Merge branch 'isaac-sim:main' into main

Author: swamy18

.github/ISSUE_TEMPLATE/proposal.md

@@ -21,6 +21,14 @@ If this is related to another GitHub issue, please link here too.
 
 A clear and concise description of any alternative solutions or features you've considered, if any.
 
+### Build Info
+
+Describe the versions where you are observing the missing feature in:
+
+<!-- Please complete the following description. -->
+- Isaac Lab Version: [e.g. 2.3.0]
+- Isaac Sim Version: [e.g. 5.1, this can be obtained by `cat ${ISAACSIM_PATH}/VERSION`]
+
 ### Additional context
 
 Add any other context or screenshots about the feature request here.

.github/ISSUE_TEMPLATE/question.md

@@ -10,4 +10,12 @@ Basic questions, related to robot learning, that are not bugs or feature request
 
 Advanced/nontrivial questions, especially in areas where documentation is lacking, are very much welcome.
 
-For questions that are related to running and understanding Isaac Sim, please post them at the official [Isaac Sim forums](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/isaac_sim_forums.html).
+For questions that are related to running and understanding Isaac Sim, please post them at the official [Isaac Sim forums](https://forums.developer.nvidia.com/c/omniverse/simulation/69).
+
+### Build Info
+
+Describe the versions that you are currently using:
+
+<!-- Please complete the following description. -->
+- Isaac Lab Version: [e.g. 2.3.0]
+- Isaac Sim Version: [e.g. 5.1, this can be obtained by `cat ${ISAACSIM_PATH}/VERSION`]

.github/workflows/build.yml

@@ -26,7 +26,7 @@ permissions:
 env:
   NGC_API_KEY: ${{ secrets.NGC_API_KEY }}
   ISAACSIM_BASE_IMAGE: ${{ vars.ISAACSIM_BASE_IMAGE || 'nvcr.io/nvidia/isaac-sim' }}
-  ISAACSIM_BASE_VERSION: ${{ vars.ISAACSIM_BASE_VERSION || '5.0.0' }}
+  ISAACSIM_BASE_VERSION: ${{ vars.ISAACSIM_BASE_VERSION || '5.1.0' }}
   DOCKER_IMAGE_TAG: isaac-lab-dev:${{ github.event_name == 'pull_request' && format('pr-{0}', github.event.pull_request.number) || github.ref_name }}-${{ github.sha }}
 
 jobs:

.github/workflows/check-links.yml

@@ -0,0 +1,120 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+name: Check Documentation Links
+
+on:
+  # Run on pull requests that modify documentation
+  pull_request:
+    paths:
+      - 'docs/**'
+      - '**.md'
+      - '.github/workflows/check-links.yml'
+  # Run on pushes to main branches
+  push:
+    branches:
+      - main
+      - devel
+      - 'release/**'
+    paths:
+      - 'docs/**'
+      - '**.md'
+      - '.github/workflows/check-links.yml'
+  # Allow manual trigger
+  workflow_dispatch:
+  # Run weekly to catch external links that break over time
+  schedule:
+    - cron: '0 0 * * 0'  # Every Sunday at midnight UTC
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  check-links:
+    name: Check for Broken Links
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+
+    - name: Restore lychee cache
+      uses: actions/cache@v4
+      with:
+        path: .lycheecache
+        key: cache-lychee-${{ github.sha }}
+        restore-keys: cache-lychee-
+
+    - name: Run Link Checker
+      uses: lycheeverse/lychee-action@v2
+      with:
+        # Check all markdown files and documentation
+        args: >-
+          --verbose
+          --no-progress
+          --cache
+          --max-cache-age 1d
+          --exclude-path './docs/_build'
+          --exclude-path './apps/warp-*'
+          --exclude-path './logs'
+          --exclude-path './outputs'
+          --exclude-loopback
+          --exclude '^file://'
+          --exclude '^mailto:'
+          --exclude 'localhost'
+          --exclude '127\.0\.0\.1'
+          --exclude 'example\.com'
+          --exclude 'your-organization'
+          --exclude 'YOUR_'
+          --exclude 'yourdomain'
+          --exclude 'user@'
+          --exclude 'helm\.ngc\.nvidia\.com'
+          --exclude 'slurm\.schedmd\.com'
+          --max-retries 3
+          --retry-wait-time 5
+          --timeout 30
+          --accept 200,201,202,203,204,206,301,302,303,307,308,429
+          --scheme https
+          --scheme http
+          '*.md'
+          '**/*.md'
+          'docs/**/*.rst'
+          'docs/**/*.html'
+        # Output results to a file
+        output: ./lychee-output.md
+        # Fail action on broken links
+        fail: true
+        # Optional: Use GitHub token for authenticated requests (higher rate limit)
+        token: ${{ secrets.GITHUB_TOKEN }}
+
+    - name: Print results to logs
+      if: always()
+      run: |
+        echo "========================================"
+        echo "Link Checker Results:"
+        echo "========================================"
+        if [ -f ./lychee-output.md ]; then
+          cat ./lychee-output.md
+          echo ""
+          echo "========================================"
+
+          # Also add to GitHub step summary for easy viewing
+          echo "## Link Checker Results" >> $GITHUB_STEP_SUMMARY
+          echo "" >> $GITHUB_STEP_SUMMARY
+          cat ./lychee-output.md >> $GITHUB_STEP_SUMMARY
+        else
+          echo "No output file generated"
+          echo "========================================"
+        fi
+
+    - name: Fail job if broken links found
+      if: failure()
+      run: |
+        echo "❌ Broken links were found in the documentation!"
+        echo "Please review the link checker report above and fix all broken links."
+        exit 1

.github/workflows/cherry-pick.yml

@@ -3,12 +3,13 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-name: Daily Backwards Compatibility Tests
+name: Backwards Compatibility Tests
 
 on:
   schedule:
     # Run daily at 8 PM PST (4 AM UTC)
     - cron: '0 4 * * *'
+
   workflow_dispatch:
     inputs:
       isaacsim_version:
@@ -19,7 +20,7 @@ on:
 
 # Concurrency control to prevent parallel runs
 concurrency:
-  group: daily-compatibilit y-${{ github.ref }}
+  group: compatibility-${{ github.ref }}-${{ github.event_name }}
   cancel-in-progress: true
 
 permissions:
@@ -29,20 +30,43 @@ permissions:
 env:
   NGC_API_KEY: ${{ secrets.NGC_API_KEY }}
   ISAACSIM_BASE_IMAGE: ${{ vars.ISAACSIM_BASE_IMAGE || 'nvcr.io/nvidia/isaac-sim' }}
-  ISAACSIM_DEFAULT_VERSION: '4.5.0'
-  DOCKER_IMAGE_TAG: isaac-lab-compat:${{ github.ref_name }}-${{ github.sha }}
 
 jobs:
+  setup-versions:
+    runs-on: ubuntu-latest
+    outputs:
+      versions: ${{ steps.set-versions.outputs.versions }}
+    steps:
+      - name: Set Isaac Sim Versions
+        id: set-versions
+        run: |
+          # Define all versions to test in one place
+          DEFAULT_VERSIONS='["4.5.0", "5.0.0"]'
+
+          if [ -n "${{ github.event.inputs.isaacsim_version }}" ]; then
+            # If a specific version is provided via workflow_dispatch, use only that
+            echo "versions=[\"${{ github.event.inputs.isaacsim_version }}\"]" >> $GITHUB_OUTPUT
+          else
+            # Otherwise, use all default versions
+            echo "versions=$DEFAULT_VERSIONS" >> $GITHUB_OUTPUT
+          fi
+
   test-isaaclab-tasks-compat:
+    needs: setup-versions
     runs-on: [self-hosted, gpu]
     timeout-minutes: 180
     continue-on-error: true
+    strategy:
+      matrix:
+        isaacsim_version: ${{ fromJson(needs.setup-versions.outputs.versions) }}
+      fail-fast: false
     env:
         CUDA_VISIBLE_DEVICES: all
         NVIDIA_VISIBLE_DEVICES: all
         NVIDIA_DRIVER_CAPABILITIES: all
         CUDA_HOME: /usr/local/cuda
         LD_LIBRARY_PATH: /usr/local/cuda/lib64:/usr/local/cuda/extras/CUPTI/lib64
+        DOCKER_IMAGE_TAG: isaac-lab-compat:${{ github.ref_name }}-${{ github.sha }}-${{ matrix.isaacsim_version }}
 
     steps:
     - name: Checkout Code
@@ -56,7 +80,7 @@ jobs:
       with:
         image-tag: ${{ env.DOCKER_IMAGE_TAG }}
         isaacsim-base-image: ${{ env.ISAACSIM_BASE_IMAGE }}
-        isaacsim-version: ${{ github.event.inputs.isaacsim_version || env.ISAACSIM_DEFAULT_VERSION }}
+        isaacsim-version: ${{ matrix.isaacsim_version }}
 
     - name: Run IsaacLab Tasks Tests
       uses: ./.github/actions/run-tests
@@ -80,20 +104,26 @@ jobs:
       uses: actions/upload-artifact@v4
       if: always()
       with:
-        name: isaaclab-tasks-compat-results
+        name: isaaclab-tasks-compat-results-${{ matrix.isaacsim_version }}
         path: reports/isaaclab-tasks-compat-report.xml
         retention-days: 7
         compression-level: 9
 
   test-general-compat:
+    needs: setup-versions
     runs-on: [self-hosted, gpu]
     timeout-minutes: 180
+    strategy:
+      matrix:
+        isaacsim_version: ${{ fromJson(needs.setup-versions.outputs.versions) }}
+      fail-fast: false
     env:
         CUDA_VISIBLE_DEVICES: all
         NVIDIA_VISIBLE_DEVICES: all
         NVIDIA_DRIVER_CAPABILITIES: all
         CUDA_HOME: /usr/local/cuda
         LD_LIBRARY_PATH: /usr/local/cuda/lib64:/usr/local/cuda/extras/CUPTI/lib64
+        DOCKER_IMAGE_TAG: isaac-lab-compat:${{ github.ref_name }}-${{ github.sha }}-${{ matrix.isaacsim_version }}
 
     steps:
     - name: Checkout Code
@@ -107,7 +137,7 @@ jobs:
       with:
         image-tag: ${{ env.DOCKER_IMAGE_TAG }}
         isaacsim-base-image: ${{ env.ISAACSIM_BASE_IMAGE }}
-        isaacsim-version: ${{ github.event.inputs.isaacsim_version || env.ISAACSIM_DEFAULT_VERSION }}
+        isaacsim-version: ${{ matrix.isaacsim_version }}
 
     - name: Run General Tests
       uses: ./.github/actions/run-tests
@@ -131,7 +161,7 @@ jobs:
       uses: actions/upload-artifact@v4
       if: always()
       with:
-        name: general-tests-compat-results
+        name: general-tests-compat-results-${{ matrix.isaacsim_version }}
         path: reports/general-tests-compat-report.xml
         retention-days: 7
         compression-level: 9
@@ -152,18 +182,12 @@ jobs:
       run: |
         mkdir -p reports
 
-    - name: Download Test Results
-      uses: actions/download-artifact@v4
-      with:
-        name: isaaclab-tasks-compat-results
-        path: reports/
-      continue-on-error: true
-
-    - name: Download General Test Results
+    - name: Download All Test Results
       uses: actions/download-artifact@v4
       with:
-        name: general-tests-compat-results
+        pattern: '*-compat-results-*'
         path: reports/
+        merge-multiple: true
       continue-on-error: true
 
     - name: Combine All Test Results
@@ -185,14 +209,14 @@ jobs:
       uses: dorny/test-reporter@v1
       if: always()
       with:
-        name: IsaacLab Compatibility Test Results
+        name: IsaacLab Compatibility Test Results (${{ github.event_name }})
         path: reports/combined-compat-results.xml
         reporter: java-junit
         max-annotations: '50'
-        report-title: "IsaacLab Compatibility Test Results - ${{ github.workflow }}"
+        report-title: "IsaacLab Compatibility Test Results - ${{ github.event_name }} - ${{ github.ref_name }}"
 
   notify-compatibility-status:
-    needs: [combine-compat-results]
+    needs: [setup-versions, combine-compat-results]
     runs-on: [self-hosted, gpu]
     if: always()
 
@@ -205,10 +229,12 @@ jobs:
 
     - name: Create Compatibility Report
       run: |
-        ISAACSIM_VERSION_USED="${{ github.event.inputs.isaacsim_version || env.ISAACSIM_DEFAULT_VERSION }}"
+        TRIGGER_INFO="**Trigger:** ${{ github.event_name }}"
+        ISAACSIM_VERSIONS="${{ join(fromJson(needs.setup-versions.outputs.versions), ', ') }}"
         echo "## Daily Backwards Compatibility Test Results" > compatibility-report.md
         echo "" >> compatibility-report.md
-        echo "**IsaacSim Version:** $ISAACSIM_VERSION_USED" >> compatibility-report.md
+        echo "$TRIGGER_INFO" >> compatibility-report.md
+        echo "**IsaacSim Versions Tested:** $ISAACSIM_VERSIONS" >> compatibility-report.md
         echo "**Branch:** ${{ github.ref_name }}" >> compatibility-report.md
         echo "**Commit:** ${{ github.sha }}" >> compatibility-report.md
         echo "**Run ID:** ${{ github.run_id }}" >> compatibility-report.md