Initial commit that introduce core modules of UWLab

.flake8

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+[flake8]
+show-source=True
+statistics=True
+per-file-ignores=*/__init__.py:F401
+# E402: Module level import not at top of file
+# E501: Line too long
+# W503: Line break before binary operator
+# W605: Invalid escape sequence
+# E203: Whitespace before ':' -> conflicts with black
+# D401: First line should be in imperative mood
+# R504: Unnecessary variable assignment before return statement.
+# R505: Unnecessary elif after return statement
+# SIM102: Use a single if-statement instead of nested if-statements
+# SIM117: Merge with statements for context managers that have same scope.
+ignore=E402,E501,W503,W605,E203,D401,R504,R505,SIM102,SIM117
+max-line-length = 120
+max-complexity = 30
+exclude=_*,.vscode,.git,docs/**
+# docstrings
+docstring-convention=google
+# annotations
+suppress-none-returning=True
+allow-star-arg-any=True

.gitattributes

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+# copied and modified from https://github.com/NVIDIA/warp/blob/main/.gitattributes
+* text=auto
+*.sh text eol=LF
+
+# copied from https://github.com/isaac-orbit/isaaclab_assets/blob/main/.gitattributes
+*.usd filter=lfs diff=lfs merge=lfs -text
+*.dae filter=lfs diff=lfs merge=lfs -text
+*.mtl filter=lfs diff=lfs merge=lfs -text
+*.obj filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.psd filter=lfs diff=lfs merge=lfs -text
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.usda filter=lfs diff=lfs merge=lfs -text
+*.hdr filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.jit filter=lfs diff=lfs merge=lfs -text

.github/workflows/docs.yaml

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+name: Build & deploy docs
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    types: [opened, synchronize, reopened]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  check-secrets:
+    name: Check secrets
+    runs-on: ubuntu-latest
+    outputs:
+      trigger-deploy: ${{ steps.trigger-deploy.outputs.defined }}
+    steps:
+    - id: trigger-deploy
+      env:
+        REPO_NAME: "UW-Lab/UWLab"
+        BRANCH_REF: "refs/heads/main"
+      if: "${{ github.repository == env.REPO_NAME && github.ref == env.BRANCH_REF }}"
+      run: echo "defined=true" >> "$GITHUB_OUTPUT"
+
+  build-docs:
+    name: Build Docs
+    runs-on: ubuntu-latest
+    needs: [check-secrets]
+
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v2
+
+    - name: Setup python
+      uses: actions/setup-python@v2
+      with:
+        python-version: "3.10"
+        architecture: x64
+
+    - name: Install dev requirements
+      working-directory: ./docs
+      run: pip install -r requirements.txt
+
+    - name: Check branch docs building
+      working-directory: ./docs
+      if: needs.check-secrets.outputs.trigger-deploy != 'true'
+      run: make current-docs
+
+    - name: Generate multi-version docs
+      working-directory: ./docs
+      run: |
+        git fetch --prune --unshallow --tags
+        make multi-docs
+
+    - name: Upload docs artifact
+      uses: actions/upload-artifact@v4
+      with:
+        name: docs-html
+        path: ./docs/_build
+
+  deploy-docs:
+    name: Deploy Docs
+    runs-on: ubuntu-latest
+    needs: [check-secrets, build-docs]
+    if: needs.check-secrets.outputs.trigger-deploy == 'true'
+
+    steps:
+    - name: Download docs artifact
+      uses: actions/download-artifact@v4
+      with:
+        name: docs-html
+        path: ./docs/_build
+
+    - name: Deploy to gh-pages
+      uses: peaceiris/actions-gh-pages@v3
+      with:
+        github_token: ${{ secrets.GITHUB_TOKEN }}
+        publish_dir: ./docs/_build

.github/workflows/pre-commit.yaml

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+name: Run linters using pre-commit
+
+on:
+  pull_request:
+  push:
+    branches: [main]
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+    - uses: actions/setup-python@v3
+    - uses: pre-commit/action@v3.0.0

.gitignore

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+# C++
+**/cmake-build*/
+**/build*/
+**/*.so
+**/*.log*
+
+# Omniverse
+**/*.dmp
+**/.thumbs
+
+# No USD files allowed in the repo
+**/*.usd
+**/*.usda
+**/*.usdc
+**/*.usdz
+
+# Python
+.DS_Store
+**/*.egg-info/
+**/__pycache__/
+**/.pytest_cache/
+**/*.pyc
+**/*.pb
+
+# Docker/Singularity
+**/*.sif
+docker/exports/
+docker/.container.yaml
+
+# IDE
+**/.idea/
+**/.vscode/
+# Don't ignore the top-level .vscode directory as it is
+# used to configure VS Code settings
+
+code_log.md
+
+# Outputs
+**/output/*
+**/outputs/*
+**/videos/*
+**/wandb/*
+**/.neptune/*
+docker/artifacts/
+*.tmp
+
+# Doc Outputs
+**/docs/_build/*
+**/generated/*
+
+# Isaac-Sim packman
+_isaac_sim*
+_repo
+_build
+.lastformat
+
+# RL-Games
+**/runs/*
+**/logs/*
+**/recordings/*
+**/datasets/
+
+# node generated files
+**/node_modules/*
+**/dist/*
+
+# credentials
+**/credentials/*

.pre-commit-config.yaml

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+repos:
+  - repo: https://github.com/python/black
+    rev: 23.10.1
+    hooks:
+      - id: black
+        args: ["--line-length", "120", "--preview"]
+  - repo: https://github.com/pycqa/flake8
+    rev: 6.1.0
+    hooks:
+      - id: flake8
+        additional_dependencies: [flake8-simplify, flake8-return]
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.5.0
+    hooks:
+      - id: trailing-whitespace
+      - id: check-symlinks
+      - id: destroyed-symlinks
+      - id: check-yaml
+      - id: check-merge-conflict
+      - id: check-case-conflict
+      - id: check-executables-have-shebangs
+      - id: check-toml
+      - id: end-of-file-fixer
+      - id: check-shebang-scripts-are-executable
+      - id: detect-private-key
+      - id: debug-statements
+  - repo: https://github.com/pycqa/isort
+    rev: 5.12.0
+    hooks:
+      - id: isort
+        name: isort (python)
+        args: ["--profile", "black", "--filter-files"]
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v3.15.0
+    hooks:
+      - id: pyupgrade
+        args: ["--py37-plus"]
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.2.6
+    hooks:
+      - id: codespell
+        additional_dependencies:
+        - tomli
+  - repo: https://github.com/pre-commit/pygrep-hooks
+    rev: v1.10.0
+    hooks:
+      - id: rst-backticks
+      - id: rst-directive-colons
+      - id: rst-inline-touching-normal

CONTRIBUTORS.md

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+# UW Lab Developers and Contributors
+
+This is the official list of UW Lab Project developers and contributors.
+
+To see the full list of contributors, please check the revision history in the source control.
+
+Guidelines for modifications:
+
+* Please keep the **lists sorted alphabetically**.
+* Names should be added to this file as: *individual names* or *organizations*.
+* E-mail addresses are tracked elsewhere to avoid spam.
+
+## Developers
+
+* NVIDIA Corporation & Affiliates
+* Shanghai Jiao Tong University
+* University of Washington
+
+
+---
+
+* Feng Yu
+* Mateo Guaman Castro
+* Patrick Yin
+* Quanquan Peng
+* Rosario Scalise
+* Zhengyu Zhang

LICENCE

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+Copyright (c) 2022-2025, The UW Lab Project Developers.
+
+All rights reserved.
+
+SPDX-License-Identifier: BSD-3-Clause
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice,
+   this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+   may be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

@@ -1 +1,73 @@
-# UWLab
+![Isaac Lab](docs/source/_static/uwlab.png)
+
+---
+
+# UW Lab
+
+[![IsaacSim](https://img.shields.io/badge/IsaacSim-4.5.0-silver.svg)](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html)
+[![Python](https://img.shields.io/badge/python-3.10-blue.svg)](https://docs.python.org/3/whatsnew/3.10.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)
+[![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)
+[![License](https://img.shields.io/badge/license-BSD--3-yellow.svg)](https://opensource.org/licenses/BSD-3-Clause)
+[![License](https://img.shields.io/badge/license-Apache--2.0-yellow.svg)](https://opensource.org/license/apache-2-0)
+
+## Overview
+
+**UW Lab**, open source projects built upon the robust foundation established by Isaac Lab, organized by UW(University of Washington) Robotic Students, aims to creates accelerated, unified, organized research in the field of robotics simulation in Isaac Ecosystem. This repo is designed and structured to reuse toolkit of ongoing IsaacLab development, track IsaacLab version, and extend the components from novelty and engineers from UW.
+
+## Key Features
+
+In addition to what IsaacLab provides, UW Lab brings:
+
+- **Environments**: Cleaned Implementation of reputable environments in Manager-Based format
+- **Sim to Real**: Providing robots and configuration that has been tested in UW Robotic Lab amd deliver the Simulation Setup that can directly transfer to reals
+
+
+## Getting Started
+
+Our [documentation page](https://isaac-sim.github.io/IsaacLab) provides everything you need to get started, including detailed tutorials and step-by-step guides. Follow these links to learn more about:
+
+- [Installation steps](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/index.html#local-installation)
+- [Available environments](https://isaac-sim.github.io/IsaacLab/main/source/overview/environments.html)
+
+
+## Contributing to UW Lab
+
+Please refer to Isaac Lab
+[contribution guideline](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html).
+
+
+## Troubleshooting
+
+Please for bug and troubleshooting [submit an issue](https://github.com/UW-Lab/UWLab/issues).
+
+For issues related to Isaac Sim, we recommend checking its [documentation](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html)
+or opening a question on its [forums](https://forums.developer.nvidia.com/c/agx-autonomous-machines/isaac/67).
+
+## Support
+
+* Please use GitHub [Discussions](https://github.com/UW-Lab/UWLab/discussions) for discussing ideas, asking questions, and requests for new features.
+* Github [Issues](https://github.com/UW-Lab/UWLab/issues) should only be used to track executable pieces of work with a definite scope and a clear deliverable. These can be fixing bugs, documentation issues, new features, or general updates.
+
+## License
+
+UW Lab is released under [BSD-3 License](LICENSE). The Isaac Lab framework is released under [BSD-3 License](LICENSE).
+
+## Acknowledgement
+
+UW Lab development initialed from the Isaac Lab, and closely track the development of Isaac Lab. As gratitude we appreciate if you cite Isaac Lab in academic publications:
+
+```
+@article{mittal2023orbit,
+   author={Mittal, Mayank and Yu, Calvin and Yu, Qinxi and Liu, Jingzhou and Rudin, Nikita and Hoeller, David and Yuan, Jia Lin and Singh, Ritvik and Guo, Yunrong and Mazhar, Hammad and Mandlekar, Ajay and Babich, Buck and State, Gavriel and Hutter, Marco and Garg, Animesh},
+   journal={IEEE Robotics and Automation Letters},
+   title={Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments},
+   year={2023},
+   volume={8},
+   number={6},
+   pages={3740-3747},
+   doi={10.1109/LRA.2023.3270034}
+}
+```

VERSION

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+0.9.0