Updates Isaac Sim imports for Isaac Sim 4.5 (#191)

# Description

Updates Isaac Sim imports for Isaac Sim 4.5

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/task_space_actions.py

@@ -568,10 +568,10 @@ class OperationalSpaceControllerAction(ActionTerm):
     def _compute_dynamic_quantities(self):
         """Computes the dynamic quantities for operational space control."""
 
-        self._mass_matrix[:] = self._asset.root_physx_view.get_mass_matrices()[:, self._joint_ids, :][
+        self._mass_matrix[:] = self._asset.root_physx_view.get_generalized_mass_matrices()[:, self._joint_ids, :][
             :, :, self._joint_ids
         ]
-        self._gravity[:] = self._asset.root_physx_view.get_generalized_gravity_forces()[:, self._joint_ids]
+        self._gravity[:] = self._asset.root_physx_view.get_gravity_compensation_forces()[:, self._joint_ids]
 
     def _compute_ee_jacobian(self):
         """Computes the geometric Jacobian of the ee body frame in root frame.

source/extensions/omni.isaac.lab/omni/isaac/lab/ui/widgets/line_plot.py

@@ -10,7 +10,7 @@ import numpy as np
 from typing import TYPE_CHECKING
 
 import omni
-from omni.isaac.core.simulation_context import SimulationContext
+from isaacsim.core.api.simulation_context import SimulationContext
 
 from .ui_widget_wrapper import UIWidgetWrapper
 

source/extensions/omni.isaac.lab/omni/isaac/lab/ui/widgets/manager_live_visualizer.py

@@ -12,7 +12,7 @@ from typing import TYPE_CHECKING
 
 import carb
 import omni.kit.app
-from omni.isaac.core.simulation_context import SimulationContext
+from isaacsim.core.api.simulation_context import SimulationContext
 
 from omni.isaac.lab.managers import ManagerBase
 from omni.isaac.lab.utils import configclass

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

@@ -909,6 +909,7 @@ class TestArticulation(unittest.TestCase):
                         with build_simulation_context(
                             device=device, add_ground_plane=False, auto_add_lighting=True
                         ) as sim:
+                            sim._app_control_on_stop_handle = None
                             articulation_cfg = generate_articulation_cfg(
                                 articulation_type="single_joint", vel_limit=limit, effort_limit=limit
                             )
@@ -1021,6 +1022,7 @@ class TestArticulation(unittest.TestCase):
                         with build_simulation_context(
                             device=device, add_ground_plane=False, auto_add_lighting=True
                         ) as sim:
+                            sim._app_control_on_stop_handle = None
                             articulation_cfg = generate_articulation_cfg(articulation_type="single_joint")
                             articulation, env_pos = generate_articulation(articulation_cfg, num_articulations, device)
                             env_idx = torch.tensor([x for x in range(num_articulations)])
@@ -1138,6 +1140,7 @@ class TestArticulation(unittest.TestCase):
                             with build_simulation_context(
                                 device=device, add_ground_plane=False, auto_add_lighting=True, gravity_enabled=False
                             ) as sim:
+                                sim._app_control_on_stop_handle = None
                                 articulation_cfg = generate_articulation_cfg(articulation_type="anymal")
                                 articulation, env_pos = generate_articulation(
                                     articulation_cfg, num_articulations, device

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

@@ -194,6 +194,7 @@ class TestRigidObject(unittest.TestCase):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(num_cubes=num_cubes, device=device):
                     with build_simulation_context(device=device, auto_add_lighting=True) as sim:
+                        sim._app_control_on_stop_handle = None
                         # Generate cubes scene
                         cube_object, _ = generate_cubes_scene(
                             num_cubes=num_cubes, api="articulation_root", device=device
@@ -792,6 +793,7 @@ class TestRigidObject(unittest.TestCase):
                         with build_simulation_context(
                             device=device, gravity_enabled=False, auto_add_lighting=True
                         ) as sim:
+                            sim._app_control_on_stop_handle = None
                             # Create a scene with random cubes
                             cube_object, env_pos = generate_cubes_scene(num_cubes=num_cubes, height=0.0, device=device)
                             env_idx = torch.tensor([x for x in range(num_cubes)])
@@ -911,6 +913,7 @@ class TestRigidObject(unittest.TestCase):
                             with build_simulation_context(
                                 device=device, gravity_enabled=False, auto_add_lighting=True
                             ) as sim:
+                                sim._app_control_on_stop_handle = None
                                 # Create a scene with random cubes
                                 cube_object, env_pos = generate_cubes_scene(
                                     num_cubes=num_cubes, height=0.0, device=device

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

@@ -459,6 +459,7 @@ class TestRigidObjectCollection(unittest.TestCase):
                             with build_simulation_context(
                                 device=device, gravity_enabled=False, auto_add_lighting=True
                             ) as sim:
+                                sim._app_control_on_stop_handle = None
                                 # Create a scene with random cubes
                                 cube_object, env_pos = generate_cubes_scene(
                                     num_envs=num_envs, num_cubes=num_cubes, height=0.0, device=device
@@ -578,6 +579,7 @@ class TestRigidObjectCollection(unittest.TestCase):
                                 with build_simulation_context(
                                     device=device, gravity_enabled=False, auto_add_lighting=True
                                 ) as sim:
+                                    sim._app_control_on_stop_handle = None
                                     # Create a scene with random cubes
                                     cube_object, env_pos = generate_cubes_scene(
                                         num_envs=num_envs, num_cubes=num_cubes, height=0.0, device=device

source/extensions/omni.isaac.lab/test/controllers/test_operational_space.py

@@ -15,9 +15,9 @@ simulation_app = AppLauncher(headless=True).app
 import torch
 import unittest
 
-import omni.isaac.core.utils.prims as prim_utils
-import omni.isaac.core.utils.stage as stage_utils
-from omni.isaac.cloner import GridCloner
+import isaacsim.core.utils.prims as prim_utils
+import isaacsim.core.utils.stage as stage_utils
+from isaacsim.core.cloner import GridCloner
 
 import omni.isaac.lab.sim as sim_utils
 from omni.isaac.lab.assets import Articulation
@@ -839,8 +839,8 @@ class TestOperationalSpaceController(unittest.TestCase):
         # obtain dynamics related quantities from simulation
         ee_jacobi_idx = ee_frame_idx - 1
         jacobian_w = robot.root_physx_view.get_jacobians()[:, ee_jacobi_idx, :, arm_joint_ids]
-        mass_matrix = robot.root_physx_view.get_mass_matrices()[:, arm_joint_ids, :][:, :, arm_joint_ids]
-        gravity = robot.root_physx_view.get_generalized_gravity_forces()[:, arm_joint_ids]
+        mass_matrix = robot.root_physx_view.get_generalized_mass_matrices()[:, arm_joint_ids, :][:, :, arm_joint_ids]
+        gravity = robot.root_physx_view.get_gravity_compensation_forces()[:, arm_joint_ids]
         # Convert the Jacobian from world to root frame
         jacobian_b = jacobian_w.clone()
         root_rot_matrix = matrix_from_quat(quat_inv(robot.data.root_quat_w))

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/factory/factory_control.py

@@ -11,7 +11,7 @@ Imported by base, environment, and task classes. Not directly executed.
 import math
 import torch
 
-import omni.isaac.core.utils.torch as torch_utils
+import isaacsim.core.utils.torch as torch_utils
 
 from omni.isaac.lab.utils.math import axis_angle_from_quat
 

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/factory/factory_env.py

@@ -7,7 +7,7 @@ import numpy as np
 import torch
 
 import carb
-import omni.isaac.core.utils.torch as torch_utils
+import isaacsim.core.utils.torch as torch_utils
 
 import omni.isaac.lab.sim as sim_utils
 from omni.isaac.lab.assets import Articulation
@@ -205,7 +205,7 @@ class FactoryEnv(DirectRLEnv):
         self.left_finger_jacobian = jacobians[:, self.left_finger_body_idx - 1, 0:6, 0:7]
         self.right_finger_jacobian = jacobians[:, self.right_finger_body_idx - 1, 0:6, 0:7]
         self.fingertip_midpoint_jacobian = (self.left_finger_jacobian + self.right_finger_jacobian) * 0.5
-        self.arm_mass_matrix = self._robot.root_physx_view.get_mass_matrices()[:, 0:7, 0:7]
+        self.arm_mass_matrix = self._robot.root_physx_view.get_generalized_mass_matrices()[:, 0:7, 0:7]
         self.joint_pos = self._robot.data.joint_pos.clone()
         self.joint_vel = self._robot.data.joint_vel.clone()
 

source/standalone/tutorials/05_controllers/run_osc.py

@@ -314,8 +314,8 @@ def update_states(
     # obtain dynamics related quantities from simulation
     ee_jacobi_idx = ee_frame_idx - 1
     jacobian_w = robot.root_physx_view.get_jacobians()[:, ee_jacobi_idx, :, arm_joint_ids]
-    mass_matrix = robot.root_physx_view.get_mass_matrices()[:, arm_joint_ids, :][:, :, arm_joint_ids]
-    gravity = robot.root_physx_view.get_generalized_gravity_forces()[:, arm_joint_ids]
+    mass_matrix = robot.root_physx_view.get_generalized_mass_matrices()[:, arm_joint_ids, :][:, :, arm_joint_ids]
+    gravity = robot.root_physx_view.get_gravity_compensation_forces()[:, arm_joint_ids]
     # Convert the Jacobian from world to root frame
     jacobian_b = jacobian_w.clone()
     root_rot_matrix = matrix_from_quat(quat_inv(robot.data.root_quat_w))

tools/per_test_timeouts.py

@@ -10,7 +10,7 @@ Any tests not listed here will use the default timeout.
 PER_TEST_TIMEOUTS = {
     "test_articulation.py": 200,
     "test_deformable_object.py": 200,
-    "test_environments.py": 1500,  # This test runs through all the environments for 100 steps each
+    "test_environments.py": 1650,  # This test runs through all the environments for 100 steps each
     "test_environment_determinism.py": 200,  # This test runs through many the environments for 100 steps each
     "test_env_rendering_logic.py": 300,
     "test_camera.py": 500,