Removes the use of body view inside the asset classes (#643)

# Description

The deprecation notice has been out for a while. The MR removes the body
PhysX view from the rigid object and articulation classes. This is no
longer needed as their respective root views expose all the data needed
for them.

This is a breaking change, and we lose compatibility with Isaac Sim
2023.1.1.

Fixes #237

## 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)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] 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
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

docs/source/setup/installation/index.rst

@@ -19,7 +19,7 @@ Installation Guide
 
 .. caution::
 
-   We have dropped support for Isaac Sim versions 2023.1.0 and below. We recommend using the latest
+   We have dropped support for Isaac Sim versions 2023.1.1 and below. We recommend using the latest
    Isaac Sim 4.0 release to benefit from the latest features and improvements.
 
    For more information, please refer to the

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

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.18.6"
+version = "0.19.0"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

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

 Changelog
 ---------
 
+0.19.0 (2024-07-04)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed parsing of articulations with nested rigid links while using the :class:`omni.isaac.lab.assets.Articulation`
+  class. Earlier, the class initialization failed when the articulation had nested rigid links since the rigid
+  links were not being parsed correctly by the PhysX view.
+
+Removed
+^^^^^^^
+
+* Removed the attribute :attr:`body_physx_view` from the :class:`omni.isaac.lab.assets.Articulation` and
+  :class:`omni.isaac.lab.assets.RigidObject` classes. These were causing confusions when used with articulation
+  view since the body names were not following the same ordering.
+* Dropped support for Isaac Sim 2023.1.1. The minimum supported version is now Isaac Sim 4.0.0.
+
+
 0.18.6 (2024-07-01)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py

@@ -9,7 +9,6 @@
 from __future__ import annotations
 
 import torch
-import warnings
 from collections.abc import Sequence
 from prettytable import PrettyTable
 from typing import TYPE_CHECKING
@@ -156,25 +155,6 @@ class Articulation(RigidObject):
         """
         return self._root_physx_view
 
-    @property
-    def body_physx_view(self) -> physx.RigidBodyView:
-        """Rigid body view for the asset (PhysX).
-
-        .. deprecated:: v0.3.0
-
-            In previous versions, this attribute returned the rigid body view over all the links of the articulation.
-            However, this led to confusion with the link ordering as they were not ordered in the same way as the
-            articulation view.
-
-            Therefore, this attribute will be removed in v0.4.0. Please use the :attr:`root_physx_view` attribute
-            instead.
-
-        """
-        dep_msg = "The attribute 'body_physx_view' will be removed in v0.4.0. Please use 'root_physx_view' instead."
-        warnings.warn(dep_msg, DeprecationWarning)
-        carb.log_error(dep_msg)
-        return self._body_physx_view
-
     """
     Operations.
     """
@@ -194,16 +174,8 @@ class Articulation(RigidObject):
         If any explicit actuators are present, then the actuator models are used to compute the
         joint commands. Otherwise, the joint commands are directly set into the simulation.
         """
-        # write external wrench
-        if self.has_external_wrench:
         # apply external forces and torques
-            self._body_physx_view.apply_forces_and_torques_at_position(
-                force_data=self._external_force_body_view_b.view(-1, 3),
-                torque_data=self._external_torque_body_view_b.view(-1, 3),
-                position_data=None,
-                indices=self._ALL_BODY_INDICES,
-                is_global=False,
-            )
+        super().write_data_to_sim()
 
         # apply actuator models
         self._apply_actuator_model()
@@ -260,24 +232,6 @@ class Articulation(RigidObject):
         # find tendons
         return string_utils.resolve_matching_names(name_keys, tendon_subsets, preserve_order)
 
-    """
-    Operations - Setters.
-    """
-
-    def set_external_force_and_torque(
-        self,
-        forces: torch.Tensor,
-        torques: torch.Tensor,
-        body_ids: Sequence[int] | slice | None = None,
-        env_ids: Sequence[int] | None = None,
-    ):
-        # call parent to set the external forces and torques into buffers
-        super().set_external_force_and_torque(forces, torques, body_ids, env_ids)
-        # reordering of the external forces and torques to match the body view ordering
-        if self.has_external_wrench:
-            self._external_force_body_view_b = self._external_force_b[:, self._body_view_ordering]
-            self._external_torque_body_view_b = self._external_torque_b[:, self._body_view_ordering]
-
     """
     Operations - Writers.
     """
@@ -332,6 +286,7 @@ class Articulation(RigidObject):
             physx_env_ids = self._ALL_INDICES
         if joint_ids is None:
             joint_ids = slice(None)
+        # broadcast env_ids if needed to allow double indexing
         if env_ids != slice(None) and joint_ids != slice(None):
             env_ids = env_ids[:, None]
         # set into internal buffers
@@ -364,6 +319,7 @@ class Articulation(RigidObject):
             physx_env_ids = self._ALL_INDICES
         if joint_ids is None:
             joint_ids = slice(None)
+        # broadcast env_ids if needed to allow double indexing
         if env_ids != slice(None) and joint_ids != slice(None):
             env_ids = env_ids[:, None]
         # set into internal buffers
@@ -394,6 +350,7 @@ class Articulation(RigidObject):
             physx_env_ids = self._ALL_INDICES
         if joint_ids is None:
             joint_ids = slice(None)
+        # broadcast env_ids if needed to allow double indexing
         if env_ids != slice(None) and joint_ids != slice(None):
             env_ids = env_ids[:, None]
         # set into internal buffers
@@ -422,6 +379,7 @@ class Articulation(RigidObject):
             physx_env_ids = self._ALL_INDICES
         if joint_ids is None:
             joint_ids = slice(None)
+        # broadcast env_ids if needed to allow double indexing
         if env_ids != slice(None) and joint_ids != slice(None):
             env_ids = env_ids[:, None]
         # move tensor to cpu if needed
@@ -453,6 +411,7 @@ class Articulation(RigidObject):
             physx_env_ids = self._ALL_INDICES
         if joint_ids is None:
             joint_ids = slice(None)
+        # broadcast env_ids if needed to allow double indexing
         if env_ids != slice(None) and joint_ids != slice(None):
             env_ids = env_ids[:, None]
         # set into internal buffers
@@ -480,6 +439,7 @@ class Articulation(RigidObject):
             physx_env_ids = self._ALL_INDICES
         if joint_ids is None:
             joint_ids = slice(None)
+        # broadcast env_ids if needed to allow double indexing
         if env_ids != slice(None) and joint_ids != slice(None):
             env_ids = env_ids[:, None]
         # set into internal buffers
@@ -508,6 +468,7 @@ class Articulation(RigidObject):
             physx_env_ids = self._ALL_INDICES
         if joint_ids is None:
             joint_ids = slice(None)
+        # broadcast env_ids if needed to allow double indexing
         if env_ids != slice(None) and joint_ids != slice(None):
             env_ids = env_ids[:, None]
         # set into internal buffers
@@ -538,6 +499,7 @@ class Articulation(RigidObject):
             env_ids = slice(None)
         if joint_ids is None:
             joint_ids = slice(None)
+        # broadcast env_ids if needed to allow double indexing
         if env_ids != slice(None) and joint_ids != slice(None):
             env_ids = env_ids[:, None]
         # set targets
@@ -562,6 +524,7 @@ class Articulation(RigidObject):
             env_ids = slice(None)
         if joint_ids is None:
             joint_ids = slice(None)
+        # broadcast env_ids if needed to allow double indexing
         if env_ids != slice(None) and joint_ids != slice(None):
             env_ids = env_ids[:, None]
         # set targets
@@ -586,6 +549,7 @@ class Articulation(RigidObject):
             env_ids = slice(None)
         if joint_ids is None:
             joint_ids = slice(None)
+        # broadcast env_ids if needed to allow double indexing
         if env_ids != slice(None) and joint_ids != slice(None):
             env_ids = env_ids[:, None]
         # set targets
@@ -821,24 +785,6 @@ class Articulation(RigidObject):
         root_prim_path_expr = self.cfg.prim_path + root_prim_path[len(template_prim_path) :]
         # -- articulation
         self._root_physx_view = self._physics_sim_view.create_articulation_view(root_prim_path_expr.replace(".*", "*"))
-        # -- link views
-        # note: we use the root view to get the body names, but we use the body view to get the
-        #       actual data. This is mainly needed to apply external forces to the bodies.
-        physx_body_names = self.root_physx_view.shared_metatype.link_names
-        body_names_regex = r"(" + "|".join(physx_body_names) + r")"
-        body_names_regex = f"{self.cfg.prim_path}/{body_names_regex}"
-        self._body_physx_view = self._physics_sim_view.create_rigid_body_view(body_names_regex.replace(".*", "*"))
-
-        # create ordering from articulation view to body view for body names
-        # note: we need to do this since the body view is not ordered in the same way as the articulation view
-        # -- root view
-        root_view_body_names = self.body_names
-        # -- body view
-        prim_paths = self._body_physx_view.prim_paths[: self.num_bodies]
-        body_view_body_names = [path.split("/")[-1] for path in prim_paths]
-        # -- mapping from articulation view to body view
-        self._body_view_ordering = [root_view_body_names.index(name) for name in body_view_body_names]
-        self._body_view_ordering = torch.tensor(self._body_view_ordering, dtype=torch.long, device=self.device)
 
         # log information about the articulation
         carb.log_info(f"Articulation initialized at: {self.cfg.prim_path} with root '{root_prim_path_expr}'.")
@@ -848,9 +794,6 @@ class Articulation(RigidObject):
         carb.log_info(f"Number of joints: {self.num_joints}")
         carb.log_info(f"Joint names: {self.joint_names}")
         carb.log_info(f"Number of fixed tendons: {self.num_fixed_tendons}")
-        # -- assert that parsing was successful
-        if set(physx_body_names) != set(self.body_names):
-            raise RuntimeError("Failed to parse all bodies properly in the articulation.")
 
         # container for data access
         self._data = ArticulationData(self.root_physx_view, self.device)

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py

@@ -6,7 +6,6 @@
 from __future__ import annotations
 
 import torch
-import warnings
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
@@ -89,20 +88,6 @@ class RigidObject(AssetBase):
         """
         return self._root_physx_view
 
-    @property
-    def body_physx_view(self) -> physx.RigidBodyView:
-        """Rigid body view for the asset (PhysX).
-
-        .. deprecated:: v0.3.0
-
-            The attribute 'body_physx_view' will be removed in v0.4.0. Please use :attr:`root_physx_view` instead.
-
-        """
-        dep_msg = "The attribute 'body_physx_view' will be removed in v0.4.0. Please use 'root_physx_view' instead."
-        warnings.warn(dep_msg, DeprecationWarning)
-        carb.log_error(dep_msg)
-        return self.root_physx_view
-
     """
     Operations.
     """
@@ -128,7 +113,7 @@ class RigidObject(AssetBase):
                 force_data=self._external_force_b.view(-1, 3),
                 torque_data=self._external_torque_b.view(-1, 3),
                 position_data=None,
-                indices=self._ALL_BODY_INDICES,
+                indices=self._ALL_INDICES,
                 is_global=False,
             )
 
@@ -253,26 +238,17 @@ class RigidObject(AssetBase):
             # resolve all indices
             # -- env_ids
             if env_ids is None:
-                env_ids = self._ALL_INDICES
-            elif not isinstance(env_ids, torch.Tensor):
-                env_ids = torch.tensor(env_ids, dtype=torch.long, device=self.device)
+                env_ids = slice(None)
             # -- body_ids
             if body_ids is None:
-                body_ids = torch.arange(self.num_bodies, dtype=torch.long, device=self.device)
-            elif isinstance(body_ids, slice):
-                body_ids = torch.arange(self.num_bodies, dtype=torch.long, device=self.device)[body_ids]
-            elif not isinstance(body_ids, torch.Tensor):
-                body_ids = torch.tensor(body_ids, dtype=torch.long, device=self.device)
-
-            # note: we need to do this complicated indexing since torch doesn't support multi-indexing
-            # create global body indices from env_ids and env_body_ids
-            # (env_id * total_bodies_per_env) + body_id
-            indices = body_ids.repeat(len(env_ids), 1) + env_ids.unsqueeze(1) * self.num_bodies
-            indices = indices.view(-1)
+                body_ids = slice(None)
+            # broadcast env_ids if needed to allow double indexing
+            if env_ids != slice(None) and body_ids != slice(None):
+                env_ids = env_ids[:, None]
+
             # set into internal buffers
-            # note: these are applied in the write_to_sim function
-            self._external_force_b.flatten(0, 1)[indices] = forces.flatten(0, 1)
-            self._external_torque_b.flatten(0, 1)[indices] = torques.flatten(0, 1)
+            self._external_force_b[env_ids, body_ids] = forces
+            self._external_torque_b[env_ids, body_ids] = torques
         else:
             self.has_external_wrench = False
 
@@ -332,9 +308,7 @@ class RigidObject(AssetBase):
         """Create buffers for storing data."""
         # constants
         self._ALL_INDICES = torch.arange(self.num_instances, dtype=torch.long, device=self.device)
-        self._ALL_BODY_INDICES = torch.arange(
-            self.root_physx_view.count * self.num_bodies, dtype=torch.long, device=self.device
-        )
+
         # external forces and torques
         self.has_external_wrench = False
         self._external_force_b = torch.zeros((self.num_instances, self.num_bodies, 3), device=self.device)

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

@@ -98,10 +98,6 @@ class TestArticulation(unittest.TestCase):
         prim_path_body_names = [path.split("/")[-1] for path in robot.root_physx_view.link_paths[0]]
         self.assertListEqual(prim_path_body_names, robot.body_names)
 
-        # Check that the body_physx_view is deprecated
-        with self.assertWarns(DeprecationWarning):
-            robot.body_physx_view
-
         # Simulate physics
         for _ in range(10):
             # perform rendering
@@ -141,10 +137,6 @@ class TestArticulation(unittest.TestCase):
         prim_path_body_names = [path.split("/")[-1] for path in robot.root_physx_view.link_paths[0]]
         self.assertListEqual(prim_path_body_names, robot.body_names)
 
-        # Check that the body_physx_view is deprecated
-        with self.assertWarns(DeprecationWarning):
-            robot.body_physx_view
-
         # Simulate physics
         for _ in range(10):
             # perform rendering
@@ -184,10 +176,6 @@ class TestArticulation(unittest.TestCase):
         prim_path_body_names = [path.split("/")[-1] for path in robot.root_physx_view.link_paths[0]]
         self.assertListEqual(prim_path_body_names, robot.body_names)
 
-        # Check that the body_physx_view is deprecated
-        with self.assertWarns(DeprecationWarning):
-            robot.body_physx_view
-
         # Simulate physics
         for _ in range(10):
             # perform rendering
@@ -242,10 +230,6 @@ class TestArticulation(unittest.TestCase):
         prim_path_body_names = [path.split("/")[-1] for path in robot.root_physx_view.link_paths[0]]
         self.assertListEqual(prim_path_body_names, robot.body_names)
 
-        # Check that the body_physx_view is deprecated
-        with self.assertWarns(DeprecationWarning):
-            robot.body_physx_view
-
         # Simulate physics
         for _ in range(10):
             # perform rendering
@@ -324,10 +308,6 @@ class TestArticulation(unittest.TestCase):
         prim_path_body_names = [path.split("/")[-1] for path in robot.root_physx_view.link_paths[0]]
         self.assertListEqual(prim_path_body_names, robot.body_names)
 
-        # Check that the body_physx_view is deprecated
-        with self.assertWarns(DeprecationWarning):
-            robot.body_physx_view
-
         # Root state should be at the default state
         robot.write_root_state_to_sim(robot.data.default_root_state.clone())
         # Simulate physics

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

@@ -48,8 +48,7 @@ def generate_cubes_scene(
         device: Device to use for the simulation.
 
     Returns:
-        RigidObject: The rigid object representing the cubes.
-        origins: The origins of the cubes.
+        A tuple containing the rigid object representing the cubes and the origins of the cubes.
 
     """
     origins = torch.tensor([(i * 1.0, 0, height) for i in range(num_cubes)]).to(device)
@@ -93,6 +92,7 @@ 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:
+                        # Generate cubes scene
                         cube_object, _ = generate_cubes_scene(num_cubes=num_cubes, device=device)
 
                         # Check that boundedness of rigid object is correct
@@ -122,6 +122,7 @@ 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:
+                        # Generate cubes scene
                         cube_object, origins = generate_cubes_scene(
                             num_cubes=num_cubes, kinematic_enabled=True, device=device
                         )
@@ -157,6 +158,7 @@ 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:
+                        # Generate cubes scene
                         cube_object, _ = generate_cubes_scene(num_cubes=num_cubes, has_api=False, device=device)
 
                         # Check that boundedness of rigid object is correct
@@ -178,6 +180,7 @@ class TestRigidObject(unittest.TestCase):
         for num_cubes in (2, 4):
             for device in ("cuda:0", "cpu"):
                 with self.subTest(num_cubes=num_cubes, device=device):
+                    # Generate cubes scene
                     with build_simulation_context(device=device, add_ground_plane=True, auto_add_lighting=True) as sim:
                         cube_object, origins = generate_cubes_scene(num_cubes=num_cubes, device=device)
 
@@ -239,6 +242,7 @@ class TestRigidObject(unittest.TestCase):
                     # Turn off gravity for this test as we don't want any external forces acting on the object
                     # to ensure state remains static
                     with build_simulation_context(device=device, gravity_enabled=False, auto_add_lighting=True) as sim:
+                        # Generate cubes scene
                         cube_object, _ = generate_cubes_scene(num_cubes=num_cubes, device=device)
 
                         # Play the simulator
@@ -297,6 +301,7 @@ 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, gravity_enabled=True, auto_add_lighting=True) as sim:
+                        # Generate cubes scene
                         cube_object, _ = generate_cubes_scene(num_cubes=num_cubes, device=device)
 
                         # Play the simulator
@@ -334,7 +339,7 @@ class TestRigidObject(unittest.TestCase):
                     with build_simulation_context(
                         device=device, gravity_enabled=True, add_ground_plane=True, auto_add_lighting=True
                     ) as sim:
-                        # Create rigid object(s)
+                        # Generate cubes scene
                         cube_object, _ = generate_cubes_scene(num_cubes=num_cubes, device=device)
 
                         # Play sim
@@ -369,6 +374,7 @@ 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:
+                        # Generate cubes scene
                         cube_object, _ = generate_cubes_scene(num_cubes=num_cubes, height=0.0, device=device)
 
                         # Create ground plane with no friction