Fixes extension renaming and adds documentation for RL training (#207)

# Description

This change fixes some lingering extension renaming for the deprecated
omni.isaac.ui extension.
Additionally, new documentation for RL training is added to provide a
guideline and some troubleshooting tips for RL training with Isaac Lab.

docs/source/overview/reinforcement-learning/index.rst

@@ -12,3 +12,4 @@ learning frameworks.
   rl_existing_scripts
   rl_frameworks
   performance_benchmarks
+  training_guide

docs/source/overview/teleop_imitation.rst

@@ -59,6 +59,9 @@ For SpaceMouse, these are as follows:
       Move arm along z-axis: Push or pull the SpaceMouse
       Rotate arm: Twist the SpaceMouse
 
+The next section describes how teleoperation devices can be used for data collection for imitation learning.
+
+
 Imitation Learning
 ~~~~~~~~~~~~~~~~~~
 

docs/source/setup/installation/pip_installation.rst

@@ -67,7 +67,7 @@ compatibility issues with some Linux distributions. If you encounter any issues,
                   env_isaaclab\Scripts\activate
 
 
--  Next, install a CUDA-enabled PyTorch 2.4.0 build based on the CUDA version available on your system. This step is optional for Linux, but required for Windows to ensure a CUDA-compatible version of PyTorch is installed.
+-  Next, install a CUDA-enabled PyTorch 2.5.1 build based on the CUDA version available on your system. This step is optional for Linux, but required for Windows to ensure a CUDA-compatible version of PyTorch is installed.
 
    .. tab-set::
 
@@ -75,13 +75,13 @@ compatibility issues with some Linux distributions. If you encounter any issues,
 
          .. code-block:: bash
 
-            pip install torch==2.4.0 --index-url https://download.pytorch.org/whl/cu118
+            pip install torch==2.5.1 --index-url https://download.pytorch.org/whl/cu118
 
       .. tab-item:: CUDA 12
 
          .. code-block:: bash
 
-            pip install torch==2.4.0 --index-url https://download.pytorch.org/whl/cu121
+            pip install torch==2.5.1 --index-url https://download.pytorch.org/whl/cu121
 
 -  Before installing Isaac Sim, ensure the latest pip version is installed. To update pip, run
 
@@ -117,7 +117,7 @@ Verifying the Isaac Sim installation
    .. code:: bash
 
       # experience files can be absolute path, or relative path searched in isaacsim/apps or omni/apps
-      isaacsim omni.isaac.sim.python.kit
+      isaacsim isaacsim.exp.full.kit
 
 
 .. attention::

scripts/demos/bipeds.py

@@ -45,15 +45,8 @@ from isaaclab_assets import H1_CFG  # isort:skip
 from isaaclab_assets import G1_CFG  # isort:skip
 
 
-def main():
-    """Main function."""
-    # Load kit helper
-    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
-    sim = SimulationContext(sim_cfg)
-    # Set main camera
-    sim.set_camera_view(eye=[3.0, 0.0, 2.25], target=[0.0, 0.0, 1.0])
-
-    # Spawn things into stage
+def design_scene(sim: sim_utils.SimulationContext) -> tuple[list, torch.Tensor]:
+    """Designs the scene."""
     # Ground-plane
     cfg = sim_utils.GroundPlaneCfg()
     cfg.func("/World/defaultGroundPlane", cfg)
@@ -74,12 +67,11 @@ def main():
     g1 = Articulation(G1_CFG.replace(prim_path="/World/G1"))
     robots = [cassie, h1, g1]
 
-    # Play the simulator
-    sim.reset()
+    return robots, origins
 
-    # Now we are ready!
-    print("[INFO]: Setup complete...")
 
+def run_simulator(sim: sim_utils.SimulationContext, robots: list[Articulation], origins: torch.Tensor):
+    """Runs the simulation loop."""
     # Define simulation stepping
     sim_dt = sim.get_physics_dt()
     sim_time = 0.0
@@ -116,6 +108,27 @@ def main():
             robot.update(sim_dt)
 
 
+def main():
+    """Main function."""
+    # Load kit helper
+    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
+    sim = SimulationContext(sim_cfg)
+    # Set main camera
+    sim.set_camera_view(eye=[3.0, 0.0, 2.25], target=[0.0, 0.0, 1.0])
+
+    # design scene
+    robots, origins = design_scene(sim)
+
+    # Play the simulator
+    sim.reset()
+
+    # Now we are ready!
+    print("[INFO]: Setup complete...")
+
+    # Run the simulator
+    run_simulator(sim, robots, origins)
+
+
 if __name__ == "__main__":
     # run the main function
     main()

scripts/tools/convert_mjcf.py

@@ -8,7 +8,7 @@ Utility to convert a MJCF into USD format.
 
 MuJoCo XML Format (MJCF) is an XML file format used in MuJoCo to describe all elements of a robot. For more information, see: http://www.mujoco.org/book/XMLreference.html
 
-This script uses the MJCF importer extension from Isaac Sim (``omni.isaac.mjcf_importer``) to convert a MJCF asset into USD format. It is designed as a convenience script for command-line use. For more information on the MJCF importer, see the documentation for the extension:
+This script uses the MJCF importer extension from Isaac Sim (``isaacsim.asset.importer.mjcf``) to convert a MJCF asset into USD format. It is designed as a convenience script for command-line use. For more information on the MJCF importer, see the documentation for the extension:
 https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/ext_omni_isaac_mjcf.html
 
 

scripts/tools/convert_urdf.py

@@ -9,7 +9,7 @@ Utility to convert a URDF into USD format.
 Unified Robot Description Format (URDF) is an XML file format used in ROS to describe all elements of
 a robot. For more information, see: http://wiki.ros.org/urdf
 
-This script uses the URDF importer extension from Isaac Sim (``omni.isaac.urdf_importer``) to convert a
+This script uses the URDF importer extension from Isaac Sim (``isaacsim.asset.importer.urdf``) to convert a
 URDF asset into USD format. It is designed as a convenience script for command-line use. For more
 information on the URDF importer, see the documentation for the extension:
 https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/ext_omni_isaac_urdf.html

source/isaaclab/isaaclab/markers/__init__.py

@@ -14,10 +14,10 @@ Currently, the sub-package provides the following classes:
 .. note::
 
     For some simple use-cases, it may be sufficient to use the debug drawing utilities from Isaac Sim.
-    The debug drawing API is available in the `omni.isaac.debug_drawing`_ module. It allows drawing of
+    The debug drawing API is available in the `isaacsim.util.debug_drawing`_ module. It allows drawing of
     points and splines efficiently on the UI.
 
-    .. _omni.isaac.debug_drawing: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/ext_omni_isaac_debug_drawing.html
+    .. _isaacsim.util.debug_drawing: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/ext_omni_isaac_debug_drawing.html
 
 """
 

source/isaaclab/isaaclab/ui/widgets/image_plot.py

@@ -14,7 +14,7 @@ import omni.log
 from .ui_widget_wrapper import UIWidgetWrapper
 
 if TYPE_CHECKING:
-    import omni.isaac.ui
+    import isaacsim.gui.components
     import omni.ui
 
 
@@ -155,7 +155,9 @@ class ImagePlot(UIWidgetWrapper):
             with omni.ui.HStack():
                 # Write the leftmost label for what this plot is
                 omni.ui.Label(
-                    self._label, width=omni.isaac.ui.ui_utils.LABEL_WIDTH, alignment=omni.ui.Alignment.LEFT_TOP
+                    self._label,
+                    width=isaacsim.gui.components.ui_utils.LABEL_WIDTH,
+                    alignment=omni.ui.Alignment.LEFT_TOP,
                 )
                 with omni.ui.Frame(width=self._aspect_ratio * self._widget_height, height=self._widget_height):
                     self._base_plot = omni.ui.ImageWithProvider(self._byte_provider)
@@ -192,7 +194,7 @@ class ImagePlot(UIWidgetWrapper):
                 def _change_mode(value):
                     self._curr_mode = value
 
-                omni.isaac.ui.ui_utils.dropdown_builder(
+                isaacsim.gui.components.ui_utils.dropdown_builder(
                     label="Mode",
                     type="dropdown",
                     items=["Original", "Normalization", "Colorization"],

source/isaaclab/isaaclab/ui/widgets/line_plot.py

@@ -15,7 +15,7 @@ from isaacsim.core.api.simulation_context import SimulationContext
 from .ui_widget_wrapper import UIWidgetWrapper
 
 if TYPE_CHECKING:
-    import omni.isaac.ui
+    import isaacsim.gui.components
     import omni.ui
 
 
@@ -397,7 +397,7 @@ class LiveLinePlot(UIWidgetWrapper):
             max_legend = max([len(legend) for legend in self._legends])
             CHAR_WIDTH = 8
             with omni.ui.VGrid(
-                row_height=omni.isaac.ui.ui_utils.LABEL_HEIGHT,
+                row_height=isaacsim.gui.components.ui_utils.LABEL_HEIGHT,
                 column_width=max_legend * CHAR_WIDTH + 6,
             ):
                 for idx in range(len(self._y_data)):
@@ -442,7 +442,7 @@ class LiveLinePlot(UIWidgetWrapper):
             with omni.ui.HStack():
                 omni.ui.Label(
                     "Limits",
-                    width=omni.isaac.ui.ui_utils.LABEL_WIDTH,
+                    width=isaacsim.gui.components.ui_utils.LABEL_WIDTH,
                     alignment=omni.ui.Alignment.LEFT_CENTER,
                 )
 
@@ -460,10 +460,10 @@ class LiveLinePlot(UIWidgetWrapper):
 
                 omni.ui.Button(
                     "Re-Scale",
-                    width=omni.isaac.ui.ui_utils.BUTTON_WIDTH,
+                    width=isaacsim.gui.components.ui_utils.BUTTON_WIDTH,
                     clicked_fn=self._rescale_btn_pressed,
                     alignment=omni.ui.Alignment.LEFT_CENTER,
-                    style=omni.isaac.ui.ui_utils.get_style(),
+                    style=isaacsim.gui.components.ui_utils.get_style(),
                 )
 
                 omni.ui.CheckBox(model=self._autoscale_model, tooltip="", width=4)
@@ -498,7 +498,7 @@ class LiveLinePlot(UIWidgetWrapper):
                     self.clear()
                     self._filter_mode = value
 
-                omni.isaac.ui.ui_utils.dropdown_builder(
+                isaacsim.gui.components.ui_utils.dropdown_builder(
                     label="Filter",
                     type="dropdown",
                     items=["None", "Lowpass", "Integrate", "Derivative"],
@@ -512,10 +512,10 @@ class LiveLinePlot(UIWidgetWrapper):
                 # Button
                 omni.ui.Button(
                     "Play/Pause",
-                    width=omni.isaac.ui.ui_utils.BUTTON_WIDTH,
+                    width=isaacsim.gui.components.ui_utils.BUTTON_WIDTH,
                     clicked_fn=_toggle_paused,
                     alignment=omni.ui.Alignment.LEFT_CENTER,
-                    style=omni.isaac.ui.ui_utils.get_style(),
+                    style=isaacsim.gui.components.ui_utils.get_style(),
                 )
 
     def _create_ui_widget(self):

source/isaaclab/isaaclab/ui/widgets/ui_widget_wrapper.py

@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-# This file has been adapted from _isaac_sim/exts/omni.isaac.ui/omni/isaac/ui/element_wrappers/base_ui_element_wrappers.py
+# This file has been adapted from _isaac_sim/exts/isaacsim.gui.components/isaacsim/gui/components/element_wrappers/base_ui_element_wrappers.py
 
 from __future__ import annotations
 

source/isaaclab/test/envs/test_manager_based_rl_env_ui.py

@@ -32,7 +32,7 @@ from isaaclab.envs.ui import ManagerBasedRLEnvWindow
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.utils import configclass
 
-enable_extension("omni.isaac.ui")
+enable_extension("isaacsim.gui.components")
 
 
 @configclass