Isaac Sim Update (#16)

Co-authored-by: sheikh-nv <[email protected]>

Author: ben-johnston-nv

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -88,4 +88,4 @@ body:
 - type: textarea
   attributes:
     label: Additional information
-    placeholder: Any other information that might be helpful.
+    placeholder: Any other information that might be helpful.

.github/ISSUE_TEMPLATE/config.yml

@@ -24,4 +24,4 @@ contact_links:
     about: Isaac Sim page on the NVIDIA Developer Forums
   - name: Isaac Lab repository
     url: https://github.com/isaac-sim/IsaacLab
-    about: For issues or questions related to Isaac Lab, please refer to its repository
+    about: For issues or questions related to Isaac Lab, please refer to its repository

.github/workflows/build-and-test.yml

@@ -0,0 +1,72 @@
+name: Build and Test
+
+on:
+  push:
+    branches: [ main, public-main ]
+  pull_request:
+    branches: [ main, public-main ]
+
+# Concurrency control to prevent parallel runs on the same PR
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+permissions:
+  contents: read
+  pull-requests: write
+
+jobs:
+  build-and-test:
+    runs-on: [self-hosted, gpu]
+    timeout-minutes: 240
+    env:
+        CUDA_VISIBLE_DEVICES: all
+        NVIDIA_VISIBLE_DEVICES: all
+        NVIDIA_DRIVER_CAPABILITIES: all
+        CUDA_HOME: /usr/local/cuda
+        LD_LIBRARY_PATH: /usr/local/cuda/lib64:/usr/local/cuda/extras/CUPTI/lib64
+        DOCKER_HOST: unix:///var/run/docker.sock
+        DOCKER_TLS_CERTDIR: ""
+        OMNI_KIT_ALLOW_ROOT: 1
+    container:
+      image: ubuntu:22.04
+      options: --gpus all --security-opt=no-new-privileges:true --privileged
+
+    steps:
+    - name: Install dependencies
+      run: |
+        apt-get update
+        apt-get install -y git git-lfs build-essential python3 python3-pip curl wget ca-certificates gnupg lsb-release
+        # Install Docker
+        curl -fsSL https://download.docker.com/linux/ubuntu/gpg | gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/docker-archive-keyring.gpg] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable" | tee /etc/apt/sources.list.d/docker.list > /dev/null
+        apt-get update
+        apt-get install -y docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin
+        # Start Docker daemon
+        dockerd --host=unix:///var/run/docker.sock --host=tcp://0.0.0.0:2376 &
+        sleep 10
+
+    - name: Checkout repository
+      uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+        lfs: true
+
+    - name: Configure Git LFS
+      run: |
+        git config --global --add safe.directory $GITHUB_WORKSPACE
+        git lfs install
+        git lfs update --force
+
+    - name: Build Isaac Sim
+      run: |
+        touch .eula_accepted
+        chmod +x ./build.sh
+        ./build.sh
+
+    - name: Test Isaac Sim
+      run: |
+        cd _build/linux-x86_64/release
+        touch .eula_accepted
+        chmod +x ./isaac-sim.sh
+        ./isaac-sim.sh --no-window --/app/quitAfter=500 --/app/file/ignoreUnsavedOnExit=1

README.md

@@ -43,7 +43,7 @@ Ensure your system is set up with the following before building Isaac Sim:
 - **Operating System**: Windows 10/11 or Linux (Ubuntu 22.04)
 
   > **(Linux) Ubuntu 24.04**
-  > Ubuntu 24.04 is not fully supported at this time. Building with Ubuntu 24.04 requires GCC/GXX 12 to be installed, GCC/GXX 13 is not supported.
+  > Ubuntu 24.04 is not fully supported at this time. Building with Ubuntu 24.04 requires GCC/G++ 11 to be installed, GCC/G++ 12+ is not supported.
 
 - **GPU**: For additional information on GPU features and requirements, see [NVIDIA GPU Requirements](https://docs.omniverse.nvidia.com/dev-guide/latest/common/technical-requirements.html)
 
@@ -84,11 +84,11 @@ Ensure your system is set up with the following before building Isaac Sim:
   ```
 
   > **(Linux) ⚠️**
-  > Please use GCC/GXX 12 or GCC/GXX 11, higher versions are not supported yet. To install GCC/GXX 12, run the following commands:
+  > Please use GCC/G++ 11, higher versions are not supported yet. To install GCC/G++ 11, run the following commands:
   > ```bash
-  > sudo apt-get install gcc-12 g++-12
-  > sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-12 100
-  > sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-12 100
+  > sudo apt-get install gcc-11 g++-11
+  > sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-11 200
+  > sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-11 200 
   > ```
 
 ### Recommended Software
@@ -105,6 +105,7 @@ This section guides you through building Isaac Sim from source code.
 
 ### 1. Clone the Repository
 
+
 ```bash
 git clone https://github.com/isaac-sim/IsaacSim.git isaacsim
 cd isaacsim
@@ -117,11 +118,23 @@ git lfs pull
 Run the following command to initiate the configuration wizard:
 
 **Linux:**
+
+Confirm that GCC/G++ 11 is being used before building using the following commands:
+
+```bash
+gcc --version
+g++ --version
+```
+
 ```bash
 ./build.sh
 ```
 
 **Windows:**
+
+> **⚠️ Windows Path Length Limitation**  
+> Windows has a path length limitation of 260 characters. If you encounter errors related missing files or other build errors, try moving the repository to a shorter path.
+
 ```powershell
 build.bat
 ```