Adds `SimulationContext` into the orbit module (#102)

# Description

This MR adds our own `SimulationContext` class that inherits the one
from Isaac Sim. This is motivated by two reasons:

* We want to make the configuration of the simulation context consistent
with the rest of the APIs.
* We want to override some of the functions from the `SimulationContext`
that suit our needs better.

## Type of change

- New feature (non-breaking change which adds functionality)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] 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
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

source/extensions/omni.isaac.orbit/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.8.3"
+version = "0.8.4"
 
 # Description
 title = "ORBIT framework for Robot Learning"

source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.8.4 (2023-08-02)
+~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added the :class:`omni.isaac.orbit.sim.SimulationContext` class to the :mod:`omni.isaac.orbit.sim` module.
+  This class inherits from the :class:`omni.isaac.core.simulation_context.SimulationContext` class and adds
+  the ability to create a simulation context from a configuration object.
+
+
 0.8.3 (2023-08-02)
 ~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/__init__.py

+# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES, ETH Zurich, and University of Toronto
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""This sub-module provides the ``SimulationContext`` class.
+
+The :class:`SimulationContext` inherits from the :class:`omni.isaac.core.simulation_context.SimulationContext` class
+to provide additional functionality for the Orbit extension. This includes configuring the simulation through
+the configuration class :class:`SimulationCfg` and providing a context manager for the simulation.
+"""
+
+from .simulation_cfg import PhysicsMaterialCfg, PhysxCfg, SimulationCfg
+from .simulation_context import SimulationContext
+
+__all__ = ["PhysicsMaterialCfg", "PhysxCfg", "SimulationCfg", "SimulationContext"]

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/simulation_cfg.py

+# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES, ETH Zurich, and University of Toronto
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Base configuration of the environment.
+
+This module defines the general configuration of the environment. It includes parameters for
+configuring the environment instances, viewer settings, and simulation parameters.
+"""
+
+from typing import Tuple
+
+from omni.isaac.orbit.utils import configclass
+
+__all__ = ["PhysicsMaterialCfg", "PhysxCfg", "SimulationCfg"]
+
+
+##
+# Simulation settings
+##
+
+
+@configclass
+class PhysicsMaterialCfg:
+    """Physics material parameters."""
+
+    static_friction: float = 1.0
+    """The static friction coefficient. Defaults to 1.0."""
+
+    dynamic_friction: float = 1.0
+    """The dynamic friction coefficient. Defaults to 1.0."""
+
+    restitution: float = 0.0
+    """The restitution coefficient. Defaults to 0.0."""
+
+    improve_patch_friction: bool = False
+    """Whether to enable patch friction. Defaults to False."""
+
+    combine_mode: str = "average"
+    """Determines the way physics materials will be combined during collisions. Defaults to `average`.
+
+    This includes for both friction and restitution combination.
+
+    Available options are `average`, `min`, `multiply`, `multiply`, and `max`.
+    """
+
+
+@configclass
+class PhysxCfg:
+    """PhysX solver parameters.
+
+    These parameters are used to configure the PhysX solver. For more information, see the PhysX 5 SDK
+    documentation.
+
+    PhysX 5 supports GPU-accelerated physics simulation. This is enabled by default, but can be disabled
+    through the flag `use_gpu`. Unlike CPU PhysX, the GPU simulation feature is not able to dynamically
+    grow all the buffers. Therefore, it is necessary to provide a reasonable estimate of the buffer sizes
+    for GPU features. If insufficient buffer sizes are provided, the simulation will fail with errors and
+    lead to adverse behaviors. The buffer sizes can be adjusted through the `gpu_*` parameters.
+
+    References:
+        * PhysX 5 documentation: https://nvidia-omniverse.github.io/PhysX/
+    """
+
+    use_gpu: bool = True
+    """Enable/disable GPU accelerated dynamics simulation. Default is True.
+
+    This enables GPU-accelerated implementations for broad-phase collision checks, contact generation,
+    shape and body management, and constrained solver.
+    """
+
+    solver_type: int = 1
+    """The type of solver to use.Default is 1 (TGS).
+
+    Available solvers:
+
+    * :obj:`0`: PGS (Projective Gauss-Seidel)
+    * :obj:`1`: TGS (Truncated Gauss-Seidel)
+    """
+
+    enable_stabilization: bool = True
+    """Enable/disable additional stabilization pass in solver. Default is True."""
+
+    bounce_threshold_velocity: float = 0.5
+    """Relative velocity threshold for contacts to bounce (in m/s). Default is 0.5 m/s."""
+
+    friction_offset_threshold: float = 0.04
+    """Threshold for contact point to experience friction force (in m). Default is 0.04 m."""
+
+    friction_correlation_distance: float = 0.025
+    """Distance threshold for merging contacts into a single friction anchor point (in m). Default is 0.025 m."""
+
+    gpu_max_rigid_contact_count: int = 1024 * 1024
+    """Size of rigid contact stream buffer allocated in pinned host memory. Default is 2 ** 20."""
+
+    gpu_max_rigid_patch_count: int = 80 * 1024 * 2
+    """Size of the rigid contact patch stream buffer allocated in pinned host memory. Default is 80 * 2 ** 11."""
+
+    gpu_found_lost_pairs_capacity: int = 1024 * 1024 * 2
+    """Capacity of found and lost buffers allocated in GPU global memory. Default is 2 ** 21.
+
+    This is used for the found/lost pair reports in the BP.
+    """
+
+    gpu_found_lost_aggregate_pairs_capacity: int = 1024 * 1024 * 32
+    """Capacity of found and lost buffers in aggregate system allocated in GPU global memory.
+    Default is 2 ** 21.
+
+    This is used for the found/lost pair reports in AABB manager.
+    """
+
+    gpu_total_aggregate_pairs_capacity: int = 1024 * 1024 * 2
+    """Capacity of total number of aggregate pairs allocated in GPU global memory. Default is 2 ** 21."""
+
+    gpu_heap_capacity: int = 64 * 1024 * 1024
+    """Initial capacity of the GPU and pinned host memory heaps. Additional memory will be allocated
+    if more memory is required. Default is 2 ** 26."""
+
+    gpu_temp_buffer_capacity: int = 16 * 1024 * 1024
+    """Capacity of temp buffer allocated in pinned host memory. Default is 2 ** 24."""
+
+    gpu_max_num_partitions: int = 8
+    """Limitation for the partitions in the GPU dynamics pipeline. Default is 8.
+
+    This variable must be power of 2. A value greater than 32 is currently not supported. Range: (1, 32)
+    """
+
+    gpu_max_soft_body_contacts: int = 1024 * 1024
+    """Size of soft body contacts stream buffer allocated in pinned host memory. Default is 2 ** 20."""
+
+    gpu_max_particle_contacts: int = 1024 * 1024
+    """Size of particle contacts stream buffer allocated in pinned host memory. Default is 2 ** 20."""
+
+
+@configclass
+class SimulationCfg:
+    """Configuration for simulation physics."""
+
+    physics_prim_path: str = "/physicsScene"
+    """The prim path where the USD PhysicsScene is created. Default is "/physicsScene"."""
+
+    dt: float = 1.0 / 60.0
+    """The physics simulation time-step (in seconds). Default is 0.0167 seconds."""
+
+    substeps: int = 1
+    """The number of physics simulation steps per rendering step. Default is 1."""
+
+    gravity: Tuple[float, float, float] = (0.0, 0.0, -9.81)
+    """The gravity vector (in m/s^2). Default is (0.0, 0.0, -9.81)."""
+
+    enable_scene_query_support: bool = False
+    """Enable/disable scene query support for collision shapes. Default is False.
+
+    This flag allows performing collision queries (raycasts, sweeps, and overlaps) on actors and
+    attached shapes in the scene. This is useful for implementing custom collision detection logic
+    outside of the physics engine.
+
+    If set to False, the physics engine does not create the scene query manager and the scene query
+    functionality will not be available. However, this provides some performance speed-up.
+
+    Note:
+        This flag is overridden to True inside the :class:`IsaacEnv` class when running the simulation
+        with the GUI enabled. This is to allow certain GUI features to work properly.
+    """
+
+    use_flatcache: bool = True
+    """Enable/disable reading of physics buffers directly. Default is True.
+
+    When running the simulation, updates in the states in the scene is normally synchronized with USD.
+    This leads to an overhead in reading the data and does not scale well with massive parallelization.
+    This flag allows disabling the synchronization and reading the data directly from the physics buffers.
+
+    It is recommended to set this flag to :obj:`True` when running the simulation with a large number
+    of primitives in the scene.
+
+    Note:
+        When enabled, the GUI will not update the physics parameters in real-time. To enable real-time
+        updates, please set this flag to :obj:`False`.
+    """
+
+    disable_contact_processing: bool = False
+    """Enable/disable contact processing. Default is False.
+
+    By default, the physics engine processes all the contacts in the scene. However, reporting this contact
+    information can be expensive due to its combinatorial complexity. This flag allows disabling the contact
+    processing and querying the contacts manually by the user over a limited set of primitives in the scene.
+
+    It is recommended to set this flag to :obj:`True` when using the TensorAPIs for contact reporting.
+    """
+
+    use_gpu_pipeline: bool = True
+    """Enable/disable GPU pipeline. Default is True.
+
+    If set to False, the physics data will be read as CPU buffers.
+    """
+
+    device: str = "cuda:0"
+    """The device for running the simulation/environment. Default is "cuda:0"."""
+
+    physx: PhysxCfg = PhysxCfg()
+    """PhysX solver settings. Default is PhysxCfg()."""
+
+    default_physics_material: PhysicsMaterialCfg = PhysicsMaterialCfg()
+    """Default physics material settings. Default is PhysicsMaterialCfg().
+
+    The physics engine defaults to this physics material for all the rigid body prims that do not have any
+    physics material specified on them.
+
+    The material is created at the path: ``{physics_prim_path}/defaultMaterial``.
+    """

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/simulation_context.py

+# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES, ETH Zurich, and University of Toronto
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+import carb
+import omni.isaac.core.utils.prims as prim_utils
+import omni.isaac.core.utils.stage as stage_utils
+import omni.physx
+from omni.isaac.core.simulation_context import SimulationContext as _SimulationContext
+from pxr import PhysxSchema
+
+from .simulation_cfg import SimulationCfg
+
+
+class SimulationContext(_SimulationContext):
+    """A class to control simulation-related events such as physics stepping and rendering.
+
+    It wraps the ``SimulationContext`` class from ``omni.isaac.core`` and adds some additional
+    functionality such as setting up the simulation context with a configuration object.
+    """
+
+    def __init__(self, cfg: SimulationCfg = None):
+        """Creates a simulation context to control the simulator.
+
+        Args:
+            cfg (SimulationCfg, optional): The configuration of the simulation. Defaults to None,
+                in which case the default configuration is used.
+        """
+        # store input
+        if cfg is None:
+            cfg = SimulationCfg()
+        self.cfg = cfg
+        # check that simulation is running
+        if stage_utils.get_current_stage() is None:
+            raise RuntimeError("The stage has not been created. Did you run the simulator?")
+
+        # set flags for simulator
+        # acquire settings interface
+        carb_settings_iface = carb.settings.get_settings()
+        # enable hydra scene-graph instancing
+        # note: this allows rendering of instanceable assets on the GUI
+        carb_settings_iface.set_bool("/persistent/omnihydra/useSceneGraphInstancing", True)
+        # change dispatcher to use the default dispatcher in PhysX SDK instead of carb tasking
+        # note: dispatcher handles how threads are launched for multi-threaded physics
+        carb_settings_iface.set_bool("/physics/physxDispatcher", True)
+        # disable contact processing in omni.physx if requested
+        # note: helpful when creating contact reporting over limited number of objects in the scene
+        if self.cfg.disable_contact_processing:
+            carb_settings_iface.set_bool("/physics/disableContactProcessing", True)
+
+        # read flag for whether headless mode is enabled
+        # note: we read this once since it is not expected to change during runtime
+        self._is_headless = not carb_settings_iface.get("/app/window/enabled")
+        # enable scene querying if rendering is enabled
+        # this is needed for some GUI features
+        if not self._is_headless:
+            self.cfg.enable_scene_query_support = True
+        # set up flatcache interface (default is None)
+        # note: need to do this here because super().__init__ calls render and this variable is needed
+        self._flatcache_iface = None
+
+        # flatten out the simulation dictionary
+        sim_params = self.cfg.to_dict()
+        if sim_params is not None:
+            if "physx" in sim_params:
+                physx_params = sim_params.pop("physx")
+                sim_params.update(physx_params)
+        # create a simulation context to control the simulator
+        super().__init__(
+            stage_units_in_meters=1.0,
+            physics_dt=self.cfg.dt,
+            rendering_dt=self.cfg.dt * self.cfg.substeps,
+            backend="torch",
+            sim_params=sim_params,
+            physics_prim_path=self.cfg.physics_prim_path,
+            device=self.cfg.device,
+        )
+        # modify the physics material
+        material_path = f"{self.cfg.physics_prim_path}/defaultMaterial"
+        material_prim = prim_utils.get_prim_at_path(material_path)
+        # Apply PhysX Rigid Material schema
+        physx_material_api = PhysxSchema.PhysxMaterialAPI.Apply(material_prim)
+        # Set patch friction property
+        improve_patch_friction = self.cfg.default_physics_material.improve_patch_friction
+        physx_material_api.CreateImprovePatchFrictionAttr().Set(improve_patch_friction)
+        # Set combination mode for coefficients
+        combine_mode = self.cfg.default_physics_material.combine_mode
+        physx_material_api.CreateFrictionCombineModeAttr().Set(combine_mode)
+        physx_material_api.CreateRestitutionCombineModeAttr().Set(combine_mode)
+
+        # check if flatcache is enabled
+        # this is needed to flush the flatcache data into Hydra manually when calling `render()`
+        # ref: https://docs.omniverse.nvidia.com/prod_extensions/prod_extensions/ext_physics.html
+        if self.cfg.use_flatcache:
+            from omni.physxflatcache import get_physx_flatcache_interface
+
+            # acquire flatcache interface
+            self._flatcache_iface = get_physx_flatcache_interface()
+
+    """
+    Operations - Override.
+    """
+
+    def reset(self, soft: bool = False):
+        # need to load all "physics" information from the USD file
+        # FIXME: Remove this for Isaac Sim 2023.1 release if it will be fixed in the core.
+        if not soft:
+            omni.physx.acquire_physx_interface().force_load_physics_from_usd()
+        # play the simulation
+        super().reset(soft=soft)
+
+    def step(self, render: bool = True):
+        # override render settings if we are in headless mode
+        if self._is_headless:
+            render = False
+        # step the simulation
+        super().step(render=render)
+
+    def render(self, flush: bool = True):
+        """Refreshes the rendering components including UI elements and view-ports.
+
+        Args:
+            flush (bool, optional): Whether to flush the flatcache data to update Hydra textures.
+        """
+        # manually flush the flatcache data to update Hydra textures
+        if self._flatcache_iface is not None and flush:
+            self._flatcache_iface.update(0.0, 0.0)
+        # render the simulation
+        super().render()
+
+    """
+    Operations - New.
+    """
+
+    def is_headless(self) -> bool:
+        """Returns whether the simulation is running in headless mode.
+
+        Note:
+            Headless mode is enabled when the simulator is running without a GUI.
+        """
+        return self._is_headless

source/extensions/omni.isaac.orbit_envs/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.4.0"
+version = "0.4.1"
 
 # Description
 title = "ORBIT Environments"

source/extensions/omni.isaac.orbit_envs/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.4.1 (2023-08-02)
+~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Adapted the base :class:`IsaacEnv` class to use the :class:`SimulationContext` class from the
+  :mod:`omni.isaac.orbit.sim` module. This simplifies setting of simulation parameters.
+
 
 0.4.0 (2023-07-26)
 ~~~~~~~~~~~~~~~~~~

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/isaac_env.py

@@ -19,12 +19,11 @@ import omni.isaac.core.utils.stage as stage_utils
 import omni.isaac.core.utils.torch as torch_utils
 import omni.usd
 from omni.isaac.cloner import GridCloner
-from omni.isaac.core.simulation_context import SimulationContext
-from omni.isaac.core.utils.extensions import enable_extension
 from omni.isaac.core.utils.viewports import set_camera_view
 
 from omni.isaac.orbit.sensors import *  # noqa: F401, F403
 from omni.isaac.orbit.sensors.sensor_base import SensorBase
+from omni.isaac.orbit.sim import SimulationContext
 
 from .isaac_env_cfg import IsaacEnvCfg
 
@@ -128,24 +127,8 @@ class IsaacEnv(gym.Env):
         # check that simulation is running
         if stage_utils.get_current_stage() is None:
             raise RuntimeError("The stage has not been created. Did you run the simulator?")
-        # flatten out the simulation dictionary
-        sim_params = self.cfg.sim.to_dict()
-        if sim_params is not None:
-            if "physx" in sim_params:
-                physx_params = sim_params.pop("physx")
-                sim_params.update(physx_params)
-        # set flags for simulator
-        self._configure_simulation_flags(sim_params)
         # create a simulation context to control the simulator
-        self.sim = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=self.physics_dt,
-            rendering_dt=self.rendering_dt,
-            backend="torch",
-            sim_params=sim_params,
-            physics_prim_path="/physicsScene",
-            device=self.device,
-        )
+        self.sim = SimulationContext(self.cfg.sim)
         # create renderer and set camera view
         self._create_viewport_render_product()
         # add flag for checking closing status
@@ -207,7 +190,7 @@ class IsaacEnv(gym.Env):
         self.envs_positions = cloner.clone(
             source_prim_path=self.template_env_ns,
             prim_paths=self.envs_prim_paths,
-            replicate_physics=self.cfg.sim.replicate_physics,
+            replicate_physics=self.cfg.env.replicate_physics,
         )
         # convert environment positions to torch tensor
         # self.envs_positions = torch.tensor(self.envs_positions, dtype=torch.float, device=self.device)
@@ -325,11 +308,8 @@ class IsaacEnv(gym.Env):
             if self._ui_throttle_counter % self._ui_throttle_period == 0:
                 self._ui_throttle_counter = 0
                 # here we don't render viewport so don't need to flush flatcache
-                self.sim.render()
+                self.sim.render(flush=False)
         elif self.render_mode == RenderMode.FULL_RENDERING:
-            # manually flush the flatcache data to update Hydra textures
-            if self._flatcache_iface is not None:
-                self._flatcache_iface.update(0.0, 0.0)
             # perform debug visualization
             if self.cfg.viewer.debug_vis:
                 self._debug_vis()
@@ -354,9 +334,6 @@ class IsaacEnv(gym.Env):
         # render the scene only if rendering at every step is disabled
         # this is because we do not want to render the scene twice
         if not self.enable_render:
-            # manually flush the flatcache data to update Hydra textures
-            if self._flatcache_iface is not None:
-                self._flatcache_iface.update(0.0, 0.0)
             # render the scene
             self.sim.render()
         # decide the rendering mode
@@ -515,60 +492,11 @@ class IsaacEnv(gym.Env):
     Helper functions - Simulation.
     """
 
-    def _configure_simulation_flags(self, sim_params: dict = None):
-        """Configure simulation flags and extensions at load and run time."""
-        # acquire settings interface
-        carb_settings_iface = carb.settings.get_settings()
-        # enable hydra scene-graph instancing
-        # note: this allows rendering of instanceable assets on the GUI
-        carb_settings_iface.set_bool("/persistent/omnihydra/useSceneGraphInstancing", True)
-        # change dispatcher to use the default dispatcher in PhysX SDK instead of carb tasking
-        # note: dispatcher handles how threads are launched for multi-threaded physics
-        carb_settings_iface.set_bool("/physics/physxDispatcher", True)
-        # disable contact processing in omni.physx if requested
-        # note: helpful when creating contact reporting over limited number of objects in the scene
-        if sim_params["disable_contact_processing"]:
-            carb_settings_iface.set_bool("/physics/disableContactProcessing", True)
-        # set flags based on whether rendering is enabled or not
-        # note: enabling extensions is order-sensitive. please do not change the order.
-        if self.enable_render or self.enable_viewport:
-            # enable scene querying if rendering is enabled
-            # this is needed for some GUI features
-            sim_params["enable_scene_query_support"] = True
-            # load extra viewport extensions if requested
-            if self.enable_viewport:
-                # extension to enable UI buttons (otherwise we get attribute errors)
-                enable_extension("omni.kit.window.toolbar")
-                # extension to make RTX realtime and path-traced renderers
-                enable_extension("omni.kit.viewport.rtx")
-                # extension to make HydraDelegate renderers
-                enable_extension("omni.kit.viewport.pxr")
-            # enable viewport extension if full rendering is enabled
-            enable_extension("omni.kit.viewport.bundle")
-            # load extra render extensions if requested
-            if self.enable_viewport:
-                # extension for window status bar
-                enable_extension("omni.kit.window.status_bar")
-        # enable isaac replicator extension
-        # note: moved here since it requires to have the viewport extension to be enabled first.
-        enable_extension("omni.replicator.isaac")
-
     def _create_viewport_render_product(self):
         """Create a render product of the viewport for rendering."""
         # set camera view for "/OmniverseKit_Persp" camera
         set_camera_view(eye=self.cfg.viewer.eye, target=self.cfg.viewer.lookat)
 
-        # check if flatcache is enabled
-        # this is needed to flush the flatcache data into Hydra manually when calling `env.render()`
-        # ref: https://docs.omniverse.nvidia.com/prod_extensions/prod_extensions/ext_physics.html
-        if self.sim.get_physics_context().use_flatcache:
-            from omni.physxflatcache import get_physx_flatcache_interface
-
-            # acquire flatcache interface
-            self._flatcache_iface = get_physx_flatcache_interface()
-        else:
-            self._flatcache_iface = None
-
         # check if viewport is enabled before creating render product
         if self.enable_viewport:
             import omni.replicator.core as rep

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/isaac_env_cfg.py

@@ -12,9 +12,10 @@ configuring the environment instances, viewer settings, and simulation parameter
 from dataclasses import MISSING
 from typing import Tuple
 
+from omni.isaac.orbit.sim import SimulationCfg
 from omni.isaac.orbit.utils import configclass
 
-__all__ = ["IsaacEnvCfg", "EnvCfg", "ViewerCfg", "PhysxCfg", "SimCfg"]
+__all__ = ["IsaacEnvCfg", "EnvCfg", "ViewerCfg"]
 
 
 ##
@@ -34,6 +35,13 @@ class EnvCfg:
     """Duration of an episode (in seconds). Default is None (no limit)."""
     send_time_outs: bool = True
     """Whether to send time-outs to the algorithm. Default is True."""
+    replicate_physics: bool = True
+    """Enable/disable replication of physics schemas when using the Cloner APIs. Default is False.
+
+    Note:
+        In Isaac Sim 2022.2.0, domain randomization of material properties is not supported when
+        ``replicate_physics`` is set to True.
+    """
 
 
 @configclass
@@ -54,172 +62,6 @@ class ViewerCfg:
     """
 
 
-##
-# Simulation settings
-##
-
-
-@configclass
-class PhysxCfg:
-    """PhysX solver parameters.
-
-    These parameters are used to configure the PhysX solver. For more information, see the PhysX 5 SDK
-    documentation.
-
-    PhysX 5 supports GPU-accelerated physics simulation. This is enabled by default, but can be disabled
-    through the flag `use_gpu`. Unlike CPU PhysX, the GPU simulation feature is not able to dynamically
-    grow all the buffers. Therefore, it is necessary to provide a reasonable estimate of the buffer sizes
-    for GPU features. If insufficient buffer sizes are provided, the simulation will fail with errors and
-    lead to adverse behaviors. The buffer sizes can be adjusted through the `gpu_*` parameters.
-
-    References:
-        * PhysX 5 documentation: https://nvidia-omniverse.github.io/PhysX/
-    """
-
-    use_gpu: bool = True
-    """Enable/disable GPU accelerated dynamics simulation. Default is True.
-
-    This enables GPU-accelerated implementations for broad-phase collision checks, contact generation,
-    shape and body management, and constrained solver.
-    """
-
-    solver_type: int = 1
-    """The type of solver to use.Default is 1 (TGS).
-
-    Available solvers:
-
-    * :obj:`0`: PGS (Projective Gauss-Seidel)
-    * :obj:`1`: TGS (Truncated Gauss-Seidel)
-    """
-
-    enable_stabilization: bool = True
-    """Enable/disable additional stabilization pass in solver. Default is True."""
-
-    bounce_threshold_velocity: float = 0.5
-    """Relative velocity threshold for contacts to bounce (in m/s). Default is 0.5 m/s."""
-
-    friction_offset_threshold: float = 0.04
-    """Threshold for contact point to experience friction force (in m). Default is 0.04 m."""
-
-    friction_correlation_distance: float = 0.025
-    """Distance threshold for merging contacts into a single friction anchor point (in m). Default is 0.025 m."""
-
-    gpu_max_rigid_contact_count: int = 1024 * 1024
-    """Size of rigid contact stream buffer allocated in pinned host memory. Default is 2 ** 20."""
-
-    gpu_max_rigid_patch_count: int = 80 * 1024 * 2
-    """Size of the rigid contact patch stream buffer allocated in pinned host memory. Default is 80 * 2 ** 11."""
-
-    gpu_found_lost_pairs_capacity: int = 1024 * 1024 * 2
-    """Capacity of found and lost buffers allocated in GPU global memory. Default is 2 ** 21.
-
-    This is used for the found/lost pair reports in the BP.
-    """
-
-    gpu_found_lost_aggregate_pairs_capacity: int = 1024 * 1024 * 32
-    """Capacity of found and lost buffers in aggregate system allocated in GPU global memory.
-    Default is 2 ** 21.
-
-    This is used for the found/lost pair reports in AABB manager.
-    """
-
-    gpu_total_aggregate_pairs_capacity: int = 1024 * 1024 * 2
-    """Capacity of total number of aggregate pairs allocated in GPU global memory. Default is 2 ** 21."""
-
-    gpu_heap_capacity: int = 64 * 1024 * 1024
-    """Initial capacity of the GPU and pinned host memory heaps. Additional memory will be allocated
-    if more memory is required. Default is 2 ** 26."""
-
-    gpu_temp_buffer_capacity: int = 16 * 1024 * 1024
-    """Capacity of temp buffer allocated in pinned host memory. Default is 2 ** 24."""
-
-    gpu_max_num_partitions: int = 8
-    """Limitation for the partitions in the GPU dynamics pipeline. Default is 8.
-
-    This variable must be power of 2. A value greater than 32 is currently not supported. Range: (1, 32)
-    """
-
-    gpu_max_soft_body_contacts: int = 1024 * 1024
-    """Size of soft body contacts stream buffer allocated in pinned host memory. Default is 2 ** 20."""
-
-    gpu_max_particle_contacts: int = 1024 * 1024
-    """Size of particle contacts stream buffer allocated in pinned host memory. Default is 2 ** 20."""
-
-
-@configclass
-class SimCfg:
-    """Configuration for simulation physics."""
-
-    dt: float = 1.0 / 60.0
-    """The physics simulation time-step (in seconds). Default is 0.0167 seconds."""
-
-    substeps: int = 1
-    """The number of physics simulation steps per rendering step. Default is 1."""
-
-    gravity: Tuple[float, float, float] = (0.0, 0.0, -9.81)
-    """The gravity vector (in m/s^2). Default is (0.0, 0.0, -9.81)."""
-
-    enable_scene_query_support: bool = False
-    """Enable/disable scene query support for collision shapes. Default is False.
-
-    This flag allows performing collision queries (raycasts, sweeps, and overlaps) on actors and
-    attached shapes in the scene. This is useful for implementing custom collision detection logic
-    outside of the physics engine.
-
-    If set to False, the physics engine does not create the scene query manager and the scene query
-    functionality will not be available. However, this provides some performance speed-up.
-
-    Note:
-        This flag is overridden to True inside the :class:`IsaacEnv` class when running the simulation
-        with the GUI enabled. This is to allow certain GUI features to work properly.
-    """
-
-    replicate_physics: bool = True
-    """Enable/disable replication of physics schemas when using the Cloner APIs. Default is False.
-
-    Note:
-        In Isaac Sim 2022.2.0, domain randomization of material properties is not supported when
-        ``replicate_physics`` is set to True.
-    """
-
-    use_flatcache: bool = True
-    """Enable/disable reading of physics buffers directly. Default is True.
-
-    When running the simulation, updates in the states in the scene is normally synchronized with USD.
-    This leads to an overhead in reading the data and does not scale well with massive parallelization.
-    This flag allows disabling the synchronization and reading the data directly from the physics buffers.
-
-    It is recommended to set this flag to :obj:`True` when running the simulation with a large number
-    of primitives in the scene.
-
-    Note:
-        When enabled, the GUI will not update the physics parameters in real-time. To enable real-time
-        updates, please set this flag to :obj:`False`.
-    """
-
-    disable_contact_processing: bool = False
-    """Enable/disable contact processing. Default is False.
-
-    By default, the physics engine processes all the contacts in the scene. However, reporting this contact
-    information can be expensive due to its combinatorial complexity. This flag allows disabling the contact
-    processing and querying the contacts manually by the user over a limited set of primitives in the scene.
-
-    It is recommended to set this flag to :obj:`True` when using the TensorAPIs for contact reporting.
-    """
-
-    use_gpu_pipeline: bool = True
-    """Enable/disable GPU pipeline. Default is True.
-
-    If set to False, the physics data will be read as CPU buffers.
-    """
-
-    device: str = "cuda:0"
-    """The device for running the simulation/environment. Default is "cuda:0"."""
-
-    physx: PhysxCfg = PhysxCfg()
-    """PhysX solver settings. Default is PhysxCfg()."""
-
-
 ##
 # Environment configuration
 ##
@@ -233,5 +75,5 @@ class IsaacEnvCfg:
     """General environment configuration."""
     viewer: ViewerCfg = ViewerCfg()
     """Viewer configuration. Default is ViewerCfg()."""
-    sim: SimCfg = SimCfg()
-    """Physics simulation configuration. Default is SimCfg()."""
+    sim: SimulationCfg = SimulationCfg()
+    """Physics simulation configuration. Default is SimulationCfg()."""

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/locomotion_cfg.py

@@ -16,6 +16,7 @@ from omni.isaac.orbit.robots.config.anymal import ANYMAL_C_CFG
 from omni.isaac.orbit.robots.legged_robot import LeggedRobotCfg
 from omni.isaac.orbit.sensors.contact_sensor import ContactSensorCfg
 from omni.isaac.orbit.sensors.ray_caster import GridPatternCfg, RayCasterCfg
+from omni.isaac.orbit.sim import SimulationCfg
 from omni.isaac.orbit.terrains import TerrainImporterCfg
 from omni.isaac.orbit.terrains.config.rough import ROUGH_TERRAINS_CFG
 from omni.isaac.orbit.utils import configclass
@@ -26,7 +27,7 @@ import omni.isaac.orbit_envs.locomotion.observations as Obs
 import omni.isaac.orbit_envs.locomotion.randomizations as Rand
 import omni.isaac.orbit_envs.locomotion.rewards as Rew
 import omni.isaac.orbit_envs.locomotion.terminations as Done
-from omni.isaac.orbit_envs.isaac_env_cfg import EnvCfg, IsaacEnvCfg, SimCfg, ViewerCfg
+from omni.isaac.orbit_envs.isaac_env_cfg import EnvCfg, IsaacEnvCfg, ViewerCfg
 from omni.isaac.orbit_envs.locomotion.actions import JointPositionActionCfg
 
 ##
@@ -222,12 +223,12 @@ class LocomotionEnvCfg(IsaacEnvCfg):
     """Configuration for the locomotion velocity environment."""
 
     # General Settings
-    env: EnvCfg = EnvCfg(num_envs=4096, env_spacing=2.5, episode_length_s=20.0)
-    viewer: ViewerCfg = ViewerCfg(debug_vis=True)
-    # Physics settings
     # disable replicate physics to use physics domain randomization
     # TODO: This is a temporary fix. Should be resolved in the future.
-    sim: SimCfg = SimCfg(dt=0.005, substeps=1, replicate_physics=False, disable_contact_processing=True)
+    env: EnvCfg = EnvCfg(num_envs=4096, env_spacing=2.5, episode_length_s=20.0, replicate_physics=False)
+    viewer: ViewerCfg = ViewerCfg(debug_vis=True)
+    # Physics settings
+    sim: SimulationCfg = SimulationCfg(dt=0.005, substeps=1, disable_contact_processing=True)
 
     # Scene Settings
     terrain: TerrainImporterCfg = TerrainImporterCfg(