Fixes broken unit tests due to updates in Isaac Sim 4.5 (#166)

This change fixes various issues with the unit tests due to updates in
Isaac Sim and Kit builds. Notably, some extensions were renamed for the
URDF and MJCF importers, including minor modifications of available
parameters for the importers. The SimulationContext context will also
now terminate the process on exit due to the simulation stop callback
being triggered. We now bypass the callback for the unit tests.

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applicable. -->

- Bug fix (non-breaking change which fixes an issue)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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- [x] I have done this task
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docs/conf.py

@@ -128,6 +128,7 @@ autodoc_mock_imports = [
     "carb",
     "warp",
     "pxr",
+    "isaacsim",
     "omni.kit",
     "omni.log",
     "omni.usd",

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mjcf_converter.py

@@ -7,6 +7,7 @@ from __future__ import annotations
 
 import os
 
+import isaacsim
 import omni.kit.commands
 import omni.usd
 from omni.isaac.core.utils.extensions import enable_extension
@@ -19,7 +20,7 @@ from .mjcf_converter_cfg import MjcfConverterCfg
 class MjcfConverter(AssetConverterBase):
     """Converter for a MJCF description file to a USD file.
 
-    This class wraps around the `omni.isaac.mjcf_importer`_ extension to provide a lazy implementation
+    This class wraps around the `isaacsim.asset.importer.mjcf`_ extension to provide a lazy implementation
     for MJCF to USD conversion. It stores the output USD file in an instanceable format since that is
     what is typically used in all learning related applications.
 
@@ -29,11 +30,10 @@ class MjcfConverter(AssetConverterBase):
         :obj:`AssetConverterBaseCfg.force_usd_conversion` to True or delete the output directory.
 
     .. note::
-        From Isaac Sim 2023.1 onwards, the extension name changed from ``omni.isaac.mjcf`` to
-        ``omni.importer.mjcf``. This converter class automatically detects the version of Isaac Sim
-        and uses the appropriate extension.
+        From Isaac Sim 4.5 onwards, the extension name changed from ``omni.importer.mjcf`` to
+        ``isaacsim.asset.importer.mjcf``. This converter class now uses the latest extension from Isaac Sim.
 
-    .. _omni.isaac.mjcf_importer: https://docs.omniverse.nvidia.com/isaacsim/latest/ext_omni_isaac_mjcf.html
+    .. _isaacsim.asset.importer.mjcf: https://docs.omniverse.nvidia.com/isaacsim/latest/ext_omni_isaac_mjcf.html
     """
 
     cfg: MjcfConverterCfg
@@ -82,7 +82,7 @@ class MjcfConverter(AssetConverterBase):
         omni.usd.resolve_paths(source_layer.identifier, source_layer.identifier)
         stage.Save()
 
-    def _get_mjcf_import_config(self, cfg: MjcfConverterCfg) -> omni.importer.mjcf.ImportConfig:
+    def _get_mjcf_import_config(self, cfg: MjcfConverterCfg) -> isaacsim.asset.importer.mjcf.ImportConfig:
         """Returns the import configuration for MJCF to USD conversion.
 
         Args:
@@ -93,9 +93,9 @@ class MjcfConverter(AssetConverterBase):
         """
 
         # Enable MJCF Extensions
-        enable_extension("omni.importer.mjcf")
+        enable_extension("isaacsim.asset.importer.mjcf")
 
-        from omni.importer.mjcf import _mjcf as omni_mjcf
+        from isaacsim.asset.importer.mjcf import _mjcf as omni_mjcf
 
         import_config = omni_mjcf.ImportConfig()
 

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py

@@ -7,6 +7,7 @@ from __future__ import annotations
 
 import os
 
+import isaacsim
 import omni.kit.commands
 import omni.usd
 from omni.isaac.core.utils.extensions import enable_extension
@@ -35,7 +36,7 @@ _NORMALS_DIVISION = {
 class UrdfConverter(AssetConverterBase):
     """Converter for a URDF description file to a USD file.
 
-    This class wraps around the `omni.isaac.urdf_importer`_ extension to provide a lazy implementation
+    This class wraps around the `isaacsim.asset.importer.urdf`_ extension to provide a lazy implementation
     for URDF to USD conversion. It stores the output USD file in an instanceable format since that is
     what is typically used in all learning related applications.
 
@@ -45,15 +46,14 @@ class UrdfConverter(AssetConverterBase):
         :obj:`AssetConverterBaseCfg.force_usd_conversion` to True or delete the output directory.
 
     .. note::
-        From Isaac Sim 2023.1 onwards, the extension name changed from ``omni.isaac.urdf`` to
-        ``omni.importer.urdf``. This converter class automatically detects the version of Isaac Sim
-        and uses the appropriate extension.
+        From Isaac Sim 4.5 onwards, the extension name changed from ``omni.importer.urdf`` to
+        ``isaacsim.asset.importer.urdf``. This converter class now uses the latest extension from Isaac Sim.
 
         The new extension supports a custom XML tag``"dont_collapse"`` for joints. Setting this parameter
         to true in the URDF joint tag prevents the child link from collapsing when the associated joint type
         is "fixed".
 
-    .. _omni.isaac.urdf_importer: https://docs.omniverse.nvidia.com/isaacsim/latest/ext_omni_isaac_urdf.html
+    .. _isaacsim.asset.importer.urdf: https://docs.omniverse.nvidia.com/isaacsim/latest/ext_omni_isaac_urdf.html
     """
 
     cfg: UrdfConverterCfg
@@ -105,7 +105,7 @@ class UrdfConverter(AssetConverterBase):
     Helper methods.
     """
 
-    def _get_urdf_import_config(self, cfg: UrdfConverterCfg) -> omni.importer.urdf.ImportConfig:
+    def _get_urdf_import_config(self, cfg: UrdfConverterCfg) -> isaacsim.asset.importer.urdf.ImportConfig:
         """Create and fill URDF ImportConfig with desired settings
 
         Args:
@@ -115,9 +115,9 @@ class UrdfConverter(AssetConverterBase):
             The constructed ``ImportConfig`` object containing the desired settings.
         """
         # Enable urdf extension
-        enable_extension("omni.importer.urdf")
+        enable_extension("isaacsim.asset.importer.urdf")
 
-        from omni.importer.urdf import _urdf as omni_urdf
+        from isaacsim.asset.importer.urdf import _urdf as omni_urdf
 
         import_config = omni_urdf.ImportConfig()
 
@@ -128,11 +128,6 @@ class UrdfConverter(AssetConverterBase):
         # add a physics scene to the stage on import if none exists
         import_config.set_create_physics_scene(False)
 
-        # -- instancing settings
-        # meshes will be placed in a separate usd file
-        import_config.set_make_instanceable(cfg.make_instanceable)
-        import_config.set_instanceable_usd_path(self.usd_instanceable_meshes_path)
-
         # -- asset settings
         # default density used for links, use 0 to auto-compute
         import_config.set_density(cfg.link_density)

source/extensions/omni.isaac.lab/test/assets/test_articulation.py

@@ -134,6 +134,7 @@ class TestArticulation(unittest.TestCase):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(num_articulations=num_articulations, device=device):
                     with build_simulation_context(device=device, add_ground_plane=True, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         articulation_cfg = generate_articulation_cfg(
                             articulation_type="humanoid", stiffness=0.0, damping=0.0
                         )
@@ -184,6 +185,7 @@ class TestArticulation(unittest.TestCase):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(num_articulations=num_articulations, device=device):
                     with build_simulation_context(device=device, add_ground_plane=True, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         articulation_cfg = generate_articulation_cfg(
                             articulation_type="anymal", stiffness=0.0, damping=0.0
                         )
@@ -239,6 +241,7 @@ class TestArticulation(unittest.TestCase):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(num_articulations=num_articulations, device=device):
                     with build_simulation_context(device=device, add_ground_plane=False, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         articulation_cfg = generate_articulation_cfg(articulation_type="panda")
                         articulation, translations = generate_articulation(articulation_cfg, num_articulations, device)
 
@@ -298,6 +301,7 @@ class TestArticulation(unittest.TestCase):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(num_articulations=num_articulations, device=device):
                     with build_simulation_context(device=device, add_ground_plane=True, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         articulation_cfg = generate_articulation_cfg(articulation_type="single_joint")
                         articulation, translations = generate_articulation(articulation_cfg, num_articulations, device)
 
@@ -357,6 +361,7 @@ class TestArticulation(unittest.TestCase):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(num_articulations=num_articulations, device=device):
                     with build_simulation_context(device=device, add_ground_plane=False, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         articulation_cfg = generate_articulation_cfg(articulation_type="shadow_hand")
                         articulation, _ = generate_articulation(articulation_cfg, num_articulations, device)
 
@@ -405,6 +410,7 @@ class TestArticulation(unittest.TestCase):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(num_articulations=num_articulations, device=device):
                     with build_simulation_context(device=device, add_ground_plane=True, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         articulation_cfg = generate_articulation_cfg(articulation_type="anymal")
                         # Fix root link
                         articulation_cfg.spawn.articulation_props.fix_root_link = True
@@ -460,6 +466,7 @@ class TestArticulation(unittest.TestCase):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(num_articulations=num_articulations, device=device):
                     with build_simulation_context(device=device, add_ground_plane=True, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         articulation_cfg = generate_articulation_cfg(articulation_type="panda")
                         # Unfix root link
                         articulation_cfg.spawn.articulation_props.fix_root_link = False
@@ -509,6 +516,7 @@ class TestArticulation(unittest.TestCase):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(num_articulations=num_articulations, device=device):
                     with build_simulation_context(device=device, add_ground_plane=True, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         # Create articulation
                         articulation_cfg = generate_articulation_cfg(articulation_type="panda")
                         articulation_cfg.init_state.joint_pos = {
@@ -529,6 +537,7 @@ class TestArticulation(unittest.TestCase):
     def test_out_of_range_default_joint_vel(self):
         """Test that the default joint velocity from configuration is out of range."""
         with build_simulation_context(device="cuda:0", add_ground_plane=False, auto_add_lighting=True) as sim:
+            sim._app_control_on_stop_handle = None
             # Create articulation
             articulation_cfg = FRANKA_PANDA_CFG.replace(prim_path="/World/Robot")
             articulation_cfg.init_state.joint_vel = {
@@ -551,6 +560,7 @@ class TestArticulation(unittest.TestCase):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(num_articulations=num_articulations, device=device):
                     with build_simulation_context(device=device, add_ground_plane=True, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         # Create articulation
                         articulation_cfg = generate_articulation_cfg(articulation_type="panda")
                         articulation, _ = generate_articulation(articulation_cfg, num_articulations, device)
@@ -617,6 +627,7 @@ class TestArticulation(unittest.TestCase):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(num_articulations=num_articulations, device=device):
                     with build_simulation_context(device=device, add_ground_plane=False, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         articulation_cfg = generate_articulation_cfg(articulation_type="anymal")
                         articulation, _ = generate_articulation(articulation_cfg, num_articulations, device)
                         # Play the simulator
@@ -666,6 +677,7 @@ class TestArticulation(unittest.TestCase):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(num_articulations=num_articulations, device=device):
                     with build_simulation_context(device=device, add_ground_plane=False, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         articulation_cfg = generate_articulation_cfg(articulation_type="anymal")
                         articulation, _ = generate_articulation(articulation_cfg, num_articulations, device)
 
@@ -715,6 +727,7 @@ class TestArticulation(unittest.TestCase):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(num_articulations=num_articulations, device=device):
                     with build_simulation_context(device=device, add_ground_plane=False, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         articulation_cfg = generate_articulation_cfg(
                             articulation_type="humanoid", stiffness=None, damping=None
                         )
@@ -774,6 +787,7 @@ class TestArticulation(unittest.TestCase):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(num_articulations=num_articulations, device=device):
                     with build_simulation_context(device=device, add_ground_plane=True, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         articulation_cfg = generate_articulation_cfg(articulation_type="humanoid")
                         articulation, _ = generate_articulation(
                             articulation_cfg=articulation_cfg, num_articulations=num_articulations, device=device
@@ -801,6 +815,7 @@ class TestArticulation(unittest.TestCase):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(num_articulations=num_articulations, device=device):
                     with build_simulation_context(device=device, add_ground_plane=False, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         articulation_cfg = generate_articulation_cfg(articulation_type="humanoid")
                         articulation, _ = generate_articulation(
                             articulation_cfg=articulation_cfg, num_articulations=num_articulations, device=device
@@ -868,6 +883,7 @@ class TestArticulation(unittest.TestCase):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(num_articulations=num_articulations, device=device):
                     with build_simulation_context(device=device, add_ground_plane=False, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         articulation_cfg = generate_articulation_cfg(articulation_type="humanoid")
                         articulation, _ = generate_articulation(
                             articulation_cfg=articulation_cfg, num_articulations=num_articulations, device=device
@@ -892,6 +908,7 @@ class TestArticulation(unittest.TestCase):
                     with build_simulation_context(
                         gravity_enabled=True, device=device, add_ground_plane=True, auto_add_lighting=True
                     ) as sim:
+                        sim._app_control_on_stop_handle = None
                         articulation_cfg = generate_articulation_cfg(articulation_type="panda")
                         articulation, _ = generate_articulation(
                             articulation_cfg=articulation_cfg, num_articulations=num_articulations, device=device

source/extensions/omni.isaac.lab/test/assets/test_deformable_object.py

@@ -109,6 +109,7 @@ class TestDeformableObject(unittest.TestCase):
             for num_cubes in (1, 2):
                 with self.subTest(num_cubes=num_cubes, material_path=material_path):
                     with build_simulation_context(auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         # Generate cubes scene
                         cube_object = generate_cubes_scene(num_cubes=num_cubes, material_path=material_path)
 
@@ -185,6 +186,7 @@ class TestDeformableObject(unittest.TestCase):
     def test_initialization_on_device_cpu(self):
         """Test that initialization fails with deformable body API on the CPU."""
         with build_simulation_context(device="cpu", auto_add_lighting=True) as sim:
+            sim._app_control_on_stop_handle = None
             # Generate cubes scene
             cube_object = generate_cubes_scene(num_cubes=5, device="cpu")
 
@@ -202,6 +204,7 @@ class TestDeformableObject(unittest.TestCase):
         for num_cubes in (1, 2):
             with self.subTest(num_cubes=num_cubes):
                 with build_simulation_context(auto_add_lighting=True) as sim:
+                    sim._app_control_on_stop_handle = None
                     # Generate cubes scene
                     cube_object = generate_cubes_scene(num_cubes=num_cubes, kinematic_enabled=True)
 
@@ -233,6 +236,7 @@ class TestDeformableObject(unittest.TestCase):
         for num_cubes in (1, 2):
             with self.subTest(num_cubes=num_cubes):
                 with build_simulation_context(auto_add_lighting=True) as sim:
+                    sim._app_control_on_stop_handle = None
                     # Generate cubes scene
                     cube_object = generate_cubes_scene(num_cubes=num_cubes, has_api=False)
 
@@ -257,6 +261,7 @@ class TestDeformableObject(unittest.TestCase):
                 # Turn off gravity for this test as we don't want any external forces acting on the object
                 # to ensure state remains static
                 with build_simulation_context(gravity_enabled=False, auto_add_lighting=True) as sim:
+                    sim._app_control_on_stop_handle = None
                     # Generate cubes scene
                     cube_object = generate_cubes_scene(num_cubes=num_cubes)
 
@@ -314,6 +319,7 @@ class TestDeformableObject(unittest.TestCase):
                 # Turn off gravity for this test as we don't want any external forces acting on the object
                 # to ensure state remains static
                 with build_simulation_context(gravity_enabled=False, auto_add_lighting=True) as sim:
+                    sim._app_control_on_stop_handle = None
                     # Generate cubes scene
                     cube_object = generate_cubes_scene(num_cubes=num_cubes)
 
@@ -382,6 +388,7 @@ class TestDeformableObject(unittest.TestCase):
                 # Turn off gravity for this test as we don't want any external forces acting on the object
                 # to ensure state remains static
                 with build_simulation_context(auto_add_lighting=True) as sim:
+                    sim._app_control_on_stop_handle = None
                     # Generate cubes scene
                     cube_object = generate_cubes_scene(num_cubes=num_cubes, height=1.0)
 

source/extensions/omni.isaac.lab/test/assets/test_rigid_object.py

@@ -105,6 +105,7 @@ class TestRigidObject(unittest.TestCase):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(num_cubes=num_cubes, device=device):
                     with build_simulation_context(device=device, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         # Generate cubes scene
                         cube_object, _ = generate_cubes_scene(num_cubes=num_cubes, device=device)
 
@@ -137,6 +138,7 @@ class TestRigidObject(unittest.TestCase):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(num_cubes=num_cubes, device=device):
                     with build_simulation_context(device=device, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         # Generate cubes scene
                         cube_object, origins = generate_cubes_scene(
                             num_cubes=num_cubes, kinematic_enabled=True, device=device
@@ -173,6 +175,7 @@ class TestRigidObject(unittest.TestCase):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(num_cubes=num_cubes, device=device):
                     with build_simulation_context(device=device, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         # Generate cubes scene
                         cube_object, _ = generate_cubes_scene(num_cubes=num_cubes, api="none", device=device)
 
@@ -217,6 +220,7 @@ class TestRigidObject(unittest.TestCase):
                 with self.subTest(num_cubes=num_cubes, device=device):
                     # Generate cubes scene
                     with build_simulation_context(device=device, add_ground_plane=True, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         cube_object, origins = generate_cubes_scene(num_cubes=num_cubes, device=device)
 
                         # Play the simulator
@@ -278,6 +282,7 @@ class TestRigidObject(unittest.TestCase):
                     # Turn off gravity for this test as we don't want any external forces acting on the object
                     # to ensure state remains static
                     with build_simulation_context(device=device, gravity_enabled=False, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         # Generate cubes scene
                         cube_object, _ = generate_cubes_scene(num_cubes=num_cubes, device=device)
 
@@ -338,6 +343,7 @@ class TestRigidObject(unittest.TestCase):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(num_cubes=num_cubes, device=device):
                     with build_simulation_context(device=device, gravity_enabled=True, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         # Generate cubes scene
                         cube_object, _ = generate_cubes_scene(num_cubes=num_cubes, device=device)
 
@@ -377,6 +383,7 @@ class TestRigidObject(unittest.TestCase):
                     with build_simulation_context(
                         device=device, gravity_enabled=True, add_ground_plane=True, auto_add_lighting=True
                     ) as sim:
+                        sim._app_control_on_stop_handle = None
                         # Generate cubes scene
                         cube_object, _ = generate_cubes_scene(num_cubes=num_cubes, device=device)
 
@@ -412,6 +419,7 @@ class TestRigidObject(unittest.TestCase):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(num_cubes=num_cubes, device=device):
                     with build_simulation_context(device=device, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         # Generate cubes scene
                         cube_object, _ = generate_cubes_scene(num_cubes=num_cubes, height=0.0, device=device)
 
@@ -476,6 +484,7 @@ class TestRigidObject(unittest.TestCase):
                     with build_simulation_context(
                         device=device, dt=0.01, add_ground_plane=False, auto_add_lighting=True
                     ) as sim:
+                        sim._app_control_on_stop_handle = None
                         cube_object, _ = generate_cubes_scene(num_cubes=num_cubes, height=0.03125, device=device)
 
                         # Create ground plane
@@ -570,6 +579,7 @@ class TestRigidObject(unittest.TestCase):
                         with build_simulation_context(
                             device=device, add_ground_plane=False, auto_add_lighting=True
                         ) as sim:
+                            sim._app_control_on_stop_handle = None
                             cube_object, _ = generate_cubes_scene(num_cubes=num_cubes, height=1.0, device=device)
 
                             # Set static friction to be non-zero
@@ -643,6 +653,7 @@ class TestRigidObject(unittest.TestCase):
                     with build_simulation_context(
                         device=device, gravity_enabled=False, add_ground_plane=True, auto_add_lighting=True
                     ) as sim:
+                        sim._app_control_on_stop_handle = None
                         # Create a scene with random cubes
                         cube_object, _ = generate_cubes_scene(num_cubes=num_cubes, height=1.0, device=device)
 
@@ -682,6 +693,7 @@ class TestRigidObject(unittest.TestCase):
                 for gravity_enabled in [True, False]:
                     with self.subTest(num_cubes=num_cubes, device=device, gravity_enabled=gravity_enabled):
                         with build_simulation_context(device=device, gravity_enabled=gravity_enabled) as sim:
+                            sim._app_control_on_stop_handle = None
                             # Create a scene with random cubes
                             cube_object, _ = generate_cubes_scene(num_cubes=num_cubes, device=device)
 

source/extensions/omni.isaac.lab/test/assets/test_rigid_object_collection.py

@@ -104,6 +104,7 @@ class TestRigidObjectCollection(unittest.TestCase):
                 for device in ("cuda:0", "cpu"):
                     with self.subTest(num_envs=num_envs, num_cubes=num_cubes, device=device):
                         with build_simulation_context(device=device, auto_add_lighting=True) as sim:
+                            sim._app_control_on_stop_handle = None
                             # Generate cubes scene
                             object_collection, _ = generate_cubes_scene(
                                 num_envs=num_envs, num_cubes=num_cubes, device=device
@@ -137,6 +138,7 @@ class TestRigidObjectCollection(unittest.TestCase):
         for device in ("cuda:0", "cpu"):
             with self.subTest(num_envs=2, num_cubes=3, device=device):
                 with build_simulation_context(device=device, auto_add_lighting=True) as sim:
+                    sim._app_control_on_stop_handle = None
                     # Generate cubes scene
                     object_collection, _ = generate_cubes_scene(num_envs=2, num_cubes=3, device=device)
 
@@ -174,6 +176,7 @@ class TestRigidObjectCollection(unittest.TestCase):
                 for device in ("cuda:0", "cpu"):
                     with self.subTest(num_envs=num_envs, num_cubes=num_cubes, device=device):
                         with build_simulation_context(device=device, auto_add_lighting=True) as sim:
+                            sim._app_control_on_stop_handle = None
                             # Generate cubes scene
                             object_collection, origins = generate_cubes_scene(
                                 num_envs=num_envs, num_cubes=num_cubes, kinematic_enabled=True, device=device
@@ -212,6 +215,7 @@ class TestRigidObjectCollection(unittest.TestCase):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(num_cubes=num_cubes, device=device):
                     with build_simulation_context(device=device, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         # Generate cubes scene
                         object_collection, _ = generate_cubes_scene(num_cubes=num_cubes, has_api=False, device=device)
 
@@ -239,6 +243,7 @@ class TestRigidObjectCollection(unittest.TestCase):
                         with build_simulation_context(
                             device=device, add_ground_plane=True, auto_add_lighting=True
                         ) as sim:
+                            sim._app_control_on_stop_handle = None
                             object_collection, origins = generate_cubes_scene(
                                 num_envs=num_envs, num_cubes=num_cubes, device=device
                             )
@@ -307,6 +312,7 @@ class TestRigidObjectCollection(unittest.TestCase):
                         with build_simulation_context(
                             device=device, gravity_enabled=False, auto_add_lighting=True
                         ) as sim:
+                            sim._app_control_on_stop_handle = None
                             # Generate cubes scene
                             object_collection, origins = generate_cubes_scene(
                                 num_envs=num_envs, num_cubes=num_cubes, device=device
@@ -587,6 +593,7 @@ class TestRigidObjectCollection(unittest.TestCase):
                         with build_simulation_context(
                             device=device, gravity_enabled=True, auto_add_lighting=True
                         ) as sim:
+                            sim._app_control_on_stop_handle = None
                             # Generate cubes scene
                             object_collection, _ = generate_cubes_scene(
                                 num_envs=num_envs, num_cubes=num_cubes, device=device
@@ -628,6 +635,7 @@ class TestRigidObjectCollection(unittest.TestCase):
                         with build_simulation_context(
                             device=device, gravity_enabled=True, add_ground_plane=True, auto_add_lighting=True
                         ) as sim:
+                            sim._app_control_on_stop_handle = None
                             # Generate cubes scene
                             object_collection, _ = generate_cubes_scene(
                                 num_envs=num_envs, num_cubes=num_cubes, device=device
@@ -672,6 +680,7 @@ class TestRigidObjectCollection(unittest.TestCase):
                             num_envs=num_envs, num_cubes=num_cubes, device=device, gravity_enabled=gravity_enabled
                         ):
                             with build_simulation_context(device=device, gravity_enabled=gravity_enabled) as sim:
+                                sim._app_control_on_stop_handle = None
                                 # Create a scene with random cubes
                                 object_collection, _ = generate_cubes_scene(
                                     num_envs=num_envs, num_cubes=num_cubes, device=device

source/extensions/omni.isaac.lab/test/performance/test_robot_load_performance.py

@@ -42,6 +42,7 @@ class TestRobotLoadPerformance(unittest.TestCase):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(test_config=test_config, device=device):
                     with build_simulation_context(device=device) as sim:
+                        sim._app_control_on_stop_handle = None
                         cloner = GridCloner(spacing=2)
                         target_paths = cloner.generate_paths("/World/Robots", 4096)
                         omni.usd.get_context().get_stage().DefinePrim(target_paths[0], "Xform")

source/extensions/omni.isaac.lab/test/sensors/test_contact_sensor.py

@@ -239,6 +239,7 @@ class TestContactSensor(unittest.TestCase):
             for num_envs in [1, 6, 24]:
                 with self.subTest(device=device, num_envs=num_envs):
                     with build_simulation_context(device=device, dt=self.sim_dt, add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         # Instance new scene for the current terrain and contact prim.
                         scene_cfg = ContactSensorSceneCfg(num_envs=num_envs, env_spacing=1.0, lazy_sensor_update=False)
                         scene_cfg.terrain = FLAT_TERRAIN_CFG.replace(prim_path="/World/ground")
@@ -297,6 +298,7 @@ class TestContactSensor(unittest.TestCase):
     def test_sensor_print(self):
         """Test sensor print is working correctly."""
         with build_simulation_context(device="cuda:0", dt=self.sim_dt, add_lighting=False) as sim:
+            sim._app_control_on_stop_handle = None
             # Spawn things into stage
             scene_cfg = ContactSensorSceneCfg(num_envs=1, env_spacing=1.0, lazy_sensor_update=False)
             scene_cfg.terrain = FLAT_TERRAIN_CFG.replace(prim_path="/World/ground")
@@ -332,6 +334,7 @@ class TestContactSensor(unittest.TestCase):
             for terrain in self.terrains:
                 with self.subTest(device=device, terrain=terrain):
                     with build_simulation_context(device=device, dt=self.sim_dt, add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         # Instance new scene for the current terrain and contact prim.
                         scene_cfg = ContactSensorSceneCfg(num_envs=1, env_spacing=1.0, lazy_sensor_update=False)
                         scene_cfg.terrain = terrain

source/extensions/omni.isaac.lab/test/sensors/test_ray_caster_camera.py

@@ -648,10 +648,14 @@ class TestWarpCamera(unittest.TestCase):
         torch.testing.assert_close(
             camera_usd.data.output["distance_to_image_plane"],
             camera_warp.data.output["distance_to_image_plane"],
+            rtol=1e-3,
+            atol=1e-5,
         )
         torch.testing.assert_close(
             camera_usd.data.output["distance_to_camera"],
             camera_warp.data.output["distance_to_camera"],
+            rtol=1e-3,
+            atol=1e-5,
         )
 
         # check normals
@@ -734,6 +738,8 @@ class TestWarpCamera(unittest.TestCase):
         torch.testing.assert_close(
             camera_usd.data.output["distance_to_image_plane"],
             camera_warp.data.output["distance_to_image_plane"],
+            rtol=1e-3,
+            atol=1e-5,
         )
         torch.testing.assert_close(
             camera_usd.data.output["distance_to_camera"],

source/extensions/omni.isaac.lab/test/sensors/test_tiled_camera.py

@@ -669,7 +669,7 @@ class TestTiledCamera(unittest.TestCase):
             for _, im_data in camera.data.output.items():
                 self.assertEqual(im_data.shape, (num_cameras, self.camera_cfg.height, self.camera_cfg.width, 2))
                 for i in range(4):
-                    self.assertGreater((im_data[i]).mean().item(), 0.0)
+                    self.assertNotEqual((im_data[i]).mean().item(), 0.0)
         # Check data type of image
         self.assertEqual(camera.data.output["motion_vectors"].dtype, torch.float)
         del camera
@@ -1067,7 +1067,7 @@ class TestTiledCamera(unittest.TestCase):
                 elif data_type in ["motion_vectors"]:
                     self.assertEqual(im_data.shape, (num_cameras, self.camera_cfg.height, self.camera_cfg.width, 2))
                     for i in range(num_cameras):
-                        self.assertGreater(im_data[i].mean().item(), 0.0)
+                        self.assertNotEqual(im_data[i].mean().item(), 0.0)
                 elif data_type in ["depth", "distance_to_camera", "distance_to_image_plane"]:
                     self.assertEqual(im_data.shape, (num_cameras, self.camera_cfg.height, self.camera_cfg.width, 1))
                     for i in range(num_cameras):
@@ -1261,7 +1261,7 @@ class TestTiledCamera(unittest.TestCase):
                 elif data_type in ["motion_vectors"]:
                     self.assertEqual(im_data.shape, (num_cameras, self.camera_cfg.height, self.camera_cfg.width, 2))
                     for i in range(num_cameras):
-                        self.assertGreater(im_data[i].mean().item(), 0.0)
+                        self.assertNotEqual(im_data[i].mean().item(), 0.0)
                 elif data_type in ["depth", "distance_to_camera", "distance_to_image_plane"]:
                     self.assertEqual(im_data.shape, (num_cameras, self.camera_cfg.height, self.camera_cfg.width, 1))
                     for i in range(num_cameras):

source/extensions/omni.isaac.lab/test/terrains/test_terrain_importer.py

@@ -19,8 +19,8 @@ import unittest
 import omni.isaac.core.utils.prims as prim_utils
 import omni.kit
 import omni.kit.commands
+from isaacsim.core.api.materials import PhysicsMaterial, PreviewSurface
 from omni.isaac.cloner import GridCloner
-from omni.isaac.core.materials import PhysicsMaterial, PreviewSurface
 from omni.isaac.core.objects import DynamicSphere
 from omni.isaac.core.prims import GeometryPrim, RigidPrim, RigidPrimView
 from omni.isaac.core.utils.extensions import enable_extension
@@ -43,6 +43,7 @@ class TestTerrainImporter(unittest.TestCase):
                 for num_envs in [1, 4, 125, 379, 1024]:
                     with self.subTest(num_envs=num_envs, env_spacing=env_spacing):
                         with build_simulation_context(device=device, auto_add_lighting=True) as sim:
+                            sim._app_control_on_stop_handle = None
                             # create terrain importer
                             terrain_importer_cfg = TerrainImporterCfg(
                                 num_envs=num_envs,
@@ -68,7 +69,8 @@ class TestTerrainImporter(unittest.TestCase):
     def test_terrain_generation(self) -> None:
         """Generates assorted terrains and tests that the resulting mesh has the correct size."""
         for device in ("cuda:0", "cpu"):
-            with build_simulation_context(device=device, auto_add_lighting=True) as _:
+            with build_simulation_context(device=device, auto_add_lighting=True) as sim:
+                sim._app_control_on_stop_handle = None
                 # Handler for terrains importing
                 terrain_importer_cfg = terrain_gen.TerrainImporterCfg(
                     prim_path="/World/ground",
@@ -99,7 +101,8 @@ class TestTerrainImporter(unittest.TestCase):
     def test_plane(self) -> None:
         """Generates a plane and tests that the resulting mesh has the correct size."""
         for device in ("cuda:0", "cpu"):
-            with build_simulation_context(device=device, auto_add_lighting=True) as _:
+            with build_simulation_context(device=device, auto_add_lighting=True) as sim:
+                sim._app_control_on_stop_handle = None
 
                 expectedSizeX = 2.0e6
                 expectedSizeY = 2.0e6
@@ -127,7 +130,8 @@ class TestTerrainImporter(unittest.TestCase):
     def test_usd(self) -> None:
         """Imports terrain from a usd and tests that the resulting mesh has the correct size."""
         for device in ("cuda:0", "cpu"):
-            with build_simulation_context(device=device, auto_add_lighting=True) as _:
+            with build_simulation_context(device=device, auto_add_lighting=True) as sim:
+                sim._app_control_on_stop_handle = None
                 # Handler for terrains importing
                 terrain_importer_cfg = terrain_gen.TerrainImporterCfg(
                     prim_path="/World/ground",
@@ -161,6 +165,7 @@ class TestTerrainImporter(unittest.TestCase):
         """
         for device in ("cuda:0", "cpu"):
             with build_simulation_context(device=device, auto_add_lighting=True) as sim:
+                sim._app_control_on_stop_handle = None
                 # Create a scene with rough terrain and balls
                 self._populate_scene(geom_sphere=False, sim=sim)
 
@@ -189,6 +194,7 @@ class TestTerrainImporter(unittest.TestCase):
         """
         for device in ("cuda:0", "cpu"):
             with build_simulation_context(device=device, auto_add_lighting=True) as sim:
+                sim._app_control_on_stop_handle = None
                 # Create a scene with rough terrain and balls
                 # TODO: Currently the test fails with geom spheres, need to investigate with the PhysX team.
                 #   Setting the geom_sphere as False to pass the test. This test should be enabled once

source/extensions/omni.isaac.lab_assets/test/test_valid_configs.py

@@ -52,6 +52,7 @@ class TestValidEntitiesConfigs(unittest.TestCase):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(asset_name=asset_name, device=device):
                     with build_simulation_context(device=device, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         # print the asset name
                         print(f">>> Testing entity {asset_name} on device {device}")
                         # name the prim path

source/extensions/omni.isaac.lab_tasks/test/test_environments.py

@@ -110,6 +110,14 @@ class TestEnvironments(unittest.TestCase):
         # disable control on stop
         env.unwrapped.sim._app_control_on_stop_handle = None  # type: ignore
 
+        # override action space if set to inf
+        if isinstance(env.unwrapped.single_action_space, gym.spaces.Box):
+            for i in range(env.unwrapped.single_action_space.shape[0]):
+                if env.unwrapped.single_action_space.low[i] == float("-inf"):
+                    env.unwrapped.single_action_space.low[i] = -1.0
+                if env.unwrapped.single_action_space.high[i] == float("inf"):
+                    env.unwrapped.single_action_space.low[i] = 1.0
+
         # reset environment
         obs, _ = env.reset()
         # check signal

source/extensions/omni.isaac.lab_tasks/test/test_multi_agent_environments.py

@@ -107,6 +107,9 @@ class TestEnvironments(unittest.TestCase):
         # test on many environments.
         env.unwrapped.sim.set_setting("/physics/cooking/ujitsoCollisionCooking", False)
 
+        # avoid shutdown of process on simulation stop
+        env.unwrapped.sim._app_control_on_stop_handle = None
+
         # reset environment
         obs, _ = env.reset()
         # check signal

source/extensions/omni.isaac.lab_tasks/test/wrappers/test_rl_games_wrapper.py

@@ -76,6 +76,9 @@ class TestRlGamesVecEnvWrapper(unittest.TestCase):
                             e.obj.close()
                     self.fail(f"Failed to set-up the environment for task {task_name}. Error: {e}")
 
+                # avoid shutdown of process on simulation stop
+                env.unwrapped.sim._app_control_on_stop_handle = None
+
                 # reset environment
                 obs = env.reset()
                 # check signal

source/extensions/omni.isaac.lab_tasks/test/wrappers/test_skrl_wrapper.py

@@ -74,6 +74,10 @@ class TestSKRLVecEnvWrapper(unittest.TestCase):
                         if hasattr(e, "obj") and hasattr(e.obj, "_is_closed"):
                             e.obj.close()
                     self.fail(f"Failed to set-up the environment for task {task_name}. Error: {e}")
+
+                # avoid shutdown of process on simulation stop
+                env.unwrapped.sim._app_control_on_stop_handle = None
+
                 # reset environment
                 obs, extras = env.reset()
                 # check signal