[peterd-NV]

Summary

Update Arena submodule to version that includes Isaac Lab EA2: isaac-sim/IsaacLab-Arena@8b82dca

Changes:

1. Bump Arena submodule
2. Update base docker image version to Isaac Sim 6.0.1 (compatible with Isaac Lab EA2)
3. Add sim version tagging to dockerfile to enable CI rebuilds for this and future PRs that change the dockerfile.
4. Update conda installer script with correct sim versions
5. Change AGENTS.md to run any commands in AutoData docker.
6. Fixes franka robot interface test with new env arguments following update in Lab.
7. Adds patch to enable AVP teleop for G1 env in Lab EA2.

Summary by CodeRabbit

• Chores

  • Updated IsaacLab-Arena to a newer revision.
  • Refreshed the Isaac Sim autodata Docker base image to 6.0.1.
  • Updated the Docker run default base image tag to 6.0.1 (still overrideable via environment variable).

• Documentation

  • Updated setup guidance to run repo commands inside the provided isaac_autodata Docker container.
  • Tightened guardrails around conda installer usage.

• Bug Fixes

  • Improved environment setup reliability by ensuring dependencies are installed into the active conda environment.

[coderabbitai]

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📝 Walkthrough

Walkthrough

The PR updates the IsaacLab-Arena submodule, upgrades the Isaac Sim Docker image to 6.0.1, revises container execution guidance, and reworks environment installation with version variables, uv, architecture-specific PyTorch indexes, and environment validation.

Changes

Environment and runtime updates

Layer / File(s)	Summary
Rework environment installation workflow conda_installer.sh	Adds configurable package versions, includes pip in environment creation, validates the environment Python binary, targets uv installations explicitly, selects architecture-specific PyTorch indexes, and installs Isaac Lab with -i all.
Align container defaults and execution guidance docker/Dockerfile.isaac_autodata, docker/run_docker.sh, AGENTS.md	Updates Isaac Sim defaults to 6.0.1, changes repository guidance to run commands inside the isaac_autodata container, and narrows installer guardrails to conda_installer.sh.
Update IsaacLab-Arena reference submodules/IsaacLab-Arena	Updates the submodule pointer to a newer upstream commit.

Estimated code review effort: 3 (Moderate) | ~20 minutes

Possibly related PRs

• isaac-sim/Isaac-AutoData#42: Both PRs modify conda_installer.sh and its environment and dependency installation flow.
• isaac-sim/Isaac-AutoData#25: Its CI jobs invoke docker/run_docker.sh, which uses the Docker image default updated here.

Suggested reviewers: njawale42

🚥 Pre-merge checks | ✅ 5

✅ Passed checks (5 passed)

Check name	Status	Explanation
Docstring Coverage	✅ Passed	No functions found in the changed files to evaluate docstring coverage. Skipping docstring coverage check.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Title check	✅ Passed	The title clearly describes the submodule update to Isaac Lab EA2, which matches one major part of the change set.
Description check	✅ Passed	The description covers the main changes, but it does not fully follow the template and is light on explicit reason and impact details.

✨ Finishing Touches

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Commit unit tests in branch peterd/arena_ver_bump

---

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[coderabbitai]

Actionable comments posted: 1

Caution

Some comments are outside the diff and can’t be posted inline due to platform limitations.

⚠️ Outside diff range comments (1)

conda_installer.sh (1)

44-59: 🩺 Stability & Availability | 🟠 Major | ⚡ Quick win

activate_env doesn't verify the activated env is actually ${ENV_NAME}.

The check only verifies a python binary exists at ${CONDA_PREFIX}/bin/python; it doesn't verify conda activate "${ENV_NAME}" actually succeeded and switched into the intended env. If activation silently fails (e.g. env not found, and the script lacks set -e), CONDA_PREFIX may still point at a previously active env (e.g. base), which will also have a valid python binary, so the check passes and subsequent uv pip install calls proceed into the wrong environment.

🔧 Proposed fix to validate the activated environment

     conda activate "${ENV_NAME}"

+    if [[ "${CONDA_DEFAULT_ENV}" != "${ENV_NAME}" ]]; then
+        echo "error: failed to activate conda env '${ENV_NAME}' (currently in '${CONDA_DEFAULT_ENV}')." >&2
+        exit 1
+    fi
+
     if [[ ! -x "${CONDA_PREFIX}/bin/python" ]]; then
         echo "error: Python was not found in the '${ENV_NAME}' conda env." >&2
         exit 1
     fi

🤖 Prompt for AI Agents

Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

In `@conda_installer.sh` around lines 44 - 59, Update activate_env to verify that
conda activate "${ENV_NAME}" succeeds and that the resulting active environment
matches ENV_NAME before validating its Python binary or exporting UV_PYTHON. If
activation fails or CONDA_PREFIX does not identify ENV_NAME, emit an error and
exit instead of continuing with a previously active environment.

🤖 Prompt for all review comments with AI agents

Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

Inline comments:
In `@conda_installer.sh`:
- Around line 99-103: Replace the global --index-strategy unsafe-best-match
option in the Isaac Sim installation command with narrowly scoped per-package
index configuration for isaacsim and any required split extras. Keep the NVIDIA
extra index available while ensuring unrelated dependencies resolve from the
intended default index without cross-index best-match selection.

---

Outside diff comments:
In `@conda_installer.sh`:
- Around line 44-59: Update activate_env to verify that conda activate
"${ENV_NAME}" succeeds and that the resulting active environment matches
ENV_NAME before validating its Python binary or exporting UV_PYTHON. If
activation fails or CONDA_PREFIX does not identify ENV_NAME, emit an error and
exit instead of continuing with a previously active environment.

🪄 Autofix (Beta)

Fix all unresolved CodeRabbit comments on this PR:

• Push a commit to this branch (recommended)
• Create a new PR with the fixes

---

ℹ️ Review info

⚙️ Run configuration

Configuration used: Path: .coderabbit.yaml

Review profile: ASSERTIVE

Plan: Enterprise

Run ID: 159d1365-81df-43c6-9ea5-06a45becbbef

📥 Commits

Reviewing files that changed from the base of the PR and between 52186e8 and 30d9093.

📒 Files selected for processing (2)

• AGENTS.md
• conda_installer.sh

[coderabbitai]

Actionable comments posted: 1

🤖 Prompt for all review comments with AI agents

Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

Inline comments:
In `@AGENTS.md`:
- Around line 7-8: Clarify the container workflow in the repository
instructions: state that ./docker/run_docker.sh (including the -c variant) must
be run from the host to start or create the isaac_autodata container, while all
subsequent repository scripts and commands must run inside that container.

🪄 Autofix (Beta)

Fix all unresolved CodeRabbit comments on this PR:

• Push a commit to this branch (recommended)
• Create a new PR with the fixes

---

ℹ️ Review info

⚙️ Run configuration

Configuration used: Path: .coderabbit.yaml

Review profile: ASSERTIVE

Plan: Enterprise

Run ID: 6302a70c-ead5-4402-b4f8-a78acbf70d6c

📥 Commits

Reviewing files that changed from the base of the PR and between 30d9093 and 39b3467.

📒 Files selected for processing (1)

• AGENTS.md

[njawale42]

Lgtm!