Migrates framework to support Isaac Sim 2023.1 (#172)

# Description From Isaac Sim 2023.X onwards (Kit 105.X onwards), there are various noticeable changes that include renaming certain extensions and upgrading to the latest USD. This MR ensures that Orbit remains compatible with the coming release of Isaac Sim while still supporting 2022.2.1. ## Type of change - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.sh --format` - [x] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file --------- Signed-off-by: Mayank Mittal <[email protected]> Co-authored-by: Nikita Rudin <[email protected]> Co-authored-by: AutonomousHansen <[email protected]> Co-authored-by: jsmith-bdai <[email protected]>
isaac-sim · Oct 13, 2023 · 588bd36 · 588bd36
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diff --git a/.flake8 b/.flake8
@@ -14,7 +14,7 @@ per-file-ignores=*/__init__.py:F401
 ignore=E402,E501,W503,E203,D401,R504,R505,SIM102,SIM117
 max-line-length = 120
 max-complexity = 30
-exclude=_*,.vscode,.git,docs/**,**/test/**
+exclude=_*,.vscode,.git,docs/**
 # docstrings
 docstring-convention=google
 # annotations

diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -32,11 +32,12 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     apt -y autoremove && apt clean autoclean && \
     rm -rf /var/lib/apt/lists/*
 
-# FIXME: Only necessary for streaming until this fix is properly
-# rolled out by NVIDIA after Isaac Sim2023.1 release
+# FIXME: Only necessary for streaming until this fix is properly rolled out by NVIDIA after Isaac Sim2023.1 release
 # Ref: https://forums.developer.nvidia.com/t/running-a-standalone-example-with-gui-in-docker-container/248147/3
-RUN sed -i 's/\("omni.isaac.quadruped"\s=\s{}\)/"omni.isaac.quadruped" = {order = 10}/g' \
-    ${ISAACSIM_PATH}/apps/omni.isaac.sim.python.kit
+RUN if [[ "${ISAACSIM_VERSION}" == "2022.2"* ]]; then \
+        sed -i 's/\("omni.isaac.quadruped"\s=\s{}\)/"omni.isaac.quadruped" = {order = 10}/g' \
+        ${ISAACSIM_PATH}/apps/omni.isaac.sim.python.kit \
+    fi
 
 # Copy the orbit directory
 COPY ../ ${ORBIT_PATH}

diff --git a/docker/container.sh b/docker/container.sh
@@ -71,18 +71,22 @@ case $mode in
         echo "[INFO] Copying artifacts from the 'orbit' container..."
         echo -e "\t - /workspace/orbit/logs -> ${SCRIPT_DIR}/artifacts/logs"
         echo -e "\t - /workspace/orbit/docs/_build -> ${SCRIPT_DIR}/artifacts/docs/_build"
+        echo -e "\t - /workspace/orbit/data_storage -> ${SCRIPT_DIR}/artifacts/data_storage"
         # enter the script directory
         pushd ${SCRIPT_DIR} > /dev/null 2>&1
         # We have to remove before copying because repeated copying without deletion
         # causes strange errors such as nested _build directories
         # warn the user
         echo -e "[WARN] Removing the existing artifacts...\n"
-        rm -rf ./artifacts/logs ./artifacts/docs/_build
+        rm -rf ./artifacts/logs ./artifacts/docs/_build ./artifacts/data_storage
+
         # create the directories
         mkdir -p ./artifacts/docs
+
         # copy the artifacts
         docker cp orbit:/workspace/orbit/logs ./artifacts/logs
         docker cp orbit:/workspace/orbit/docs/_build ./artifacts/docs/_build
+        docker cp orbit:/workspace/orbit/data_storage ./artifacts/data_storage
         echo -e "\n[INFO] Finished copying the artifacts from the container."
         popd > /dev/null 2>&1
         ;;

diff --git a/docker/docker-compose.yaml b/docker/docker-compose.yaml
@@ -22,19 +22,19 @@ services:
       # These volumes follow from this page
       # https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_faq.html#save-isaac-sim-configs-on-local-disk
       - type: volume
-        source: isaac-cache
-        target: ${DOCKER_ISAACSIM_PATH}/kit/cache/Kit
+        source: isaac-cache-kit
+        target: ${DOCKER_ISAACSIM_PATH}/kit/cache
       - type: volume
-        source: isaac-cache
+        source: isaac-cache-ov
         target: ${DOCKER_USER_HOME}/.cache/ov
       - type: volume
-        source: isaac-cache
+        source: isaac-cache-pip
         target: ${DOCKER_USER_HOME}/.cache/pip
       - type: volume
-        source: isaac-cache
+        source: isaac-cache-gl
         target: ${DOCKER_USER_HOME}/.cache/nvidia/GLCache
       - type: volume
-        source: isaac-cache
+        source: isaac-cache-compute
         target: ${DOCKER_USER_HOME}/.nv/ComputeCache
       - type: volume
         source: isaac-logs
@@ -67,10 +67,13 @@ services:
         #    to the host machine
       - type: volume
         source: orbit-docs
-        target: /workspace/orbit/docs/_build/
+        target: /workspace/orbit/docs/_build
       - type: volume
         source: orbit-logs
         target: /workspace/orbit/logs
+      - type: volume
+        source: orbit-data
+        target: /workspace/orbit/data_storage
     network_mode: host
     deploy:
       resources:
@@ -86,10 +89,15 @@ services:
 
 volumes:
   # isaac-sim
-  isaac-cache:
+  isaac-cache-kit:
+  isaac-cache-ov:
+  isaac-cache-pip:
+  isaac-cache-gl:
+  isaac-cache-compute:
   isaac-logs:
   isaac-data:
   isaac-docs:
   # orbit
   orbit-docs:
   orbit-logs:
+  orbit-data:
diff --git a/docs/conf.py b/docs/conf.py
@@ -114,6 +114,7 @@
     "omni.isaac.kit",
     "omni.isaac.cloner",
     "omni.isaac.urdf",
+    "omni.isaac.version",
     "gym",
     "skrl",
     "stable_baselines3",

diff --git a/docs/index.rst b/docs/index.rst
@@ -75,6 +75,7 @@ If you use ``orbit`` in your work, please cite the `paper <https://arxiv.org/abs
    :caption: References
 
    source/refs/faq
+   source/refs/migration
    source/refs/contributing
    source/refs/troubleshooting
    source/refs/issues

diff --git a/docs/source/refs/migration.rst b/docs/source/refs/migration.rst
@@ -0,0 +1,93 @@
+Migration Guide (Isaac Sim)
+===========================
+
+Moving from Isaac Sim 2022.2.1 to 2023.1.0 brings in a number of changes to the
+APIs and the way the application is built. This document outlines the changes
+and how to migrate your code to the new APIs. Many of these changes attribute to
+the underlying Omniverse Kit upgrade from 104.2 to 105.1. The new upgrade brings
+the following notable changes:
+
+* Update to USD 22.11
+* Upgrading the Python from 3.7 to 3.10
+
+
+.. warning::
+    This document is a work in progress and will be updated as we move closer
+    to the release of Isaac Sim 2023.1.0.
+
+
+Renaming of PhysX Flatcache to PhysX Fabric
+-------------------------------------------
+
+The PhysX Flatcache has been renamed to PhysX Fabric. The new name is more
+descriptive of the functionality and is consistent with the naming convention
+used by Omniverse called `Fabric`_. Consequently, the Python module name has
+also been changed from :mod:`omni.physxflatcache` to :mod:`omni.physxfabric`.
+
+Following this, on the Isaac Sim side, various renaming have occurred:
+
+* The parameter passed to :class:`SimulationContext` constructor via the keyword :obj:`sim_params`
+  now expects the key ``use_fabric`` instead of ``use_flatcache``.
+* The Python attribute :attr:`SimulationContext.get_physics_context().use_flatcache` is now
+  :attr:`SimulationContext.get_physics_context().use_fabric`.
+* The Python function :meth:`SimulationContext.get_physics_context().enable_flatcache` is now
+  :meth:`SimulationContext.get_physics_context().enable_fabric`.
+
+
+Renaming of the URDF and MJCF Importers
+---------------------------------------
+
+Starting from Isaac Sim 2023.1, the URDF and MJCF importers have been renamed to be more consistent
+with the other asset importers in Omniverse. The importers are now available on NVIDIA-Omniverse GitHub
+as open source projects.
+
+Due to the extension name change, the Python module names have also been changed:
+
+* URDF Importer: :mod:`omni.importer.urdf` (previously :mod:`omni.isaac.urdf`)
+* MJCF Importer: :mod:`omni.importer.mjcf` (previously :mod:`omni.isaac.mjcf`)
+
+
+Deprecation of :class:`UsdLux.Light` API
+----------------------------------------
+
+As highlighted in the release notes of `USD 22.11`_, the ``UsdLux.Light`` API has
+been deprecated in favor of the new ``UsdLuxLightAPI`` API. In the new API the attributes
+are prefixed with ``inputs:``. For example, the ``intensity`` attribute is now available as
+``inputs:intensity``.
+
+The following example shows how to create a `SphereLight` using the old API and
+the new API.
+
+.. dropdown:: :fa:`eye,mr-1` Code for Isaac Sim 2022.2.1 and below
+
+  .. code-block:: python
+
+      import omni.isaac.core.utils.prims as prim_utils
+
+      prim_utils.create_prim(
+        "/World/Light/GreySphere",
+        "SphereLight",
+        translation=(4.5, 3.5, 10.0),
+        attributes={"radius": 2.5, "intensity": 600.0, "color": (0.75, 0.75, 0.75)},
+      )
+
+.. dropdown:: :fa:`eye,mr-1` Code for Isaac Sim 2023.1.0 and above
+
+  .. code-block:: python
+
+      import omni.isaac.core.utils.prims as prim_utils
+
+      prim_utils.create_prim(
+          "/World/Light/WhiteSphere",
+          "SphereLight",
+          translation=(-4.5, 3.5, 10.0),
+          attributes={
+            "inputs:radius": 2.5,
+            "inputs:intensity": 600.0,
+            "inputs:color": (1.0, 1.0, 1.0)
+          },
+      )
+
+
+.. _Fabric: https://docs.omniverse.nvidia.com/kit/docs/usdrt/latest/docs/usd_fabric_usdrt.html
+.. _`USD 22.11`: https://github.com/PixarAnimationStudios/OpenUSD/blob/release/CHANGELOG.md
diff --git a/docs/source/setup/docker.rst b/docs/source/setup/docker.rst
@@ -77,7 +77,7 @@ needed to run Orbit inside a Docker container. These are summarized below:
 
 * ``Dockerfile``: Defines orbit image by overlaying Orbit dependencies onto the Isaac Sim Docker image.
 * ``docker-compose.yaml``: Creates mounts to allow direct editing of Orbit code from the host machine that runs
-  the container along with X11 forwarding. It also creates several named volumes such as ``isaac-cache`` to store frequently
+  the container along with X11 forwarding. It also creates several named volumes such as ``isaac-cache-kit`` to store frequently
   re-used resources compiled by Isaac Sim, such as shaders, and to retain logs, data, and documents.
 * ``.env``: Stores environment variables required for the build process and the container itself.
 * ``container.sh``: A script that wraps the ``docker-compose`` command to build the image and run the container.
@@ -104,7 +104,7 @@ The script ``container.sh`` wraps around three basic ``docker-compose`` commands
 1. ``start``: This builds the image and brings up the container in detached mode (i.e. in the background).
 2. ``enter``: This begins a new bash process in an existing orbit container, and which can be exited
    without bringing down the container.
-3. ``copy``: This copies the ``logs`` and ``docs/_build`` artifacts, from the ``orbit-logs`` and ``orbit-docs``
+3. ``copy``: This copies the ``logs``, ``data_storage`` and ``docs/_build`` artifacts, from the ``orbit-logs``, ``orbit-data`` and ``orbit-docs``
    volumes respectively, to the ``docker/artifacts`` directory. These artifacts persist between docker
    container instances.
 4. ``stop``: This brings down the container and removes it.
@@ -125,8 +125,8 @@ To copy files from the container to the host machine, you can use the following
     # Copy the file /workspace/orbit/logs to the current directory
     docker cp orbit:/workspace/orbit/logs .
 
-The script ``container.sh`` provides a wrapper around this command to copy the ``logs`` and ``docs/_build``
-directories to the ``docker/artifacts`` directory. This is useful for copying the logs and documentation:
+The script ``container.sh`` provides a wrapper around this command to copy the ``logs`` , ``data_storage`` and ``docs/_build``
+directories to the ``docker/artifacts`` directory. This is useful for copying the logs, data and documentation:
 
 .. code:: bash
 
@@ -163,21 +163,26 @@ Understanding the mounted volumes
 The ``docker-compose.yaml`` file creates several named volumes that are mounted to the container.
 These are summarized below:
 
-* ``isaac-cache``: This volume is used to store frequently re-used resources compiled by Omniverse, such as shaders.
-* ``isaac-logs``: This volume is used to store logs generated by Omniverse.
-* ``isaac-data``: This volume is used to store data generated by Omniverse.
-* ``isaac-docs``: This volume is used to store documents generated by Omniverse.
-* ``orbit-docs``: This volume is used to store documentation of Orbit when built inside the container.
-* ``orbit-logs``: This volume is used to store logs generated by Orbit workflows when ran inside the container.
+* ``isaac-cache-kit``: This volume is used to store cached Kit resources (`/isaac-sim/kit/cache` in container)
+* ``isaac-cache-ov``: This volume is used to store cached OV resources (`/root/.cache/ov` in container)
+* ``isaac-cache-pip``: This volume is used to store cached pip resources (`/root/.cache/pip`` in container)
+* ``isaac-cache-gl``: This volume is used to store cached GLCache resources (`/root/.cache/nvidia/GLCache` in container)
+* ``isaac-cache-compute``: This volume is used to store cached compute resources (`/root/.nv/ComputeCache` in container)
+* ``isaac-logs``: This volume is used to store logs generated by Omniverse. (`/root/.nvidia-omniverse/logs` in container)
+* ``isaac-data``: This volume is used to store data generated by Omniverse. (`/root/.local/share/ov/data` in container)
+* ``isaac-docs``: This volume is used to store documents generated by Omniverse. (`/root/Documents` in container)
+* ``orbit-docs``: This volume is used to store documentation of Orbit when built inside the container. (`/workspace/orbit/docs/_build` in container)
+* ``orbit-logs``: This volume is used to store logs generated by Orbit workflows when ran inside the container. (`/workspace/orbit/logs` in container)
+* ``orbit-data``: This volume is used to store whatever data users may want to preserve between container runs. (`/workspace/orbit/data_storage` in container)
 
 To view the contents of these volumes, you can use the following command:
 
 .. code:: bash
 
     # list all volumes
     docker volume ls
-    # inspect a specific volume, e.g. isaac-cache
-    docker volume inspect isaac-cache
+    # inspect a specific volume, e.g. isaac-cache-kit
+    docker volume inspect isaac-cache-kit
 
 
 Invalid mount config for type "bind"

diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/app.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/app.py
@@ -227,7 +227,25 @@ def __init__(self, **kwargs):
         # note: moved here since it requires to have the viewport extension to be enabled first.
         enable_extension("omni.replicator.isaac")
         # enable urdf importer
-        enable_extension("omni.isaac.urdf")
+        # read isaac sim version (this includes build tag, release tag etc.)
+        # note: we do it once here because it reads the VERSION file from disk and is not expected to change.
+        from omni.isaac.version import get_version
+
+        isaacsim_version = get_version()
+        if int(isaacsim_version[2]) == 2022:
+            enable_extension("omni.isaac.urdf")
+        else:
+            enable_extension("omni.importer.urdf")
+            # set the nucleus directory manually to the 2023.1.0 version
+            # TODO: Remove this once the 2023.1.0 version is released
+            carb_settings_iface.set_string(
+                "/persistent/isaac/asset_root/default",
+                "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.0",
+            )
+            carb_settings_iface.set_string(
+                "/persistent/isaac/asset_root/nvidia",
+                "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.0",
+            )
 
         # update the global flags
         # TODO: Remove all these global flags. We don't need it anymore.

diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/compat/utils/kit.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/compat/utils/kit.py
@@ -15,6 +15,7 @@
 import omni.kit
 from omni.isaac.core.materials import PhysicsMaterial
 from omni.isaac.core.prims import GeometryPrim
+from omni.isaac.version import get_version
 from pxr import Gf, PhysxSchema, UsdPhysics, UsdShade
 
 
@@ -96,43 +97,18 @@ def create_ground_plane(
             value=Gf.Vec3f(*color),
             prev=None,
         )
-    # Change the settings of the sphere light
+    # Add light source
     # By default, the one from Isaac Sim is too dim for large number of environments.
     # Warning: This is specific to the default grid plane asset.
-    light_intensity = kwargs.get("light_intensity", 1e7)
-    light_radius = kwargs.get("light_radius", 100.0)
-    # -- light intensity
-    if light_intensity is not None:
-        omni.kit.commands.execute(
-            "ChangeProperty",
-            prop_path=f"{prim_path}/SphereLight.intensity",
-            value=light_intensity,
-            prev=None,
-        )
-    # -- light radius
-    if light_radius is not None:
-        # set radius of the light
-        omni.kit.commands.execute(
-            "ChangeProperty",
-            prop_path=f"{prim_path}/SphereLight.radius",
-            value=light_radius,
-            prev=None,
-        )
-        # as a rule of thumb, we set the sphere center 1.5 times
-        omni.kit.commands.execute(
-            "ChangeProperty",
-            prop_path=f"{prim_path}/SphereLight.xformOp:translate",
-            value=(0.0, 0.0, 1.5 * light_radius),
-            prev=None,
-        )
-    # -- ambient light
     ambient_light = kwargs.get("ambient_light", True)
     if ambient_light:
-        prim_utils.create_prim(
-            f"{prim_path}/AmbientLight",
-            "DistantLight",
-            attributes={"intensity": 600.0},
-        )
+        # check isaacsim version to determine the attribute name
+        attributes = {"intensity": 600.0}
+        isaacsim_version = get_version()
+        if int(isaacsim_version[2]) > 2022:
+            attributes = {f"inputs:{k}": v for k, v in attributes.items()}
+        # create light prim
+        prim_utils.create_prim(f"{prim_path}/AmbientLight", "DistantLight", attributes=attributes)
 
 
 def move_nested_prims(source_ns: str, target_ns: str):

diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/actions_cfg.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/actions_cfg.py
@@ -7,9 +7,9 @@
 
 from dataclasses import MISSING
 
+from omni.isaac.orbit.controllers import DifferentialIKControllerCfg
 from omni.isaac.orbit.managers.action_manager import ActionTerm, ActionTermCfg
 from omni.isaac.orbit.utils import configclass
-from omni.isaac.orbit.controllers import DifferentialIKControllerCfg
 
 from . import binary_joint_actions, joint_actions, non_holonomic_actions, task_space_actions
 

diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/reward_manager.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/reward_manager.py
@@ -161,11 +161,17 @@ def _prepare_terms(self):
                 raise TypeError(
                     f"Configuration for the term '{term_name}' is not of type RewardTermCfg. Received '{type(term_cfg)}'."
                 )
+            # check for valid weight type
+            if not isinstance(term_cfg.weight, (float, int)):
+                raise TypeError(
+                    f"Weight for the term '{term_name}' is not of type float or int. Received '{type(term_cfg.weight)}'."
+                )
             # resolve common parameters
             self._resolve_common_term_cfg(term_name, term_cfg, min_argc=1)
             # remove zero scales and multiply non-zero ones by dt
             # note: we multiply weights by dt to make them agnostic to control decimation
-            if term_cfg.weight == 0:
+            term_cfg.weight = float(term_cfg.weight)
+            if term_cfg.weight == 0.0:
                 continue
             # add function to list
             self._term_names.append(term_name)