Updates physics APIs based on latest omni.physics changes (#205)

Some changes and updates were introduced in the latest physics build for
Isaac Sim 4.5. This PR updates Isaac Lab to leverage some new APIs:

- Kinematic bodies now require an additional API call to populate
kinematic transforms to fabric, which will allow for rendering of
kinematic bodies
- A new `enable_env_ids` flag was introduced in the cloning and physics
replication APIs that will now automatically filter collisions across
environments. This replaces the previous calls to filter collisions,
which helps speed up the scene creation process.

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applicable. -->

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

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

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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>

.vscode/tools/setup_vscode.py

@@ -98,7 +98,7 @@ def overwrite_python_analysis_extra_paths(isaaclab_settings: str) -> str:
         )
 
     # add the path names that are in the Isaac Lab extensions directory
-    isaaclab_extensions = os.listdir(os.path.join(ISAACLAB_DIR, "source", "extensions"))
+    isaaclab_extensions = os.listdir(os.path.join(ISAACLAB_DIR, "source"))
     path_names.extend(['"${workspaceFolder}/source/' + ext + '"' for ext in isaaclab_extensions])
 
     # combine them into a single string

apps/isaaclab.python.kit

@@ -59,6 +59,7 @@ keywords = ["experience", "app", "usd"]
 "omni.graph.ui_nodes" = {}
 "omni.hydra.engine.stats" = {}
 "omni.hydra.rtx" = {}
+"omni.kit.loop" = {}
 "omni.kit.mainwindow" = {}
 "omni.kit.manipulator.camera" = {}
 "omni.kit.manipulator.prim" = {}

source/isaaclab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.32.8"
+version = "0.33.6"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
-0.32.8 (2025-01-30)
+0.33.6 (2025-01-30)
 ~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -12,7 +12,7 @@ Fixed
   to the event being triggered at the wrong time after the reset.
 
 
-0.32.7 (2025-01-17)
+0.33.5 (2025-01-17)
 ~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -42,7 +42,7 @@ Fixed
   the :class:`omni.isaac.lab.assets.RigidObjectCollection` class.
 
 
-0.32.6 (2025-01-14)
+0.33.4 (2025-01-14)
 ~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -51,7 +51,7 @@ Fixed
 * Fixed the respawn of only wrong object samples in :func:`repeated_objects_terrain` of :mod:`omni.isaac.lab.terrains.trimesh` module. Previously, the function was respawning all objects in the scene instead of only the wrong object samples, which in worst case could lead to infinite respawn loop.
 
 
-0.32.5 (2025-01-08)
+0.33.3 (2025-01-08)
 ~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -61,7 +61,7 @@ Fixed
   In body properties sections, the second dimension should be num_bodies but was documented as 1.
 
 
-0.32.4 (2025-01-02)
+0.33.2 (2025-01-02)
 ~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -70,7 +70,17 @@ Added
 * Added body tracking as an origin type to :class:`omni.isaac.lab.envs.ViewerCfg` and :class:`omni.isaac.lab.envs.ui.ViewportCameraController`.
 
 
-0.32.3 (2024-12-22)
+0.33.1 (2024-12-26)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Added kinematics initialization call for populating kinematic prim transforms to fabric for rendering.
+* Added ``enable_env_ids`` flag for cloning and replication to replace collision filtering.
+
+
+0.33.0 (2024-12-22)
 ~~~~~~~~~~~~~~~~~~~
 
 Fixed

source/isaaclab/isaaclab/scene/interactive_scene.py

@@ -138,6 +138,7 @@ class InteractiveScene:
                 prim_paths=self.env_prim_paths,
                 replicate_physics=False,
                 copy_from_source=True,
+                enable_env_ids=True,  # this automatically filters collisions between environments
             )
             self._default_env_origins = torch.tensor(env_origins, device=self.device, dtype=torch.float32)
         else:
@@ -159,10 +160,9 @@ class InteractiveScene:
                     prim_paths=self.env_prim_paths,
                     base_env_path=self.env_ns,
                     root_path=self.env_regex_ns.replace(".*", ""),
+                    enable_env_ids=True,
                 )
 
-            self.filter_collisions(self._global_prim_paths)
-
     def clone_environments(self, copy_from_source: bool = False):
         """Creates clones of the environment ``/World/envs/env_0``.
 
@@ -188,6 +188,7 @@ class InteractiveScene:
             prim_paths=self.env_prim_paths,
             replicate_physics=self.cfg.replicate_physics,
             copy_from_source=copy_from_source,
+            enable_env_ids=True,  # this automatically filters collisions between environments
         )
 
         # in case of heterogeneous cloning, the env origins is specified at init

source/isaaclab/isaaclab/sim/simulation_context.py

@@ -431,6 +431,9 @@ class SimulationContext(_SimulationContext):
 
     def reset(self, soft: bool = False):
         super().reset(soft=soft)
+        # enable kinematic rendering with fabric
+        if self.physics_sim_view:
+            self.physics_sim_view._backend.initialize_kinematic_bodies()
         # perform additional rendering steps to warm up replicator buffers
         # this is only needed for the first time we set the simulation
         if not soft:

source/isaaclab/test/terrains/test_terrain_importer.py

@@ -293,7 +293,11 @@ class TestTerrainImporter(unittest.TestCase):
         # Clone the scene
         cloner.define_base_env("/World/envs")
         envs_prim_paths = cloner.generate_paths("/World/envs/env", num_paths=num_balls)
-        cloner.clone(source_prim_path="/World/envs/env_0", prim_paths=envs_prim_paths, replicate_physics=True)
+        cloner.clone(
+            source_prim_path="/World/envs/env_0",
+            prim_paths=envs_prim_paths,
+            replicate_physics=True,
+        )
         physics_scene_path = sim.get_physics_context().prim_path
         cloner.filter_collisions(
             physics_scene_path, "/World/collisions", prim_paths=envs_prim_paths, global_paths=["/World/ground"]

source/isaaclab_assets/isaaclab_assets/robots/__init__.py

-# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause

source/isaaclab_assets/isaaclab_assets/sensors/__init__.py

-# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause

source/isaaclab_rl/setup.py

-# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause

source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/anymal_c_env.py

@@ -64,9 +64,8 @@ class AnymalCEnv(DirectRLEnv):
         self.cfg.terrain.num_envs = self.scene.cfg.num_envs
         self.cfg.terrain.env_spacing = self.scene.cfg.env_spacing
         self._terrain = self.cfg.terrain.class_type(self.cfg.terrain)
-        # clone, filter, and replicate
+        # clone and replicate
         self.scene.clone_environments(copy_from_source=False)
-        self.scene.filter_collisions(global_prim_paths=[self.cfg.terrain.prim_path])
         # add lights
         light_cfg = sim_utils.DomeLightCfg(intensity=2000.0, color=(0.75, 0.75, 0.75))
         light_cfg.func("/World/Light", light_cfg)

source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/cart_double_pendulum_env.py

@@ -80,9 +80,8 @@ class CartDoublePendulumEnv(DirectMARLEnv):
         self.robot = Articulation(self.cfg.robot_cfg)
         # add ground plane
         spawn_ground_plane(prim_path="/World/ground", cfg=GroundPlaneCfg())
-        # clone, filter, and replicate
+        # clone and replicate
         self.scene.clone_environments(copy_from_source=False)
-        self.scene.filter_collisions(global_prim_paths=[])
         # add articulation to scene
         self.scene.articulations["robot"] = self.robot
         # add lights

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_camera_env.py

@@ -121,9 +121,8 @@ class CartpoleCameraEnv(DirectRLEnv):
         self._cartpole = Articulation(self.cfg.robot_cfg)
         self._tiled_camera = TiledCamera(self.cfg.tiled_camera)
 
-        # clone, filter, and replicate
+        # clone and replicate
         self.scene.clone_environments(copy_from_source=False)
-        self.scene.filter_collisions(global_prim_paths=[])
 
         # add articulation and sensors to scene
         self.scene.articulations["cartpole"] = self._cartpole

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_env.py

@@ -71,9 +71,8 @@ class CartpoleEnv(DirectRLEnv):
         self.cartpole = Articulation(self.cfg.robot_cfg)
         # add ground plane
         spawn_ground_plane(prim_path="/World/ground", cfg=GroundPlaneCfg())
-        # clone, filter, and replicate
+        # clone and replicate
         self.scene.clone_environments(copy_from_source=False)
-        self.scene.filter_collisions(global_prim_paths=[])
         # add articulation to scene
         self.scene.articulations["cartpole"] = self.cartpole
         # add lights

source/isaaclab_tasks/isaaclab_tasks/direct/factory/factory_env.py

@@ -173,7 +173,6 @@ class FactoryEnv(DirectRLEnv):
             self._large_gear_asset = Articulation(self.cfg_task.large_gear_cfg)
 
         self.scene.clone_environments(copy_from_source=False)
-        self.scene.filter_collisions()
 
         self.scene.articulations["robot"] = self._robot
         self.scene.articulations["fixed_asset"] = self._fixed_asset
@@ -639,7 +638,6 @@ class FactoryEnv(DirectRLEnv):
         joint_vel = torch.zeros_like(joint_pos)
         joint_effort = torch.zeros_like(joint_pos)
         self.ctrl_target_joint_pos[env_ids, :] = joint_pos
-        print(f"Resetting {len(env_ids)} envs...")
         self._robot.set_joint_position_target(self.ctrl_target_joint_pos[env_ids], env_ids=env_ids)
         self._robot.write_joint_state_to_sim(joint_pos, joint_vel, env_ids=env_ids)
         self._robot.reset()
@@ -761,7 +759,6 @@ class FactoryEnv(DirectRLEnv):
             )
 
             ik_attempt += 1
-            print(f"IK Attempt: {ik_attempt}\tBad Envs: {bad_envs.shape[0]}")
 
         self.step_sim_no_action()
 

source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/franka_cabinet_env.py

@@ -271,9 +271,8 @@ class FrankaCabinetEnv(DirectRLEnv):
         self.cfg.terrain.env_spacing = self.scene.cfg.env_spacing
         self._terrain = self.cfg.terrain.class_type(self.cfg.terrain)
 
-        # clone, filter, and replicate
+        # clone and replicate
         self.scene.clone_environments(copy_from_source=False)
-        self.scene.filter_collisions(global_prim_paths=[self.cfg.terrain.prim_path])
 
         # add lights
         light_cfg = sim_utils.DomeLightCfg(intensity=2000.0, color=(0.75, 0.75, 0.75))

source/isaaclab_tasks/isaaclab_tasks/direct/locomotion/locomotion_env.py

@@ -51,9 +51,8 @@ class LocomotionEnv(DirectRLEnv):
         self.cfg.terrain.num_envs = self.scene.cfg.num_envs
         self.cfg.terrain.env_spacing = self.scene.cfg.env_spacing
         self.terrain = self.cfg.terrain.class_type(self.cfg.terrain)
-        # clone, filter, and replicate
+        # clone and replicate
         self.scene.clone_environments(copy_from_source=False)
-        self.scene.filter_collisions(global_prim_paths=[self.cfg.terrain.prim_path])
         # add articulation to scene
         self.scene.articulations["robot"] = self.robot
         # add lights

source/isaaclab_tasks/isaaclab_tasks/direct/quadcopter/quadcopter_env.py

@@ -137,9 +137,8 @@ class QuadcopterEnv(DirectRLEnv):
         self.cfg.terrain.num_envs = self.scene.cfg.num_envs
         self.cfg.terrain.env_spacing = self.scene.cfg.env_spacing
         self._terrain = self.cfg.terrain.class_type(self.cfg.terrain)
-        # clone, filter, and replicate
+        # clone and replicate
         self.scene.clone_environments(copy_from_source=False)
-        self.scene.filter_collisions(global_prim_paths=[self.cfg.terrain.prim_path])
         # add lights
         light_cfg = sim_utils.DomeLightCfg(intensity=2000.0, color=(0.75, 0.75, 0.75))
         light_cfg.func("/World/Light", light_cfg)

source/isaaclab_tasks/test/test_factory_environments.py

-# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause