autosim opensource ready.

.flake8

@@ -0,0 +1,23 @@
+[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
+# 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.
+# SIM118: Checks for key-existence checks against dict.keys() calls.
+ignore=E402,E501,E704,W503,E203,D401,R504,R505,SIM102,SIM117,SIM118
+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

.github/workflows/pre-commit.yml

@@ -0,0 +1,16 @@
+name: Run linters using pre-commit
+
+on:
+  pull_request:
+    types: [opened, synchronize, reopened]
+
+jobs:
+  pre-commit:
+    name: Run pre-commit checks
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/setup-python@v3
+        with:
+          python-version: "3.11"
+      - uses: pre-commit/action@v3.0.0

.gitignore

@@ -182,11 +182,11 @@ cython_debug/
 .abstra/
 
 # Visual Studio Code
-#  Visual Studio Code specific template is maintained in a separate VisualStudioCode.gitignore 
+#  Visual Studio Code specific template is maintained in a separate VisualStudioCode.gitignore
 #  that can be found at https://github.com/github/gitignore/blob/main/Global/VisualStudioCode.gitignore
-#  and can be added to the global gitignore or merged into this file. However, if you prefer, 
+#  and can be added to the global gitignore or merged into this file. However, if you prefer,
 #  you could uncomment the following to ignore the entire vscode folder
-# .vscode/
+.vscode/
 
 # Ruff stuff:
 .ruff_cache/
@@ -205,3 +205,8 @@ cython_debug/
 marimo/_static/
 marimo/_lsp/
 __marimo__/
+
+
+# IsaacLab
+datasets/
+recordings/

.gitmodules

@@ -0,0 +1,6 @@
+[submodule "dependencies/IsaacLab"]
+	path = dependencies/IsaacLab
+	url = https://github.com/isaac-sim/IsaacLab.git
+[submodule "dependencies/curobo"]
+	path = dependencies/curobo
+	url = https://github.com/NVlabs/curobo.git

.pre-commit-config.yaml

@@ -0,0 +1,60 @@
+repos:
+  - repo: https://github.com/python/black
+    rev: 24.3.0
+    hooks:
+      - id: black
+        args: ["--line-length", "120", "--unstable"]
+  - repo: https://github.com/pycqa/flake8
+    rev: 7.0.0
+    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-added-large-files
+        args: ["--maxkb=2000"]  # restrict files more than 2 MB. Should use git-lfs instead.
+      - 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: 5.13.2
+    hooks:
+      - id: isort
+        name: isort (python)
+        args: ["--profile", "black", "--filter-files"]
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v3.15.1
+    hooks:
+      - id: pyupgrade
+        args: ["--py310-plus"]
+        # FIXME: This is a hack because Pytorch does not like: torch.Tensor | dict aliasing
+        exclude: "source/isaaclab/isaaclab/envs/common.py|source/isaaclab/isaaclab/ui/widgets/image_plot.py|source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/motions/motion_loader.py"
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.2.6
+    hooks:
+      - id: codespell
+        additional_dependencies:
+        - tomli
+        exclude: "CONTRIBUTORS.md|docs/source/setup/walkthrough/concepts_env_design.rst|docs/package-lock.json"
+        args: ["-L", "reacher"]
+  # FIXME: Figure out why this is getting stuck under VPN.
+  # - repo: https://github.com/RobertCraigie/pyright-python
+  #   rev: v1.1.315
+  #   hooks:
+  #   - id: pyright
+  - 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

README.md

@@ -1,2 +1,162 @@
 # autosim
-autosim
+
+**autosim: An automated data generation pipeline based on NVIDIA Isaac Lab**
+
+An automatic simulation data generation pipeline built on Isaac Lab, integrating LLM-based task decomposition, motion planning, and navigation capabilities.
+
+## Overview
+
+`autosim` provides an extensible automated data generation pipeline for NVIDIA Isaac Lab environments:
+
+- Starting from **task code and scene information**, it uses an LLM to **decompose high-level tasks** automatically.
+- Maps the decomposition result into a sequence of **atomic skills**.
+- Invokes **motion planning (based on cuRobo)** and **navigation** to execute these skills in simulation.
+- Produces unified **action sequences / trajectory data** for downstream robot learning and research.
+
+> In short: `autosim` helps you automatically turn “a task in Isaac Lab” into an executable sequence of skills, and generates data that can be used for training or evaluation.
+
+## Installation
+
+Below is a typical setup workflow. `autosim` can be installed as a submodule inside an environment that already contains Isaac Lab.
+
+```bash
+conda create -n autosim python=3.11
+
+conda activate autosim
+
+git clone https://github.com/LightwheelAI/autosim.git
+
+cd autosim
+
+git submodule update --init --recursive
+```
+
+### IsaacLab Installation
+
+`autosim` depends on Isaac Lab. You can follow the official installation guide [here](https://isaac-sim.github.io/IsaacLab/v2.2.1/source/setup/installation/pip_installation.html), or use the commands below. If you already have an environment with Isaac Lab installed, you can reuse it and skip this step.
+
+```bash
+# Install CUDA toolkit
+conda install -c "nvidia/label/cuda-12.8.1" cuda-toolkit
+
+# Install PyTorch
+pip install -U torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
+
+# Install IsaacSim
+pip install --upgrade pip
+pip install "isaacsim[all,extscache]==5.1.0" --extra-index-url https://pypi.nvidia.com
+
+
+# Install IsaacLab
+sudo apt install cmake build-essential
+
+cd dependencies/IsaacLab
+./isaaclab.sh --install
+```
+
+> ⚠️ The installation of Isaac Lab is relatively involved. Please follow the official documentation carefully. This repository only works on top of a correctly configured Isaac Lab environment.
+
+### cuRobo Installation
+
+Some skills in `autosim` depend on cuRobo. You can follow the official [documentation](https://curobo.org/get_started/1_install_instructions.html), or use the commands below:
+
+```bash
+cd dependencies/curobo
+
+pip install -e . --no-build-isolation
+```
+
+### autosim Installation
+
+Finally, install `autosim` into your environment:
+
+```bash
+pip install -e source/autosim
+```
+
+## Quick Start
+
+### Run the Example Pipeline (Franka Cube Lift)
+
+After completing the installation and configuration steps above, you can directly run the built-in example.
+
+First, install the `autosim` example package:
+
+```bash
+pip install -e source/autosim_examples
+```
+
+Then launch the example with:
+
+```bash
+cd autosim
+
+python examples/run_autosim_example.py \
+  --pipeline_id AutoSimPipeline-FrankaCubeLift-v0
+```
+
+After launching, you will see in the Isaac Sim UI that the manipulator automatically executes the Cube Lift task.
+
+## Defining Your Own Pipeline
+
+For a task that has already been defined in Isaac Lab, you can use `autosim` to define a custom `AutoSimPipeline` for it. A typical workflow looks like this:
+
+1. **Implement a config class**
+
+   Inherit from `AutoSimPipelineCfg` and adjust components as needed:
+
+   - `decomposer` (e.g., using a different LLM or prompt template)
+   - `motion_planner` (e.g., different robot model or planner parameters)
+   - `skills` / `action_adapter`, etc.
+
+2. **Implement the pipeline class**
+
+   Inherit from `AutoSimPipeline` and implement:
+
+   - `load_env(self) -> ManagerBasedEnv`: load the environment based on Isaac Lab / Gymnasium; this environment should correspond to the pre-defined Task.
+   - `get_env_extra_info(self) -> EnvExtraInfo`: provide the task name, robot name, end-effector link, and reach targets expressed as poses relative to objects, etc.
+
+3. **Register the pipeline in the package’s `__init__.py`**
+
+   For example:
+
+   ```python
+   from autosim import register_pipeline
+
+   register_pipeline(
+       id="MyPipeline-v0",
+       entry_point="my_package.pipelines.my_pipeline:MyPipeline",
+       cfg_entry_point="my_package.pipelines.my_pipeline:MyPipelineCfg",
+   )
+   ```
+
+4. **Use it from a script or external project**
+
+   ```python
+   from autosim import make_pipeline
+
+   pipeline = make_pipeline("MyPipeline-v0")
+   output = pipeline.run()
+   ```
+
+> You can refer to `source/autosim_examples/autosim_examples/autosim/pipelines/franka_lift_cube.py` for a minimal working example.
+
+## Contributing
+
+Issues, feature requests, and pull requests are all welcome!
+
+Before submitting contributions, we recommend:
+
+- First verify that the example pipeline runs correctly in your local environment.
+- Follow the existing code style in this repository (Black + isort, see the root `pyproject.toml`).
+- Whenever possible, add tests or minimal reproducible examples for new features or bug fixes.
+
+## Acknowledgements
+
+`autosim` is built on top of the following excellent open-source projects:
+
+- **cuRobo**: GPU-accelerated robot motion planning.
+- **Isaac Lab**: NVIDIA’s framework for robot simulation and reinforcement learning.
+- And other dependencies and upstream projects used in this repository.
+
+We sincerely thank the authors and communities behind these projects.

examples/run_autosim_example.py

@@ -0,0 +1,36 @@
+"""Script to run autosim example."""
+
+import argparse
+
+from isaaclab.app import AppLauncher
+
+# add argparse arguments
+parser = argparse.ArgumentParser(description="run autosim example pipeline.")
+parser.add_argument(
+    "--pipeline_id", type=str, default="AutoSimPipeline-FrankaCubeLift-v0", help="Name of the autosim pipeline."
+)
+
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
+args_cli = parser.parse_args()
+
+app_launcher_args = vars(args_cli)
+
+# launch omniverse app
+app_launcher = AppLauncher(app_launcher_args)
+simulation_app = app_launcher.app
+
+
+import autosim_examples  # noqa: F401
+from autosim import make_pipeline
+
+
+def main():
+    pipeline = make_pipeline(args_cli.pipeline_id)
+    result = pipeline.run()
+    print(result)
+
+
+if __name__ == "__main__":
+    main()

pyproject.toml

@@ -0,0 +1,7 @@
+[tool.black]
+line-length = 120
+target-version = ["py311"]
+
+[tool.isort]
+profile = "black"
+known_first_party = ["autosim", "autosim_examples"]

source/autosim/autosim/__init__.py

@@ -0,0 +1,2 @@
+from .core import *
+from .skills import *

source/autosim/autosim/capabilities/__init__.py

@@ -0,0 +1,2 @@
+from .motion_planning import *
+from .navigation import *

source/autosim/autosim/capabilities/motion_planning/__init__.py

@@ -0,0 +1,4 @@
+from .curobo.curobo_planner import CuroboPlanner
+from .curobo.curobo_planner_cfg import CuroboPlannerCfg
+
+__all__ = ["CuroboPlanner", "CuroboPlannerCfg"]