Fixes the rendering logic inside the environment classes (#515)

Fixes #476

The parameter substeps in the Simulation config had no influence on the
rendering frequency.
Additionally, app.update was not properly called when initializing the
stage due to the render method overload. This led to problems when
modifying the render interval.

- Merged physics stepping and rendering inside the step method in the
simulation config.
- Renamed substeps to render_interval in the simulation config.
- Updated all the tasks

## Type of change

- Breaking change (fix or feature that would cause existing
functionality to not work as expected)

## 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
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have run all the tests with `./isaaclab.sh --test` and they pass
- [x] 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

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

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.17.13"
+version = "0.18.0"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

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

 Changelog
 ---------
 
+0.18.0 (2024-06-13)
+~~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed the rendering logic to render at the specified interval. Earlier, the substep parameter had no effect and rendering
+  would happen once every env.step() when active.
+
+Changed
+^^^^^^^
+
+* Renamed :attr:`omni.isaac.lab.sim.SimulationCfg.substeps` to :attr:`omni.isaac.lab.sim.SimulationCfg.render_interval`.
+  The render logic is now integrated in the decimation loop of the environment.
+
+
 0.17.13 (2024-06-13)
 ~~~~~~~~~~~~~~~~~~~~
 

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

@@ -16,6 +16,7 @@ from abc import abstractmethod
 from collections.abc import Sequence
 from typing import Any, ClassVar
 
+import carb
 import omni.isaac.core.utils.torch as torch_utils
 import omni.kit.app
 from omni.isaac.version import get_version
@@ -91,11 +92,19 @@ class DirectRLEnv(gym.Env):
         print("[INFO]: Base environment:")
         print(f"\tEnvironment device    : {self.device}")
         print(f"\tPhysics step-size     : {self.physics_dt}")
-        print(f"\tRendering step-size   : {self.physics_dt * self.cfg.sim.substeps}")
+        print(f"\tRendering step-size   : {self.physics_dt * self.cfg.sim.render_interval}")
         print(f"\tEnvironment step-size : {self.step_dt}")
         print(f"\tPhysics GPU pipeline  : {self.cfg.sim.use_gpu_pipeline}")
         print(f"\tPhysics GPU simulation: {self.cfg.sim.physx.use_gpu}")
 
+        if self.cfg.sim.render_interval < self.cfg.decimation:
+            msg = (
+                f"The render interval ({self.cfg.sim.render_interval}) is smaller than the decimation "
+                f"({self.cfg.decimation}). Multiple multiple render calls will happen for each environment step."
+                "If this is not intended, set the render interval to be equal to the decimation."
+            )
+            carb.log_warn(msg)
+
         # generate scene
         with Timer("[INFO]: Time taken for scene creation"):
             self.scene = InteractiveScene(self.cfg.scene)
@@ -146,6 +155,8 @@ class DirectRLEnv(gym.Env):
         self.extras = {}
 
         # initialize data and constants
+        # -- counter for simulation steps
+        self._sim_step_counter = 0
         # -- counter for curriculum
         self.common_step_counter = 0
         # -- init buffers
@@ -270,17 +281,18 @@ class DirectRLEnv(gym.Env):
         self._pre_physics_step(action)
         # perform physics stepping
         for _ in range(self.cfg.decimation):
+            self._sim_step_counter += 1
             # set actions into buffers
             self._apply_action()
             # set actions into simulator
             self.scene.write_data_to_sim()
+            render = self._sim_step_counter % self.cfg.sim.render_interval == 0 and (
+                self.sim.has_gui() or self.sim.has_rtx_sensors()
+            )
             # simulate
-            self.sim.step(render=False)
+            self.sim.step(render=render)
             # update buffers at sim dt
             self.scene.update(dt=self.physics_dt)
-        # perform rendering if gui is enabled
-        if self.sim.has_gui() or self.sim.has_rtx_sensors():
-            self.sim.render()
 
         # post-step:
         # -- update env counters (used for curriculum generation)

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

@@ -87,11 +87,22 @@ class ManagerBasedEnv:
         print("[INFO]: Base environment:")
         print(f"\tEnvironment device    : {self.device}")
         print(f"\tPhysics step-size     : {self.physics_dt}")
-        print(f"\tRendering step-size   : {self.physics_dt * self.cfg.sim.substeps}")
+        print(f"\tRendering step-size   : {self.physics_dt * self.cfg.sim.render_interval}")
         print(f"\tEnvironment step-size : {self.step_dt}")
         print(f"\tPhysics GPU pipeline  : {self.cfg.sim.use_gpu_pipeline}")
         print(f"\tPhysics GPU simulation: {self.cfg.sim.physx.use_gpu}")
 
+        if self.cfg.sim.render_interval < self.cfg.decimation:
+            msg = (
+                f"The render interval ({self.cfg.sim.render_interval}) is smaller than the decimation "
+                f"({self.cfg.decimation}). Multiple multiple render calls will happen for each environment step. "
+                "If this is not intended, set the render interval to be equal to the decimation."
+            )
+            carb.log_warn(msg)
+
+        # counter for simulation steps
+        self._sim_step_counter = 0
+
         # generate scene
         with Timer("[INFO]: Time taken for scene creation"):
             self.scene = InteractiveScene(self.cfg.scene)
@@ -253,17 +264,18 @@ class ManagerBasedEnv:
         self.action_manager.process_action(action)
         # perform physics stepping
         for _ in range(self.cfg.decimation):
+            self._sim_step_counter += 1
             # set actions into buffers
             self.action_manager.apply_action()
             # set actions into simulator
             self.scene.write_data_to_sim()
+            render = self._sim_step_counter % self.cfg.sim.render_interval == 0 and (
+                self.sim.has_gui() or self.sim.has_rtx_sensors()
+            )
             # simulate
-            self.sim.step(render=False)
+            self.sim.step(render=render)
             # update buffers at sim dt
             self.scene.update(dt=self.physics_dt)
-        # perform rendering if gui is enabled
-        if self.sim.has_gui() or self.sim.has_rtx_sensors():
-            self.sim.render()
 
         # post-step: step interval event
         if "interval" in self.event_manager.available_modes:

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

@@ -154,17 +154,18 @@ class ManagerBasedRLEnv(ManagerBasedEnv, gym.Env):
         self.action_manager.process_action(action)
         # perform physics stepping
         for _ in range(self.cfg.decimation):
+            self._sim_step_counter += 1
             # set actions into buffers
             self.action_manager.apply_action()
             # set actions into simulator
             self.scene.write_data_to_sim()
+            render = self._sim_step_counter % self.cfg.sim.render_interval == 0 and (
+                self.sim.has_gui() or self.sim.has_rtx_sensors()
+            )
             # simulate
-            self.sim.step(render=False)
+            self.sim.step(render=render)
             # update buffers at sim dt
             self.scene.update(dt=self.physics_dt)
-        # perform rendering if gui is enabled
-        if self.sim.has_gui() or self.sim.has_rtx_sensors():
-            self.sim.render()
 
         # post-step:
         # -- update env counters (used for curriculum generation)

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

@@ -168,7 +168,7 @@ class SimulationCfg:
     dt: float = 1.0 / 60.0
     """The physics simulation time-step (in seconds). Default is 0.0167 seconds."""
 
-    substeps: int = 1
+    render_interval: int = 1
     """The number of physics simulation steps per rendering step. Default is 1."""
 
     gravity: tuple[float, float, float] = (0.0, 0.0, -9.81)

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

@@ -214,7 +214,7 @@ class SimulationContext(_SimulationContext):
         super().__init__(
             stage_units_in_meters=1.0,
             physics_dt=self.cfg.dt,
-            rendering_dt=self.cfg.dt * self.cfg.substeps,
+            rendering_dt=self.cfg.dt * self.cfg.render_interval,
             backend="torch",
             sim_params=sim_params,
             physics_prim_path=self.cfg.physics_prim_path,
@@ -384,7 +384,7 @@ class SimulationContext(_SimulationContext):
                 self.render()
 
     def step(self, render: bool = True):
-        """Steps the physics simulation with the pre-defined time-step.
+        """Steps the simulation.
 
         .. note::
             This function blocks if the timeline is paused. It only returns when the timeline is playing.
@@ -467,6 +467,11 @@ class SimulationContext(_SimulationContext):
 
     def _init_stage(self, *args, **kwargs) -> Usd.Stage:
         _ = super()._init_stage(*args, **kwargs)
+        # a stage update here is needed for the case when physics_dt != rendering_dt, otherwise the app crashes
+        # when in headless mode
+        self.set_setting("/app/player/playSimulations", False)
+        self._app.update()
+        self.set_setting("/app/player/playSimulations", True)
         # set additional physx parameters and bind material
         self._set_additional_physx_params()
         # load flatcache/fabric interface

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

@@ -144,7 +144,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim = sim_utils.SimulationContext(sim_utils.SimulationCfg(dt=0.01, substeps=1))
+    sim = sim_utils.SimulationContext(sim_utils.SimulationCfg(dt=0.01))
     # Set main camera
     sim.set_camera_view(eye=[2.5, 2.5, 2.5], target=[0.0, 0.0, 0.0])
     # design scene

source/extensions/omni.isaac.lab/test/markers/check_markers_visibility.py

@@ -128,7 +128,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(dt=0.005, substeps=1)
+    sim_cfg = sim_utils.SimulationCfg(dt=0.005)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[3.5, 3.5, 3.5], target=[0.0, 0.0, 0.0])

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

@@ -9,10 +9,8 @@
 
 from omni.isaac.lab.app import AppLauncher, run_tests
 
-HEADLESS = True
-
 # launch omniverse app
-app_launcher = AppLauncher(headless=HEADLESS)
+app_launcher = AppLauncher(headless=True)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""
@@ -467,7 +465,7 @@ class TestContactSensor(unittest.TestCase):
         # write data to simulation
         self.scene.write_data_to_sim()
         # simulate
-        self.sim.step(render=not HEADLESS)
+        self.sim.step(render=False)
         # update buffers at sim dt
         self.scene.update(dt=self.sim_dt)
 

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

@@ -52,7 +52,7 @@ class TestSimulationContext(unittest.TestCase):
 
     def test_initialization(self):
         """Test the simulation config."""
-        cfg = SimulationCfg(physics_prim_path="/Physics/PhysX", substeps=5, gravity=(0.0, -0.5, -0.5))
+        cfg = SimulationCfg(physics_prim_path="/Physics/PhysX", render_interval=5, gravity=(0.0, -0.5, -0.5))
         sim = SimulationContext(cfg)
         # TODO: Figure out why keyword argument doesn't work.
         # note: added a fix in Isaac Sim 2023.1 for this.
@@ -60,7 +60,7 @@ class TestSimulationContext(unittest.TestCase):
 
         # check valid settings
         self.assertEqual(sim.get_physics_dt(), cfg.dt)
-        self.assertEqual(sim.get_rendering_dt(), cfg.dt * cfg.substeps)
+        self.assertEqual(sim.get_rendering_dt(), cfg.dt * cfg.render_interval)
         self.assertFalse(sim.has_rtx_sensors())
         # check valid paths
         self.assertTrue(prim_utils.is_prim_path_valid("/Physics/PhysX"))

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

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.7.6"
+version = "0.7.7"
 
 # Description
 title = "Isaac Lab Environments"

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

 Changelog
 ---------
 
+0.7.7 (2024-06-14)
+~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Updated the tasks to use the renamed attribute :attr:`omni.isaac.lab.sim.SimulationCfg.render_interval`.
+
+
 0.7.6 (2024-06-13)
 ~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/ant/ant_env.py

@@ -20,8 +20,16 @@ from omni.isaac.lab_tasks.direct.locomotion.locomotion_env import LocomotionEnv
 
 @configclass
 class AntEnvCfg(DirectRLEnvCfg):
+    # env
+    episode_length_s = 15.0
+    decimation = 2
+    action_scale = 0.5
+    num_actions = 8
+    num_observations = 36
+    num_states = 0
+
     # simulation
-    sim: SimulationCfg = SimulationCfg(dt=1 / 120)
+    sim: SimulationCfg = SimulationCfg(dt=1 / 120, render_interval=decimation)
     terrain = TerrainImporterCfg(
         prim_path="/World/ground",
         terrain_type="plane",
@@ -43,14 +51,6 @@ class AntEnvCfg(DirectRLEnvCfg):
     robot: ArticulationCfg = ANT_CFG.replace(prim_path="/World/envs/env_.*/Robot")
     joint_gears: list = [15, 15, 15, 15, 15, 15, 15, 15]
 
-    # env
-    episode_length_s = 15.0
-    decimation = 2
-    action_scale = 0.5
-    num_actions = 8
-    num_observations = 36
-    num_states = 0
-
     heading_weight: float = 0.5
     up_weight: float = 0.1
 

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/anymal_c/anymal_c_env.py

@@ -25,9 +25,18 @@ from omni.isaac.lab.terrains.config.rough import ROUGH_TERRAINS_CFG  # isort: sk
 
 @configclass
 class AnymalCFlatEnvCfg(DirectRLEnvCfg):
+    # env
+    episode_length_s = 20.0
+    decimation = 4
+    action_scale = 0.5
+    num_actions = 12
+    num_observations = 48
+    num_states = 0
+
     # simulation
     sim: SimulationCfg = SimulationCfg(
         dt=1 / 200,
+        render_interval=decimation,
         disable_contact_processing=True,
         physics_material=sim_utils.RigidBodyMaterialCfg(
             friction_combine_mode="multiply",
@@ -60,14 +69,6 @@ class AnymalCFlatEnvCfg(DirectRLEnvCfg):
         prim_path="/World/envs/env_.*/Robot/.*", history_length=3, update_period=0.005, track_air_time=True
     )
 
-    # env
-    episode_length_s = 20.0
-    decimation = 4
-    action_scale = 0.5
-    num_actions = 12
-    num_observations = 48
-    num_states = 0
-
     # reward scales
     lin_vel_reward_scale = 1.0
     yaw_rate_reward_scale = 0.5

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_camera_env.py

@@ -26,8 +26,16 @@ from omni.isaac.lab.utils.math import sample_uniform
 
 @configclass
 class CartpoleRGBCameraEnvCfg(DirectRLEnvCfg):
+    # env
+    decimation = 2
+    episode_length_s = 5.0
+    action_scale = 100.0  # [N]
+    num_actions = 1
+    num_channels = 3
+    num_states = 0
+
     # simulation
-    sim: SimulationCfg = SimulationCfg(dt=1 / 120)
+    sim: SimulationCfg = SimulationCfg(dt=1 / 120, render_interval=decimation)
 
     # robot
     robot_cfg: ArticulationCfg = CARTPOLE_CFG.replace(prim_path="/World/envs/env_.*/Robot")
@@ -45,6 +53,7 @@ class CartpoleRGBCameraEnvCfg(DirectRLEnvCfg):
         width=80,
         height=80,
     )
+    num_observations = num_channels * tiled_camera.height * tiled_camera.width
     write_image_to_file = False
 
     # change viewer settings
@@ -53,15 +62,6 @@ class CartpoleRGBCameraEnvCfg(DirectRLEnvCfg):
     # scene
     scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=256, env_spacing=20.0, replicate_physics=True)
 
-    # env
-    decimation = 2
-    episode_length_s = 5.0
-    action_scale = 100.0  # [N]
-    num_actions = 1
-    num_channels = 3
-    num_observations = num_channels * tiled_camera.height * tiled_camera.width
-    num_states = 0
-
     # reset
     max_cart_pos = 3.0  # the cart is reset if it exceeds that position [m]
     initial_pole_angle_range = [-0.125, 0.125]  # the range in which the pole angle is sampled from on reset [rad]

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_env.py

@@ -23,8 +23,16 @@ from omni.isaac.lab.utils.math import sample_uniform
 
 @configclass
 class CartpoleEnvCfg(DirectRLEnvCfg):
+    # env
+    decimation = 2
+    episode_length_s = 5.0
+    action_scale = 100.0  # [N]
+    num_actions = 1
+    num_observations = 4
+    num_states = 0
+
     # simulation
-    sim: SimulationCfg = SimulationCfg(dt=1 / 120)
+    sim: SimulationCfg = SimulationCfg(dt=1 / 120, render_interval=decimation)
 
     # robot
     robot_cfg: ArticulationCfg = CARTPOLE_CFG.replace(prim_path="/World/envs/env_.*/Robot")
@@ -34,14 +42,6 @@ class CartpoleEnvCfg(DirectRLEnvCfg):
     # scene
     scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=4096, env_spacing=4.0, replicate_physics=True)
 
-    # env
-    decimation = 2
-    episode_length_s = 5.0
-    action_scale = 100.0  # [N]
-    num_actions = 1
-    num_observations = 4
-    num_states = 0
-
     # reset
     max_cart_pos = 3.0  # the cart is reset if it exceeds that position [m]
     initial_pole_angle_range = [-0.25, 0.25]  # the range in which the pole angle is sampled from on reset [rad]

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/franka_cabinet/franka_cabinet_env.py

@@ -25,7 +25,6 @@ from omni.isaac.lab.utils.math import sample_uniform
 
 @configclass
 class FrankaCabinetEnvCfg(DirectRLEnvCfg):
-
     # env
     episode_length_s = 8.3333  # 500 timesteps
     decimation = 2
@@ -33,12 +32,10 @@ class FrankaCabinetEnvCfg(DirectRLEnvCfg):
     num_observations = 23
     num_states = 0
 
-    action_scale = 7.5
-    dof_velocity_scale = 0.1
-
     # simulation
     sim: SimulationCfg = SimulationCfg(
         dt=1 / 120,
+        render_interval=decimation,
         disable_contact_processing=True,
         physics_material=sim_utils.RigidBodyMaterialCfg(
             friction_combine_mode="multiply",
@@ -154,6 +151,9 @@ class FrankaCabinetEnvCfg(DirectRLEnvCfg):
         ),
     )
 
+    action_scale = 7.5
+    dof_velocity_scale = 0.1
+
     # reward scales
     dist_reward_scale = 2.0
     rot_reward_scale = 0.5

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/humanoid/humanoid_env.py

@@ -20,8 +20,16 @@ from omni.isaac.lab_tasks.direct.locomotion.locomotion_env import LocomotionEnv
 
 @configclass
 class HumanoidEnvCfg(DirectRLEnvCfg):
+    # env
+    episode_length_s = 15.0
+    decimation = 2
+    action_scale = 1.0
+    num_actions = 21
+    num_observations = 75
+    num_states = 0
+
     # simulation
-    sim: SimulationCfg = SimulationCfg(dt=1 / 120)
+    sim: SimulationCfg = SimulationCfg(dt=1 / 120, render_interval=decimation)
     terrain = TerrainImporterCfg(
         prim_path="/World/ground",
         terrain_type="plane",
@@ -65,14 +73,6 @@ class HumanoidEnvCfg(DirectRLEnvCfg):
         22.5,  # left_foot
     ]
 
-    # env
-    episode_length_s = 15.0
-    decimation = 2
-    action_scale = 1.0
-    num_actions = 21
-    num_observations = 75
-    num_states = 0
-
     heading_weight: float = 0.5
     up_weight: float = 0.1
 

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/quadcopter/quadcopter_env.py

@@ -47,11 +47,20 @@ class QuadcopterEnvWindow(BaseEnvWindow):
 
 @configclass
 class QuadcopterEnvCfg(DirectRLEnvCfg):
+    # env
+    episode_length_s = 10.0
+    decimation = 2
+    num_actions = 4
+    num_observations = 12
+    num_states = 0
+    debug_vis = True
+
     ui_window_class_type = QuadcopterEnvWindow
 
     # simulation
     sim: SimulationCfg = SimulationCfg(
         dt=1 / 100,
+        render_interval=decimation,
         disable_contact_processing=True,
         physics_material=sim_utils.RigidBodyMaterialCfg(
             friction_combine_mode="multiply",
@@ -83,14 +92,6 @@ class QuadcopterEnvCfg(DirectRLEnvCfg):
     thrust_to_weight = 1.9
     moment_scale = 0.01
 
-    # env
-    episode_length_s = 10.0
-    decimation = 2
-    num_actions = 4
-    num_observations = 12
-    num_states = 0
-    debug_vis = True
-
     # reward scales
     lin_vel_reward_scale = -0.05
     ang_vel_reward_scale = -0.01

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py

@@ -110,9 +110,19 @@ class EventCfg:
 
 @configclass
 class ShadowHandEnvCfg(DirectRLEnvCfg):
+    # env
+    decimation = 2
+    episode_length_s = 10.0
+    num_actions = 20
+    num_observations = 157  # (full)
+    num_states = 0
+    asymmetric_obs = False
+    obs_type = "full"
+
     # simulation
     sim: SimulationCfg = SimulationCfg(
         dt=1 / 120,
+        render_interval=decimation,
         physics_material=RigidBodyMaterialCfg(
             static_friction=1.0,
             dynamic_friction=1.0,
@@ -190,14 +200,7 @@ class ShadowHandEnvCfg(DirectRLEnvCfg):
     )
     # scene
     scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=8192, env_spacing=0.75, replicate_physics=True)
-    # env
-    decimation = 2
-    episode_length_s = 10.0
-    num_actions = 20
-    num_observations = 157  # (full)
-    num_states = 0
-    asymmetric_obs = False
-    obs_type = "full"
+
     # reset
     reset_position_noise = 0.01  # range of position at reset
     reset_dof_pos_noise = 0.2  # range of dof pos at reset

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/ant/ant_env_cfg.py

@@ -194,6 +194,7 @@ class AntEnvCfg(ManagerBasedRLEnvCfg):
         self.episode_length_s = 16.0
         # simulation settings
         self.sim.dt = 1 / 120.0
+        self.sim.render_interval = self.decimation
         self.sim.physx.bounce_threshold_velocity = 0.2
         # default friction material
         self.sim.physics_material.static_friction = 1.0

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py

@@ -201,3 +201,4 @@ class CartpoleEnvCfg(ManagerBasedRLEnvCfg):
         self.viewer.eye = (8.0, 0.0, 5.0)
         # simulation settings
         self.sim.dt = 1 / 120
+        self.sim.render_interval = self.decimation

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/humanoid/humanoid_env_cfg.py

@@ -279,6 +279,7 @@ class HumanoidEnvCfg(ManagerBasedRLEnvCfg):
         self.episode_length_s = 16.0
         # simulation settings
         self.sim.dt = 1 / 120.0
+        self.sim.render_interval = self.decimation
         self.sim.physx.bounce_threshold_velocity = 0.2
         # default friction material
         self.sim.physics_material.static_friction = 1.0

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/spot/flat_env_cfg.py

@@ -326,7 +326,7 @@ class SpotFlatEnvCfg(LocomotionVelocityRoughEnvCfg):
         self.episode_length_s = 20.0
         # simulation settings
         self.sim.dt = 0.002  # 500 Hz
-        self.sim.substeps = 1
+        self.sim.render_interval = self.decimation
         self.sim.disable_contact_processing = True
         self.sim.physics_material.static_friction = 1.0
         self.sim.physics_material.dynamic_friction = 1.0

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/velocity_env_cfg.py

@@ -300,6 +300,7 @@ class LocomotionVelocityRoughEnvCfg(ManagerBasedRLEnvCfg):
         self.episode_length_s = 20.0
         # simulation settings
         self.sim.dt = 0.005
+        self.sim.render_interval = self.decimation
         self.sim.disable_contact_processing = True
         self.sim.physics_material = self.scene.terrain.physics_material
         # update sensor update periods

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/cabinet/cabinet_env_cfg.py

@@ -282,6 +282,7 @@ class CabinetEnvCfg(ManagerBasedRLEnvCfg):
         self.viewer.lookat = (0.8, 0.0, 0.5)
         # simulation settings
         self.sim.dt = 1 / 60  # 60Hz
+        self.sim.render_interval = self.decimation
         self.sim.physx.bounce_threshold_velocity = 0.2
         self.sim.physx.bounce_threshold_velocity = 0.01
         self.sim.physx.friction_correlation_distance = 0.00625

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/inhand/inhand_env_cfg.py

@@ -341,5 +341,6 @@ class InHandObjectEnvCfg(ManagerBasedRLEnvCfg):
         self.episode_length_s = 20.0
         # simulation settings
         self.sim.dt = 1.0 / 120.0
+        self.sim.render_interval = self.decimation
         # change viewer settings
         self.viewer.eye = (2.0, 2.0, 2.0)

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/lift_env_cfg.py

@@ -213,6 +213,7 @@ class LiftEnvCfg(ManagerBasedRLEnvCfg):
         self.episode_length_s = 5.0
         # simulation settings
         self.sim.dt = 0.01  # 100Hz
+        self.sim.render_interval = self.decimation
 
         self.sim.physx.bounce_threshold_velocity = 0.2
         self.sim.physx.bounce_threshold_velocity = 0.01

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

@@ -141,6 +141,7 @@ class NavigationEnvCfg(ManagerBasedRLEnvCfg):
         """Post initialization."""
 
         self.sim.dt = LOW_LEVEL_ENV_CFG.sim.dt
+        self.sim.render_interval = LOW_LEVEL_ENV_CFG.decimation
         self.decimation = LOW_LEVEL_ENV_CFG.decimation * 10
         self.episode_length_s = self.commands.pose_command.resampling_time_range[1]
 

source/standalone/demos/hands.py

@@ -145,7 +145,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim = sim_utils.SimulationContext(sim_utils.SimulationCfg(dt=0.01, substeps=1))
+    sim = sim_utils.SimulationContext(sim_utils.SimulationCfg(dt=0.01))
     # Set main camera
     sim.set_camera_view(eye=[0.0, -0.5, 1.5], target=[0.0, -0.2, 0.5])
     # design scene

source/standalone/demos/markers.py

@@ -94,7 +94,7 @@ def define_markers() -> VisualizationMarkers:
 def main():
     """Main function."""
     # Load kit helper
-    sim = SimulationContext(sim_utils.SimulationCfg(dt=0.01, substeps=1))
+    sim = SimulationContext(sim_utils.SimulationCfg(dt=0.01))
     # Set main camera
     sim.set_camera_view([0.0, 18.0, 12.0], [0.0, 3.0, 0.0])
 

source/standalone/demos/procedural_terrain.py

@@ -154,7 +154,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim = sim_utils.SimulationContext(sim_utils.SimulationCfg(dt=0.01, substeps=1))
+    sim = sim_utils.SimulationContext(sim_utils.SimulationCfg(dt=0.01))
     # Set main camera
     sim.set_camera_view(eye=[2.5, 2.5, 2.5], target=[0.0, 0.0, 0.0])
     # design scene

source/standalone/demos/quadrupeds.py

@@ -171,7 +171,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim = sim_utils.SimulationContext(sim_utils.SimulationCfg(dt=0.01, substeps=1))
+    sim = sim_utils.SimulationContext(sim_utils.SimulationCfg(dt=0.01))
     # Set main camera
     sim.set_camera_view(eye=[2.5, 2.5, 2.5], target=[0.0, 0.0, 0.0])
     # design scene

source/standalone/tutorials/00_sim/create_empty.py

@@ -38,7 +38,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim_cfg = SimulationCfg(dt=0.01, substeps=1)
+    sim_cfg = SimulationCfg(dt=0.01)
     sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])

source/standalone/tutorials/00_sim/launch_app.py

@@ -70,7 +70,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(dt=0.01, substeps=1)
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([2.0, 0.0, 2.5], [-0.5, 0.0, 0.5])

source/standalone/tutorials/00_sim/log_time.py

@@ -51,7 +51,7 @@ def main():
     print(f"[INFO] Logging experiment to directory: {log_dir_path}")
 
     # Initialize the simulation context
-    sim_cfg = SimulationCfg(dt=0.01, substeps=1)
+    sim_cfg = SimulationCfg(dt=0.01)
     sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])

source/standalone/tutorials/00_sim/spawn_prims.py

@@ -83,7 +83,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(dt=0.01, substeps=1)
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([2.0, 0.0, 2.5], [-0.5, 0.0, 0.5])

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

@@ -156,7 +156,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(dt=0.005, substeps=1)
+    sim_cfg = sim_utils.SimulationCfg(dt=0.005)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[3.5, 3.5, 3.5], target=[0.0, 0.0, 0.0])

source/standalone/workflows/rl_games/train.py

@@ -32,6 +32,9 @@ parser.add_argument("--max_iterations", type=int, default=None, help="RL Policy
 AppLauncher.add_app_launcher_args(parser)
 # parse the arguments
 args_cli = parser.parse_args()
+# always enable cameras to record video
+if args_cli.video:
+    args_cli.enable_cameras = True
 
 # launch omniverse app
 app_launcher = AppLauncher(args_cli)

source/standalone/workflows/rsl_rl/train.py

@@ -33,6 +33,9 @@ cli_args.add_rsl_rl_args(parser)
 # append AppLauncher cli args
 AppLauncher.add_app_launcher_args(parser)
 args_cli = parser.parse_args()
+# always enable cameras to record video
+if args_cli.video:
+    args_cli.enable_cameras = True
 
 # launch omniverse app
 app_launcher = AppLauncher(args_cli)

source/standalone/workflows/sb3/train.py

@@ -33,6 +33,9 @@ parser.add_argument("--max_iterations", type=int, default=None, help="RL Policy
 AppLauncher.add_app_launcher_args(parser)
 # parse the arguments
 args_cli = parser.parse_args()
+# always enable cameras to record video
+if args_cli.video:
+    args_cli.enable_cameras = True
 
 # launch omniverse app
 app_launcher = AppLauncher(args_cli)

source/standalone/workflows/skrl/train.py

@@ -35,6 +35,9 @@ AppLauncher.add_app_launcher_args(parser)
 # parse the arguments
 args_cli = parser.parse_args()
 
+if args_cli.video:
+    args_cli.enable_cameras = True
+
 # launch omniverse app
 app_launcher = AppLauncher(args_cli)
 simulation_app = app_launcher.app