Fixes ground color and setting of ground transformation (#224)

# Description

This MR fixes the color of the ground in Orbit. It is now black since we
like that color more.

It also fixes the setting of the translation of the ground plane.
Earlier, it was taking z height from the configuration. Instead, now it
expects to get the full translation as an argument to its function. This
is needed to make it consistent with interactive scene designing API.

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)

## Screenshot


![new_ground](https://github.com/isaac-orbit/orbit/assets/12863862/8e729cb4-875f-476f-aa32-39cab38ad925)

## Checklist

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

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

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.9.27"
+version = "0.9.28"
 
 # Description
 title = "ORBIT framework for Robot Learning"

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

 Changelog
 ---------
 
+0.9.28 (2023-11-01)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Changed the way the :func:`omni.isaac.orbit.sim.spawners.from_files.spawn_ground_plane` function sets the
+  height of the ground. Earlier, it was reading the height from the configuration object. Now, it expects the
+  desired transformation as inputs to the function. This makes it consistent with the other spawner functions.
+
+
 0.9.27 (2023-10-31)
 ~~~~~~~~~~~~~~~~~~~
 

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

@@ -46,8 +46,10 @@ def spawn_from_usd(
         prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
             then the asset is spawned at all the matching prim paths.
         cfg: The configuration instance.
-        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None.
-        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None.
+        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which
+            case the translation specified in the USD file is used.
+        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+            in which case the orientation specified in the USD file is used.
 
     Returns:
         The prim of the spawned asset.
@@ -119,8 +121,10 @@ def spawn_from_urdf(
         prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
             then the asset is spawned at all the matching prim paths.
         cfg: The configuration instance.
-        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None.
-        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None.
+        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which
+            case the translation specified in the generated USD file is used.
+        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+            in which case the orientation specified in the generated USD file is used.
 
     Returns:
         The prim of the spawned asset.
@@ -166,7 +170,12 @@ def spawn_from_urdf(
     return prim_utils.get_prim_at_path(prim_path)
 
 
-def spawn_ground_plane(prim_path: str, cfg: from_files_cfg.GroundPlaneCfg, **kwargs) -> Usd.Prim:
+def spawn_ground_plane(
+    prim_path: str,
+    cfg: from_files_cfg.GroundPlaneCfg,
+    translation: tuple[float, float, float] | None = None,
+    orientation: tuple[float, float, float, float] | None = None,
+) -> Usd.Prim:
     """Spawns a ground plane into the scene.
 
     This function loads the USD file containing the grid plane asset from Isaac Sim. It may
@@ -180,6 +189,10 @@ def spawn_ground_plane(prim_path: str, cfg: from_files_cfg.GroundPlaneCfg, **kwa
     Args:
         prim_path: The path to spawn the asset at.
         cfg: The configuration instance.
+        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which
+            case the translation specified in the USD file is used.
+        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+            in which case the orientation specified in the USD file is used.
 
     Returns:
         The prim of the spawned asset.
@@ -189,7 +202,7 @@ def spawn_ground_plane(prim_path: str, cfg: from_files_cfg.GroundPlaneCfg, **kwa
     """
     # Spawn Ground-plane
     if not prim_utils.is_prim_path_valid(prim_path):
-        prim_utils.create_prim(prim_path, usd_path=cfg.usd_path, translation=(0.0, 0.0, cfg.height))
+        prim_utils.create_prim(prim_path, usd_path=cfg.usd_path, translation=translation, orientation=orientation)
     else:
         raise ValueError(f"A prim already exists at path: '{prim_path}'.")
 
@@ -231,10 +244,13 @@ def spawn_ground_plane(prim_path: str, cfg: from_files_cfg.GroundPlaneCfg, **kwa
         omni.kit.commands.execute(
             "ChangePropertyCommand",
             prop_path=Sdf.Path(prop_path),
-            value=Gf.Vec3d(*cfg.color),
+            value=Gf.Vec3f(*cfg.color),
             prev=None,
             type_to_create_if_not_exist=Sdf.ValueTypeNames.Color3f,
         )
+    # Remove the light from the ground plane
+    # It isn't bright enough and messes up with the user's lighting settings
+    omni.kit.commands.execute("ToggleVisibilitySelectedPrims", selected_paths=[f"{prim_path}/SphereLight"])
 
     # return the prim
     return prim_utils.get_prim_at_path(prim_path)

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/from_files/from_files_cfg.py

@@ -95,14 +95,15 @@ class GroundPlaneCfg(SpawnerCfg):
 
     usd_path: str = f"{ISAAC_NUCLEUS_DIR}/Environments/Grid/default_environment.usd"
     """Path to the USD file to spawn asset from. Defaults to the grid-world ground plane."""
-    height: float = 0.0
-    """The height of the ground plane. Defaults to 0.0."""
-    color: tuple[float, float, float] | None = (0.065, 0.0725, 0.080)
-    """The color of the ground plane. Defaults to (0.065, 0.0725, 0.080).
+
+    color: tuple[float, float, float] | None = (0.0, 0.0, 0.0)
+    """The color of the ground plane. Defaults to (0.0, 0.0, 0.0).
 
     If None, then the color remains unchanged.
     """
+
     size: tuple[float, float] = (100.0, 100.0)
     """The size of the ground plane. Defaults to 100 m x 100 m."""
+
     physics_material: materials.RigidBodyMaterialCfg = materials.RigidBodyMaterialCfg()
     """Physics material properties. Defaults to the default rigid body material."""

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

@@ -37,8 +37,9 @@ def spawn_light(
         prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
             then the asset is spawned at all the matching prim paths.
         cfg: The configuration for the light source.
-        translation: The translation of the prim. Defaults to None.
-        orientation: The orientation of the prim as ``(w, x, y, z)``. Defaults to None.
+        translation: The translation of the prim. Defaults to None, in which case this is set to the origin.
+        orientation: The orientation of the prim as ``(w, x, y, z)``. Defaults to None, in which case this
+            is set to identity.
 
     Raises:
         ValueError:  When a prim already exists at the specified prim path.

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

@@ -68,8 +68,10 @@ def spawn_camera(
         prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
             then the asset is spawned at all the matching prim paths.
         cfg: The configuration instance.
-        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None.
-        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None.
+        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case
+            this is set to the origin.
+        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+            in which case this is set to identity.
 
     Returns:
         The created prim.

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

@@ -37,8 +37,10 @@ def spawn_sphere(
         prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
             then the asset is spawned at all the matching prim paths.
         cfg: The configuration instance.
-        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None.
-        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None.
+        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case
+            this is set to the origin.
+        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+            in which case this is set to identity.
 
     Returns:
         The created prim.
@@ -77,8 +79,10 @@ def spawn_cuboid(
         prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
             then the asset is spawned at all the matching prim paths.
         cfg: The configuration instance.
-        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None.
-        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None.
+        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case
+            this is set to the origin.
+        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+            in which case this is set to identity.
 
     Returns:
         The created prim.
@@ -116,8 +120,10 @@ def spawn_cylinder(
         prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
             then the asset is spawned at all the matching prim paths.
         cfg: The configuration instance.
-        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None.
-        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None.
+        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case
+            this is set to the origin.
+        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+            in which case this is set to identity.
 
     Returns:
         The created prim.
@@ -152,8 +158,10 @@ def spawn_capsule(
         prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
             then the asset is spawned at all the matching prim paths.
         cfg: The configuration instance.
-        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None.
-        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None.
+        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case
+            this is set to the origin.
+        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+            in which case this is set to identity.
 
     Returns:
         The created prim.
@@ -188,8 +196,10 @@ def spawn_cone(
         prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
             then the asset is spawned at all the matching prim paths.
         cfg: The configuration instance.
-        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None.
-        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None.
+        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case
+            this is set to the origin.
+        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+            in which case this is set to identity.
 
     Returns:
         The created prim.
@@ -237,9 +247,11 @@ def _spawn_geom_from_prim_type(
         cfg: The config containing the properties to apply.
         prim_type: The type of prim to create.
         attributes: The attributes to apply to the prim.
-        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None.
-        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None.
-        scale: The scale to apply to the prim. Defaults to None.
+        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case
+            this is set to the origin.
+        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+            in which case this is set to identity.
+        scale: The scale to apply to the prim. Defaults to None, in which case this is set to identity.
 
     Raises:
         ValueError: If a prim already exists at the given path.

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

@@ -79,10 +79,6 @@ 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 world.get_physics_context().use_gpu_pipeline:
-        world.get_physics_context().enable_flatcache(True)
     # Enable hydra scene-graph instancing
     # this is needed to visualize the scene when flatcache is enabled
     set_carb_setting(world._settings, "/persistent/omnihydra/useSceneGraphInstancing", True)

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

@@ -40,6 +40,7 @@ def get_checkpoint_path(log_path: str, run_dir: str = "*", checkpoint: str = Non
     try:
         # find all runs in the directory
         runs = [os.path.join(log_path, run) for run in os.scandir(log_path)]
+        runs = [run for run in runs if os.path.isdir(run)]
         # sort by date to handle change of month
         runs = sorted(runs, key=os.path.getmtime)
         # create last run file path

source/standalone/demo/play_arms.py

@@ -63,14 +63,11 @@ def main():
 
     # Spawn things into stage
     # Ground-plane
-    cfg = sim_utils.GroundPlaneCfg(height=-1.05)
-    cfg.func("/World/defaultGroundPlane", cfg)
-    # Lights-1
-    cfg = sim_utils.SphereLightCfg(intensity=600.0, color=(0.75, 0.75, 0.75), radius=2.5)
-    cfg.func("/World/Light/greyLight", cfg, translation=(4.5, 3.5, 10.0))
-    # Lights-2
-    cfg = sim_utils.SphereLightCfg(intensity=600.0, color=(1.0, 1.0, 1.0), radius=2.5)
-    cfg.func("/World/Light/whiteSphere", cfg, translation=(-4.5, 3.5, 10.0))
+    cfg = sim_utils.GroundPlaneCfg()
+    cfg.func("/World/defaultGroundPlane", cfg, translation=(0.0, 0.0, -1.05))
+    # Lights
+    cfg = sim_utils.DistantLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
+    cfg.func("/World/Light", cfg)
 
     # Table
     cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Mounts/SeattleLabTable/table_instanceable.usd")

source/standalone/demo/play_camera.py

@@ -65,12 +65,10 @@ def design_scene():
     # Ground-plane
     cfg = sim_utils.GroundPlaneCfg()
     cfg.func("/World/defaultGroundPlane", cfg)
-    # Lights-1
-    cfg = sim_utils.SphereLightCfg(intensity=600.0, color=(0.75, 0.75, 0.75), radius=2.5)
-    cfg.func("/World/Light/greyLight", cfg, translation=(4.5, 3.5, 10.0))
-    # Lights-2
-    cfg = sim_utils.SphereLightCfg(intensity=600.0, color=(1.0, 1.0, 1.0), radius=2.5)
-    cfg.func("/World/Light/whiteSphere", cfg, translation=(-4.5, 3.5, 10.0))
+    # Lights
+    cfg = sim_utils.DistantLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
+    cfg.func("/World/Light", cfg)
+
     # Xform to hold objects
     prim_utils.create_prim("/World/Objects", "Xform")
     # Random objects

source/standalone/demo/play_cloner.py

@@ -64,14 +64,11 @@ def main():
 
     # Spawn things into stage
     # Ground-plane
-    cfg = sim_utils.GroundPlaneCfg(height=-1.05)
-    cfg.func("/World/defaultGroundPlane", cfg)
-    # Lights-1
-    cfg = sim_utils.SphereLightCfg(intensity=600.0, color=(0.75, 0.75, 0.75), radius=2.5)
-    cfg.func("/World/Light/greyLight", cfg, translation=(4.5, 3.5, 10.0))
-    # Lights-2
-    cfg = sim_utils.SphereLightCfg(intensity=600.0, color=(1.0, 1.0, 1.0), radius=2.5)
-    cfg.func("/World/Light/whiteSphere", cfg, translation=(-4.5, 3.5, 10.0))
+    cfg = sim_utils.GroundPlaneCfg()
+    cfg.func("/World/defaultGroundPlane", cfg, translation=(0.0, 0.0, -1.05))
+    # Lights
+    cfg = sim_utils.DistantLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
+    cfg.func("/World/Light", cfg)
     # Table
     cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Mounts/SeattleLabTable/table_instanceable.usd")
     cfg.func("/World/envs/env_0/Table", cfg)

source/standalone/demo/play_empty.py

@@ -47,12 +47,9 @@ def main():
     # Ground-plane
     cfg = sim_utils.GroundPlaneCfg()
     cfg.func("/World/defaultGroundPlane", cfg)
-    # Lights-1
-    cfg = sim_utils.SphereLightCfg(intensity=600.0, color=(0.75, 0.75, 0.75), radius=2.5)
-    cfg.func("/World/Light/greyLight", cfg, translation=(4.5, 3.5, 10.0))
-    # Lights-2
-    cfg = sim_utils.SphereLightCfg(intensity=600.0, color=(1.0, 1.0, 1.0), radius=2.5)
-    cfg.func("/World/Light/whiteSphere", cfg, translation=(-4.5, 3.5, 10.0))
+    # Lights
+    cfg = sim_utils.DistantLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
+    cfg.func("/World/Light", cfg)
 
     # Play the simulator
     sim.reset()

source/standalone/demo/play_ik_control.py

@@ -67,14 +67,11 @@ def main():
 
     # Spawn things into stage
     # Ground-plane
-    cfg = sim_utils.GroundPlaneCfg(height=-1.05)
-    cfg.func("/World/defaultGroundPlane", cfg)
-    # Lights-1
-    cfg = sim_utils.SphereLightCfg(intensity=600.0, color=(0.75, 0.75, 0.75), radius=2.5)
-    cfg.func("/World/Light/greyLight", cfg, translation=(4.5, 3.5, 10.0))
-    # Lights-2
-    cfg = sim_utils.SphereLightCfg(intensity=600.0, color=(1.0, 1.0, 1.0), radius=2.5)
-    cfg.func("/World/Light/whiteSphere", cfg, translation=(-4.5, 3.5, 10.0))
+    cfg = sim_utils.GroundPlaneCfg()
+    cfg.func("/World/defaultGroundPlane", cfg, translation=(0.0, 0.0, -1.05))
+    # Lights
+    cfg = sim_utils.DistantLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
+    cfg.func("/World/Light", cfg)
     # Table
     cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Mounts/SeattleLabTable/table_instanceable.usd")
     cfg.func("/World/envs/env_0/Table", cfg)

source/standalone/demo/play_markers.py

@@ -50,12 +50,9 @@ def main():
     sim.set_camera_view([0.0, 17.0, 12.0], [0.0, 2.0, 0.0])
 
     # Spawn things into stage
-    # Lights-1
-    cfg = sim_utils.SphereLightCfg(intensity=600.0, color=(0.75, 0.75, 0.75), radius=2.5)
-    cfg.func("/World/Light/greyLight", cfg, translation=(4.5, 3.5, 10.0))
-    # Lights-2
-    cfg = sim_utils.SphereLightCfg(intensity=600.0, color=(1.0, 1.0, 1.0), radius=2.5)
-    cfg.func("/World/Light/whiteSphere", cfg, translation=(-4.5, 3.5, 10.0))
+    # Lights
+    cfg = sim_utils.DistantLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
+    cfg.func("/World/Light", cfg)
 
     # Create markers with various different shapes
     marker_cfg = VisualizationMarkersCfg(

source/standalone/demo/play_quadrupeds.py

@@ -60,12 +60,9 @@ def main():
     # Ground-plane
     cfg = sim_utils.GroundPlaneCfg()
     cfg.func("/World/defaultGroundPlane", cfg)
-    # Lights-1
-    cfg = sim_utils.SphereLightCfg(intensity=600.0, color=(0.75, 0.75, 0.75), radius=2.5)
-    cfg.func("/World/Light/greyLight", cfg, translation=(4.5, 3.5, 10.0))
-    # Lights-2
-    cfg = sim_utils.SphereLightCfg(intensity=600.0, color=(1.0, 1.0, 1.0), radius=2.5)
-    cfg.func("/World/Light/whiteSphere", cfg, translation=(-4.5, 3.5, 10.0))
+    # Lights
+    cfg = sim_utils.DistantLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
+    cfg.func("/World/Light", cfg)
 
     # Robots
     # -- anymal-b

source/standalone/demo/play_ridgeback_franka.py

@@ -69,12 +69,9 @@ def main():
     # Ground-plane
     cfg = sim_utils.GroundPlaneCfg()
     cfg.func("/World/defaultGroundPlane", cfg)
-    # Lights-1
-    cfg = sim_utils.SphereLightCfg(intensity=600.0, color=(0.75, 0.75, 0.75), radius=2.5)
-    cfg.func("/World/Light/greyLight", cfg, translation=(4.5, 3.5, 10.0))
-    # Lights-2
-    cfg = sim_utils.SphereLightCfg(intensity=600.0, color=(1.0, 1.0, 1.0), radius=2.5)
-    cfg.func("/World/Light/whiteSphere", cfg, translation=(-4.5, 3.5, 10.0))
+    # Lights
+    cfg = sim_utils.DistantLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
+    cfg.func("/World/Light", cfg)
 
     # Robots
     robot_cfg = RIDGEBACK_FRANKA_PANDA_CFG

source/standalone/demo/play_scene.py

@@ -75,7 +75,6 @@ class MySceneCfg(InteractiveSceneCfg):
     light = AssetBaseCfg(
         prim_path="/World/light",
         spawn=sim_utils.DistantLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75)),
-        init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, 500.0)),
     )
 
 

source/standalone/demo/play_ycb_objects.py

@@ -51,7 +51,7 @@ def main():
 
     # Spawn things into stage
     # Ground-plane
-    cfg = sim_utils.GroundPlaneCfg(height=0.0)
+    cfg = sim_utils.GroundPlaneCfg()
     cfg.func("/World/defaultGroundPlane", cfg)
     # Lights-1
     cfg = sim_utils.SphereLightCfg(intensity=600.0, color=(0.75, 0.75, 0.75), radius=2.5)