Merge pull request #7 from NVlabs/mgussert/isaacsim_module_name_update

isaacsim 4.5 update

Author: jaybdub

CHANGELOG.md

@@ -2,6 +2,15 @@
 
 # main
 
+# ref-4.5
+
+Release targeting Isaac Sim 4.5
+
+- Updated to use isaacsim.* rather than omni.* import calls
+- Added minor fixes to API discrepancies
+- Added required extension loading for replay rendering
+- Updated README to include setup instructions for Isaac Sim 4.5
+
 # ref-4.2
 
 Release targeting Isaac Sim 4.2

README.md

@@ -56,6 +56,7 @@ To get started with MobilityGen follow the setup and usage instructions below!
     - [How to implement a custom scenario](#how-to-custom-scenario)
 - [📝 Data Format](#-data-format)
 - [👏 Contributing](#-contributing)
+- 
 
 <a id="setup"></a>
 ## 🛠️ Setup
@@ -64,7 +65,9 @@ Follow these steps to set up MobilityGen
 
 ### Step 1 - Install Isaac Sim
 
-1. Using the ``Omniverse Launcher`` install ``Isaac Sim 4.2.0``
+1. Download [Isaac Sim 4.5.0](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/download.html)
+
+    > We'll assume you use the zip file and extract it to ``~/isaacsim``.
 
 ### Step 2 - Clone this repository
 
@@ -86,25 +89,31 @@ Next, we'll call ``link_app.sh`` to link the Isaac Sim installation directory to
     cd MobilityGen
     ```
 
-2. Run the following to link the ``app`` folder
+2. Run the following to link the ``app`` folder and pass it the path to where you installed Isaac Sim
 
     ```bash
-    ./link_app.sh
+    ./link_app.sh --path ~/isaacsim
     ```
 
 <details>
 > This step is helpful as it (1) Enables us to use VS code autocompletion (2) Allows us to call ./app/python.sh to launch Isaac Sim Python scripts (3) Allows us to call ./app/isaac-sim.sh to launch Isaac Sim.
 </details>
 
-### Step 4 - Install the C++ path planner (for procedural generation)
+### Step 4 - Install other python dependencies (including C++ path planner) (for procedural generation) 
+
+1. Install miscellaneous python dependencies
+
+    ```bash
+    ./app/python.sh -m pip install tqdm
+    ```
 
-1. Navigate to the path planner directory
+2. Navigate to the path planner directory
 
     ```bash
     cd MobilityGen/path_planner
     ```
 
-2. Install with pip using the Isaac Sim python interpreter
+3. Install with pip using the Isaac Sim python interpreter
 
     ```bash
     ../app/python.sh -m pip install -e .

exts/omni.ext.mobility_gen/omni/ext/mobility_gen/build.py

@@ -15,10 +15,10 @@
 
 import os
 
-import omni.isaac.core.utils.prims as prim_utils
-from omni.isaac.core.utils.stage import open_stage
-import omni.isaac.core.objects as objects
-from omni.isaac.core.utils.stage import add_reference_to_stage
+import isaacsim.core.utils.prims as prim_utils
+from isaacsim.core.utils.stage import open_stage
+import isaacsim.core.api.objects as objects
+from isaacsim.core.utils.stage import add_reference_to_stage
 
 
 from omni.ext.mobility_gen.occupancy_map import OccupancyMap

exts/omni.ext.mobility_gen/omni/ext/mobility_gen/robots.py

@@ -21,14 +21,14 @@
 from typing import List, Type, Tuple, Union
 
 # Isaac Sim Imports
-from omni.isaac.core.prims.xform_prim import XFormPrim
-from omni.isaac.core.robots.robot import Robot as _Robot
-from omni.isaac.core.articulations import ArticulationView as _ArticulationView
-from omni.isaac.wheeled_robots.robots import WheeledRobot as _WheeledRobot
-from omni.isaac.wheeled_robots.controllers.differential_controller import DifferentialController
-from omni.isaac.examples.humanoid.h1 import H1FlatTerrainPolicy
-from omni.isaac.examples.quadruped.quadruped_example import SpotFlatTerrainPolicy
-import omni.isaac.core.utils.numpy.rotations as rot_utils
+from isaacsim.core.prims import SingleXFormPrim as XFormPrim
+from isaacsim.core.api.robots.robot import Robot as _Robot
+from isaacsim.core.prims import Articulation as _ArticulationView
+from isaacsim.robot.wheeled_robots.robots import WheeledRobot as _WheeledRobot
+from isaacsim.robot.wheeled_robots.controllers.differential_controller import DifferentialController
+from isaacsim.robot.policy.examples.robots.h1 import H1FlatTerrainPolicy
+from isaacsim.robot.policy.examples.robots import SpotFlatTerrainPolicy
+import isaacsim.core.utils.numpy.rotations as rot_utils
 
 # Extension imports
 from omni.ext.mobility_gen.common import Buffer, Module
@@ -147,6 +147,7 @@ def build_front_camera(cls, prim_path):
         # Add camera
         camera_path = os.path.join(prim_path, cls.front_camera_base_path)
         front_camera_xform = XFormPrim(camera_path)
+
         stage = get_stage()
         front_camera_prim = stage_get_prim(stage, camera_path)
         prim_rotate_x(front_camera_prim, cls.front_camera_rotation[0])
@@ -349,7 +350,7 @@ def build(cls, prim_path: str):
     def write_action(self, step_size):
         action = self.action.get_value()
         command = np.array([action[0], 0., action[1]])
-        self.controller.advance(step_size, command)
+        self.controller.forward(step_size, command)
 
     def set_pose_2d(self, pose):
         super().set_pose_2d(pose)

exts/omni.ext.mobility_gen/omni/ext/mobility_gen/scene_builders.py

@@ -20,10 +20,8 @@
 import numpy as np
 from typing import Tuple
 
-
-import omni.isaac.core.utils.numpy.rotations as rot_utils
-import omni.isaac.core.objects as objects
-
+import isaacsim.core.utils.numpy.rotations as rot_utils
+import isaacsim.core.api.objects as objects
 
 from omni.ext.mobility_gen.utils.global_utils import get_stage
 from omni.ext.mobility_gen.utils.stage_utils import stage_add_dome_light

exts/omni.ext.mobility_gen/omni/ext/mobility_gen/utils/global_utils.py

@@ -15,10 +15,10 @@
 
 
 import omni.kit
-import omni.isaac.core
+import isaacsim.core
 from pxr import Usd
 
-from omni.isaac.core_nodes.bindings import _omni_isaac_core_nodes
+from isaacsim.core.nodes.bindings import _isaacsim_core_nodes
 from omni.kit.viewport.utility import get_active_viewport
 from .stage_utils import stage_get_prim
 
@@ -38,20 +38,20 @@ def new_stage() -> Usd.Stage:
     return stage
 
 
-def new_world(physics_dt: float = 0.01, stage_units_in_meters: float = 1.0) -> omni.isaac.core.World:
+def new_world(physics_dt: float = 0.01, stage_units_in_meters: float = 1.0) -> isaacsim.core.api.World:
     world = get_world()
     if world is not None:
-        omni.isaac.core.World.clear_instance()
-    omni.isaac.core.World(physics_dt=physics_dt, stage_units_in_meters=stage_units_in_meters)
-    return omni.isaac.core.World.instance()
+        isaacsim.core.api.World.clear_instance()
+    isaacsim.core.api.World(physics_dt=physics_dt, stage_units_in_meters=stage_units_in_meters)
+    return isaacsim.core.api.World.instance()
 
 
-def get_world() -> omni.isaac.core.World:
-    return omni.isaac.core.World.instance()
+def get_world() -> isaacsim.core.api.World:
+    return isaacsim.core.api.World.instance()
 
 
 def get_timestamp():
-    return _omni_isaac_core_nodes.acquire_interface().get_sim_time_monotonic()
+    return _isaacsim_core_nodes.acquire_interface().get_sim_time_monotonic()
 
 
 def save_stage(path: str, default_prim: str | None = None):

exts/omni.ext.mobility_gen/omni/ext/mobility_gen/utils/occupancy_map_utils.py

@@ -22,8 +22,8 @@
 import tempfile
 import omni.kit.usd
 import typing as tp
-from omni.isaac.occupancy_map.bindings import _occupancy_map
-from omni.isaac.occupancy_map.utils import compute_coordinates,  update_location
+from isaacsim.asset.gen.omap.bindings import _omap as _occupancy_map
+from isaacsim.asset.gen.omap.utils import compute_coordinates,  update_location
 from pxr import Sdf, UsdGeom, UsdPhysics, Usd, UsdShade, Kind
 
 from ..types import Point2d
@@ -75,7 +75,8 @@ async def occupancy_map_generate_from_prim_async(
 
     app = get_app()
 
-    om = _occupancy_map.acquire_occupancy_map_interface()
+    om = _occupancy_map.acquire_omap_interface()
+    
     timeline = omni.timeline.get_timeline_interface()
 
     await app.next_update_async()
@@ -183,7 +184,7 @@ async def occupancy_map_generate_from_prim_async(
         occupied_thresh=ROS_OCCUPIED_THRESH_DEFAULT
     )
 
-    _occupancy_map.release_occupancy_map_interface(om)
+    _occupancy_map.release_omap_interface(om)
 
     return occupancy_map
 

scripts/replay.py

@@ -63,8 +63,9 @@
             "./app/python.sh",
             "scripts/replay_implementation.py",
             "--ext-folder", "exts",
-            "--enable", "omni.isaac.mobility_gen",
+            "--enable", "omni.ext.mobility_gen",
             "--enable", "omni.isaac.examples",
+            "--enable", "isaacsim.asset.gen.omap",
             "--input_path", recording_path,
             "--output_path", output_path,
             "--render_interval", str(args.render_interval),

scripts/replay_directory.py

@@ -72,7 +72,7 @@
                 "scripts/replay_implementation.py",
                 "--ext-folder", "exts",
                 "--enable", "omni.ext.mobility_gen",
-                "--enable", "omni.isaac.examples",
+                "--enable", "isaacsim.asset.gen.omap",
                 "--input_path", recording_path,
                 "--output_path", output_path,
                 "--render_interval", str(args.render_interval),