Migrates framework to support Isaac Sim 2023.1 (#172)

# Description

From Isaac Sim 2023.X onwards (Kit 105.X onwards), there are various
noticeable changes that include renaming certain extensions and
upgrading to the latest USD.

This MR ensures that Orbit remains compatible with the coming release of
Isaac Sim while still supporting 2022.2.1.

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [ ] 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

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Nikita Rudin <nrudin@nvidia.com>
Co-authored-by: AutonomousHansen <hhansen@theaiinstitute.com>
Co-authored-by: jsmith-bdai <142246516+jsmith-bdai@users.noreply.github.com>

.flake8

@@ -14,7 +14,7 @@ per-file-ignores=*/__init__.py:F401
 ignore=E402,E501,W503,E203,D401,R504,R505,SIM102,SIM117
 max-line-length = 120
 max-complexity = 30
-exclude=_*,.vscode,.git,docs/**,**/test/**
+exclude=_*,.vscode,.git,docs/**
 # docstrings
 docstring-convention=google
 # annotations

docker/Dockerfile

@@ -32,11 +32,12 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     apt -y autoremove && apt clean autoclean && \
     rm -rf /var/lib/apt/lists/*
 
-# FIXME: Only necessary for streaming until this fix is properly
-# rolled out by NVIDIA after Isaac Sim2023.1 release
+# FIXME: Only necessary for streaming until this fix is properly rolled out by NVIDIA after Isaac Sim2023.1 release
 # Ref: https://forums.developer.nvidia.com/t/running-a-standalone-example-with-gui-in-docker-container/248147/3
-RUN sed -i 's/\("omni.isaac.quadruped"\s=\s{}\)/"omni.isaac.quadruped" = {order = 10}/g' \
-    ${ISAACSIM_PATH}/apps/omni.isaac.sim.python.kit
+RUN if [[ "${ISAACSIM_VERSION}" == "2022.2"* ]]; then \
+        sed -i 's/\("omni.isaac.quadruped"\s=\s{}\)/"omni.isaac.quadruped" = {order = 10}/g' \
+        ${ISAACSIM_PATH}/apps/omni.isaac.sim.python.kit \
+    fi
 
 # Copy the orbit directory
 COPY ../ ${ORBIT_PATH}

docker/container.sh

@@ -71,18 +71,22 @@ case $mode in
         echo "[INFO] Copying artifacts from the 'orbit' container..."
         echo -e "\t - /workspace/orbit/logs -> ${SCRIPT_DIR}/artifacts/logs"
         echo -e "\t - /workspace/orbit/docs/_build -> ${SCRIPT_DIR}/artifacts/docs/_build"
+        echo -e "\t - /workspace/orbit/data_storage -> ${SCRIPT_DIR}/artifacts/data_storage"
         # enter the script directory
         pushd ${SCRIPT_DIR} > /dev/null 2>&1
         # We have to remove before copying because repeated copying without deletion
         # causes strange errors such as nested _build directories
         # warn the user
         echo -e "[WARN] Removing the existing artifacts...\n"
-        rm -rf ./artifacts/logs ./artifacts/docs/_build
+        rm -rf ./artifacts/logs ./artifacts/docs/_build ./artifacts/data_storage
+
         # create the directories
         mkdir -p ./artifacts/docs
+
         # copy the artifacts
         docker cp orbit:/workspace/orbit/logs ./artifacts/logs
         docker cp orbit:/workspace/orbit/docs/_build ./artifacts/docs/_build
+        docker cp orbit:/workspace/orbit/data_storage ./artifacts/data_storage
         echo -e "\n[INFO] Finished copying the artifacts from the container."
         popd > /dev/null 2>&1
         ;;

docker/docker-compose.yaml

@@ -22,19 +22,19 @@ services:
       # These volumes follow from this page
       # https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_faq.html#save-isaac-sim-configs-on-local-disk
       - type: volume
-        source: isaac-cache
-        target: ${DOCKER_ISAACSIM_PATH}/kit/cache/Kit
+        source: isaac-cache-kit
+        target: ${DOCKER_ISAACSIM_PATH}/kit/cache
       - type: volume
-        source: isaac-cache
+        source: isaac-cache-ov
         target: ${DOCKER_USER_HOME}/.cache/ov
       - type: volume
-        source: isaac-cache
+        source: isaac-cache-pip
         target: ${DOCKER_USER_HOME}/.cache/pip
       - type: volume
-        source: isaac-cache
+        source: isaac-cache-gl
         target: ${DOCKER_USER_HOME}/.cache/nvidia/GLCache
       - type: volume
-        source: isaac-cache
+        source: isaac-cache-compute
         target: ${DOCKER_USER_HOME}/.nv/ComputeCache
       - type: volume
         source: isaac-logs
@@ -67,10 +67,13 @@ services:
         #    to the host machine
       - type: volume
         source: orbit-docs
-        target: /workspace/orbit/docs/_build/
+        target: /workspace/orbit/docs/_build
       - type: volume
         source: orbit-logs
         target: /workspace/orbit/logs
+      - type: volume
+        source: orbit-data
+        target: /workspace/orbit/data_storage
     network_mode: host
     deploy:
       resources:
@@ -86,10 +89,15 @@ services:
 
 volumes:
   # isaac-sim
-  isaac-cache:
+  isaac-cache-kit:
+  isaac-cache-ov:
+  isaac-cache-pip:
+  isaac-cache-gl:
+  isaac-cache-compute:
   isaac-logs:
   isaac-data:
   isaac-docs:
   # orbit
   orbit-docs:
   orbit-logs:
+  orbit-data:

docs/conf.py

@@ -114,6 +114,7 @@ autodoc_mock_imports = [
     "omni.isaac.kit",
     "omni.isaac.cloner",
     "omni.isaac.urdf",
+    "omni.isaac.version",
     "gym",
     "skrl",
     "stable_baselines3",

docs/index.rst

@@ -75,6 +75,7 @@ If you use ``orbit`` in your work, please cite the `paper <https://arxiv.org/abs
    :caption: References
 
    source/refs/faq
+   source/refs/migration
    source/refs/contributing
    source/refs/troubleshooting
    source/refs/issues

docs/source/refs/migration.rst

+Migration Guide (Isaac Sim)
+===========================
+
+Moving from Isaac Sim 2022.2.1 to 2023.1.0 brings in a number of changes to the
+APIs and the way the application is built. This document outlines the changes
+and how to migrate your code to the new APIs. Many of these changes attribute to
+the underlying Omniverse Kit upgrade from 104.2 to 105.1. The new upgrade brings
+the following notable changes:
+
+* Update to USD 22.11
+* Upgrading the Python from 3.7 to 3.10
+
+
+.. warning::
+    This document is a work in progress and will be updated as we move closer
+    to the release of Isaac Sim 2023.1.0.
+
+
+Renaming of PhysX Flatcache to PhysX Fabric
+-------------------------------------------
+
+The PhysX Flatcache has been renamed to PhysX Fabric. The new name is more
+descriptive of the functionality and is consistent with the naming convention
+used by Omniverse called `Fabric`_. Consequently, the Python module name has
+also been changed from :mod:`omni.physxflatcache` to :mod:`omni.physxfabric`.
+
+Following this, on the Isaac Sim side, various renaming have occurred:
+
+* The parameter passed to :class:`SimulationContext` constructor via the keyword :obj:`sim_params`
+  now expects the key ``use_fabric`` instead of ``use_flatcache``.
+* The Python attribute :attr:`SimulationContext.get_physics_context().use_flatcache` is now
+  :attr:`SimulationContext.get_physics_context().use_fabric`.
+* The Python function :meth:`SimulationContext.get_physics_context().enable_flatcache` is now
+  :meth:`SimulationContext.get_physics_context().enable_fabric`.
+
+
+Renaming of the URDF and MJCF Importers
+---------------------------------------
+
+Starting from Isaac Sim 2023.1, the URDF and MJCF importers have been renamed to be more consistent
+with the other asset importers in Omniverse. The importers are now available on NVIDIA-Omniverse GitHub
+as open source projects.
+
+Due to the extension name change, the Python module names have also been changed:
+
+* URDF Importer: :mod:`omni.importer.urdf` (previously :mod:`omni.isaac.urdf`)
+* MJCF Importer: :mod:`omni.importer.mjcf` (previously :mod:`omni.isaac.mjcf`)
+
+
+Deprecation of :class:`UsdLux.Light` API
+----------------------------------------
+
+As highlighted in the release notes of `USD 22.11`_, the ``UsdLux.Light`` API has
+been deprecated in favor of the new ``UsdLuxLightAPI`` API. In the new API the attributes
+are prefixed with ``inputs:``. For example, the ``intensity`` attribute is now available as
+``inputs:intensity``.
+
+The following example shows how to create a `SphereLight` using the old API and
+the new API.
+
+.. dropdown:: :fa:`eye,mr-1` Code for Isaac Sim 2022.2.1 and below
+
+  .. code-block:: python
+
+      import omni.isaac.core.utils.prims as prim_utils
+
+      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)},
+      )
+
+.. dropdown:: :fa:`eye,mr-1` Code for Isaac Sim 2023.1.0 and above
+
+  .. code-block:: python
+
+      import omni.isaac.core.utils.prims as prim_utils
+
+      prim_utils.create_prim(
+          "/World/Light/WhiteSphere",
+          "SphereLight",
+          translation=(-4.5, 3.5, 10.0),
+          attributes={
+            "inputs:radius": 2.5,
+            "inputs:intensity": 600.0,
+            "inputs:color": (1.0, 1.0, 1.0)
+          },
+      )
+
+
+.. _Fabric: https://docs.omniverse.nvidia.com/kit/docs/usdrt/latest/docs/usd_fabric_usdrt.html
+.. _`USD 22.11`: https://github.com/PixarAnimationStudios/OpenUSD/blob/release/CHANGELOG.md

docs/source/setup/docker.rst

@@ -77,7 +77,7 @@ needed to run Orbit inside a Docker container. These are summarized below:
 
 * ``Dockerfile``: Defines orbit image by overlaying Orbit dependencies onto the Isaac Sim Docker image.
 * ``docker-compose.yaml``: Creates mounts to allow direct editing of Orbit code from the host machine that runs
-  the container along with X11 forwarding. It also creates several named volumes such as ``isaac-cache`` to store frequently
+  the container along with X11 forwarding. It also creates several named volumes such as ``isaac-cache-kit`` to store frequently
   re-used resources compiled by Isaac Sim, such as shaders, and to retain logs, data, and documents.
 * ``.env``: Stores environment variables required for the build process and the container itself.
 * ``container.sh``: A script that wraps the ``docker-compose`` command to build the image and run the container.
@@ -104,7 +104,7 @@ The script ``container.sh`` wraps around three basic ``docker-compose`` commands
 1. ``start``: This builds the image and brings up the container in detached mode (i.e. in the background).
 2. ``enter``: This begins a new bash process in an existing orbit container, and which can be exited
    without bringing down the container.
-3. ``copy``: This copies the ``logs`` and ``docs/_build`` artifacts, from the ``orbit-logs`` and ``orbit-docs``
+3. ``copy``: This copies the ``logs``, ``data_storage`` and ``docs/_build`` artifacts, from the ``orbit-logs``, ``orbit-data`` and ``orbit-docs``
    volumes respectively, to the ``docker/artifacts`` directory. These artifacts persist between docker
    container instances.
 4. ``stop``: This brings down the container and removes it.
@@ -125,8 +125,8 @@ To copy files from the container to the host machine, you can use the following
     # Copy the file /workspace/orbit/logs to the current directory
     docker cp orbit:/workspace/orbit/logs .
 
-The script ``container.sh`` provides a wrapper around this command to copy the ``logs`` and ``docs/_build``
-directories to the ``docker/artifacts`` directory. This is useful for copying the logs and documentation:
+The script ``container.sh`` provides a wrapper around this command to copy the ``logs`` , ``data_storage`` and ``docs/_build``
+directories to the ``docker/artifacts`` directory. This is useful for copying the logs, data and documentation:
 
 .. code:: bash
 
@@ -163,12 +163,17 @@ Understanding the mounted volumes
 The ``docker-compose.yaml`` file creates several named volumes that are mounted to the container.
 These are summarized below:
 
-* ``isaac-cache``: This volume is used to store frequently re-used resources compiled by Omniverse, such as shaders.
-* ``isaac-logs``: This volume is used to store logs generated by Omniverse.
-* ``isaac-data``: This volume is used to store data generated by Omniverse.
-* ``isaac-docs``: This volume is used to store documents generated by Omniverse.
-* ``orbit-docs``: This volume is used to store documentation of Orbit when built inside the container.
-* ``orbit-logs``: This volume is used to store logs generated by Orbit workflows when ran inside the container.
+* ``isaac-cache-kit``: This volume is used to store cached Kit resources (`/isaac-sim/kit/cache` in container)
+* ``isaac-cache-ov``: This volume is used to store cached OV resources (`/root/.cache/ov` in container)
+* ``isaac-cache-pip``: This volume is used to store cached pip resources (`/root/.cache/pip`` in container)
+* ``isaac-cache-gl``: This volume is used to store cached GLCache resources (`/root/.cache/nvidia/GLCache` in container)
+* ``isaac-cache-compute``: This volume is used to store cached compute resources (`/root/.nv/ComputeCache` in container)
+* ``isaac-logs``: This volume is used to store logs generated by Omniverse. (`/root/.nvidia-omniverse/logs` in container)
+* ``isaac-data``: This volume is used to store data generated by Omniverse. (`/root/.local/share/ov/data` in container)
+* ``isaac-docs``: This volume is used to store documents generated by Omniverse. (`/root/Documents` in container)
+* ``orbit-docs``: This volume is used to store documentation of Orbit when built inside the container. (`/workspace/orbit/docs/_build` in container)
+* ``orbit-logs``: This volume is used to store logs generated by Orbit workflows when ran inside the container. (`/workspace/orbit/logs` in container)
+* ``orbit-data``: This volume is used to store whatever data users may want to preserve between container runs. (`/workspace/orbit/data_storage` in container)
 
 To view the contents of these volumes, you can use the following command:
 
@@ -176,8 +181,8 @@ To view the contents of these volumes, you can use the following command:
 
     # list all volumes
     docker volume ls
-    # inspect a specific volume, e.g. isaac-cache
-    docker volume inspect isaac-cache
+    # inspect a specific volume, e.g. isaac-cache-kit
+    docker volume inspect isaac-cache-kit
 
 
 Invalid mount config for type "bind"

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

@@ -227,7 +227,25 @@ class AppLauncher:
         # note: moved here since it requires to have the viewport extension to be enabled first.
         enable_extension("omni.replicator.isaac")
         # enable urdf importer
+        # read isaac sim version (this includes build tag, release tag etc.)
+        # note: we do it once here because it reads the VERSION file from disk and is not expected to change.
+        from omni.isaac.version import get_version
+
+        isaacsim_version = get_version()
+        if int(isaacsim_version[2]) == 2022:
             enable_extension("omni.isaac.urdf")
+        else:
+            enable_extension("omni.importer.urdf")
+            # set the nucleus directory manually to the 2023.1.0 version
+            # TODO: Remove this once the 2023.1.0 version is released
+            carb_settings_iface.set_string(
+                "/persistent/isaac/asset_root/default",
+                "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.0",
+            )
+            carb_settings_iface.set_string(
+                "/persistent/isaac/asset_root/nvidia",
+                "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.0",
+            )
 
         # update the global flags
         # TODO: Remove all these global flags. We don't need it anymore.

source/extensions/omni.isaac.orbit/omni/isaac/orbit/compat/utils/kit.py

@@ -15,6 +15,7 @@ import omni.isaac.core.utils.prims as prim_utils
 import omni.kit
 from omni.isaac.core.materials import PhysicsMaterial
 from omni.isaac.core.prims import GeometryPrim
+from omni.isaac.version import get_version
 from pxr import Gf, PhysxSchema, UsdPhysics, UsdShade
 
 
@@ -96,43 +97,18 @@ def create_ground_plane(
             value=Gf.Vec3f(*color),
             prev=None,
         )
-    # Change the settings of the sphere light
+    # Add light source
     # By default, the one from Isaac Sim is too dim for large number of environments.
     # Warning: This is specific to the default grid plane asset.
-    light_intensity = kwargs.get("light_intensity", 1e7)
-    light_radius = kwargs.get("light_radius", 100.0)
-    # -- light intensity
-    if light_intensity is not None:
-        omni.kit.commands.execute(
-            "ChangeProperty",
-            prop_path=f"{prim_path}/SphereLight.intensity",
-            value=light_intensity,
-            prev=None,
-        )
-    # -- light radius
-    if light_radius is not None:
-        # set radius of the light
-        omni.kit.commands.execute(
-            "ChangeProperty",
-            prop_path=f"{prim_path}/SphereLight.radius",
-            value=light_radius,
-            prev=None,
-        )
-        # as a rule of thumb, we set the sphere center 1.5 times
-        omni.kit.commands.execute(
-            "ChangeProperty",
-            prop_path=f"{prim_path}/SphereLight.xformOp:translate",
-            value=(0.0, 0.0, 1.5 * light_radius),
-            prev=None,
-        )
-    # -- ambient light
     ambient_light = kwargs.get("ambient_light", True)
     if ambient_light:
-        prim_utils.create_prim(
-            f"{prim_path}/AmbientLight",
-            "DistantLight",
-            attributes={"intensity": 600.0},
-        )
+        # check isaacsim version to determine the attribute name
+        attributes = {"intensity": 600.0}
+        isaacsim_version = get_version()
+        if int(isaacsim_version[2]) > 2022:
+            attributes = {f"inputs:{k}": v for k, v in attributes.items()}
+        # create light prim
+        prim_utils.create_prim(f"{prim_path}/AmbientLight", "DistantLight", attributes=attributes)
 
 
 def move_nested_prims(source_ns: str, target_ns: str):

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/actions_cfg.py

@@ -7,9 +7,9 @@ from __future__ import annotations
 
 from dataclasses import MISSING
 
+from omni.isaac.orbit.controllers import DifferentialIKControllerCfg
 from omni.isaac.orbit.managers.action_manager import ActionTerm, ActionTermCfg
 from omni.isaac.orbit.utils import configclass
-from omni.isaac.orbit.controllers import DifferentialIKControllerCfg
 
 from . import binary_joint_actions, joint_actions, non_holonomic_actions, task_space_actions
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/reward_manager.py

@@ -161,11 +161,17 @@ class RewardManager(ManagerBase):
                 raise TypeError(
                     f"Configuration for the term '{term_name}' is not of type RewardTermCfg. Received '{type(term_cfg)}'."
                 )
+            # check for valid weight type
+            if not isinstance(term_cfg.weight, (float, int)):
+                raise TypeError(
+                    f"Weight for the term '{term_name}' is not of type float or int. Received '{type(term_cfg.weight)}'."
+                )
             # resolve common parameters
             self._resolve_common_term_cfg(term_name, term_cfg, min_argc=1)
             # remove zero scales and multiply non-zero ones by dt
             # note: we multiply weights by dt to make them agnostic to control decimation
-            if term_cfg.weight == 0:
+            term_cfg.weight = float(term_cfg.weight)
+            if term_cfg.weight == 0.0:
                 continue
             # add function to list
             self._term_names.append(term_name)

source/extensions/omni.isaac.orbit/omni/isaac/orbit/markers/visualization_markers.py

@@ -22,7 +22,6 @@ import numpy as np
 import torch
 from dataclasses import MISSING
 
-import omni.isaac.core.utils.prims as prim_utils
 import omni.isaac.core.utils.stage as stage_utils
 import omni.kit.commands
 import omni.physx.scripts.utils as physx_utils
@@ -145,8 +144,8 @@ class VisualizationMarkers:
         # get next free path for the prim
         prim_path = stage_utils.get_next_free_path(cfg.prim_path)
         # create a new prim
-        prim = prim_utils.define_prim(prim_path, "PointInstancer")
-        self._instancer_manager = UsdGeom.PointInstancer(prim)
+        stage = stage_utils.get_current_stage()
+        self._instancer_manager = UsdGeom.PointInstancer.Define(stage, prim_path)
         # store inputs
         self.prim_path = prim_path
         self.cfg = cfg
@@ -157,10 +156,10 @@ class VisualizationMarkers:
         # create a child prim for the marker
         self._add_markers_prototypes(self.cfg.markers)
         # Note: We need to do this the first time to initialize the instancer.
-        #   Otherwise, the instancer will not be visible.
-        self._instancer_manager.GetProtoIndicesAttr().Set([0])
-        self._instancer_manager.GetPositionsAttr().Set([Gf.Vec3f()])
-        self._count = 1
+        #   Otherwise, the instancer will not be "created" and the function `GetInstanceIndices()` will fail.
+        self._instancer_manager.GetProtoIndicesAttr().Set(list(range(self.num_prototypes)))
+        self._instancer_manager.GetPositionsAttr().Set([Gf.Vec3f(0.0)] * self.num_prototypes)
+        self._count = self.num_prototypes
 
     def __str__(self) -> str:
         """Return: A string representation of the class."""
@@ -361,3 +360,9 @@ class VisualizationMarkers:
             )
             # add child reference to point instancer
             self._instancer_manager.GetPrototypesRel().AddTarget(marker_prim_path)
+        # check that we loaded all the prototypes
+        prototypes = self._instancer_manager.GetPrototypesRel().GetTargets()
+        if len(prototypes) != len(markers_cfg):
+            raise RuntimeError(
+                f"Failed to load all the prototypes. Expected: {len(markers_cfg)}. Received: {len(prototypes)}."
+            )

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

@@ -120,6 +120,7 @@ class Camera(SensorBase):
         for _, annotators in self._rep_registry.items():
             for annotator, render_product_path in zip(annotators, self._render_product_paths):
                 annotator.detach([render_product_path])
+                annotator = None
 
     def __str__(self) -> str:
         """Returns: A string containing information about the instance."""
@@ -226,9 +227,10 @@ class Camera(SensorBase):
                 # get attribute from the class
                 param_attr = getattr(sensor_prim, f"Get{param_name}Attr")
                 # set value
-                # note: We have to do it this way because the camera might be on a different layer (default cameras are on session layer),
-                #   and this is the simplest way to set the property on the right layer.
-                omni.usd.utils.set_prop_val(param_attr(), param_value)
+                # note: We have to do it this way because the camera might be on a different
+                #   layer (default cameras are on session layer), and this is the simplest
+                #   way to set the property on the right layer.
+                omni.usd.set_prop_val(param_attr(), param_value)
 
     """
     Operations - Set pose.
@@ -423,7 +425,10 @@ class Camera(SensorBase):
             sensor_prim = UsdGeom.Camera(cam_prim)
             self._sensor_prims.append(sensor_prim)
             # Get render product
+            # From Isaac Sim 2023.1 onwards, render product is a HydraTexture so we need to extract the path
             render_prod_path = rep.create.render_product(cam_prim_path, resolution=(self.cfg.width, self.cfg.height))
+            if not isinstance(render_prod_path, str):
+                render_prod_path = render_prod_path.path
             self._render_product_paths.append(render_prod_path)
             # Iterate over each data type and create annotator
             # TODO: This will move out of the loop once Replicator supports multiple render products within a single

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/loaders/urdf_loader.py

@@ -12,13 +12,22 @@ import random
 from datetime import datetime
 
 import omni.kit.commands
-from omni.isaac.urdf import _urdf as omni_urdf
+from omni.isaac.version import get_version
 
 from omni.isaac.orbit.utils.assets import check_file_path
 from omni.isaac.orbit.utils.io import dump_yaml
 
 from .urdf_loader_cfg import UrdfLoaderCfg
 
+# check if the urdf importer extension is available
+# note: the urdf importer's name changed in 2023.1 onwards
+isaacsim_version = get_version()
+if int(isaacsim_version[2]) == 2022:
+    from omni.isaac.urdf import _urdf as omni_urdf
+else:
+    from omni.importer.urdf import _urdf as omni_urdf
+
+
 _DRIVE_TYPE = {
     "none": 0,
     "position": 1,

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

@@ -7,7 +7,6 @@ from __future__ import annotations
 
 import carb
 import omni.isaac.core.utils.stage as stage_utils
-import omni.physx.scripts.utils as physx_utils
 from pxr import PhysxSchema, Usd, UsdPhysics
 
 from ..utils import apply_nested, safe_set_attribute_on_usd_schema
@@ -43,11 +42,6 @@ def define_articulation_root_properties(
     # check if prim path is valid
     if not prim.IsValid():
         raise ValueError(f"Prim path '{prim_path}' is not valid.")
-    # check if we can apply the articulation root schema
-    if physx_utils.familyHasConflictingAPI(prim, UsdPhysics.ArticulationRootAPI):
-        raise TypeError(
-            f"Cannot apply ArticulationRootAPI on prim '{prim_path}'. The prim already has conflicting API schemas."
-        )
     # check if prim has articulation applied on it
     if not UsdPhysics.ArticulationRootAPI(prim):
         UsdPhysics.ArticulationRootAPI.Apply(prim)
@@ -138,11 +132,6 @@ def define_rigid_body_properties(
     # check if prim path is valid
     if not prim.IsValid():
         raise ValueError(f"Prim path '{prim_path}' is not valid.")
-    # check if we can apply the articulation root schema
-    if physx_utils.familyHasConflictingAPI(prim, UsdPhysics.RigidBodyAPI):
-        raise TypeError(
-            f"Cannot apply RigidBodyAPI on prim '{prim_path}'. The prim already has conflicting API schemas."
-        )
     # check if prim has articulation applied on it
     if not UsdPhysics.RigidBodyAPI(prim):
         UsdPhysics.RigidBodyAPI.Apply(prim)
@@ -226,7 +215,6 @@ def define_collision_properties(
 
     Raises:
         ValueError: When the prim path is not valid.
-        TypeError: When the prim already has conflicting API schemas.
     """
     # obtain stage
     if stage is None:
@@ -236,11 +224,6 @@ def define_collision_properties(
     # check if prim path is valid
     if not prim.IsValid():
         raise ValueError(f"Prim path '{prim_path}' is not valid.")
-    # check if we can apply the articulation root schema
-    if physx_utils.familyHasConflictingAPI(prim, UsdPhysics.CollisionAPI):
-        raise TypeError(
-            f"Cannot apply CollisionAPI on prim '{prim_path}'. The prim already has conflicting API schemas."
-        )
     # check if prim has articulation applied on it
     if not UsdPhysics.CollisionAPI(prim):
         UsdPhysics.CollisionAPI.Apply(prim)

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

@@ -456,11 +456,11 @@ class SimulationContext(_SimulationContext):
             physx_scene_api.CreateMaxIterationCountAttr(self.cfg.physx.max_position_iteration_count)
         else:
             # position iteration count
-            physx_scene_api.CreateMinPositionIterationCountsAttr(self.cfg.physx.min_position_iteration_count)
-            physx_scene_api.CreateMaxPositionIterationCountsAttr(self.cfg.physx.max_position_iteration_count)
+            physx_scene_api.CreateMinPositionIterationCountAttr(self.cfg.physx.min_position_iteration_count)
+            physx_scene_api.CreateMaxPositionIterationCountAttr(self.cfg.physx.max_position_iteration_count)
             # velocity iteration count
-            physx_scene_api.CreateMinVelocityIterationCountsAttr(self.cfg.physx.min_velocity_iteration_count)
-            physx_scene_api.CreateMaxVelocityIterationCountsAttr(self.cfg.physx.max_velocity_iteration_count)
+            physx_scene_api.CreateMinVelocityIterationCountAttr(self.cfg.physx.min_velocity_iteration_count)
+            physx_scene_api.CreateMaxVelocityIterationCountAttr(self.cfg.physx.max_velocity_iteration_count)
 
         # create the default physics material
         # this material is used when no material is specified for a primitive

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/lights/lights.py

@@ -53,8 +53,12 @@ def spawn_light(
     isaac_sim_version = int(get_version()[2])
     # convert to dict
     cfg = cfg.to_dict()
-    del cfg["func"]
+    # delete spawner func specific parameters
     del cfg["prim_type"]
+    # delete meta parameters from base class
+    del cfg["func"]
+    del cfg["visible"]
+    del cfg["copy_from_source"]
     # set into USD API
     for attr_name, value in cfg.items():
         # special operation for texture properties

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

@@ -110,7 +110,7 @@ def spawn_camera(
     # set attribute values
     for param_name, param_value in cfg.__dict__.items():
         # check if value is valid
-        if param_value is None or param_name in ["func", "copy_from_source", "lock_camera"]:
+        if param_value is None or param_name in ["func", "copy_from_source", "lock_camera", "visible"]:
             continue
         # obtain prim property name
         if param_name in attribute_types:

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

@@ -3,12 +3,14 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""Wrapper around the Python 3.7 onwards `dataclasses` module."""
+from __future__ import annotations
 
+"""Wrapper around the Python 3.7 onwards `dataclasses` module."""
 
+import sys
 from copy import deepcopy
 from dataclasses import MISSING, Field, dataclass, field, replace
-from typing import Any, Callable, ClassVar, Dict, Type
+from typing import Any, Callable, ClassVar
 
 from .dict import class_to_dict, update_class_from_dict
 
@@ -97,7 +99,7 @@ These are redefined here to add new docstrings.
 """
 
 
-def _class_to_dict(obj: object) -> Dict[str, Any]:
+def _class_to_dict(obj: object) -> dict[str, Any]:
     """Convert an object into dictionary recursively.
 
     Returns:
@@ -106,7 +108,7 @@ def _class_to_dict(obj: object) -> Dict[str, Any]:
     return class_to_dict(obj)
 
 
-def _update_class_from_dict(obj, data: Dict[str, Any]) -> None:
+def _update_class_from_dict(obj, data: dict[str, Any]) -> None:
     """Reads a dictionary and sets object variables recursively.
 
     This function performs in-place update of the class member attributes.
@@ -216,7 +218,11 @@ def _add_annotation_types(cls):
             elif key != value.__name__:
                 # note: we don't want to add type annotations for nested configclass. Thus, we check if
                 #   the name of the type matches the name of the variable.
-                hints[key] = Type[value]
+                if sys.version_info < (3, 10):
+                    hints[key] = type[value]
+                else:
+                    # since Python 3.10, type hints are stored as strings
+                    hints[key] = f"type[{value.__name__}]"
 
     # Note: Do not change this line. `cls.__dict__.get("__annotations__", {})` is different from
     #   `cls.__annotations__` because of inheritance.

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

@@ -462,19 +462,9 @@ class TestCameraSensor(unittest.TestCase):
         # 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": 1.0, "intensity": 300.0, "color": (0.75, 0.75, 0.75)},
-        )
+        prim_utils.create_prim("/World/Light/GreySphere", "SphereLight", 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": 1.0, "intensity": 300.0, "color": (1.0, 1.0, 1.0)},
-        )
+        prim_utils.create_prim("/World/Light/WhiteSphere", "SphereLight", translation=(-4.5, 3.5, 10.0))
         # Random objects
         for i in range(8):
             # sample random position

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

@@ -269,19 +269,9 @@ class TestHeightScannerSensor(unittest.TestCase):
         # 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": 1.0, "intensity": 30000.0, "color": (0.75, 0.75, 0.75)},
-        )
+        prim_utils.create_prim("/World/Light/GreySphere", "SphereLight", 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": 1.0, "intensity": 30000.0, "color": (1.0, 1.0, 1.0)},
-        )
+        prim_utils.create_prim("/World/Light/WhiteSphere", "SphereLight", translation=(-4.5, 3.5, 10.0))
         # Cubes
         num_cubes = 4
         for i in range(num_cubes):

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

@@ -79,19 +79,9 @@ class TestKitUtilities(unittest.TestCase):
         # 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": 1.0, "intensity": 300.0, "color": (0.75, 0.75, 0.75)},
-        )
+        prim_utils.create_prim("/World/Light/GreySphere", "SphereLight", 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": 1.0, "intensity": 300.0, "color": (1.0, 1.0, 1.0)},
-        )
+        prim_utils.create_prim("/World/Light/WhiteSphere", "SphereLight", translation=(-4.5, 3.5, 10.0))
 
 
 if __name__ == "__main__":

source/extensions/omni.isaac.orbit/test/controllers/test_differential_ik.py

@@ -14,8 +14,6 @@ simulation_app = AppLauncher(headless=True).app
 
 """Rest everything follows."""
 
-import gc
-import sys
 import torch
 import traceback
 import unittest
@@ -29,13 +27,13 @@ import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import Articulation
 from omni.isaac.orbit.assets.config import FRANKA_PANDA_ARM_WITH_PANDA_HAND_CFG, UR10_CFG
 from omni.isaac.orbit.controllers import DifferentialIKController, DifferentialIKControllerCfg
-from omni.isaac.orbit.utils.math import compute_pose_error, sample_uniform, subtract_frame_transforms
+from omni.isaac.orbit.utils.math import compute_pose_error, subtract_frame_transforms
 
 
 class TestDifferentialIKController(unittest.TestCase):
     """Test fixture for checking that differential IK controller tracks commands properly."""
 
-    def setUp(self) -> None:
+    def setUp(self):
         """Create a blank new stage for each test."""
         # Wait for spawning
         stage_utils.create_new_stage()
@@ -52,7 +50,7 @@ class TestDifferentialIKController(unittest.TestCase):
         # Create interface to clone the scene
         cloner = GridCloner(spacing=2.0)
         cloner.define_base_env("/World/envs")
-        self.env_prim_paths = cloner.generate_paths(f"/World/envs/env", self.num_envs)
+        self.env_prim_paths = cloner.generate_paths("/World/envs/env", self.num_envs)
         # create source prim
         prim_utils.define_prim(self.env_prim_paths[0], "Xform")
         # clone the env xform
@@ -70,7 +68,7 @@ class TestDifferentialIKController(unittest.TestCase):
         ]
         self.ee_pose_b_des_set = torch.tensor(ee_goals_set, device=self.sim.device)
 
-    def tearDown(self) -> None:
+    def tearDown(self):
         """Stops simulator after each test."""
         # stop simulation
         self.sim.stop()
@@ -202,8 +200,6 @@ class TestDifferentialIKController(unittest.TestCase):
             # update buffers
             robot.update(sim_dt)
 
-        return None
-
 
 if __name__ == "__main__":
     try:

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

@@ -89,19 +89,9 @@ def main():
     # 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)},
-    )
+    prim_utils.create_prim("/World/Light/GreySphere", "SphereLight", 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)},
-    )
+    prim_utils.create_prim("/World/Light/WhiteSphere", "SphereLight", translation=(-4.5, 3.5, 10.0))
     # Xform to hold objects
     if args_cli.scenario == "cube":
         prim_utils.create_prim("/World/Objects", "Xform")

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

@@ -97,19 +97,9 @@ def main():
     # Ground-plane
     world.scene.add_default_ground_plane(prim_path="/World/defaultGroundPlane", z_position=0.0)
     # 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)},
-    )
+    prim_utils.create_prim("/World/Light/GreySphere", "SphereLight", 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)},
-    )
+    prim_utils.create_prim("/World/Light/WhiteSphere", "SphereLight", translation=(-4.5, 3.5, 10.0))
     # -- Robot
     # resolve asset
     if args_cli.asset == "orbit":

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

@@ -54,7 +54,8 @@ def main():
     sim_params = {
         "use_gpu": True,
         "use_gpu_pipeline": True,
-        "use_flatcache": True,
+        "use_flatcache": True,  # deprecated from Isaac Sim 2023.1 onwards
+        "use_fabric": True,  # used from Isaac Sim 2023.1 onwards
         "enable_scene_query_support": True,
     }
     sim = SimulationContext(
@@ -73,13 +74,6 @@ def main():
     prim_utils.define_prim("/World/envs/env_0")
 
     # Define the scene
-    # -- Light
-    prim_utils.create_prim(
-        "/World/sphereLight",
-        "SphereLight",
-        translation=(0.0, 0.0, 500.0),
-        attributes={"radius": 100.0, "intensity": 50000.0, "color": (0.75, 0.75, 0.75)},
-    )
     # -- Ball
     DynamicSphere(prim_path="/World/envs/env_0/ball", translation=np.array([0.0, 0.0, 5.0]), mass=0.5, radius=0.25)
 

source/extensions/omni.isaac.orbit/test/managers/test_observation_manager.py

@@ -5,6 +5,16 @@
 
 from __future__ import annotations
 
+"""Launch Isaac Sim Simulator first."""
+
+from omni.isaac.kit import SimulationApp
+
+# launch omniverse app
+config = {"headless": True}
+simulation_app = SimulationApp(config)
+
+"""Rest everything follows."""
+
 import torch
 import unittest
 from collections import namedtuple

source/extensions/omni.isaac.orbit/test/managers/test_reward_manager.py

@@ -5,6 +5,16 @@
 
 from __future__ import annotations
 
+"""Launch Isaac Sim Simulator first."""
+
+from omni.isaac.kit import SimulationApp
+
+# launch omniverse app
+config = {"headless": True}
+simulation_app = SimulationApp(config)
+
+"""Rest everything follows."""
+
 import unittest
 from collections import namedtuple
 
@@ -121,7 +131,7 @@ class TestRewardManager(unittest.TestCase):
         # compute expected reward
         expected_reward = cfg["term_1"].weight * self.env.dt
         # compute reward using manager
-        rewards = self.rew_man.compute()
+        rewards = self.rew_man.compute(dt=self.env.dt)
         # check the reward for environment index 0
         self.assertEqual(float(rewards[0]), expected_reward)
         self.assertEqual(tuple(rewards.shape), (self.env.num_envs,))

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

@@ -44,7 +44,7 @@ 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.compat.utils.kit as kit_utils
+import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import Articulation
 from omni.isaac.orbit.assets.config.anymal import ANYMAL_C_CFG
 from omni.isaac.orbit.sensors.contact_sensor import ContactSensor, ContactSensorCfg
@@ -57,21 +57,12 @@ 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)},
-    )
+    cfg = sim_utils.GroundPlaneCfg()
+    cfg.func("/World/defaultGroundPlane", cfg)
+    # Lights
+    cfg = sim_utils.SphereLightCfg()
+    cfg.func("/World/Light/GreySphere", cfg, translation=(4.5, 3.5, 10.0))
+    cfg.func("/World/Light/WhiteSphere", cfg, translation=(-4.5, 3.5, 10.0))
 
 
 """
@@ -87,10 +78,6 @@ def main():
     # 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 sim.get_physics_context().use_gpu_pipeline:
-        sim.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(sim._settings, "/persistent/omnihydra/useSceneGraphInstancing", True)
@@ -113,7 +100,7 @@ def main():
     robot = Articulation(cfg=robot_cfg)
     # Contact sensor
     contact_sensor_cfg = ContactSensorCfg(
-        prim_path="/World/envs/env_.*/Robot/.*_SHANK", debug_vis=False if args_cli.headless else True
+        prim_path="/World/envs/env_.*/Robot/.*_SHANK", debug_vis=not args_cli.headless
     )
     contact_sensor = ContactSensor(cfg=contact_sensor_cfg)
     # filter collisions within each environment instance

source/extensions/omni.isaac.orbit/test/sensors/check_ray_caster.py

@@ -69,12 +69,7 @@ def design_scene(sim: SimulationContext, num_envs: int = 2048):
     prim_utils.define_prim("/World/envs/env_0")
     # Define the scene
     # -- Light
-    prim_utils.create_prim(
-        "/World/sphereLight",
-        "SphereLight",
-        translation=(0.0, 0.0, 500.0),
-        attributes={"radius": 100.0, "intensity": 50000.0, "color": (0.75, 0.75, 0.75)},
-    )
+    prim_utils.create_prim("/World/light", "DistantLight")
     # -- Balls
     # -- Ball physics
     DynamicSphere(
@@ -101,7 +96,8 @@ def main():
     sim_params = {
         "use_gpu": True,
         "use_gpu_pipeline": True,
-        "use_flatcache": True,
+        "use_flatcache": True,  # deprecated from Isaac Sim 2023.1 onwards
+        "use_fabric": True,  # used from Isaac Sim 2023.1 onwards
         "enable_scene_query_support": True,
     }
     sim = SimulationContext(
@@ -123,7 +119,7 @@ def main():
         max_init_terrain_level=None,
         num_envs=1,
     )
-    terrain_importer = TerrainImporter(terrain_importer_cfg)
+    _ = TerrainImporter(terrain_importer_cfg)
 
     # Create a ray-caster sensor
     ray_caster_cfg = RayCasterCfg(
@@ -131,7 +127,7 @@ def main():
         mesh_prim_paths=["/World/ground"],
         pattern_cfg=patterns.GridPatternCfg(resolution=0.1, size=(1.6, 1.0)),
         attach_yaw_only=True,
-        debug_vis=False if args_cli.headless else True,
+        debug_vis=not args_cli.headless,
     )
     ray_caster = RayCaster(cfg=ray_caster_cfg)
     # Create a view over all the balls

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

@@ -34,9 +34,8 @@ from omni.isaac.core.prims import GeometryPrim, RigidPrim
 from omni.isaac.core.simulation_context import SimulationContext
 from pxr import Gf, Usd, UsdGeom
 
-from omni.isaac.orbit.compat.utils.kit import create_ground_plane
+import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.sensors.camera import Camera, CameraCfg
-from omni.isaac.orbit.sim import PinholeCameraCfg
 from omni.isaac.orbit.utils import convert_dict_to_backend
 from omni.isaac.orbit.utils.math import convert_quat
 from omni.isaac.orbit.utils.timer import Timer
@@ -59,7 +58,7 @@ class TestCamera(unittest.TestCase):
             prim_path="/World/Camera",
             update_period=0,
             data_types=["distance_to_image_plane"],
-            spawn=PinholeCameraCfg(
+            spawn=sim_utils.PinholeCameraCfg(
                 focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 1.0e5)
             ),
             colorize=False,
@@ -347,21 +346,12 @@ class TestCamera(unittest.TestCase):
     def _populate_scene():
         """Add prims to the scene."""
         # Ground-plane
-        create_ground_plane("/World/defaultGroundPlane")
-        # Lights-1
-        prim_utils.create_prim(
-            "/World/Light/GreySphere",
-            "SphereLight",
-            translation=(4.5, 3.5, 10.0),
-            attributes={"radius": 1.0, "intensity": 300.0, "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": 1.0, "intensity": 300.0, "color": (1.0, 1.0, 1.0)},
-        )
+        cfg = sim_utils.GroundPlaneCfg()
+        cfg.func("/World/defaultGroundPlane", cfg)
+        # Lights
+        cfg = sim_utils.SphereLightCfg()
+        cfg.func("/World/Light/GreySphere", cfg, translation=(4.5, 3.5, 10.0))
+        cfg.func("/World/Light/WhiteSphere", cfg, translation=(-4.5, 3.5, 10.0))
         # Random objects
         random.seed(0)
         for i in range(8):

source/extensions/omni.isaac.orbit/test/sim/test_schemas.py

@@ -19,7 +19,6 @@ import unittest
 
 import carb
 import omni.isaac.core.utils.prims as prim_utils
-import omni.isaac.core.utils.stage as stage_utils
 from omni.isaac.core.simulation_context import SimulationContext
 from pxr import UsdPhysics
 

source/extensions/omni.isaac.orbit/test/sim/test_simulation_context.py

@@ -43,7 +43,7 @@ class TestSimulationContext(unittest.TestCase):
         self.assertIs(sim1, sim3)
 
         # try to delete the singleton
-        sim2.__del__()
+        sim2.clear_instance()
         self.assertTrue(sim1.instance() is None)
         # create new instance
         sim4 = SimulationContext()

source/extensions/omni.isaac.orbit/test/sim/test_spawn_from_files.py

@@ -20,6 +20,7 @@ import omni.isaac.core.utils.prims as prim_utils
 import omni.isaac.core.utils.stage as stage_utils
 from omni.isaac.core.simulation_context import SimulationContext
 from omni.isaac.core.utils.extensions import get_extension_path_from_name
+from omni.isaac.version import get_version
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR
@@ -34,6 +35,8 @@ class TestSpawningFromFiles(unittest.TestCase):
         self.dt = 0.1
         # Load kit helper
         self.sim = SimulationContext(physics_dt=self.dt, rendering_dt=self.dt, backend="numpy")
+        # Isaac Sim version
+        self.isaacsim_version_year = int(get_version()[2])
         # Wait for spawning
         stage_utils.update_stage()
 
@@ -60,7 +63,10 @@ class TestSpawningFromFiles(unittest.TestCase):
     def test_spawn_urdf(self):
         """Test loading prim from URDF file."""
         # retrieve path to urdf importer extension
+        if self.isaacsim_version_year == 2022:
             extension_path = get_extension_path_from_name("omni.isaac.urdf")
+        else:
+            extension_path = get_extension_path_from_name("omni.importer.urdf")
         # Spawn franka from URDF
         cfg = sim_utils.UrdfFileCfg(
             urdf_path=f"{extension_path}/data/urdf/robots/franka_description/robots/panda_arm_hand.urdf", fix_base=True

source/extensions/omni.isaac.orbit/test/sim/test_spawn_lights.py

@@ -150,9 +150,7 @@ class TestSpawningLights(unittest.TestCase):
             else:
                 # convert attribute name in prim to cfg name
                 prim_prop_name = to_camel_case(attr_name, to="cC")
-                if self.isaac_sim_version <= 2022:
-                    prim_prop_name = prim_prop_name
-                else:
+                if self.isaac_sim_version > 2022:
                     prim_prop_name = f"inputs:{prim_prop_name}"
                 # configured value
                 configured_value = prim.GetAttribute(prim_prop_name).Get()

source/extensions/omni.isaac.orbit/test/sim/test_spawn_sensors.py

@@ -104,12 +104,12 @@ class TestSpawningSensors(unittest.TestCase):
         prim = prim_utils.get_prim_at_path(prim_path)
         for attr_name, attr_value in cfg.__dict__.items():
             # skip names we know are not present
-            if attr_name in ["func", "copy_from_source", "lock_camera"] or attr_value is None:
+            if attr_name in ["func", "copy_from_source", "lock_camera", "visible"] or attr_value is None:
                 continue
             # obtain prim property name
             if attr_name in custom_attr:
-                prim_prop_name = custom_attr[attr_name][0]
                 # check custom attributes
+                prim_prop_name = custom_attr[attr_name][0]
             else:
                 # convert attribute name in prim to cfg name
                 prim_prop_name = to_camel_case(attr_name, to="cC")

source/extensions/omni.isaac.orbit/test/sim/test_urdf_loader.py

@@ -27,6 +27,7 @@ import omni.isaac.core.utils.prims as prim_utils
 from omni.isaac.core.articulations import ArticulationView
 from omni.isaac.core.simulation_context import SimulationContext
 from omni.isaac.core.utils.extensions import get_extension_path_from_name
+from omni.isaac.version import get_version
 
 from omni.isaac.orbit.sim.loaders import UrdfLoader, UrdfLoaderCfg
 
@@ -37,7 +38,10 @@ class TestUrdfLoader(unittest.TestCase):
     def setUp(self):
         """Create a blank new stage for each test."""
         # retrieve path to urdf importer extension
+        if self.isaacsim_version_year == 2022:
             extension_path = get_extension_path_from_name("omni.isaac.urdf")
+        else:
+            extension_path = get_extension_path_from_name("omni.importer.urdf")
         # default configuration
         self.config = UrdfLoaderCfg(
             urdf_path=f"{extension_path}/data/urdf/robots/franka_description/robots/panda_arm_hand.urdf", fix_base=True
@@ -46,6 +50,8 @@ class TestUrdfLoader(unittest.TestCase):
         self.dt = 0.01
         # Load kit helper
         self.sim = SimulationContext(physics_dt=self.dt, rendering_dt=self.dt, backend="numpy")
+        # Isaac Sim version
+        self.isaacsim_version_year = int(get_version()[2])
 
     def tearDown(self) -> None:
         """Stops simulator after each test."""

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

@@ -14,15 +14,15 @@ Example usage:
 
     # generate terrain
     # -- use physics sphere mesh
-    ./orbit.sh -p source/extensions/omni.isaac.orbit/test/terrains/test_terrain_importer.py --terrain_type generated
+    ./orbit.sh -p source/extensions/omni.isaac.orbit/test/terrains/check_terrain_importer.py --terrain_type generator
     # -- usd usd sphere geom
-    ./orbit.sh -p source/extensions/omni.isaac.orbit/test/terrains/test_terrain_importer.py --terrain_type generated --geom_sphere
+    ./orbit.sh -p source/extensions/omni.isaac.orbit/test/terrains/check_terrain_importer.py --terrain_type generator --geom_sphere
 
     # usd terrain
-    ./orbit.sh -p source/extensions/omni.isaac.orbit/test/terrains/test_terrain_importer.py --terrain_type usd
+    ./orbit.sh -p source/extensions/omni.isaac.orbit/test/terrains/check_terrain_importer.py --terrain_type usd
 
     # plane terrain
-    ./orbit.sh -p source/extensions/omni.isaac.orbit/test/terrains/test_terrain_importer.py --terrain_type plane
+    ./orbit.sh -p source/extensions/omni.isaac.orbit/test/terrains/check_terrain_importer.py --terrain_type plane
 """
 
 from __future__ import annotations
@@ -41,9 +41,9 @@ parser.add_argument("--geom_sphere", action="store_true", default=False, help="W
 parser.add_argument(
     "--terrain_type",
     type=str,
-    choices=["generated", "usd", "plane"],
+    choices=["generator", "usd", "plane"],
     default="generator",
-    help="Type of terrain to import. Can be 'generated' or 'usd' or 'plane'.",
+    help="Type of terrain to import. Can be 'generator' or 'usd' or 'plane'.",
 )
 parser.add_argument(
     "--color_scheme",
@@ -75,6 +75,7 @@ from omni.isaac.core.prims import GeometryPrim, RigidPrim, RigidPrimView
 from omni.isaac.core.simulation_context import SimulationContext
 from omni.isaac.core.utils.viewports import set_camera_view
 
+import omni.isaac.orbit.sim as sim_utils
 import omni.isaac.orbit.terrains as terrain_gen
 from omni.isaac.orbit.terrains.config.rough import ROUGH_TERRAINS_CFG
 from omni.isaac.orbit.terrains.terrain_importer import TerrainImporter
@@ -89,6 +90,7 @@ def main():
         "use_gpu": True,
         "use_gpu_pipeline": True,
         "use_flatcache": True,
+        "use_fabric": True,
         "enable_scene_query_support": True,
     }
     sim = SimulationContext(
@@ -120,16 +122,12 @@ def main():
 
     # Define the scene
     # -- Light
-    prim_utils.create_prim(
-        "/World/sphereLight",
-        "SphereLight",
-        translation=(0.0, 0.0, 500.0),
-        attributes={"radius": 100.0, "intensity": 50000.0, "color": (0.75, 0.75, 0.75)},
-    )
+    cfg = sim_utils.DistantLightCfg(intensity=1000.0)
+    cfg.func("/World/Light", cfg)
     # -- Ball
     if args_cli.geom_sphere:
         # -- Ball physics
-        sphere = DynamicSphere(
+        _ = DynamicSphere(
             prim_path="/World/envs/env_0/ball", translation=np.array([0.0, 0.0, 5.0]), mass=0.5, radius=0.25
         )
     else:

source/extensions/omni.isaac.orbit/test/utils/test_configclass.py

@@ -7,10 +7,11 @@ from __future__ import annotations
 
 import copy
 import os
+import sys
 import unittest
 from dataclasses import MISSING, asdict, field
 from functools import wraps
-from typing import Callable, ClassVar, List, Type
+from typing import Callable, ClassVar
 
 from omni.isaac.orbit.utils.configclass import configclass
 from omni.isaac.orbit.utils.dict import class_to_dict, update_class_from_dict
@@ -615,11 +616,16 @@ class TestConfigClass(unittest.TestCase):
 
         cfg = DummyClassCfg()
 
+        # since python 3.10, annotations are stored as strings
+        if sys.version_info >= (3, 10):
+            annotations = {k: eval(v) for k, v in cfg.__annotations__.items()}
+        else:
+            annotations = cfg.__annotations__
         # check types
-        self.assertEqual(cfg.__annotations__["class_name_1"], type)
-        self.assertEqual(cfg.__annotations__["class_name_2"], Type[DummyClass])
-        self.assertEqual(cfg.__annotations__["class_name_3"], Type[DummyClass])
-        self.assertEqual(cfg.__annotations__["class_name_4"], ClassVar[Type[DummyClass]])
+        self.assertEqual(annotations["class_name_1"], type)
+        self.assertEqual(annotations["class_name_2"], type[DummyClass])
+        self.assertEqual(annotations["class_name_3"], type[DummyClass])
+        self.assertEqual(annotations["class_name_4"], ClassVar[type[DummyClass]])
         # check values
         self.assertEqual(cfg.class_name_1, DummyClass)
         self.assertEqual(cfg.class_name_2, DummyClass)

source/extensions/omni.isaac.orbit/test/utils/test_dict.py

@@ -31,7 +31,7 @@ class TestDictUtilities(unittest.TestCase):
             "b": 2,
             "c": {"d": 3, "e": 4, "f": {"g": 5, "h": 6}},
             "i": 7,
-            "j": lambda x: x**2,
+            "j": lambda x: x**2,  # noqa: E731
             "k": dict_utils.class_to_dict,
         }
         # print the dictionary
@@ -61,7 +61,7 @@ class TestDictUtilities(unittest.TestCase):
         """Test string <-> callable conversion for lambda expression."""
 
         # create lambda function
-        func = lambda x: x**2
+        func = lambda x: x**2  # noqa: E731
         # convert function to string
         test_string = dict_utils.callable_to_string(func)
         # convert string to function

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/ant/ant_cfg.yaml

@@ -51,7 +51,8 @@ sim:
 
   enable_scene_query_support: False
   use_gpu_pipeline: True
-  use_flatcache: True
+  use_flatcache: True  # deprecated from Isaac Sim 2023.1 onwards
+  use_fabric: True  # used from Isaac Sim 2023.1 onwards
   device: "cuda:0"
 
   physx:

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/cartpole/cartpole_cfg.yaml

@@ -38,7 +38,8 @@ sim:
 
   enable_scene_query_support: False
   use_gpu_pipeline: True
-  use_flatcache: True
+  use_flatcache: True  # deprecated from Isaac Sim 2023.1 onwards
+  use_fabric: True  # used from Isaac Sim 2023.1 onwards
   device: "cuda:0"
 
   physx:

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/classic/humanoid/humanoid_cfg.yaml

@@ -51,7 +51,8 @@ sim:
 
   enable_scene_query_support: False
   use_gpu_pipeline: True
-  use_flatcache: True
+  use_flatcache: True  # deprecated from Isaac Sim 2023.1 onwards
+  use_fabric: True  # used from Isaac Sim 2023.1 onwards
   device: "cuda:0"
 
   physx:

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/parse_cfg.py

@@ -105,6 +105,7 @@ def parse_env_cfg(task_name: str, use_gpu: bool = True, num_envs: int = None, **
         args_cfg["sim"]["physx"]["use_gpu"] = True
         args_cfg["sim"]["device"] = "cpu"
         args_cfg["sim"]["use_flatcache"] = False
+        args_cfg["sim"]["use_fabric"] = False
 
     # number of environments
     if num_envs is not None:

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/utils/wrappers/rsl_rl.py

@@ -113,6 +113,8 @@ class RslRlVecEnvWrapper(gym.Wrapper):
     def step(self, actions: torch.Tensor) -> VecEnvStepReturn:  # noqa: D102
         # record step information
         obs_dict, rew, dones, extras = self.env.step(actions)
+        # render the environment to allow for visualization
+        self.env.render()
         # return step information
         obs = obs_dict["policy"]
         extras["observations"] = obs_dict

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

@@ -24,7 +24,6 @@ import gym
 import gym.envs
 import torch
 import unittest
-from typing import Dict, Union
 
 import omni.usd
 

source/standalone/demo/play_rmpflow.py

@@ -80,19 +80,9 @@ def main():
     # Ground-plane
     kit_utils.create_ground_plane("/World/defaultGroundPlane", z_position=-1.05)
     # 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)},
-    )
+    prim_utils.create_prim("/World/Light/GreySphere", "SphereLight", 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)},
-    )
+    prim_utils.create_prim("/World/Light/WhiteSphere", "SphereLight", translation=(-4.5, 3.5, 10.0))
     # -- Table
     table_usd_path = f"{ISAAC_NUCLEUS_DIR}/Props/Mounts/SeattleLabTable/table_instanceable.usd"
     prim_utils.create_prim("/World/envs/env_0/Table", usd_path=table_usd_path)