Fixes unit tests of existing features (#134)

# Description

This PR checks that all the existing scripts in the codebase work as
expected. The last few merges led to the deletion of some files that
were no longer available to import in the unit tests. Also renamed files
in the test to follow the following convention:

* `test_*.py` : A script that tests a feature using unittest fixture
* `check_*.py`: A script that runs the feature but doesn't necessarily
put them as a unittest fixture.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] 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

docs/source/api/index.rst

@@ -21,7 +21,6 @@ omni.isaac.orbit extension
    orbit.command_generators
    orbit.utils
    orbit.utils.assets
-   orbit.utils.kit
    orbit.utils.math
    orbit.utils.mdp
    orbit.compat

docs/source/api/orbit.compat.rst

@@ -8,7 +8,8 @@ omni.isaac.orbit.compat
 
    * :mod:`omni.isaac.orbit.markers`
    * :mod:`omni.isaac.orbit.sensors`
-   * :mod:`omni.isaac.orbit.utils.mdp`
+   * :mod:`omni.isaac.orbit.managers`
+   * :mod:`omni.isaac.orbit.sim`
 
 Markers
 -------
@@ -103,3 +104,11 @@ MDP Managers
    :members:
    :undoc-members:
    :show-inheritance:
+
+Kit Utilities
+-------------
+
+.. automodule:: omni.isaac.orbit.compat.utils.kit
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/api/orbit.utils.kit.rst

-omni.isaac.orbit.utils.kit
-==========================
-
-.. automodule:: omni.isaac.orbit.utils.kit
-   :members:
-   :undoc-members:
-   :show-inheritance:

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

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.9.2"
+version = "0.9.3"
 
 # Description
 title = "ORBIT framework for Robot Learning"

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

 Changelog
 ---------
 
+0.9.3 (2023-08-23)
+~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Enabled the `faulthander <https://docs.python.org/3/library/faulthandler.html>`_ to catch segfaults and print
+  the stack trace. This is enabled by default in the :class:`omni.isaac.orbit.app.AppLauncher` class.
+
+Fixed
+^^^^^
+
+* Re-added the :mod:`omni.isaac.orbit.utils.kit` to the ``compat`` directory and fixed all the references to it.
+* Fixed the deletion of Replicator nodes for the :class:`omni.isaac.orbit.sensors.Camera` class. Earlier, the
+  Replicator nodes were not being deleted when the camera was deleted. However, this does not prevent the random
+  crashes that happen when the camera is deleted.
+* Fixed the :meth:`omni.isaac.orbit.utils.math.convert_quat` to support both numpy and torch tensors.
+
+Changed
+^^^^^^^
+
+* Renamed all the scripts inside the ``test`` directory to follow the convention:
+
+  * ``test_<module_name>.py``: Tests for the module ``<module_name>`` using unittest.
+  * ``check_<module_name>``: Check for the module ``<module_name>`` using python main function.
+
+
 0.9.2 (2023-08-22)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/app.py

@@ -72,6 +72,7 @@ Alternatively, one can set the environment variables to the python script direct
 
 """
 
+import faulthandler
 import os
 import re
 import sys
@@ -135,6 +136,9 @@ class AppLauncher:
         .. _SimulationApp: https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.kit/docs/index.html
         .. _documentation: https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.kit/docs/index.html
         """
+        # Enable call-stack on crash
+        faulthandler.enable()
+
         # Headless is always true for remote deployment
         remote_deployment = int(os.environ.get("REMOTE_DEPLOYMENT", 0))
         # resolve headless execution of simulation app

source/extensions/omni.isaac.orbit/omni/isaac/orbit/compat/markers/static_marker.py

@@ -15,7 +15,7 @@ from omni.isaac.core.materials import PreviewSurface
 from omni.isaac.core.prims import GeometryPrim
 from pxr import Gf, UsdGeom
 
-import omni.isaac.orbit.utils.kit as kit_utils
+import omni.isaac.orbit.compat.utils.kit as kit_utils
 from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR, check_file_path
 
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/camera.py

@@ -74,6 +74,7 @@ class Camera(SensorBase):
             cfg (CameraCfg): The configuration parameters.
 
         Raises:
+            RuntimeError: If no camera prim is found at the given path.
             ValueError: If the sensor types intersect with in the unsupported list.
         """
         # initialize base class
@@ -111,6 +112,15 @@ class Camera(SensorBase):
                 " implementation from the omni.isaac.orbit.compat.camera module."
             )
 
+    def __del__(self):
+        """Unsubscribes from callbacks and detach from the replicator registry."""
+        # unsubscribe callbacks
+        super().__del__()
+        # delete from replicator registry
+        for _, annotators in self._rep_registry.items():
+            for annotator, render_product_path in zip(annotators, self._render_product_paths):
+                annotator.detach([render_product_path])
+
     def __str__(self) -> str:
         """Returns: A string containing information about the instance."""
         # message for class
@@ -272,7 +282,7 @@ class Camera(SensorBase):
         if orientations is not None:
             if isinstance(orientations, np.ndarray):
                 orientations = torch.from_numpy(orientations).to(device=self._device)
-            elif not isinstance(orientations, torch.tensor):
+            elif not isinstance(orientations, torch.Tensor):
                 orientations = torch.tensor(orientations, device=self._device)
             orientations = convert_orientation_convention(orientations, origin=convention, target="opengl")
         # set the pose
@@ -476,8 +486,8 @@ class Camera(SensorBase):
         # -- pose of the cameras
         self._data.pos_w = torch.zeros((self._view.count, 3), device=self._device)
         self._data.quat_w_ros = torch.zeros((self._view.count, 4), device=self._device)
-        self._data.quat_w_world = torch.zeros((self._view.count, 4), device=self._device)
-        self._data.quat_w_opengl = torch.zeros((self._view.count, 4), device=self._device)
+        self._data.quat_w_world = torch.zeros_like(self._data.quat_w_ros)
+        self._data.quat_w_opengl = torch.zeros_like(self._data.quat_w_ros)
         # -- intrinsic matrix
         self._data.intrinsic_matrices = torch.zeros((self._view.count, 3, 3), device=self._device)
         self._data.image_shape = self.image_shape
@@ -551,12 +561,8 @@ class Camera(SensorBase):
         self._data.quat_w_opengl[env_ids] = quat_opengl
 
         # save world and ros convention
-        self._data.quat_w_world[env_ids] = convert_orientation_convention(
-            quat_opengl.clone(), origin="opengl", target="world"
-        )
-        self._data.quat_w_ros[env_ids] = convert_orientation_convention(
-            quat_opengl.clone(), origin="opengl", target="ros"
-        )
+        self._data.quat_w_world[env_ids] = convert_orientation_convention(quat_opengl, origin="opengl", target="world")
+        self._data.quat_w_ros[env_ids] = convert_orientation_convention(quat_opengl, origin="opengl", target="ros")
 
     def _create_annotator_data(self):
         """Create the buffers to store the annotator data.

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/utils.py

@@ -321,7 +321,7 @@ def convert_orientation_convention(
         torch.Tensor: Quaternion of form `(w, x, y, z)` with shape (..., 4) in target convention
     """
     if target == origin:
-        return orientation
+        return orientation.clone()
 
     # -- unify input type
     if origin == "ros":
@@ -363,4 +363,4 @@ def convert_orientation_convention(
         )
         return math_utils.quat_from_matrix(rotm)
     else:
-        return quat_gl
+        return quat_gl.clone()

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/sensors/sensors_cfg.py

@@ -33,8 +33,8 @@ class PinholeCameraCfg(SpawnerCfg):
     Note:
         Currently only "pinhole" is supported.
     """
-    clipping_range: tuple[float, float] = (1.0, 1000000.0)
-    """Near and far clipping distances (in m). Defaults to (1.0, 1000000.0)."""
+    clipping_range: tuple[float, float] = (1.0, 1e6)
+    """Near and far clipping distances (in m). Defaults to (1.0, 1e6)."""
     focal_length: float = 24.0
     """Perspective focal length (in cm). Defaults to 24.0cm.
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/terrain_importer.py

@@ -190,7 +190,8 @@ class TerrainImporter:
         if key in self.meshes:
             raise ValueError(f"Mesh with key {key} already exists. Existing keys: {self.meshes.keys()}.")
         # add the prim path
-        prim_utils.create_prim(self.cfg.prim_path + f"/{key}", usd_path=usd_path)
+        cfg = sim_utils.UsdFileCfg(usd_path=usd_path)
+        cfg.func(self.cfg.prim_path + f"/{key}", cfg)
 
         # traverse the prim and get the collision mesh
         # THINK: Should the user specify the collision mesh?

source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/math.py

@@ -12,7 +12,8 @@ Some of these are imported from the module `omni.isaac.core.utils.torch` for con
 import numpy as np
 import torch
 import torch.nn.functional
-from typing import Optional, Sequence, Tuple, Union
+from typing import Optional, Tuple, Union
+from typing_extensions import Literal
 
 from omni.isaac.core.utils.torch.maths import normalize, scale_transform, unscale_transform
 from omni.isaac.core.utils.torch.rotations import (
@@ -135,6 +136,7 @@ def matrix_from_quat(quaternions: torch.Tensor) -> torch.Tensor:
     Args:
         quaternions: quaternions with real part first,
             as tensor of shape (..., 4).
+
     Returns:
         Rotation matrices as tensor of shape (..., 3, 3).
 
@@ -162,42 +164,52 @@ def matrix_from_quat(quaternions: torch.Tensor) -> torch.Tensor:
     return o.reshape(quaternions.shape[:-1] + (3, 3))
 
 
-def convert_quat(quat: Union[torch.Tensor, Sequence[float]], to: Optional[str] = "xyzw") -> torch.Tensor:
+def convert_quat(
+    quat: Union[torch.Tensor, np.ndarray], to: Literal["xyzw", "wxyz"] = "xyzw"
+) -> Union[torch.Tensor, np.ndarray]:
     """Converts quaternion from one convention to another.
 
     The convention to convert TO is specified as an optional argument. If to == 'xyzw',
     then the input is in 'wxyz' format, and vice-versa.
 
     Args:
-        quat (Union[torch.Tensor, Sequence[float]]): Input quaternion of shape (..., 4).
-        to (Optional[str], optional): Convention to convert quaternion to.. Defaults to "xyzw".
+        quat (Union[torch.Tensor, np.ndarray]): Input quaternion of shape (..., 4).
+        to (Literal["xyzw", "wxyz"], optional): Convention to convert quaternion to.. Defaults to "xyzw".
+
+    Returns:
+        Union[torch.Tensor, np.ndarray]: The converted quaternion in specified convention.
 
     Raises:
         ValueError: Invalid input argument `to`, i.e. not "xyzw" or "wxyz".
         ValueError: Invalid shape of input `quat`, i.e. not (..., 4,).
-
-    Returns:
-        torch.Tensor: The converted quaternion in specified convention.
     """
-    # convert to torch (sanity check)
-    if not isinstance(quat, torch.Tensor):
-        if isinstance(quat, np.ndarray):
-            quat = torch.from_numpy(quat)
-        else:
-            quat = torch.tensor(quat, dtype=float)
     # check input is correct
     if quat.shape[-1] != 4:
         msg = f"Expected input quaternion shape mismatch: {quat.shape} != (..., 4)."
         raise ValueError(msg)
+    if to not in ["xyzw", "wxyz"]:
+        msg = f"Expected input argument `to` to be 'xyzw' or 'wxyz'. Received: {to}."
+        raise ValueError(msg)
+    # check if input is numpy array (we support this backend since some classes use numpy)
+    if isinstance(quat, np.ndarray):
+        # use numpy functions
+        if to == "xyzw":
+            # wxyz -> xyzw
+            return np.roll(quat, -1, axis=-1)
+        else:
+            # xyzw -> wxyz
+            return np.roll(quat, 1, axis=-1)
+    else:
+        # convert to torch (sanity check)
+        if not isinstance(quat, torch.Tensor):
+            quat = torch.tensor(quat, dtype=float)
         # convert to specified quaternion type
         if to == "xyzw":
             # wxyz -> xyzw
             return quat.roll(-1, dims=-1)
-    elif to == "wxyz":
+        else:
             # xyzw -> wxyz
             return quat.roll(1, dims=-1)
-    else:
-        raise ValueError(f"Choose a valid `to` argument (xyzw or wxyz). Received: {to}")
 
 
 @torch.jit.script
@@ -245,9 +257,7 @@ def quat_from_euler_xyz(roll: torch.Tensor, pitch: torch.Tensor, yaw: torch.Tens
 
 @torch.jit.script
 def _sqrt_positive_part(x: torch.Tensor) -> torch.Tensor:
-    """
-    Returns torch.sqrt(torch.max(0, x))
-    but with a zero subgradient where x is 0.
+    """Returns torch.sqrt(torch.max(0, x)) but with a zero sub-gradient where x is 0.
 
     Reference:
         Based on PyTorch3D (https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/transforms/rotation_conversions.py#L91-L99)
@@ -323,13 +333,12 @@ def quat_from_matrix(matrix: torch.Tensor) -> torch.Tensor:
 
 
 def _axis_angle_rotation(axis: str, angle: torch.Tensor) -> torch.Tensor:
-    """
-    Return the rotation matrices for one of the rotations about an axis
-    of which Euler angles describe, for each value of the angle given.
+    """Return the rotation matrices for one of the rotations about an axis of which Euler angles describe,
+    for each value of the angle given.
 
     Args:
         axis: Axis label "X" or "Y or "Z".
-        angle: any shape tensor of Euler angles in radians
+        angle: Any shape tensor of Euler angles in radians.
 
     Returns:
         Rotation matrices as tensor of shape (..., 3, 3).

source/extensions/omni.isaac.orbit/test/compat/sensors/test_camera.py

@@ -36,7 +36,7 @@ from omni.isaac.core.utils.torch import set_seed
 from omni.isaac.core.utils.viewports import set_camera_view
 from pxr import Gf, UsdGeom
 
-import omni.isaac.orbit.utils.kit as kit_utils
+import omni.isaac.orbit.compat.utils.kit as kit_utils
 from omni.isaac.orbit.compat.sensors.camera import Camera, PinholeCameraCfg
 from omni.isaac.orbit.utils.math import convert_quat
 from omni.isaac.orbit.utils.timer import Timer

source/extensions/omni.isaac.orbit/test/compat/sensors/test_height_scanner.py

@@ -33,7 +33,7 @@ from omni.isaac.core.objects.cuboid import DynamicCuboid
 from omni.isaac.core.simulation_context import SimulationContext
 from omni.isaac.core.utils.viewports import set_camera_view
 
-import omni.isaac.orbit.utils.kit as kit_utils
+import omni.isaac.orbit.compat.utils.kit as kit_utils
 from omni.isaac.orbit.compat.sensors.height_scanner import HeightScanner, HeightScannerCfg
 from omni.isaac.orbit.compat.sensors.height_scanner.utils import create_points_from_grid, plot_height_grid
 from omni.isaac.orbit.utils.math import convert_quat

source/extensions/omni.isaac.orbit/test/test_kit_utils.py → source/extensions/omni.isaac.orbit/test/compat/test_kit_utils.py

@@ -21,7 +21,7 @@ import omni.isaac.core.utils.stage as stage_utils
 from omni.isaac.core.simulation_context import SimulationContext
 from omni.isaac.core.utils.viewports import set_camera_view
 
-import omni.isaac.orbit.utils.kit as kit_utils
+import omni.isaac.orbit.compat.utils.kit as kit_utils
 from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR
 
 

source/extensions/omni.isaac.orbit/test/isaacsim/check_camera.py

+# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES, ETH Zurich, and University of Toronto
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+"""
+This script shows the issue with renderer in Isaac Sim that affects episodic resets.
+
+The first few images of every new episode are not updated. They take multiple steps to update
+and have the same image as the previous episode for the first few steps.
+
+```
+# run with cube
+_isaac_sim/python.sh source/extensions/omni.isaac.orbit/test/isaacsim/check_camera.py --scenario cube
+# run with anymal
+_isaac_sim/python.sh source/extensions/omni.isaac.orbit/test/isaacsim/check_camera.py --scenario anymal
+```
+"""
+
+"""Launch Isaac Sim Simulator first."""
+
+import argparse
+
+# omni-isaac-orbit
+from omni.isaac.kit import SimulationApp
+
+# add argparse arguments
+parser = argparse.ArgumentParser(
+    description="This script shows the issue with renderer in Isaac Sim that affects episodic resets."
+)
+parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
+parser.add_argument("--gpu", action="store_true", default=False, help="Use GPU device for camera rendering output.")
+parser.add_argument("--scenario", type=str, default="anymal", help="Scenario to load.", choices=["anymal", "cube"])
+args_cli = parser.parse_args()
+
+# launch omniverse app
+config = {"headless": args_cli.headless}
+simulation_app = SimulationApp(config)
+
+
+"""Rest everything follows."""
+
+
+import numpy as np
+import os
+import random
+
+import omni.isaac.core.utils.nucleus as nucleus_utils
+import omni.isaac.core.utils.prims as prim_utils
+import omni.replicator.core as rep
+from omni.isaac.core.articulations import ArticulationView
+from omni.isaac.core.prims import GeometryPrim, RigidPrim, RigidPrimView
+from omni.isaac.core.utils.carb import set_carb_setting
+from omni.isaac.core.utils.viewports import set_camera_view
+from omni.isaac.core.world import World
+from PIL import Image, ImageChops
+from pxr import Gf, UsdGeom
+
+# check nucleus connection
+if nucleus_utils.get_assets_root_path() is None:
+    msg = (
+        "Unable to perform Nucleus login on Omniverse. Assets root path is not set.\n"
+        "\tPlease check: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html#omniverse-nucleus"
+    )
+    raise RuntimeError(msg)
+
+ISAAC_NUCLEUS_DIR = f"{nucleus_utils.get_assets_root_path()}/Isaac"
+"""Path to the `Isaac` directory on the NVIDIA Nucleus Server."""
+
+
+def main():
+    """Runs a camera sensor from orbit."""
+
+    # Load kit helper
+    world = World(physics_dt=0.005, rendering_dt=0.005, backend="torch", device="cpu")
+    # Set main camera
+    set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])
+
+    # Enable flatcache which avoids passing data over to USD structure
+    # this speeds up the read-write operation of GPU buffers
+    if world.get_physics_context().use_gpu_pipeline:
+        world.get_physics_context().enable_flatcache(True)
+    # Enable hydra scene-graph instancing
+    # this is needed to visualize the scene when flatcache is enabled
+    set_carb_setting(world._settings, "/persistent/omnihydra/useSceneGraphInstancing", True)
+
+    # Populate scene
+    # Ground
+    world.scene.add_default_ground_plane()
+    # Lights-1
+    prim_utils.create_prim(
+        "/World/Light/GreySphere",
+        "SphereLight",
+        translation=(4.5, 3.5, 10.0),
+        attributes={"radius": 2.5, "intensity": 600.0, "color": (0.75, 0.75, 0.75)},
+    )
+    # Lights-2
+    prim_utils.create_prim(
+        "/World/Light/WhiteSphere",
+        "SphereLight",
+        translation=(-4.5, 3.5, 10.0),
+        attributes={"radius": 2.5, "intensity": 600.0, "color": (1.0, 1.0, 1.0)},
+    )
+    # Xform to hold objects
+    if args_cli.scenario == "cube":
+        prim_utils.create_prim("/World/Objects", "Xform")
+        # Random objects
+        for i in range(8):
+            # sample random position
+            position = np.random.rand(3) - np.asarray([0.05, 0.05, -1.0])
+            position *= np.asarray([1.5, 1.5, 0.5])
+            # create prim
+            prim_type = random.choice(["Cube", "Sphere", "Cylinder"])
+            _ = prim_utils.create_prim(
+                f"/World/Objects/Obj_{i:02d}",
+                prim_type,
+                translation=position,
+                scale=(0.25, 0.25, 0.25),
+                semantic_label=prim_type,
+            )
+            # add rigid properties
+            GeometryPrim(f"/World/Objects/Obj_{i:02d}", collision=True)
+            rigid_obj = RigidPrim(f"/World/Objects/Obj_{i:02d}", mass=5.0)
+            # cast to geom prim
+            geom_prim = getattr(UsdGeom, prim_type)(rigid_obj.prim)
+            # set random color
+            color = Gf.Vec3f(random.random(), random.random(), random.random())
+            geom_prim.CreateDisplayColorAttr()
+            geom_prim.GetDisplayColorAttr().Set([color])
+        # Setup camera sensor on the world
+        cam_prim_path = "/World/CameraSensor"
+    else:
+        # Robot
+        prim_utils.create_prim(
+            "/World/Robot",
+            usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_instanceable.usd",
+            translation=(0.0, 0.0, 0.6),
+        )
+        # Setup camera sensor on the robot
+        cam_prim_path = "/World/CameraSensor"
+
+    # Create camera
+    cam_prim = prim_utils.create_prim(
+        cam_prim_path,
+        prim_type="Camera",
+        translation=(5.0, 5.0, 5.0),
+        orientation=(0.33985113, 0.17591988, 0.42470818, 0.82047324),
+    )
+    _ = UsdGeom.Camera(cam_prim)
+    # Get render product
+    render_prod_path = rep.create.render_product(cam_prim_path, resolution=(640, 480))
+    # create annotator node
+    rep_registry = {}
+    for name in ["rgb", "distance_to_image_plane"]:
+        # create annotator
+        rep_annotator = rep.AnnotatorRegistry.get_annotator(name, device="cpu")
+        rep_annotator.attach(render_prod_path)
+        # add to registry
+        rep_registry[name] = rep_annotator
+
+    # Create replicator writer
+    output_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), "output", "camera", args_cli.scenario)
+    os.makedirs(output_dir, exist_ok=True)
+
+    # Create a view of the stuff we want to see
+    if args_cli.scenario == "cube":
+        view: RigidPrimView = world.scene.add(RigidPrimView("/World/Objects/.*", name="my_object"))
+    else:
+        view: ArticulationView = world.scene.add(ArticulationView("/World/Robot", name="my_object"))
+    # Play simulator
+    world.reset()
+    # Get initial state
+    if args_cli.scenario == "cube":
+        initial_pos, initial_quat = view.get_world_poses()
+        initial_joint_pos = None
+        initial_joint_vel = None
+    else:
+        initial_pos, initial_quat = view.get_world_poses()
+        initial_joint_pos = view.get_joint_positions()
+        initial_joint_vel = view.get_joint_velocities()
+
+    # Simulate for a few steps
+    # note: This is a workaround to ensure that the textures are loaded.
+    #   Check "Known Issues" section in the documentation for more details.
+    for _ in range(5):
+        world.step(render=True)
+
+    # Counter
+    count = 0
+    prev_im = None
+    # make episode directory
+    episode_count = 0
+    episode_dir = os.path.join(output_dir, f"episode_{episode_count:06d}")
+    os.makedirs(episode_dir, exist_ok=True)
+    # Simulate physics
+    while simulation_app.is_running():
+        # If simulation is stopped, then exit.
+        if world.is_stopped():
+            break
+        # If simulation is paused, then skip.
+        if not world.is_playing():
+            world.step(render=not args_cli.headless)
+            continue
+        # Reset on intervals
+        if count % 25 == 0:
+            # reset all the state
+            view.set_world_poses(initial_pos, initial_quat)
+            if initial_joint_pos is not None:
+                view.set_joint_positions(initial_joint_pos)
+            if initial_joint_vel is not None:
+                view.set_joint_velocities(initial_joint_vel)
+            # make a new episode directory
+            episode_dir = os.path.join(output_dir, f"episode_{episode_count:06d}")
+            os.makedirs(episode_dir, exist_ok=True)
+            # reset counters
+            count = 0
+            episode_count += 1
+        # Step simulation
+        for _ in range(15):
+            world.step(render=False)
+        world.render()
+        # Update camera data
+        rgb_data = rep_registry["rgb"].get_data()
+        depth_data = rep_registry["distance_to_image_plane"].get_data()
+
+        # Show current image number
+        print(f"[Epi {episode_count:03d}] Current image number: {count:06d}")
+        # Save data
+        curr_im = Image.fromarray(rgb_data)
+        curr_im.save(os.path.join(episode_dir, f"{count:06d}_rgb.png"))
+        # Save diff
+        if prev_im is not None:
+            diff_im = ImageChops.difference(curr_im, prev_im)
+            # convert to grayscale and threshold
+            diff_im = diff_im.convert("L")
+            threshold = 30
+            diff_im = diff_im.point(lambda p: p > threshold and 255)
+            # Save all of them together
+            dst_im = Image.new("RGB", (curr_im.width + prev_im.width + diff_im.width, diff_im.height))
+            dst_im.paste(prev_im, (0, 0))
+            dst_im.paste(curr_im, (prev_im.width, 0))
+            dst_im.paste(diff_im, (2 * prev_im.width, 0))
+            dst_im.save(os.path.join(episode_dir, f"{count:06d}_diff.png"))
+
+        # Save to previous
+        prev_im = curr_im.copy()
+        # Update counter
+        count += 1
+
+        # Print camera info
+        print("Received shape of rgb   image: ", rgb_data.shape)
+        print("Received shape of depth image: ", depth_data.shape)
+        print("-------------------------------")
+
+
+if __name__ == "__main__":
+    # Runs the main function
+    main()
+    # Close the simulator
+    simulation_app.close()

source/extensions/omni.isaac.orbit/test/isaacsim/test_legged_robot_clone.py → source/extensions/omni.isaac.orbit/test/isaacsim/check_legged_robot_clone.py

@@ -17,7 +17,9 @@ import argparse
 from omni.isaac.kit import SimulationApp
 
 # add argparse arguments
-parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
+parser = argparse.ArgumentParser(
+    description="This script shows the issue in Isaac Sim with GPU simulation of floating robots."
+)
 parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--num_robots", type=int, default=128, help="Number of robots to spawn.")
 parser.add_argument(

source/extensions/omni.isaac.orbit/test/isaacsim/test_rep_texture_randomizer.py → source/extensions/omni.isaac.orbit/test/isaacsim/check_rep_texture_randomizer.py

@@ -19,7 +19,9 @@ import argparse
 from omni.isaac.kit import SimulationApp
 
 # add argparse arguments
-parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
+parser = argparse.ArgumentParser(
+    description="This script shows how to use replicator to randomly change the textures of a USD scene."
+)
 parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 args_cli = parser.parse_args()
 

source/extensions/omni.isaac.orbit/test/markers/test_visualization_markers.py

@@ -59,7 +59,7 @@ class TestUsdVisualizationMarkers(unittest.TestCase):
         # check number of markers
         self.assertEqual(test_marker.num_prototypes, 1)
 
-    def test_usd_cpu_marker(self):
+    def test_usd_marker(self):
         """Test with marker from a USD."""
         # create a marker
         test_marker = VisualizationMarkers("/World/Visuals/test_frames", FRAME_MARKER_CFG)
@@ -82,29 +82,6 @@ class TestUsdVisualizationMarkers(unittest.TestCase):
             # asset that count is correct
             self.assertEqual(test_marker.count, num_frames)
 
-    def test_usd_gpu_marker(self):
-        """Test with marker from a USD."""
-        # create a marker
-        test_marker = VisualizationMarkers("/World/Visuals/test_frames", FRAME_MARKER_CFG)
-
-        # play the simulation
-        self.sim.reset()
-        # create a buffer
-        num_frames = 0
-        # run with randomization of poses
-        for count in range(1000):
-            # sample random poses
-            if count % 50 == 0:
-                num_frames = torch.randint(10, 1000, (1,)).item()
-                frame_translations = torch.randn((num_frames, 3), device=self.sim.device)
-                frame_rotations = random_orientation(num_frames, device=self.sim.device)
-                # set the marker
-                test_marker.visualize(translations=frame_translations, orientations=frame_rotations)
-            # update the kit
-            self.sim.step()
-            # asset that count is correct
-            self.assertEqual(test_marker.count, num_frames)
-
     def test_usd_marker_color(self):
         """Test with marker from a USD with its color modified."""
         # create a marker

source/extensions/omni.isaac.orbit/test/sensors/test_contact_sensor.py → source/extensions/omni.isaac.orbit/test/sensors/check_contact_sensor.py

@@ -34,16 +34,15 @@ simulation_app = SimulationApp(config)
 
 import torch
 
-import carb
 import omni.isaac.core.utils.prims as prim_utils
 from omni.isaac.cloner import GridCloner
 from omni.isaac.core.simulation_context import SimulationContext
 from omni.isaac.core.utils.carb import set_carb_setting
 from omni.isaac.core.utils.viewports import set_camera_view
 
-import omni.isaac.orbit.utils.kit as kit_utils
+import omni.isaac.orbit.compat.utils.kit as kit_utils
 from omni.isaac.orbit.assets import Articulation
-from omni.isaac.orbit.assets.articulation.config.anymal import ANYMAL_C_CFG
+from omni.isaac.orbit.assets.config.anymal import ANYMAL_C_CFG
 from omni.isaac.orbit.sensors.contact_sensor import ContactSensor, ContactSensorCfg
 
 """
@@ -129,7 +128,8 @@ def main():
 
     # Define simulation stepping
     decimation = 4
-    sim_dt = decimation * sim.get_physics_dt()
+    physics_dt = sim.get_physics_dt()
+    sim_dt = decimation * physics_dt
     sim_time = 0.0
     count = 0
     # Simulate physics
@@ -153,19 +153,18 @@ def main():
         # perform 4 steps
         for _ in range(decimation):
             # apply actions
-            robot.set_joint_position_targets(robot.data.default_joint_pos)
+            robot.set_joint_position_target(robot.data.default_joint_pos)
             # write commands to sim
             robot.write_data_to_sim()
             # perform step
             sim.step(render=not args_cli.headless)
             # fetch data
-            robot.fetch_data_from_sim()
+            robot.update(physics_dt)
         # update sim-time
         sim_time += sim_dt
         count += 1
         # update the buffers
         if sim.is_playing():
-            robot.update(sim_dt)
             contact_sensor.update(sim_dt, force_recompute=True)
             if count % 100 == 0:
                 print("Sim-time: ", sim_time)

source/extensions/omni.isaac.orbit/test/terrains/test_height_field_subterrains.py → source/extensions/omni.isaac.orbit/test/terrains/check_height_field_subterrains.py

@@ -3,10 +3,21 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-import argparse
-import matplotlib.pyplot as plt
-import numpy as np
+"""Launch Isaac Sim Simulator first."""
+
 import os
+
+from omni.isaac.orbit.app import AppLauncher
+
+# launch omniverse app
+# note: we only need to do this because of `TerrainImporter` which uses Omniverse functions
+app_experience = f"{os.environ['EXP_PATH']}/omni.isaac.sim.python.gym.headless.kit"
+app_launcher = AppLauncher(headless=True, experience=app_experience)
+simulation_app = app_launcher.app
+
+"""Rest everything follows."""
+
+import argparse
 import trimesh
 
 import omni.isaac.orbit.terrains.height_field as hf_gen
@@ -242,3 +253,6 @@ if __name__ == "__main__":
     test_discrete_obstacles_terrain(difficulty=0.25, obstacle_height_mode="fixed")
     test_wave_terrain(difficulty=0.25)
     test_stepping_stones_terrain(difficulty=1.0)
+
+    # close the app
+    simulation_app.close()

source/extensions/omni.isaac.orbit/test/terrains/test_mesh_subterrains.py → source/extensions/omni.isaac.orbit/test/terrains/check_mesh_subterrains.py

@@ -3,8 +3,21 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-import argparse
+"""Launch Isaac Sim Simulator first."""
+
 import os
+
+from omni.isaac.orbit.app import AppLauncher
+
+# launch omniverse app
+# note: we only need to do this because of `TerrainImporter` which uses Omniverse functions
+app_experience = f"{os.environ['EXP_PATH']}/omni.isaac.sim.python.gym.headless.kit"
+app_launcher = AppLauncher(headless=True, experience=app_experience)
+simulation_app = app_launcher.app
+
+"""Rest everything follows."""
+
+import argparse
 import trimesh
 
 import omni.isaac.orbit.terrains.trimesh as mesh_gen
@@ -404,3 +417,6 @@ if __name__ == "__main__":
     test_repeated_objects_terrain(difficulty=0.75, object_type="pyramid")
     test_repeated_objects_terrain(difficulty=0.75, object_type="cylinder")
     test_repeated_objects_terrain(difficulty=0.75, object_type="box")
+
+    # close the app
+    simulation_app.close()

source/extensions/omni.isaac.orbit/test/terrains/test_terrain_generator.py → source/extensions/omni.isaac.orbit/test/terrains/check_terrain_generator.py

@@ -3,9 +3,21 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+"""Launch Isaac Sim Simulator first."""
+
 
-import argparse
 import os
+
+from omni.isaac.orbit.app import AppLauncher
+
+# launch omniverse app
+# note: we only need to do this because of `TerrainImporter` which uses Omniverse functions
+app_experience = f"{os.environ['EXP_PATH']}/omni.isaac.sim.python.gym.headless.kit"
+app_launcher = AppLauncher(headless=True, experience=app_experience)
+simulation_app = app_launcher.app
+
+"""Rest everything follows."""
+
 import shutil
 
 from omni.isaac.orbit.terrains.config.rough import ROUGH_TERRAINS_CFG
@@ -26,3 +38,6 @@ if __name__ == "__main__":
     ROUGH_TERRAINS_CFG.curriculum = False
     # generate terrains
     terrain_generator = TerrainGenerator(cfg=ROUGH_TERRAINS_CFG)
+
+    # close the simulation app
+    simulation_app.close()

source/extensions/omni.isaac.orbit/test/terrains/test_terrain_importer.py → source/extensions/omni.isaac.orbit/test/terrains/check_terrain_importer.py

@@ -33,7 +33,7 @@ import argparse
 from omni.isaac.kit import SimulationApp
 
 # add argparse arguments
-parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
+parser = argparse.ArgumentParser(description="This script shows how to use the terrain importer.")
 parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--geom_sphere", action="store_true", default=False, help="Whether to use sphere mesh or shape.")
 parser.add_argument(

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/ant/ant_env.py

@@ -13,7 +13,7 @@ import omni.isaac.core.utils.prims as prim_utils
 import omni.isaac.core.utils.torch as torch_utils
 from omni.isaac.core.articulations import ArticulationView
 
-import omni.isaac.orbit.utils.kit as kit_utils
+import omni.isaac.orbit.compat.utils.kit as kit_utils
 
 from omni.isaac.orbit_envs.isaac_env import IsaacEnv, VecEnvIndices, VecEnvObs
 from omni.isaac.orbit_envs.isaac_env_cfg import EnvCfg, IsaacEnvCfg

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/cartpole/cartpole_env.py

@@ -12,7 +12,7 @@ import omni.isaac.core.utils.nucleus as nucleus_utils
 import omni.isaac.core.utils.prims as prim_utils
 from omni.isaac.core.articulations import ArticulationView
 
-import omni.isaac.orbit.utils.kit as kit_utils
+import omni.isaac.orbit.compat.utils.kit as kit_utils
 
 from omni.isaac.orbit_envs.isaac_env import IsaacEnv, VecEnvIndices, VecEnvObs
 from omni.isaac.orbit_envs.isaac_env_cfg import EnvCfg, IsaacEnvCfg

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/humanoid/humanoid_env.py

@@ -13,7 +13,7 @@ import omni.isaac.core.utils.prims as prim_utils
 import omni.isaac.core.utils.torch as torch_utils
 from omni.isaac.core.articulations import ArticulationView
 
-import omni.isaac.orbit.utils.kit as kit_utils
+import omni.isaac.orbit.compat.utils.kit as kit_utils
 
 from omni.isaac.orbit_envs.isaac_env import IsaacEnv, VecEnvIndices, VecEnvObs
 from omni.isaac.orbit_envs.isaac_env_cfg import EnvCfg, IsaacEnvCfg

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/lift/lift_env.py

@@ -10,7 +10,7 @@ from typing import List
 
 import omni.isaac.core.utils.prims as prim_utils
 
-import omni.isaac.orbit.utils.kit as kit_utils
+import omni.isaac.orbit.compat.utils.kit as kit_utils
 from omni.isaac.orbit.compat.markers import StaticMarker
 from omni.isaac.orbit.compat.utils.mdp import ObservationManager, RewardManager
 from omni.isaac.orbit.controllers.differential_inverse_kinematics import DifferentialInverseKinematics

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/manipulation/reach/reach_env.py

@@ -9,7 +9,7 @@ import torch
 
 import omni.isaac.core.utils.prims as prim_utils
 
-import omni.isaac.orbit.utils.kit as kit_utils
+import omni.isaac.orbit.compat.utils.kit as kit_utils
 from omni.isaac.orbit.compat.markers import PointMarker, StaticMarker
 from omni.isaac.orbit.compat.utils.mdp import ObservationManager, RewardManager
 from omni.isaac.orbit.controllers.differential_inverse_kinematics import DifferentialInverseKinematics

source/standalone/demo/compat/play_camera.py

-# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES, ETH Zurich, and University of Toronto
-# All rights reserved.
-#
-# SPDX-License-Identifier: BSD-3-Clause
-"""
-This script shows how to use the camera sensor from the Orbit framework.
-
-The camera sensor is created and interfaced through the Omniverse Replicator API. However, instead of using
-the simulator or OpenGL convention for the camera, we use the robotics or ROS convention.
-"""
-
-"""Launch Isaac Sim Simulator first."""
-
-import argparse
-
-# omni-isaac-orbit
-from omni.isaac.kit import SimulationApp
-
-# add argparse arguments
-parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
-parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
-parser.add_argument("--gpu", action="store_true", default=False, help="Use GPU device for camera rendering output.")
-parser.add_argument("--draw", action="store_true", default=False, help="Draw the obtained pointcloud on viewport.")
-args_cli = parser.parse_args()
-
-# launch omniverse app
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
-
-
-"""Rest everything follows."""
-
-
-import numpy as np
-import os
-import random
-
-import omni.isaac.core.utils.prims as prim_utils
-import omni.isaac.debug_draw._debug_draw as omni_debug_draw
-import omni.replicator.core as rep
-from omni.isaac.core.prims import RigidPrim
-from omni.isaac.core.simulation_context import SimulationContext
-from omni.isaac.core.utils.viewports import set_camera_view
-from pxr import Gf, UsdGeom
-
-import omni.isaac.orbit.utils.kit as kit_utils
-from omni.isaac.orbit.compat.sensors.camera import Camera, PinholeCameraCfg
-from omni.isaac.orbit.sensors.camera.utils import create_pointcloud_from_rgbd
-from omni.isaac.orbit.utils import convert_dict_to_backend
-
-"""
-Helpers
-"""
-
-
-def design_scene():
-    """Add prims to the scene."""
-    # Ground-plane
-    kit_utils.create_ground_plane("/World/defaultGroundPlane")
-    # Lights-1
-    prim_utils.create_prim(
-        "/World/Light/GreySphere",
-        "SphereLight",
-        translation=(4.5, 3.5, 10.0),
-        attributes={"radius": 2.5, "intensity": 600.0, "color": (0.75, 0.75, 0.75)},
-    )
-    # Lights-2
-    prim_utils.create_prim(
-        "/World/Light/WhiteSphere",
-        "SphereLight",
-        translation=(-4.5, 3.5, 10.0),
-        attributes={"radius": 2.5, "intensity": 600.0, "color": (1.0, 1.0, 1.0)},
-    )
-    # Xform to hold objects
-    prim_utils.create_prim("/World/Objects", "Xform")
-    # Random objects
-    for i in range(8):
-        # sample random position
-        position = np.random.rand(3) - np.asarray([0.05, 0.05, -1.0])
-        position *= np.asarray([1.5, 1.5, 0.5])
-        # create prim
-        prim_type = random.choice(["Cube", "Sphere", "Cylinder"])
-        _ = prim_utils.create_prim(
-            f"/World/Objects/Obj_{i:02d}",
-            prim_type,
-            translation=position,
-            scale=(0.25, 0.25, 0.25),
-            semantic_label=prim_type,
-        )
-        # add rigid properties
-        rigid_obj = RigidPrim(f"/World/Objects/Obj_{i:02d}", mass=5.0)
-        # cast to geom prim
-        geom_prim = getattr(UsdGeom, prim_type)(rigid_obj.prim)
-        # set random color
-        color = Gf.Vec3f(random.random(), random.random(), random.random())
-        geom_prim.CreateDisplayColorAttr()
-        geom_prim.GetDisplayColorAttr().Set([color])
-
-
-"""
-Main
-"""
-
-
-def main():
-    """Runs a camera sensor from orbit."""
-
-    # Load kit helper
-    sim = SimulationContext(physics_dt=0.005, rendering_dt=0.005, backend="torch")
-    # Set main camera
-    set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])
-    # Acquire draw interface
-    draw_interface = omni_debug_draw.acquire_debug_draw_interface()
-
-    # Populate scene
-    design_scene()
-    # Setup camera sensor
-    camera_cfg = PinholeCameraCfg(
-        sensor_tick=0,
-        height=480,
-        width=640,
-        data_types=["rgb", "distance_to_image_plane", "normals", "motion_vectors"],
-        usd_params=PinholeCameraCfg.UsdCameraCfg(
-            focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 1.0e5)
-        ),
-    )
-    camera = Camera(cfg=camera_cfg, device="cuda" if args_cli.gpu else "cpu")
-
-    # Spawn camera
-    camera.spawn("/World/CameraSensor")
-
-    # Create replicator writer
-    output_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), "output", "camera")
-    rep_writer = rep.BasicWriter(output_dir=output_dir, frame_padding=3)
-
-    # Play simulator
-    sim.play()
-    # Initialize camera
-    camera.initialize()
-
-    # Set pose: There are two ways to set the pose of the camera.
-    # -- Option-1: Set pose using view
-    # camera.set_world_pose_from_view(eye=[2.5, 2.5, 2.5], target=[0.0, 0.0, 0.0])
-    # -- Option-2: Set pose using ROS
-    position = [2.5, 2.5, 2.5]
-    orientation = [-0.17591989, 0.33985114, 0.82047325, -0.42470819]
-    camera.set_world_pose_ros(position, orientation)
-
-    # Simulate for a few steps
-    # note: This is a workaround to ensure that the textures are loaded.
-    #   Check "Known Issues" section in the documentation for more details.
-    for _ in range(3):
-        sim.step()
-
-    # Simulate physics
-    while simulation_app.is_running():
-        # If simulation is stopped, then exit.
-        if sim.is_stopped():
-            break
-        # If simulation is paused, then skip.
-        if not sim.is_playing():
-            sim.step(render=not args_cli.headless)
-            continue
-        # Step simulation
-        sim.step()
-        # Update camera data
-        camera.update(dt=0.0)
-
-        # Print camera info
-        print(camera)
-        print("Received shape of rgb   image: ", camera.data.output["rgb"].shape)
-        print("Received shape of depth image: ", camera.data.output["distance_to_image_plane"].shape)
-        print("-------------------------------")
-
-        # Save images
-        # note: BasicWriter only supports saving data in numpy format
-        rep_writer.write(convert_dict_to_backend(camera.data.output, backend="numpy"))
-
-        # Pointcloud in world frame
-        pointcloud_w, pointcloud_rgb = create_pointcloud_from_rgbd(
-            camera.data.intrinsic_matrix,
-            depth=camera.data.output["distance_to_image_plane"],
-            rgb=camera.data.output["rgb"],
-            position=camera.data.position,
-            orientation=camera.data.orientation,
-            normalize_rgb=True,
-            num_channels=4,
-        )
-
-        # Draw pointcloud
-        if not args_cli.headless and args_cli.draw:
-            # Convert to numpy for visualization
-            if not isinstance(pointcloud_w, np.ndarray):
-                pointcloud_w = pointcloud_w.cpu().numpy()
-            if not isinstance(pointcloud_rgb, np.ndarray):
-                pointcloud_rgb = pointcloud_rgb.cpu().numpy()
-            # Visualize the points
-            num_points = pointcloud_w.shape[0]
-            points_size = [1.25] * num_points
-            points_color = pointcloud_rgb
-            draw_interface.clear_points()
-            draw_interface.draw_points(pointcloud_w.tolist(), points_color, points_size)
-
-
-if __name__ == "__main__":
-    # Runs the main function
-    main()
-    # Close the simulator
-    simulation_app.close()

source/standalone/demo/play_camera.py

@@ -17,7 +17,7 @@ import argparse
 from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
-parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
+parser = argparse.ArgumentParser(description="This script demonstrates how to use the camera sensor.")
 parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--gpu", action="store_true", default=False, help="Use GPU device for camera rendering output.")
 parser.add_argument("--draw", action="store_true", default=False, help="Draw the obtained pointcloud on viewport.")
@@ -43,8 +43,8 @@ from omni.isaac.core.simulation_context import SimulationContext
 from omni.isaac.core.utils.viewports import set_camera_view
 from pxr import Gf, UsdGeom
 
-import omni.isaac.orbit.utils.kit as kit_utils
-from omni.isaac.orbit.sensors.camera import Camera, PinholeCameraCfg
+import omni.isaac.orbit.sim as sim_utils
+from omni.isaac.orbit.sensors.camera import Camera, CameraCfg
 from omni.isaac.orbit.utils import convert_dict_to_backend
 from omni.isaac.orbit.utils.math import project_points, transform_points, unproject_depth
 
@@ -55,22 +55,16 @@ Helpers
 
 def design_scene():
     """Add prims to the scene."""
+    # Spawn things into stage
     # Ground-plane
-    kit_utils.create_ground_plane("/World/defaultGroundPlane")
+    cfg = sim_utils.GroundPlaneCfg()
+    cfg.func("/World/defaultGroundPlane", cfg)
     # Lights-1
-    prim_utils.create_prim(
-        "/World/Light/GreySphere",
-        "SphereLight",
-        translation=(4.5, 3.5, 10.0),
-        attributes={"radius": 2.5, "intensity": 600.0, "color": (0.75, 0.75, 0.75)},
-    )
+    cfg = sim_utils.SphereLightCfg(intensity=600.0, color=(0.75, 0.75, 0.75), radius=2.5)
+    cfg.func("/World/Light/greyLight", cfg, translation=(4.5, 3.5, 10.0))
     # Lights-2
-    prim_utils.create_prim(
-        "/World/Light/WhiteSphere",
-        "SphereLight",
-        translation=(-4.5, 3.5, 10.0),
-        attributes={"radius": 2.5, "intensity": 600.0, "color": (1.0, 1.0, 1.0)},
-    )
+    cfg = sim_utils.SphereLightCfg(intensity=600.0, color=(1.0, 1.0, 1.0), radius=2.5)
+    cfg.func("/World/Light/whiteSphere", cfg, translation=(-4.5, 3.5, 10.0))
     # Xform to hold objects
     prim_utils.create_prim("/World/Objects", "Xform")
     # Random objects
@@ -109,7 +103,6 @@ def main():
     sim = SimulationContext(
         physics_dt=0.005, rendering_dt=0.005, backend="torch", device="cuda" if args_cli.gpu else "cpu"
     )
-    # sim = SimulationContext(physics_dt=0.005, rendering_dt=0.005, backend="numpy")
     # Set main camera
     set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])
     # Acquire draw interface
@@ -118,20 +111,21 @@ def main():
     # Populate scene
     design_scene()
     # Setup camera sensor
-    camera_cfg = PinholeCameraCfg(
+    camera_cfg = CameraCfg(
+        prim_path="/World/CameraSensor_.*/Cam",
         update_period=0,
         height=480,
         width=640,
         data_types=["rgb", "distance_to_image_plane", "normals", "motion_vectors", "semantic_segmentation"],
-        usd_params=PinholeCameraCfg.UsdCameraCfg(
+        spawn=sim_utils.PinholeCameraCfg(
             focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 1.0e5)
         ),
     )
-    camera = Camera(cfg=camera_cfg)
-
-    # Spawn camera
-    camera.spawn("/World/CameraSensor/Cam_00")
-    camera.spawn("/World/CameraSensor/Cam_01")
+    # Manually spawn the camera because we want to be fancy
+    camera_cfg.spawn.func("/World/CameraSensor_00/Cam", camera_cfg.spawn)
+    camera_cfg.spawn.func("/World/CameraSensor_01/Cam", camera_cfg.spawn)
+    # Create camera
+    camera = Camera(cfg=camera_cfg.replace(spawn=None))
 
     # Create replicator writer
     output_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), "output", "camera")
@@ -139,8 +133,6 @@ def main():
 
     # Play simulator
     sim.play()
-    # Initialize camera
-    camera.initialize("/World/CameraSensor/Cam_*")
 
     # Set pose: There are two ways to set the pose of the camera.
     # -- Option-1: Set pose using view
@@ -205,7 +197,7 @@ def main():
 
         # Pointcloud in world frame
         points_3d_cam = unproject_depth(camera.data.output["distance_to_image_plane"], camera.data.intrinsic_matrices)
-        points_3d_world = transform_points(points_3d_cam, camera.data.position, camera.data.orientation)
+        points_3d_world = transform_points(points_3d_cam, camera.data.pos_w, camera.data.quat_w_ros)
 
         # Check methods are valid
         im_height, im_width = camera.image_shape

source/standalone/demo/play_empty.py

@@ -13,7 +13,7 @@ import argparse
 from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
-parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
+parser = argparse.ArgumentParser(description="This script creates an empty stage in Isaac Sim.")
 parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 args_cli = parser.parse_args()
 

source/standalone/demo/play_ik_control.py

@@ -38,7 +38,7 @@ from omni.isaac.core.simulation_context import SimulationContext
 from omni.isaac.core.utils.carb import set_carb_setting
 from omni.isaac.core.utils.viewports import set_camera_view
 
-import omni.isaac.orbit.utils.kit as kit_utils
+import omni.isaac.orbit.compat.utils.kit as kit_utils
 from omni.isaac.orbit.compat.markers import StaticMarker
 from omni.isaac.orbit.controllers.differential_inverse_kinematics import (
     DifferentialInverseKinematics,

source/standalone/demo/play_rmpflow.py

@@ -17,7 +17,9 @@ import argparse
 from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
-parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
+parser = argparse.ArgumentParser(
+    description="This script demonstrates how to use the RMPFlow controller with the simulator."
+)
 parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--robot", type=str, default="ur10", help="Name of the robot. Options: franka_panda, ur10.")
 parser.add_argument("--num_envs", type=int, default=5, help="Number of environments to spawn.")
@@ -38,7 +40,7 @@ from omni.isaac.core.simulation_context import SimulationContext
 from omni.isaac.core.utils.carb import set_carb_setting
 from omni.isaac.core.utils.viewports import set_camera_view
 
-import omni.isaac.orbit.utils.kit as kit_utils
+import omni.isaac.orbit.compat.utils.kit as kit_utils
 from omni.isaac.orbit.compat.markers import StaticMarker
 from omni.isaac.orbit.controllers.config.rmp_flow import FRANKA_RMPFLOW_CFG, UR10_RMPFLOW_CFG
 from omni.isaac.orbit.controllers.rmp_flow import RmpFlowController

source/standalone/environments/random_agent.py

@@ -13,7 +13,7 @@ import argparse
 from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
-parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
+parser = argparse.ArgumentParser(description="Random agent for Isaac Orbit environments.")
 parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--cpu", action="store_true", default=False, help="Use CPU pipeline.")
 parser.add_argument("--num_envs", type=int, default=None, help="Number of environments to simulate.")

source/standalone/environments/state_machine/play_lift.py

@@ -15,7 +15,7 @@ import argparse
 from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
-parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
+parser = argparse.ArgumentParser(description="Pick and lift state machine for lift environments.")
 parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--cpu", action="store_true", default=False, help="Use CPU pipeline.")
 parser.add_argument("--num_envs", type=int, default=None, help="Number of environments to simulate.")

source/standalone/environments/teleoperation/teleop_se3_agent.py

@@ -13,7 +13,7 @@ import argparse
 from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
-parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
+parser = argparse.ArgumentParser(description="Keyboard teleoperation for Isaac Orbit environments.")
 parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--cpu", action="store_true", default=False, help="Use CPU pipeline.")
 parser.add_argument("--num_envs", type=int, default=1, help="Number of environments to simulate.")

source/standalone/environments/zero_agent.py

@@ -13,7 +13,7 @@ import argparse
 from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
-parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
+parser = argparse.ArgumentParser(description="Zero agent for Isaac Orbit environments.")
 parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--cpu", action="store_true", default=False, help="Use CPU pipeline.")
 parser.add_argument("--num_envs", type=int, default=None, help="Number of environments to simulate.")

source/standalone/workflows/rl_games/play.py

@@ -13,7 +13,7 @@ import argparse
 from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
-parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
+parser = argparse.ArgumentParser(description="Play a checkpoint of an RL agent from RL-Games.")
 parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--cpu", action="store_true", default=False, help="Use CPU pipeline.")
 parser.add_argument("--num_envs", type=int, default=None, help="Number of environments to simulate.")

source/standalone/workflows/rl_games/train.py

@@ -14,7 +14,7 @@ import os
 from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
-parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
+parser = argparse.ArgumentParser(description="Train an RL agent with RL-Games.")
 parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--video", action="store_true", default=False, help="Record videos during training.")
 parser.add_argument("--video_length", type=int, default=200, help="Length of the recorded video (in steps).")

source/standalone/workflows/robomimic/collect_demonstrations.py

@@ -13,7 +13,7 @@ import argparse
 from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
-parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
+parser = argparse.ArgumentParser(description="Collect demonstrations for Isaac Orbit environments.")
 parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--cpu", action="store_true", default=False, help="Use CPU pipeline.")
 parser.add_argument("--num_envs", type=int, default=1, help="Number of environments to simulate.")

source/standalone/workflows/robomimic/play.py

@@ -13,7 +13,7 @@ import argparse
 from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
-parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
+parser = argparse.ArgumentParser(description="Play policy trained using robomimic for Isaac Orbit environments.")
 parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--cpu", action="store_true", default=False, help="Use CPU pipeline.")
 parser.add_argument("--task", type=str, default=None, help="Name of the task.")

source/standalone/workflows/robomimic/tools/episode_merging.py

@@ -13,7 +13,7 @@ import os
 
 if __name__ == "__main__":
     # parse arguments
-    parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
+    parser = argparse.ArgumentParser(description="Merge multiple episodes with single trajectory into one episode.")
     parser.add_argument(
         "--dir", type=str, default=None, help="Path to directory that contains all single episode hdf5 files"
     )

source/standalone/workflows/robomimic/tools/inspect_demonstrations.py

@@ -25,7 +25,7 @@ def check_group(f, num: int):
 
 if __name__ == "__main__":
     # parse arguments
-    parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
+    parser = argparse.ArgumentParser(description="Check structure of hdf5 file.")
     parser.add_argument("file", type=str, default=None, help="The path to HDF5 file to analyze.")
     args_cli = parser.parse_args()
 

source/standalone/workflows/rsl_rl/play.py

@@ -13,7 +13,7 @@ import argparse
 from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
-parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
+parser = argparse.ArgumentParser(description="Play a checkpoint of an RL agent from RSL-RL.")
 parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--cpu", action="store_true", default=False, help="Use CPU pipeline.")
 parser.add_argument("--num_envs", type=int, default=None, help="Number of environments to simulate.")

source/standalone/workflows/rsl_rl/train.py

@@ -14,7 +14,7 @@ import os
 from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
-parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
+parser = argparse.ArgumentParser(description="Train an RL agent with RSL-RL.")
 parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--video", action="store_true", default=False, help="Record videos during training.")
 parser.add_argument("--video_length", type=int, default=200, help="Length of the recorded video (in steps).")

source/standalone/workflows/sb3/play.py

@@ -14,7 +14,7 @@ import numpy as np
 from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
-parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
+parser = argparse.ArgumentParser(description="Play a checkpoint of an RL agent from Stable-Baselines3.")
 parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--cpu", action="store_true", default=False, help="Use CPU pipeline.")
 parser.add_argument("--num_envs", type=int, default=None, help="Number of environments to simulate.")

source/standalone/workflows/sb3/train.py

@@ -15,7 +15,7 @@ import os
 from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
-parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
+parser = argparse.ArgumentParser(description="Train an RL agent with Stable-Baselines3.")
 parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--video", action="store_true", default=False, help="Record videos during training.")
 parser.add_argument("--video_length", type=int, default=200, help="Length of the recorded video (in steps).")

source/standalone/workflows/skrl/play.py

@@ -19,7 +19,7 @@ import os
 from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
-parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
+parser = argparse.ArgumentParser(description="Play a checkpoint of an RL agent from skrl.")
 parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--cpu", action="store_true", default=False, help="Use CPU pipeline.")
 parser.add_argument("--num_envs", type=int, default=None, help="Number of environments to simulate.")

source/standalone/workflows/skrl/train.py

@@ -19,7 +19,7 @@ import os
 from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
-parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
+parser = argparse.ArgumentParser(description="Train an RL agent with skrl.")
 parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--video", action="store_true", default=False, help="Record videos during training.")
 parser.add_argument("--video_length", type=int, default=200, help="Length of the recorded video (in steps).")