Updates code to Isaac Sim 4.1.0 release (#734)

# Description

Updates code to Isaac Sim 4.1.0 release.

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

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

.github/workflows/postmerge-ci-buildspec.yml

@@ -5,7 +5,7 @@ phases:
     commands:
       - echo "Building a docker image"
       - docker login -u \$oauthtoken -p $NGC_TOKEN nvcr.io
-      - docker build -t $IMAGE_NAME:latest-1.0 --build-arg ISAACSIM_VERSION_ARG=4.0.0 --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab --build-arg DOCKER_USER_HOME_ARG=/root -f docker/Dockerfile.base .
+      - docker build -t $IMAGE_NAME:latest-1.0 --build-arg ISAACSIM_VERSION_ARG=4.1.0 --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab --build-arg DOCKER_USER_HOME_ARG=/root -f docker/Dockerfile.base .
       - echo "Pushing the docker image"
       - docker push $IMAGE_NAME:latest-1.0
       - docker tag $IMAGE_NAME:latest-1.0 $IMAGE_NAME:latest-1.0-b$CODEBUILD_BUILD_NUMBER

.github/workflows/premerge-ci-buildspec.yml

@@ -40,7 +40,7 @@ phases:
         '
       - ssh ubuntu@$EC2_INSTANCE_IP "docker login -u \\\$oauthtoken -p $NGC_TOKEN nvcr.io"
       - ssh ubuntu@$EC2_INSTANCE_IP "cd IsaacLab;
-          docker build -t isaac-lab-dev --build-arg ISAACSIM_VERSION_ARG=4.0.0 --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab --build-arg DOCKER_USER_HOME_ARG=/root -f docker/Dockerfile.base . ;
+          docker build -t isaac-lab-dev --build-arg ISAACSIM_VERSION_ARG=4.1.0 --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab --build-arg DOCKER_USER_HOME_ARG=/root -f docker/Dockerfile.base . ;
           docker run --rm --entrypoint bash --gpus all --network=host --name isaac-lab-test isaac-lab-dev ./isaaclab.sh -t &&
           exit $?"
   post_build:

CONTRIBUTORS.md

@@ -41,6 +41,7 @@ Guidelines for modifications:
 * Chenyu Yang
 * Jia Lin Yuan
 * Jingzhou Liu
+* Johnson Sun
 * Kourosh Darvish
 * Lorenz Wellhausen
 * Muhong Guo
@@ -54,7 +55,6 @@ Guidelines for modifications:
 * Vladimir Fokow
 * Zhengyu Zhang
 * Ziqi Fan
-* Johnson Sun
 
 ## Acknowledgements
 

README.md

@@ -4,7 +4,7 @@
 
 # Isaac Lab
 
-[![IsaacSim](https://img.shields.io/badge/IsaacSim-4.0-silver.svg)](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html)
+[![IsaacSim](https://img.shields.io/badge/IsaacSim-4.1-silver.svg)](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html)
 [![Python](https://img.shields.io/badge/python-3.10-blue.svg)](https://docs.python.org/3/whatsnew/3.10.html)
 [![Linux platform](https://img.shields.io/badge/platform-linux--64-orange.svg)](https://releases.ubuntu.com/20.04/)
 [![Windows platform](https://img.shields.io/badge/platform-windows--64-orange.svg)](https://www.microsoft.com/en-us/)

VERSION

-1.0.0
+1.1.0

docker/.env.base

@@ -4,8 +4,8 @@
 
 # Accept the NVIDIA Omniverse EULA by default
 ACCEPT_EULA=Y
-# NVIDIA Isaac Sim version to use (e.g. 4.0.0, 2023.1.1)
-ISAACSIM_VERSION=4.0.0
+# NVIDIA Isaac Sim version to use (e.g. 4.1.0)
+ISAACSIM_VERSION=4.1.0
 # Derived from the default path in the NVIDIA provided Isaac Sim container
 DOCKER_ISAACSIM_ROOT_PATH=/isaac-sim
 # The Isaac Lab path in the container

docs/source/_static/css/custom.css

@@ -26,6 +26,7 @@ html[data-theme="light"] {
     --pst-color-link: var(--pst-color-primary);
     --pst-color-link-hover: #789841;
     --pst-color-table-row-hover-bg: #daedb9;
+    --pst-color-accent: var(--pst-color-primary);
 }
 
 /* anything related to the dark theme */
@@ -51,6 +52,7 @@ html[data-theme="dark"] {
     --pst-color-link: var(--pst-color-primary);
     --pst-color-link-hover: #aee354;
     --pst-color-table-row-hover-bg: #3a550b;
+    --pst-color-accent: var(--pst-color-primary);
 }
 
 a {

docs/source/api/lab/omni.isaac.lab.managers.rst

@@ -94,21 +94,6 @@ Event Manager
     :members:
     :exclude-members: __init__
 
-Randomization Manager
----------------------
-
-.. deprecated:: v0.3
-    The Randomization Manager is deprecated and will be removed in v0.4.
-    Please use the :class:`EventManager` class instead.
-
-.. autoclass:: RandomizationManager
-    :members:
-    :inherited-members:
-    :show-inheritance:
-
-.. autoclass:: RandomizationTermCfg
-    :members:
-    :exclude-members: __init__
 
 Command Manager
 ---------------

docs/source/features/tiled_rendering.rst

@@ -9,7 +9,7 @@ Tiled Rendering
 
 .. note::
 
-    This feature is only available from Isaac Sim version 4.0.0.
+    This feature is only available from Isaac Sim version 4.0.0 onwards.
 
     Tiled rendering requires heavy memory resources. We recommend running at most 256 cameras in the scene.
 

docs/source/how-to/add_own_library.rst

@@ -4,7 +4,7 @@ Adding your own learning library
 Isaac Lab comes pre-integrated with a number of libraries (such as RSL-RL, RL-Games, SKRL, Stable Baselines, etc.).
 However, you may want to integrate your own library with Isaac Lab or use a different version of the libraries than
 the one installed by Isaac Lab. This is possible as long as the library is available as Python package that supports
-the Python version used by the underlying simulator. For instance, if you are using Isaac Sim 2023.1.1, you need
+the Python version used by the underlying simulator. For instance, if you are using Isaac Sim 4.0.0 onwards, you need
 to ensure that the library is available for Python 3.10.
 
 Using a different version of a library

docs/source/migration/migrating_from_isaacgymenvs.rst

@@ -11,6 +11,11 @@ As both IsaacGymEnvs and the Isaac Gym Preview Release are now deprecated, the f
 the key differences between IsaacGymEnvs and Isaac Lab, as well as differences in APIs between Isaac Gym Preview
 Release and Isaac Sim.
 
+.. note::
+
+  The following changes are with respect to Isaac Lab 1.0 release. Please refer to the `release notes`_ for any changes
+  in the future releases.
+
 
 Task Config Setup
 ~~~~~~~~~~~~~~~~~
@@ -920,3 +925,4 @@ To launch inferencing in Isaac Lab, use the command:
 
 .. _IsaacGymEnvs: https://github.com/isaac-sim/IsaacGymEnvs
 .. _Isaac Gym Preview Release: https://developer.nvidia.com/isaac-gym
+.. _release notes: https://github.com/isaac-sim/IsaacLab/releases

docs/source/migration/migrating_from_omniisaacgymenvs.rst

@@ -12,6 +12,10 @@ We have updated OmniIsaacGymEnvs to Isaac Sim version 4.0.0 to support the migra
 to Isaac Lab. Moving forward, OmniIsaacGymEnvs will be deprecated and future development
 will continue in Isaac Lab.
 
+.. note::
+
+  The following changes are with respect to Isaac Lab 1.0 release. Please refer to the `release notes`_ for any changes
+  in the future releases.
 
 Task Config Setup
 ~~~~~~~~~~~~~~~~~
@@ -992,3 +996,4 @@ To launch inferencing in Isaac Lab, use the command:
 
 
 .. _`OmniIsaacGymEnvs`: https://github.com/isaac-sim/OmniIsaacGymEnvs
+.. _release notes: https://github.com/isaac-sim/IsaacLab/releases

docs/source/migration/migrating_from_orbit.rst

@@ -8,6 +8,12 @@ From Orbit
 Since `Orbit`_ was used as basis for Isaac Lab, migrating from Orbit to Isaac Lab is straightforward.
 The following sections describe the changes that need to be made to your code to migrate from Orbit to Isaac Lab.
 
+.. note::
+
+  The following changes are with respect to Isaac Lab 1.0 release. Please refer to the `release notes`_ for any changes
+  in the future releases.
+
+
 Renaming of the launch script
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
@@ -129,3 +135,4 @@ should now be:
 
 
 .. _Orbit: https://isaac-orbit.github.io/
+.. _release notes: https://github.com/isaac-sim/IsaacLab/releases

docs/source/setup/installation/binaries_installation.rst

@@ -136,7 +136,7 @@ to index the python modules and look for extensions shipped with Isaac Sim.
          cd IsaacLab
          # create a symbolic link
          ln -s path_to_isaac_sim _isaac_sim
-         # For example: ln -s /home/nvidia/.local/share/ov/pkg/isaac-sim-4.0.0 _isaac_sim
+         # For example: ln -s /home/nvidia/.local/share/ov/pkg/isaac-sim-4.1.0 _isaac_sim
 
    .. tab-item:: :icon:`fa-brands fa-windows` Windows
       :sync: windows
@@ -147,7 +147,7 @@ to index the python modules and look for extensions shipped with Isaac Sim.
          cd IsaacLab
          :: create a symbolic link - requires launching Command Prompt with Administrator access
          mklink /D _isaac_sim path_to_isaac_sim
-         :: For example: mklink /D _isaac_sim C:/Users/nvidia/AppData/Local/ov/pkg/isaac-sim-4.0.0
+         :: For example: mklink /D _isaac_sim C:/Users/nvidia/AppData/Local/ov/pkg/isaac-sim-4.1.0
 
 
 Setting up the conda environment (optional)

docs/source/setup/installation/index.rst

 Installation Guide
 ===================
 
-.. image:: https://img.shields.io/badge/IsaacSim-4.0-silver.svg
+.. image:: https://img.shields.io/badge/IsaacSim-4.1.0-silver.svg
    :target: https://developer.nvidia.com/isaac-sim
-   :alt: IsaacSim 4.0
+   :alt: IsaacSim 4.1.0
 
 .. image:: https://img.shields.io/badge/python-3.10-blue.svg
    :target: https://www.python.org/downloads/release/python-31013/
@@ -20,7 +20,7 @@ Installation Guide
 .. caution::
 
    We have dropped support for Isaac Sim versions 2023.1.1 and below. We recommend using the latest
-   Isaac Sim 4.0 release to benefit from the latest features and improvements.
+   Isaac Sim 4.1.0 release to benefit from the latest features and improvements.
 
    For more information, please refer to the
    `Isaac Sim release notes <https://docs.omniverse.nvidia.com/isaacsim/latest/release_notes.html>`__.
@@ -31,7 +31,7 @@ Installation Guide
     For the full list of system requirements for Isaac Sim, please refer to the
     `Isaac Sim system requirements <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/requirements.html#system-requirements>`_.
 
-As an experimental feature in Isaac Sim 4.0 release, Isaac Sim can also be installed through pip.
+As an experimental feature since Isaac Sim 4.0 release, Isaac Sim can also be installed through pip.
 This simplifies the installation
 process by avoiding the need to download the Omniverse Launcher and installing Isaac Sim through
 the launcher. Therefore, there are two ways to install Isaac Lab:

docs/source/setup/installation/verifying_installation.rst

@@ -69,7 +69,7 @@ variables to your terminal for the remaining of the installation instructions:
       .. code:: bash
 
          # Isaac Sim root directory
-         export ISAACSIM_PATH="${HOME}/.local/share/ov/pkg/isaac-sim-4.0.0"
+         export ISAACSIM_PATH="${HOME}/.local/share/ov/pkg/isaac-sim-4.1.0"
          # Isaac Sim python executable
          export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
 
@@ -79,7 +79,7 @@ variables to your terminal for the remaining of the installation instructions:
       .. code:: batch
 
          :: Isaac Sim root directory
-         set ISAACSIM_PATH="C:\Users\user\AppData\Local\ov\pkg\isaac-sim-4.0.0"
+         set ISAACSIM_PATH="C:\Users\user\AppData\Local\ov\pkg\isaac-sim-4.1.0"
          :: Isaac Sim python executable
          set ISAACSIM_PYTHON_EXE="%ISAACSIM_PATH%\python.bat"
 

pyproject.toml

@@ -88,6 +88,6 @@ reportPrivateUsage = "warning"
 skip = '*.usd,*.svg,*.png,_isaac_sim*,*.bib,*.css,*/_build'
 quiet-level = 0
 # the world list should always have words in lower case
-ignore-words-list = "haa,slq,collapsable"
+ignore-words-list = "haa,slq,collapsable,buss"
 # todo: this is hack to deal with incorrect spelling of "Environment" in the Isaac Sim grid world asset
 exclude-file = "source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py"

source/apps/isaaclab.python.headless.kit

@@ -14,7 +14,7 @@ keywords = ["experience", "app", "isaaclab", "python", "headless"]
 app.versionFile = "${exe-path}/VERSION"
 app.folder = "${exe-path}/"
 app.name = "Isaac-Sim"
-app.version = "4.0.0"
+app.version = "4.1.0"
 
 ##################################
 # Omniverse related dependencies #
@@ -108,7 +108,7 @@ app.vulkan = true
 ################################
 app.versionFile = "${app}/../VERSION"
 app.name = "Isaac-Sim"
-app.version = "4.0.0"
+app.version = "4.1.0"
 
 # hide NonToggleable Exts
 exts."omni.kit.window.extensions".hideNonToggleableExts = true

source/apps/isaaclab.python.headless.rendering.kit

@@ -32,7 +32,7 @@ keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]
 app.versionFile = "${exe-path}/VERSION"
 app.folder = "${exe-path}/"
 app.name = "Isaac-Sim"
-app.version = "4.0.0"
+app.version = "4.1.0"
 
 # set the default ros bridge to disable on startup
 isaac.startup.ros_bridge_extension = ""

source/apps/isaaclab.python.kit

@@ -217,7 +217,7 @@ app.vulkan = true
 app.versionFile = "${exe-path}/VERSION"
 app.folder = "${exe-path}/"
 app.name = "Isaac-Sim"
-app.version = "4.0.0"
+app.version = "4.1.0"
 
 # hide NonToggleable Exts
 exts."omni.kit.window.extensions".hideNonToggleableExts = true

source/apps/isaaclab.python.rendering.kit

@@ -32,7 +32,7 @@ keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]
 app.versionFile = "${exe-path}/VERSION"
 app.folder = "${exe-path}/"
 app.name = "Isaac-Sim"
-app.version = "4.0.0"
+app.version = "4.1.0"
 
 # set the default ros bridge to disable on startup
 isaac.startup.ros_bridge_extension = ""

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

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.19.4"
+version = "0.20.0"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

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

 Changelog
 ---------
 
+0.20.0 (2024-07-26)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Support for the Isaac Sim 4.1.0 release.
+
+Removed
+^^^^^^^
+
+* The ``mdp.add_body_mass`` method in the events. Please use the
+  :meth:`omni.isaac.lab.envs.mdp.randomize_rigid_body_mass` method instead.
+* The classes ``managers.RandomizationManager`` and ``managers.RandomizationTermCfg`` are replaced with
+  :class:`omni.isaac.lab.managers.EventManager` and :class:`omni.isaac.lab.managers.EventTermCfg` classes.
+* The following properties in :class:`omni.isaac.lab.sensors.FrameTransformerData`:
+
+  * ``target_rot_source`` --> :attr:`~omni.isaac.lab.sensors.FrameTransformerData.target_quat_w`
+  * ``target_rot_w`` --> :attr:`~omni.isaac.lab.sensors.FrameTransformerData.target_quat_source`
+  * ``source_rot_w`` --> :attr:`~omni.isaac.lab.sensors.FrameTransformerData.source_quat_w`
+
+* The kit experience file ``isaaclab.backwards.compatible.kit``. This is followed by dropping the support for
+  Isaac Sim 2023.1.1 completely.
+
+
 0.19.4 (2024-07-13)
 ~~~~~~~~~~~~~~~~~~~
 
@@ -81,7 +106,7 @@ Fixed
 Fixed
 ^^^^^
 
-* Fixed the gravity vector direction used inside the :class:`omni.isaac.lab.assets.RigidObjectData`class.
+* Fixed the gravity vector direction used inside the :class:`omni.isaac.lab.assets.RigidObjectData` class.
   Earlier, the gravity direction was hard-coded as (0, 0, -1) which may be different from the actual
   gravity direction in the simulation. Now, the gravity direction is obtained from the simulation context
   and used to compute the projection of the gravity vector on the object.

source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py

@@ -564,8 +564,8 @@ class AppLauncher:
             if self._livestream == 1:
                 # Enable Native Livestream extension
                 # Default App: Streaming Client from the Omniverse Launcher
-                enable_extension("omni.kit.streamsdk.plugins-3.2.1")
-                enable_extension("omni.kit.livestream.core-3.2.0")
+                enable_extension("omni.kit.streamsdk.plugins-4.5.1")
+                enable_extension("omni.kit.livestream.core-4.3.6")
                 enable_extension("omni.kit.livestream.native-4.1.0")
             elif self._livestream == 2:
                 # Enable WebRTC Livestream extension

source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py

@@ -22,18 +22,20 @@ class DifferentialIKController:
 
     .. math::
 
-        \Delta \mathbf{q} = \mathbf{J}^{\dagger} \Delta \mathbf{x}
-        \mathbf{q}_{\text{desired}} = \mathbf{q}_{\text{current}} + \Delta \mathbf{q}
+        \Delta \mathbf{q} &= \mathbf{J}^{\dagger} \Delta \mathbf{x} \\
+        \mathbf{q}_{\text{desired}} &= \mathbf{q}_{\text{current}} + \Delta \mathbf{q}
 
     where :math:`\mathbf{J}^{\dagger}` is the pseudo-inverse of the Jacobian matrix :math:`\mathbf{J}`,
     :math:`\Delta \mathbf{x}` is the desired change in pose, and :math:`\mathbf{q}_{\text{current}}`
     is the current joint positions.
 
     To deal with singularity in Jacobian, the following methods are supported for computing inverse of the Jacobian:
-        - "pinv": Moore-Penrose pseudo-inverse
-        - "svd": Adaptive singular-value decomposition (SVD)
-        - "trans": Transpose of matrix
-        - "dls": Damped version of Moore-Penrose pseudo-inverse (also called Levenberg-Marquardt)
+
+    - "pinv": Moore-Penrose pseudo-inverse
+    - "svd": Adaptive singular-value decomposition (SVD)
+    - "trans": Transpose of matrix
+    - "dls": Damped version of Moore-Penrose pseudo-inverse (also called Levenberg-Marquardt)
+
 
     .. caution::
         The controller does not assume anything about the frames of the current and desired end-effector pose,
@@ -41,8 +43,12 @@ class DifferentialIKController:
         in the correct format.
 
     Reference:
-        [1] https://ethz.ch/content/dam/ethz/special-interest/mavt/robotics-n-intelligent-systems/rsl-dam/documents/RobotDynamics2017/RD_HS2017script.pdf
-        [2] https://www.cs.cmu.edu/~15464-s13/lectures/lecture6/iksurvey.pdf
+
+    1. `Robot Dynamics Lecture Notes <https://ethz.ch/content/dam/ethz/special-interest/mavt/robotics-n-intelligent-systems/rsl-dam/documents/RobotDynamics2017/RD_HS2017script.pdf>`_
+       by Marco Hutter (ETH Zurich)
+    2. `Introduction to Inverse Kinematics <https://www.cs.cmu.edu/~15464-s13/lectures/lecture6/iksurvey.pdf>`_
+       by Samuel R. Buss (University of California, San Diego)
+
     """
 
     def __init__(self, cfg: DifferentialIKControllerCfg, num_envs: int, device: str):

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py

@@ -5,7 +5,6 @@
 
 import builtins
 import torch
-import warnings
 from collections.abc import Sequence
 from typing import Any
 
@@ -201,17 +200,6 @@ class ManagerBasedEnv:
             :meth:`SimulationContext.reset_async` and it isn't possible to call async functions in the constructor.
 
         """
-        # check the configs
-        if self.cfg.randomization is not None:
-            msg = (
-                "The 'randomization' attribute is deprecated and will be removed in a future release. "
-                "Please use the 'events' attribute to configure the randomization settings."
-            )
-            warnings.warn(msg, category=DeprecationWarning)
-            carb.log_warn(msg)
-            # set the randomization as events (for backward compatibility)
-            self.cfg.events = self.cfg.randomization
-
         # prepare the managers
         # -- action manager
         self.action_manager = ActionManager(self.cfg.actions, self)

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py

@@ -15,7 +15,6 @@ the event introduced by the function.
 from __future__ import annotations
 
 import torch
-import warnings
 from typing import TYPE_CHECKING, Literal
 
 import carb
@@ -123,32 +122,6 @@ def randomize_rigid_body_material(
     asset.root_physx_view.set_material_properties(materials, env_ids)
 
 
-def add_body_mass(
-    env: ManagerBasedEnv,
-    env_ids: torch.Tensor | None,
-    mass_distribution_params: tuple[float, float],
-    asset_cfg: SceneEntityCfg,
-):
-    """Randomize the mass of the bodies by adding a random value sampled from the given range.
-
-    .. tip::
-        This function uses CPU tensors to assign the body masses. It is recommended to use this function
-        only during the initialization of the environment.
-
-    .. deprecated:: v0.4
-        This function is deprecated. Please use :func:`randomize_rigid_body_mass` with ``operation="add"`` instead.
-
-    """
-    msg = "Event term 'add_body_mass' is deprecated. Please use 'randomize_rigid_body_mass' with operation='add'."
-    warnings.warn(msg, DeprecationWarning)
-    carb.log_warn(msg)
-
-    # call the new function
-    randomize_rigid_body_mass(
-        env, env_ids, asset_cfg, mass_distribution_params, operation="add", distribution="uniform"
-    )
-
-
 def randomize_rigid_body_mass(
     env: ManagerBasedEnv,
     env_ids: torch.Tensor | None,

source/extensions/omni.isaac.lab/omni/isaac/lab/managers/__init__.py

@@ -13,7 +13,7 @@ designed to be modular and can be easily extended to support new functionality.
 from .action_manager import ActionManager, ActionTerm
 from .command_manager import CommandManager, CommandTerm
 from .curriculum_manager import CurriculumManager
-from .event_manager import EventManager, RandomizationManager
+from .event_manager import EventManager
 from .manager_base import ManagerBase, ManagerTermBase
 from .manager_term_cfg import (
     ActionTermCfg,
@@ -23,7 +23,6 @@ from .manager_term_cfg import (
     ManagerTermBaseCfg,
     ObservationGroupCfg,
     ObservationTermCfg,
-    RandomizationTermCfg,
     RewardTermCfg,
     TerminationTermCfg,
 )

source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py

@@ -8,7 +8,6 @@
 from __future__ import annotations
 
 import torch
-import warnings
 from collections.abc import Sequence
 from prettytable import PrettyTable
 from typing import TYPE_CHECKING
@@ -285,41 +284,3 @@ class EventManager(ManagerBase):
                     lower, upper = term_cfg.interval_range_s
                     time_left = torch.rand(self.num_envs, device=self.device) * (upper - lower) + lower
                     self._interval_mode_time_left.append(time_left)
-
-
-class RandomizationManager(EventManager):
-    """Manager for applying event specific operations to different elements in the scene.
-
-    .. deprecated:: v0.4.0
-        As the RandomizationManager also handles events such as resetting the environment, the class has been
-        renamed to EventManager  as it is more general purpose. The RandomizationManager will be removed in v0.4.0.
-    """
-
-    def __init__(self, cfg: object, env: ManagerBasedEnv):
-        """Initialize the randomization manager.
-
-        Args:
-            cfg: A configuration object or dictionary (``dict[str, EventTermCfg]``).
-            env: An environment object.
-        """
-        dep_msg = "The class 'RandomizationManager' will be removed in v0.4.0. Please use 'EventManager' instead."
-        warnings.warn(dep_msg, DeprecationWarning)
-        carb.log_error(dep_msg)
-
-        super().__init__(cfg, env)
-
-    def randomize(self, mode: str, env_ids: Sequence[int] | None = None, dt: float | None = None):
-        """Randomize the environment.
-
-        .. deprecated:: v0.4.0
-            This method will be removed in v0.4.0. Please use the method :meth:`EventManager.apply`
-            instead.
-        """
-        dep_msg = (
-            "The class 'RandomizationManager' including its method 'randomize' will be removed in v0.4.0. Please use "
-            "the class 'EventManager' with the method 'apply' instead."
-        )
-        warnings.warn(dep_msg, DeprecationWarning)
-        carb.log_error(dep_msg)
-
-        self.apply(mode, env_ids, dt)

source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py

@@ -8,7 +8,6 @@
 from __future__ import annotations
 
 import torch
-import warnings
 from collections.abc import Callable
 from dataclasses import MISSING
 from typing import TYPE_CHECKING, Any
@@ -211,25 +210,6 @@ class EventTermCfg(ManagerTermBaseCfg):
     """
 
 
-@configclass
-class RandomizationTermCfg(EventTermCfg):
-    """Configuration for a randomization term.
-
-    .. deprecated:: v0.3.0
-
-        This class is deprecated and will be removed in v0.4.0. Please use :class:`EventTermCfg` instead.
-    """
-
-    def __init__(self, *args, **kwargs):
-        super().__init__(*args, **kwargs)
-        # Deprecation warning.
-        warnings.warn(
-            "The RandomizationTermCfg has been renamed to EventTermCfg and will be removed in v0.4.0. Please use"
-            " EventTermCfg instead.",
-            DeprecationWarning,
-        )
-
-
 ##
 # Reward manager.
 ##

source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py

@@ -4,7 +4,6 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 import torch
-import warnings
 from dataclasses import dataclass
 
 
@@ -55,33 +54,3 @@ class FrameTransformerData:
 
     Shape is (N, 4), where N is the number of environments.
     """
-
-    @property
-    def target_rot_source(self) -> torch.Tensor:
-        """Alias for :attr:`target_quat_source`.
-
-        .. deprecated:: v0.2.1
-            Use :attr:`target_quat_source` instead. Will be removed in v0.3.0.
-        """
-        warnings.warn("'target_rot_source' is deprecated, use 'target_quat_source' instead.", DeprecationWarning)
-        return self.target_quat_source
-
-    @property
-    def target_rot_w(self) -> torch.Tensor:
-        """Alias for :attr:`target_quat_w`.
-
-        .. deprecated:: v0.2.1
-            Use :attr:`target_quat_w` instead. Will be removed in v0.3.0.
-        """
-        warnings.warn("'target_rot_w' is deprecated, use 'target_quat_w' instead.", DeprecationWarning)
-        return self.target_quat_w
-
-    @property
-    def source_rot_w(self) -> torch.Tensor:
-        """Alias for :attr:`source_quat_w`.
-
-        .. deprecated:: v0.2.1
-            Use :attr:`source_quat_w` instead. Will be removed in v0.3.0.
-        """
-        warnings.warn("'source_rot_w' is deprecated, use 'source_quat_w' instead.", DeprecationWarning)
-        return self.source_quat_w

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py

@@ -743,7 +743,7 @@ def modify_deformable_body_properties(
 
     .. caution::
         The deformable body schema is still under development by the Omniverse team. The current implementation
-        works with the PhysX schemas shipped with Isaac Sim 4.0.0. It may change in future releases.
+        works with the PhysX schemas shipped with Isaac Sim 4.0.0 and 4.1.0. It may change in future releases.
 
     .. note::
         This function is decorated with :func:`apply_nested` that sets the properties to all the prims

source/extensions/omni.isaac.lab/setup.py

@@ -52,8 +52,8 @@ setup(
     classifiers=[
         "Natural Language :: English",
         "Programming Language :: Python :: 3.10",
+        "Isaac Sim :: 4.1.0",
         "Isaac Sim :: 4.0.0",
-        "Isaac Sim :: 2023.1.1",
     ],
     zip_safe=False,
 )

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

@@ -443,22 +443,13 @@ class TestCamera(unittest.TestCase):
             # Save images
             with Timer(f"Time taken for writing data with shape {camera.image_shape}   "):
                 # Pack data back into replicator format to save them using its writer
-                if self.sim.get_version()[0] == 4:
-                    rep_output = {"annotators": {}}
-                    camera_data = convert_dict_to_backend(camera.data.output[0].to_dict(), backend="numpy")
-                    for key, data, info in zip(camera_data.keys(), camera_data.values(), camera.data.info[0].values()):
-                        if info is not None:
-                            rep_output["annotators"][key] = {"render_product": {"data": data, **info}}
-                        else:
-                            rep_output["annotators"][key] = {"render_product": {"data": data}}
-                else:
-                    rep_output = dict()
-                    camera_data = convert_dict_to_backend(camera.data.output[0].to_dict(), backend="numpy")
-                    for key, data, info in zip(camera_data.keys(), camera_data.values(), camera.data.info[0].values()):
-                        if info is not None:
-                            rep_output[key] = {"data": data, "info": info}
-                        else:
-                            rep_output[key] = data
+                rep_output = {"annotators": {}}
+                camera_data = convert_dict_to_backend(camera.data.output[0].to_dict(), backend="numpy")
+                for key, data, info in zip(camera_data.keys(), camera_data.values(), camera.data.info[0].values()):
+                    if info is not None:
+                        rep_output["annotators"][key] = {"render_product": {"data": data, **info}}
+                    else:
+                        rep_output["annotators"][key] = {"render_product": {"data": data}}
                 # Save images
                 rep_output["trigger_outputs"] = {"on_time": camera.frame[0]}
                 rep_writer.write(rep_output)

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

@@ -344,22 +344,13 @@ class TestWarpCamera(unittest.TestCase):
             # Save images
             with Timer(f"Time taken for writing data with shape {camera.image_shape}   "):
                 # Pack data back into replicator format to save them using its writer
-                if self.sim.get_version()[0] == 4:
-                    rep_output = {"annotators": {}}
-                    camera_data = convert_dict_to_backend(camera.data.output[0].to_dict(), backend="numpy")
-                    for key, data, info in zip(camera_data.keys(), camera_data.values(), camera.data.info[0].values()):
-                        if info is not None:
-                            rep_output["annotators"][key] = {"render_product": {"data": data, **info}}
-                        else:
-                            rep_output["annotators"][key] = {"render_product": {"data": data}}
-                else:
-                    rep_output = dict()
-                    camera_data = convert_dict_to_backend(camera.data.output[0].to_dict(), backend="numpy")
-                    for key, data, info in zip(camera_data.keys(), camera_data.values(), camera.data.info[0].values()):
-                        if info is not None:
-                            rep_output[key] = {"data": data, "info": info}
-                        else:
-                            rep_output[key] = data
+                rep_output = {"annotators": {}}
+                camera_data = convert_dict_to_backend(camera.data.output[0].to_dict(), backend="numpy")
+                for key, data, info in zip(camera_data.keys(), camera_data.values(), camera.data.info[0].values()):
+                    if info is not None:
+                        rep_output["annotators"][key] = {"render_product": {"data": data, **info}}
+                    else:
+                        rep_output["annotators"][key] = {"render_product": {"data": data}}
                 # Save images
                 rep_output["trigger_outputs"] = {"on_time": camera.frame[0]}
                 rep_writer.write(rep_output)

source/extensions/omni.isaac.lab_assets/setup.py

@@ -30,8 +30,8 @@ setup(
     classifiers=[
         "Natural Language :: English",
         "Programming Language :: Python :: 3.10",
+        "Isaac Sim :: 4.1.0",
         "Isaac Sim :: 4.0.0",
-        "Isaac Sim :: 2023.1.1",
     ],
     zip_safe=False,
 )

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

@@ -2,12 +2,12 @@ Changelog
 ---------
 
 0.7.10 (2024-07-02)
-~~~~~~~~~~~~~~~~~~
+~~~~~~~~~~~~~~~~~~~
 
 Added
 ^^^^^
 
-* Extended skrl wrapper to support training/evaluation using JAX
+* Extended skrl wrapper to support training/evaluation using JAX.
 
 
 0.7.9 (2024-07-01)

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/navigation/config/anymal_c/navigation_env_cfg.py

@@ -6,9 +6,9 @@
 import math
 
 from omni.isaac.lab.envs import ManagerBasedRLEnvCfg
+from omni.isaac.lab.managers import EventTermCfg as EventTerm
 from omni.isaac.lab.managers import ObservationGroupCfg as ObsGroup
 from omni.isaac.lab.managers import ObservationTermCfg as ObsTerm
-from omni.isaac.lab.managers import RandomizationTermCfg as RandTerm
 from omni.isaac.lab.managers import RewardTermCfg as RewTerm
 from omni.isaac.lab.managers import SceneEntityCfg
 from omni.isaac.lab.managers import TerminationTermCfg as DoneTerm
@@ -25,7 +25,7 @@ LOW_LEVEL_ENV_CFG = AnymalCFlatEnvCfg()
 class EventCfg:
     """Configuration for events."""
 
-    reset_base = RandTerm(
+    reset_base = EventTerm(
         func=mdp.reset_root_state_uniform,
         mode="reset",
         params={

source/extensions/omni.isaac.lab_tasks/setup.py

@@ -76,8 +76,8 @@ setup(
     classifiers=[
         "Natural Language :: English",
         "Programming Language :: Python :: 3.10",
+        "Isaac Sim :: 4.1.0",
         "Isaac Sim :: 4.0.0",
-        "Isaac Sim :: 2023.1.1",
     ],
     zip_safe=False,
 )

source/standalone/tutorials/04_sensors/run_usd_camera.py

@@ -236,20 +236,12 @@ def run_simulator(sim: sim_utils.SimulationContext, scene_entities: dict):
             single_cam_info = camera.data.info[camera_index]
 
             # Pack data back into replicator format to save them using its writer
-            if sim.get_version()[0] == 4:
-                rep_output = {"annotators": {}}
-                for key, data, info in zip(single_cam_data.keys(), single_cam_data.values(), single_cam_info.values()):
-                    if info is not None:
-                        rep_output["annotators"][key] = {"render_product": {"data": data, **info}}
-                    else:
-                        rep_output["annotators"][key] = {"render_product": {"data": data}}
-            else:
-                rep_output = dict()
-                for key, data, info in zip(single_cam_data.keys(), single_cam_data.values(), single_cam_info.values()):
-                    if info is not None:
-                        rep_output[key] = {"data": data, "info": info}
-                    else:
-                        rep_output[key] = data
+            rep_output = {"annotators": {}}
+            for key, data, info in zip(single_cam_data.keys(), single_cam_data.values(), single_cam_info.values()):
+                if info is not None:
+                    rep_output["annotators"][key] = {"render_product": {"data": data, **info}}
+                else:
+                    rep_output["annotators"][key] = {"render_product": {"data": data}}
             # Save images
             # Note: We need to provide On-time data for Replicator to save the images.
             rep_output["trigger_outputs"] = {"on_time": camera.frame[camera_index]}