Merge pull request #106 from j3soon/feat/isaac-lab-2-3-2

Upgrade Isaac Lab to v2.3.2 and drop v2.2.1 support

Author: j3soon

CLAUDE.md

@@ -50,7 +50,7 @@ args:
   CARTOGRAPHER: "YES"  # or "" to disable
   RTABMAP: "YES"
   ISAAC_SIM_VERSION: "5.0.0"  # or "" to skip
-  ISAAC_LAB_VERSION: "2.2.1"
+  ISAAC_LAB_VERSION: "2.3.2"
 ```
 
 ### Key Files

README.md

@@ -106,7 +106,7 @@ Edit the `build.args` section in the `*_ws/docker/compose.yml` file and rebuild
 | [RTAB-Map](https://j3soon.github.io/ros2-essentials/docker-modules/rtabmap/) | ✔️ | ❔ | ROS2 RTAB-Map | ➖ | [Assume Zhan](https://github.com/Assume-Zhan), [@JustinShih0918](https://github.com/JustinShih0918) |
 | [CUDA Toolkit](https://j3soon.github.io/ros2-essentials/docker-modules/cuda-toolkit/) | ✔️ | ️TODO | CUDA 12.6 | ❌ | [Johnson Sun](https://github.com/j3soon) |
 | [Isaac Sim](https://j3soon.github.io/ros2-essentials/docker-modules/isaac-sim/) | ✔️ | ❌ | Isaac Sim 5.0.0 Binary Install | ✔️ | [Johnson Sun](https://github.com/j3soon), [@JustinShih0918](https://github.com/JustinShih0918) |
-| [Isaac Lab](https://j3soon.github.io/ros2-essentials/docker-modules/isaac-lab/) | ✔️ | ❌ | Isaac Lab 2.2.1 Git Install | ✔️ | [Johnson Sun](https://github.com/j3soon) |
+| [Isaac Lab](https://j3soon.github.io/ros2-essentials/docker-modules/isaac-lab/) | ✔️ | ❌ | Isaac Lab 2.3.2 Git Install | ✔️ | [Johnson Sun](https://github.com/j3soon) |
 | [Isaac ROS](https://j3soon.github.io/ros2-essentials/docker-modules/isaac-ros/) | ✔️ | TODO | Isaac ROS 3.2 Apt Install (Base only) | ❌ | [Johnson Sun](https://github.com/j3soon) |
 | [Claude Code](https://j3soon.github.io/ros2-essentials/docker-modules/claude-code/) | ✔️ | ✔️ | Claude Code CLI | ❌ | [Johnson Sun](https://github.com/j3soon) |
 | [Codex](https://j3soon.github.io/ros2-essentials/docker-modules/codex/) | ✔️ | ✔️ | Codex CLI | ❌ | [Johnson Sun](https://github.com/j3soon) |

aloha_ws/docker/Dockerfile

@@ -106,7 +106,7 @@ RUN mkdir /home/$USERNAME/.gazebo
 
 # Isaac Sim version configuration
 ARG ISAAC_SIM_VERSION=5.0.0
-# Ref: https://isaac-sim.github.io/IsaacLab/v2.2.1/source/setup/installation/binaries_installation.html
+# Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html
 ENV ISAACSIM_PATH="/home/$USERNAME/isaacsim"
 # Copy and run Isaac Sim installation script
 COPY --chown=$USERNAME:$USERNAME \
@@ -120,15 +120,15 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
 ENV OMNI_USER=admin
 ENV OMNI_PASS=admin
 ENV OMNI_KIT_ACCEPT_EULA=YES
-# Ref: https://isaac-sim.github.io/IsaacLab/v2.2.1/source/setup/installation/binaries_installation.html
+# Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html
 ENV ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
 
 # Set TERM to prevent Isaac Lab error during docker build:
 #    'ansi+tabs': unknown terminal type.
 ENV TERM=xterm-256color
 # Isaac Lab version configuration
-ARG ISAAC_LAB_VERSION=2.2.1
-# Ref: https://isaac-sim.github.io/IsaacLab/v2.2.1/source/policy_deployment/00_hover/hover_policy.html
+ARG ISAAC_LAB_VERSION=2.3.2
+# Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/policy_deployment/00_hover/hover_policy.html
 ENV ISAACLAB_PATH="/home/$USERNAME/IsaacLab"
 COPY --chown=$USERNAME:$USERNAME \
      modules/install_isaac_lab.sh /tmp/install_isaac_lab.sh

aloha_ws/docker/compose.yaml

@@ -39,7 +39,7 @@ services:
         # TODO: Set Isaac Sim version or set to "" if not using Isaac Sim
         # ISAAC_SIM_VERSION: "5.0.0"
         # TODO: Set Isaac Lab version or set to "" if not using Isaac Lab
-        # ISAAC_LAB_VERSION: "2.2.1"
+        # ISAAC_LAB_VERSION: "2.3.2"
         # TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS
         # ISAAC_ROS: ""
         # TODO: Set to "YES" if using Cartographer or set to "" if not using Cartographer

delto_gripper_ws/docker/Dockerfile

@@ -106,7 +106,7 @@ RUN mkdir /home/$USERNAME/.gazebo
 
 # Isaac Sim version configuration
 ARG ISAAC_SIM_VERSION=5.0.0
-# Ref: https://isaac-sim.github.io/IsaacLab/v2.2.1/source/setup/installation/binaries_installation.html
+# Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html
 ENV ISAACSIM_PATH="/home/$USERNAME/isaacsim"
 # Copy and run Isaac Sim installation script
 COPY --chown=$USERNAME:$USERNAME \
@@ -120,15 +120,15 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
 ENV OMNI_USER=admin
 ENV OMNI_PASS=admin
 ENV OMNI_KIT_ACCEPT_EULA=YES
-# Ref: https://isaac-sim.github.io/IsaacLab/v2.2.1/source/setup/installation/binaries_installation.html
+# Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html
 ENV ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
 
 # Set TERM to prevent Isaac Lab error during docker build:
 #    'ansi+tabs': unknown terminal type.
 ENV TERM=xterm-256color
 # Isaac Lab version configuration
-ARG ISAAC_LAB_VERSION=2.2.1
-# Ref: https://isaac-sim.github.io/IsaacLab/v2.2.1/source/policy_deployment/00_hover/hover_policy.html
+ARG ISAAC_LAB_VERSION=2.3.2
+# Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/policy_deployment/00_hover/hover_policy.html
 ENV ISAACLAB_PATH="/home/$USERNAME/IsaacLab"
 COPY --chown=$USERNAME:$USERNAME \
      modules/install_isaac_lab.sh /tmp/install_isaac_lab.sh

delto_gripper_ws/docker/compose.yaml

@@ -39,7 +39,7 @@ services:
         # TODO: Set Isaac Sim version or set to "" if not using Isaac Sim
         # ISAAC_SIM_VERSION: "5.0.0"
         # TODO: Set Isaac Lab version or set to "" if not using Isaac Lab
-        # ISAAC_LAB_VERSION: "2.2.1"
+        # ISAAC_LAB_VERSION: "2.3.2"
         # TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS
         # ISAAC_ROS: ""
         # TODO: Set to "YES" if using Cartographer or set to "" if not using Cartographer

docker_modules/install_isaac_lab.sh

@@ -39,14 +39,14 @@ if [ "$TARGETARCH" != "amd64" ]; then
     exit 0
 fi
 
-if [ "$ISAAC_LAB_VERSION" = "2.2.1" ]; then
-    echo "Installing Isaac Lab 2.2.1..."
-    # Ref: https://isaac-sim.github.io/IsaacLab/v2.2.1/source/setup/installation/binaries_installation.html
+if [ "$ISAAC_LAB_VERSION" = "2.3.2" ]; then
+    echo "Installing Isaac Lab 2.3.2..."
+    # Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html
     sudo apt-get update && sudo apt-get install -y \
         cmake build-essential \
         && sudo rm -rf /var/lib/apt/lists/* \
         || exit 1
-    git clone -b v2.2.1 https://github.com/isaac-sim/IsaacLab.git "$ISAACLAB_PATH" \
+    git clone -b v2.3.2 https://github.com/isaac-sim/IsaacLab.git "$ISAACLAB_PATH" \
         && cd "$ISAACLAB_PATH" \
         && ln -s "$ISAACSIM_PATH" _isaac_sim \
         && ./isaaclab.sh --install \

docs/docker-modules/isaac-lab.md

@@ -18,6 +18,7 @@ Depends on:
 cd ~/IsaacLab
 ./isaaclab.sh -p scripts/tutorials/00_sim/log_time.py --headless
 # View the logs and press Ctrl+C to stop
+# tail -f ~/IsaacLab/logs/docker_tutorial/log.txt
 ```
 
 [Train Cartpole](https://isaac-sim.github.io/IsaacLab/main/source/overview/reinforcement-learning/rl_existing_scripts.html):

gazebo_world_ws/docker/Dockerfile

@@ -106,7 +106,7 @@ RUN mkdir /home/$USERNAME/.gazebo
 
 # Isaac Sim version configuration
 ARG ISAAC_SIM_VERSION=5.0.0
-# Ref: https://isaac-sim.github.io/IsaacLab/v2.2.1/source/setup/installation/binaries_installation.html
+# Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html
 ENV ISAACSIM_PATH="/home/$USERNAME/isaacsim"
 # Copy and run Isaac Sim installation script
 COPY --chown=$USERNAME:$USERNAME \
@@ -120,15 +120,15 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
 ENV OMNI_USER=admin
 ENV OMNI_PASS=admin
 ENV OMNI_KIT_ACCEPT_EULA=YES
-# Ref: https://isaac-sim.github.io/IsaacLab/v2.2.1/source/setup/installation/binaries_installation.html
+# Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/setup/installation/binaries_installation.html
 ENV ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
 
 # Set TERM to prevent Isaac Lab error during docker build:
 #    'ansi+tabs': unknown terminal type.
 ENV TERM=xterm-256color
 # Isaac Lab version configuration
-ARG ISAAC_LAB_VERSION=2.2.1
-# Ref: https://isaac-sim.github.io/IsaacLab/v2.2.1/source/policy_deployment/00_hover/hover_policy.html
+ARG ISAAC_LAB_VERSION=2.3.2
+# Ref: https://isaac-sim.github.io/IsaacLab/v2.3.2/source/policy_deployment/00_hover/hover_policy.html
 ENV ISAACLAB_PATH="/home/$USERNAME/IsaacLab"
 COPY --chown=$USERNAME:$USERNAME \
      modules/install_isaac_lab.sh /tmp/install_isaac_lab.sh

gazebo_world_ws/docker/compose.yaml

@@ -39,7 +39,7 @@ services:
         # TODO: Set Isaac Sim version or set to "" if not using Isaac Sim
         # ISAAC_SIM_VERSION: "5.0.0"
         # TODO: Set Isaac Lab version or set to "" if not using Isaac Lab
-        # ISAAC_LAB_VERSION: "2.2.1"
+        # ISAAC_LAB_VERSION: "2.3.2"
         # TODO: Set to "YES" if using Isaac ROS or set to "" if not using Isaac ROS
         # ISAAC_ROS: ""
         # TODO: Set to "YES" if using Cartographer or set to "" if not using Cartographer