Prepare UWLab 2.0 for Isaac Lab 3.0 EA / Sim 6.1

.github/actions/docker-build/action.yml

@@ -32,9 +32,9 @@ runs:
       shell: sh
       run: |
         # Only attempt NGC login if API key is available
-        if [ -n "${{ env.NGC_API_KEY }}" ]; then
+        if [ -n "$NGC_API_KEY" ]; then
           echo "Logging into NGC registry..."
-          docker login -u \$oauthtoken -p ${{ env.NGC_API_KEY }} nvcr.io
+          printf '%s' "$NGC_API_KEY" | docker login -u '$oauthtoken' --password-stdin nvcr.io
           echo "✅ Successfully logged into NGC registry"
         else
           echo "⚠️ NGC_API_KEY not available - skipping NGC login"
@@ -58,7 +58,6 @@ runs:
 
           # Build Docker image
           docker buildx build --progress=plain --platform linux/amd64 \
-            -t uw-lab-dev \
             -t $image_tag \
             --build-arg ISAACSIM_BASE_IMAGE_ARG="$isaacsim_base_image" \
             --build-arg ISAACSIM_VERSION_ARG="$isaacsim_version" \

.github/actions/run-tests/action.yml

@@ -59,8 +59,11 @@ runs:
           # Create reports directory
           mkdir -p "$reports_dir"
 
-          # Clean up any existing container
-          docker rm -f $container_name 2>/dev/null || true
+          # Preserve any existing container
+          if docker container inspect "$container_name" >/dev/null 2>&1; then
+            echo "Container already exists; refusing to replace it: $container_name" >&2
+            return 1
+          fi
 
           # Build Docker environment variables
           docker_env_vars="\

.github/workflows/build.yml

@@ -26,8 +26,8 @@ permissions:
 env:
   NGC_API_KEY: ${{ secrets.NGC_API_KEY }}
   ISAACSIM_BASE_IMAGE: ${{ vars.ISAACSIM_BASE_IMAGE || 'nvcr.io/nvidia/isaac-sim' }}
-  ISAACSIM_BASE_VERSION: ${{ vars.ISAACSIM_BASE_VERSION || '5.1.0' }}
-  DOCKER_IMAGE_TAG: uw-lab-dev:${{ github.event_name == 'pull_request' && format('pr-{0}', github.event.pull_request.number) || github.ref_name }}-${{ github.sha }}
+  ISAACSIM_BASE_VERSION: ${{ vars.ISAACSIM_BASE_VERSION || '6.1.0' }}
+  DOCKER_IMAGE_TAG: uw-lab-dev:${{ github.event_name == 'pull_request' && format('pr-{0}', github.event.pull_request.number) || github.ref_name }}-${{ github.sha }}-${{ github.run_id }}-${{ github.run_attempt }}
 
 jobs:
   test-uwlab-tasks:
@@ -37,25 +37,15 @@ jobs:
 
     steps:
     - name: Checkout Code
-      uses: actions/checkout@v4
+      uses: actions/checkout@11d5960a326750d5838078e36cf38b85af677262  # v4.4.0
       with:
         fetch-depth: 0
         lfs: true
 
-    - name: Remove previous uw-lab-dev images
-      run: |
-        IDS=$(docker image ls -q uw-lab-dev 2>/dev/null || true)
-        if [ -n "$IDS" ]; then
-          echo "Removing existing uw-lab-dev images: $IDS"
-          docker image rm -f $IDS || true
-        else
-          echo "No existing uw-lab-dev images to remove."
-        fi
-
     - name: Build Docker Image
       uses: ./.github/actions/docker-build
       with:
-        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
+        image-tag: ${{ env.DOCKER_IMAGE_TAG }}-${{ github.job }}
         isaacsim-base-image: ${{ env.ISAACSIM_BASE_IMAGE }}
         isaacsim-version: ${{ env.ISAACSIM_BASE_VERSION }}
 
@@ -64,21 +54,21 @@ jobs:
       with:
         test-path: "tools"
         result-file: "uwlab-tasks-report.xml"
-        container-name: "uw-lab-tasks-test-$$"
-        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
+        container-name: "uw-lab-tasks-test-${{ github.run_id }}-${{ github.run_attempt }}"
+        image-tag: ${{ env.DOCKER_IMAGE_TAG }}-${{ github.job }}
         pytest-options: ""
         filter-pattern: "uwlab_tasks"
 
     - name: Copy Test Results from UWLab Tasks Container
       run: |
-        CONTAINER_NAME="uw-lab-tasks-test-$$"
+        CONTAINER_NAME="uw-lab-tasks-test-${{ github.run_id }}-${{ github.run_attempt }}"
         if docker ps -a | grep -q $CONTAINER_NAME; then
           echo "Copying test results from UWLab Tasks container..."
           docker cp $CONTAINER_NAME:/workspace/uwlab/tests/uwlab-tasks-report.xml reports/ 2>/dev/null || echo "No test results to copy from UWLab Tasks container"
         fi
 
     - name: Upload UWLab Tasks Test Results
-      uses: actions/upload-artifact@v4
+      uses: actions/upload-artifact@ea165f8d65b6e75b540449e92b4886f43607fa02  # v4
       if: always()
       with:
         name: uwlab-tasks-test-results
@@ -100,31 +90,25 @@ jobs:
           exit 1
         fi
 
+    - name: Remove this job's image tag
+      if: always()
+      run: docker image rm "${{ env.DOCKER_IMAGE_TAG }}-${{ github.job }}" || true
+
   test-general:
     runs-on: [self-hosted, gpu]
     timeout-minutes: 180
 
     steps:
     - name: Checkout Code
-      uses: actions/checkout@v4
+      uses: actions/checkout@11d5960a326750d5838078e36cf38b85af677262  # v4.4.0
       with:
         fetch-depth: 0
         lfs: true
 
-    - name: Remove previous uw-lab-dev images
-      run: |
-        IDS=$(docker image ls -q uw-lab-dev 2>/dev/null || true)
-        if [ -n "$IDS" ]; then
-          echo "Removing existing uw-lab-dev images: $IDS"
-          docker image rm -f $IDS || true
-        else
-          echo "No existing uw-lab-dev images to remove."
-        fi
-
     - name: Build Docker Image
       uses: ./.github/actions/docker-build
       with:
-        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
+        image-tag: ${{ env.DOCKER_IMAGE_TAG }}-${{ github.job }}
         isaacsim-base-image: ${{ env.ISAACSIM_BASE_IMAGE }}
         isaacsim-version: ${{ env.ISAACSIM_BASE_VERSION }}
 
@@ -134,21 +118,21 @@ jobs:
       with:
         test-path: "tools"
         result-file: "general-tests-report.xml"
-        container-name: "uw-lab-general-test-$$"
-        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
+        container-name: "uw-lab-general-test-${{ github.run_id }}-${{ github.run_attempt }}"
+        image-tag: ${{ env.DOCKER_IMAGE_TAG }}-${{ github.job }}
         pytest-options: ""
         filter-pattern: "not uwlab_tasks"
 
     - name: Copy Test Results from General Tests Container
       run: |
-        CONTAINER_NAME="uw-lab-general-test-$$"
+        CONTAINER_NAME="uw-lab-general-test-${{ github.run_id }}-${{ github.run_attempt }}"
         if docker ps -a | grep -q $CONTAINER_NAME; then
           echo "Copying test results from General Tests container..."
           docker cp $CONTAINER_NAME:/workspace/uwlab/tests/general-tests-report.xml reports/ 2>/dev/null || echo "No test results to copy from General Tests container"
         fi
 
     - name: Upload General Test Results
-      uses: actions/upload-artifact@v4
+      uses: actions/upload-artifact@ea165f8d65b6e75b540449e92b4886f43607fa02  # v4
       if: always()
       with:
         name: general-test-results
@@ -170,14 +154,18 @@ jobs:
           exit 1
         fi
 
+    - name: Remove this job's image tag
+      if: always()
+      run: docker image rm "${{ env.DOCKER_IMAGE_TAG }}-${{ github.job }}" || true
+
   combine-results:
     needs: [test-uwlab-tasks, test-general]
     runs-on: [self-hosted, gpu]
     if: always()
 
     steps:
     - name: Checkout Code
-      uses: actions/checkout@v4
+      uses: actions/checkout@11d5960a326750d5838078e36cf38b85af677262  # v4.4.0
       with:
         fetch-depth: 0
         lfs: false
@@ -187,14 +175,14 @@ jobs:
         mkdir -p reports
 
     - name: Download Test Results
-      uses: actions/download-artifact@v4
+      uses: actions/download-artifact@d3f86a106a0bac45b974a628896c90dbdf5c8093  # v4
       with:
         name: uwlab-tasks-test-results
         path: reports/
       continue-on-error: true
 
     - name: Download General Test Results
-      uses: actions/download-artifact@v4
+      uses: actions/download-artifact@d3f86a106a0bac45b974a628896c90dbdf5c8093  # v4
       with:
         name: general-test-results
         path: reports/
@@ -206,7 +194,7 @@ jobs:
         output-file: "reports/combined-results.xml"
 
     - name: Upload Combined Test Results
-      uses: actions/upload-artifact@v4
+      uses: actions/upload-artifact@ea165f8d65b6e75b540449e92b4886f43607fa02  # v4
       if: always()
       with:
         name: pr-${{ github.event.pull_request.number }}-combined-test-results
@@ -217,7 +205,7 @@ jobs:
     - name: Comment on Test Results
       id: test-reporter
       if: github.event.pull_request.head.repo.full_name == github.repository
-      uses: EnricoMi/publish-unit-test-result-action@v2
+      uses: EnricoMi/publish-unit-test-result-action@d0a4676d0e0b938bc201470d88276b7c74c712b3  # v2
       with:
         files: "reports/combined-results.xml"
         check_name: "Tests Summary"
@@ -231,7 +219,7 @@ jobs:
 
     - name: Report Test Results
       if: github.event.pull_request.head.repo.full_name == github.repository
-      uses: dorny/test-reporter@v1
+      uses: dorny/test-reporter@d61b558e8df85cb60d09ca3e5b09653b4477cea7  # v1
       with:
         name: UWLab Build and Test Results
         path: reports/combined-results.xml

.github/workflows/license-check.yaml

@@ -19,25 +19,31 @@ jobs:
 
     steps:
     - name: Checkout code
-      uses: actions/checkout@v3
+      uses: actions/checkout@a37ce9120846195fa4ece8f58b268e6043cb2f26  # v3
 
     # - name: Install jq
     #   run: sudo apt-get update && sudo apt-get install -y jq
 
-    - name: Clean up disk space
-      run: |
-        rm -rf /opt/hostedtoolcache
-
     - name: Set up Python
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@7f4fc3e22c37d6ff65e88745f38bd3157c663f7c  # v4
       with:
-        python-version: '3.11'  # Adjust as needed
+        python-version: '3.12'  # Adjust as needed
+
+    - name: Check pinned installer behavior
+      run: python tools/test_installer_pin.py
+
+    - name: Create isolated license environment
+      run: |
+        ENV_PATH="$RUNNER_TEMP/uwlab-license-$GITHUB_RUN_ID-$GITHUB_RUN_ATTEMPT"
+        python -m venv "$ENV_PATH"
+        echo "$ENV_PATH/bin" >> "$GITHUB_PATH"
+        echo "VIRTUAL_ENV=$ENV_PATH" >> "$GITHUB_ENV"
 
     - name: Install dependencies using ./uwlab.sh -i
       run: |
         # first install isaac sim
         pip install --upgrade pip
-        pip install 'isaacsim[all,extscache]==${{ vars.ISAACSIM_BASE_VERSION || '5.0.0' }}' --extra-index-url https://pypi.nvidia.com
+        pip install 'isaacsim[all,extscache]==${{ vars.ISAACSIM_PIP_VERSION || '6.1.0.0' }}' --extra-index-url https://pypi.nvidia.com
         chmod +x ./uwlab.sh  # Make sure the script is executable
         # install all lab dependencies
         ./uwlab.sh -i

.greptile/rules.md

@@ -135,6 +135,9 @@ Every entry-point string must resolve; `-Play-v0` variants normally reuse the tr
   and a bullet under **Getting Started** in `README.md`.
 - Checkpoints and datasets go to the Hugging Face dataset `UW-Lab/uwlab-assets` (`Policies/` for
   checkpoints) via fork + PR, and the docs link to them. They are never committed here.
+- Assets consumed by Isaac Lab 3.0 live on that repository's `isaaclab3` branch (quaternions in
+  `(x, y, z, w)`); `main` keeps the Isaac Lab 2.x files. Code pins a commit via
+  `uwlab_assets.UWLAB_CLOUD_ASSETS_REVISION`; bump it deliberately when publishing assets.
 - Heavy or research-only dependencies (diffusion_policy, robomimic, ...) are not added to core
   install requirements, so a default install stays light. Use an `extras_require` group
   (`EXTRAS_REQUIRE` in `source/uwlab_rl/setup.py` is the pattern), a git submodule, or install

CONTRIBUTING.md

@@ -4,8 +4,8 @@ UW Lab is a community maintained project. We wholeheartedly welcome contribution
 the framework more mature and useful for everyone. These may happen in forms of bug reports, feature requests,
 design proposals and more.
 
-For general information on how to contribute see
-<https://uw-lab.github.io/UWLab/main/source/refs/contributing.html>.
+For development setup and extension structure, see the
+[developer guide](docs/source/overview/developer-guide/development.rst).
 
 ---
 

CONTRIBUTORS.md

@@ -20,6 +20,7 @@ Guidelines for modifications:
 ---
 
 * Feng Yu
+* Joshua Tran
 * Mateo Guaman Castro
 * Patrick Yin
 * Quanquan Peng

README.md

@@ -2,8 +2,8 @@
 
 # UW Lab
 
-[![IsaacSim](https://img.shields.io/badge/IsaacSim-5.1.0-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)
+[![IsaacSim](https://img.shields.io/badge/IsaacSim-6.1.0-silver.svg)](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html)
+[![Python](https://img.shields.io/badge/python-3.12-blue.svg)](https://docs.python.org/3/whatsnew/3.12.html)
 [![Linux platform](https://img.shields.io/badge/platform-linux--64-orange.svg)](https://releases.ubuntu.com/20.04/)
 [![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)
@@ -27,6 +27,13 @@ In addition to what IsaacLab provides, UW Lab brings:
 - **Sim to Real**: Providing robots and configuration that has been tested in Lab and deliver the Simulation Setup that can directly transfer to reals
 
 
+## Release line
+
+UWLab 2.0 targets Isaac Lab **3.0 Early Access**, Isaac Sim **6.1**, Python **3.12**, and the released UW-Lab RSL-RL **5.4.1** integration.
+The installer pins Isaac Lab to `ae37b028ea415c91ea2bc32609efcd759ed2b974` and RSL-RL to `2c3bf18001a5e2a78527e9ea368b7ea31700a2c5` (`uw-v5.4.1`).
+Use `isaaclab2` for the legacy Isaac Lab 2.x / Isaac Sim 5.1 stack. Do not mix its environments, datasets, or checkpoint layouts with this release. Use the already-compatible pretrained checkpoints linked in the OmniReset quick start.
+The installer refuses to replace an Isaac Lab checkout with local changes.
+
 ## Installation
 
 Follow the [installation guide](https://uw-lab.github.io/UWLab/main/source/setup/installation/index.html).

VERSION

@@ -1 +1 @@
-1.0.0
+2.0.0

docker/.env.base

@@ -6,8 +6,8 @@
 ACCEPT_EULA=Y
 # NVIDIA Isaac Sim base image
 ISAACSIM_BASE_IMAGE=nvcr.io/nvidia/isaac-sim
-# NVIDIA Isaac Sim version to use (e.g. 5.1.0)
-ISAACSIM_VERSION=5.1.0
+# NVIDIA Isaac Sim version to use (e.g. 6.1.0)
+ISAACSIM_VERSION=6.1.0
 # Derived from the default path in the NVIDIA provided Isaac Sim container
 DOCKER_ISAACSIM_ROOT_PATH=/isaac-sim
 # The UW Lab path in the container

docker/Dockerfile.base

@@ -13,7 +13,7 @@ ENV ISAACSIM_VERSION=${ISAACSIM_VERSION_ARG}
 SHELL ["/bin/bash", "-c"]
 
 # Adds labels to the Dockerfile
-LABEL version="2.1.1"
+LABEL version="2.0.0"
 LABEL description="Dockerfile for building and running the UW Lab framework inside Isaac Sim container image."
 
 # Arguments

docs/conf.py

@@ -127,9 +127,9 @@
     "numpy": ("https://numpy.org/doc/stable/", None),
     "trimesh": ("https://trimesh.org/", None),
     "torch": ("https://pytorch.org/docs/stable/", None),
-    "isaacsim": ("https://docs.isaacsim.omniverse.nvidia.com/5.1.0/py/", None),
+    "isaacsim": ("https://docs.isaacsim.omniverse.nvidia.com/6.1.0/py/", None),
     "gymnasium": ("https://gymnasium.farama.org/", None),
-    "warp": ("https://nvidia.github.io/warp/", None),
+    "warp": ("https://nvidia.github.io/warp/stable/", None),
     "dev-guide": ("https://docs.omniverse.nvidia.com/dev-guide/latest", None),
 }
 
@@ -264,7 +264,7 @@
         {
             "name": "Isaac Sim",
             "url": "https://developer.nvidia.com/isaac-sim",
-            "icon": "https://img.shields.io/badge/IsaacSim-5.1.0-silver.svg",
+            "icon": "https://img.shields.io/badge/IsaacSim-6.1.0-silver.svg",
             "type": "url",
         },
         {
@@ -284,7 +284,7 @@
 # Whitelist pattern for remotes
 smv_remote_whitelist = r"^.*$"
 # Whitelist pattern for branches (set to None to ignore all branches)
-smv_branch_whitelist = os.getenv("SMV_BRANCH_WHITELIST", r"^(main|devel|release/.*)$")
+smv_branch_whitelist = os.getenv("SMV_BRANCH_WHITELIST", r"^(main|isaaclab2|devel|release/.*)$")
 # Whitelist pattern for tags (set to None to ignore all tags)
 smv_tag_whitelist = os.getenv("SMV_TAG_WHITELIST", r"^v[1-9]\d*\.\d+\.\d+$")
 html_sidebars = {

docs/index.rst

@@ -28,7 +28,7 @@ deeply with our vision.
 
 
 LICENSE
-=======
+========
 
 The UW Lab framework is open-sourced under the BSD-3-Clause license.
 Please refer to :ref:`license` for more details.

docs/source/deployment/docker.rst

@@ -363,6 +363,6 @@ To run an example within the container, run:
 .. _`several streaming clients`: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/manual_livestream_clients.html
 .. _`known issue`: https://forums.developer.nvidia.com/t/unable-to-use-webrtc-when-i-run-runheadless-webrtc-sh-in-remote-headless-container/222916
 .. _`profile`: https://docs.docker.com/compose/compose-file/15-profiles/
-.. _`apt package`: https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html#install-ros-2-packages
+.. _`apt package`: https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html#install-ros-2-packages
 .. _`various middleware`: https://docs.ros.org/en/humble/How-To-Guides/Working-with-multiple-RMW-implementations.html
 .. _`tuned`: https://docs.ros.org/en/foxy/How-To-Guides/DDS-tuning.html