route using virtual environments.
 
-
-.. note::
-
-   If you are using Ubuntu 20.04, you will need to follow the :ref:`Binary Installation Guide <isaaclab-binaries-installation>` instead of the pip install route described below.
-
-
-To begin, we first define our virtual environment. We recommend using `miniconda <https://docs.conda.io/en/latest/miniconda.html>`_ to create a virtual environment.
+To begin, we first define our virtual environment.
 
 
 .. code-block:: bash

isaaclab.sh

@@ -293,7 +293,7 @@ print_help () {
 if [ -z "$*" ]; then
     echo "[Error] No arguments provided." >&2;
     print_help
-    exit 1
+    exit 0
 fi
 
 # pass the arguments

source/isaaclab/isaaclab/app/app_launcher.py

@@ -830,6 +830,10 @@ class AppLauncher:
         # set fabric update flag to disable updating transforms when rendering is disabled
         carb_settings_iface.set_bool("/physics/fabricUpdateTransformations", self._rendering_enabled())
 
+        # in theory, this should ensure that dt is consistent across time stepping, but this is not the case
+        # for now, we use the custom loop runner from Isaac Sim to achieve this
+        carb_settings_iface.set_bool("/app/player/useFixedTimeStepping", False)
+
     def _hide_stop_button(self):
         """Hide the stop button in the toolbar.
 

source/isaaclab_tasks/test/test_factory_environments.py

@@ -33,9 +33,7 @@ def setup_environment():
     registered_tasks = list()
     for task_spec in gym.registry.values():
         if "Isaac" in task_spec.id and not task_spec.id.endswith("Play-v0") and "Factory" in task_spec.id:
-            # TODO: We need to fix this environment!!!
-            if "Isaac-Factory-PegInsert-Direct-v0" not in task_spec.id:
-                registered_tasks.append(task_spec.id)
+            registered_tasks.append(task_spec.id)
     # sort environments by name
     registered_tasks.sort()