Removes inheritance in SimulationContext

scripts/benchmarks/benchmark_xform_prim_view.py

@@ -216,7 +216,6 @@ def benchmark_xform_prim_view(
 
     # close simulation
     sim.clear()
-    sim.clear_all_callbacks()
     sim.clear_instance()
 
     return timing_results, computed_results

source/isaaclab/isaaclab/assets/asset_base.py

@@ -308,15 +308,18 @@ def _initialize_callback(self, event):
             called whenever the simulator "plays" from a "stop" state.
         """
         if not self._is_initialized:
-            # obtain simulation related information
-            self._backend = SimulationManager.get_backend()
-            self._device = SimulationManager.get_physics_sim_device()
-            # initialize the asset
             try:
+                # Obtain Simulation Context
+                sim = sim_utils.SimulationContext.instance()
+                if sim is None:
+                    raise RuntimeError("Simulation Context is not initialized!")
+                # Obtain device and backend
+                self._device = sim.device
+                # initialize the asset
                 self._initialize_impl()
             except Exception as e:
-                if builtins.ISAACLAB_CALLBACK_EXCEPTION is None:
-                    builtins.ISAACLAB_CALLBACK_EXCEPTION = e
+                if builtins.ISAACLAB_CALLBACK_EXCEPTION is None:  # type: ignore
+                    builtins.ISAACLAB_CALLBACK_EXCEPTION = e  # type: ignore
             # set flag
             self._is_initialized = True
 

source/isaaclab/isaaclab/envs/direct_marl_env.py

@@ -5,7 +5,6 @@
 
 from __future__ import annotations
 
-import builtins
 import gymnasium as gym
 import inspect
 import logging
@@ -150,17 +149,16 @@ def __init__(self, cfg: DirectMARLEnvCfg, render_mode: str | None = None, **kwar
         # play the simulator to activate physics handles
         # note: this activates the physics simulation view that exposes TensorAPIs
         # note: when started in extension mode, first call sim.reset_async() and then initialize the managers
-        if builtins.ISAAC_LAUNCHED_FROM_TERMINAL is False:
-            print("[INFO]: Starting the simulation. This may take a few seconds. Please wait...")
-            with Timer("[INFO]: Time taken for simulation start", "simulation_start"):
-                # since the reset can trigger callbacks which use the stage,
-                # we need to set the stage context here
-                with use_stage(self.sim.get_initial_stage()):
-                    self.sim.reset()
-                # update scene to pre populate data buffers for assets and sensors.
-                # this is needed for the observation manager to get valid tensors for initialization.
-                # this shouldn't cause an issue since later on, users do a reset over all the environments so the lazy buffers would be reset.
-                self.scene.update(dt=self.physics_dt)
+        print("[INFO]: Starting the simulation. This may take a few seconds. Please wait...")
+        with Timer("[INFO]: Time taken for simulation start", "simulation_start"):
+            # since the reset can trigger callbacks which use the stage,
+            # we need to set the stage context here
+            with use_stage(self.sim.get_initial_stage()):
+                self.sim.reset()
+            # update scene to pre populate data buffers for assets and sensors.
+            # this is needed for the observation manager to get valid tensors for initialization.
+            # this shouldn't cause an issue since later on, users do a reset over all the environments so the lazy buffers would be reset.
+            self.scene.update(dt=self.physics_dt)
 
         # check if debug visualization is has been implemented by the environment
         source_code = inspect.getsource(self._set_debug_vis_impl)
@@ -549,7 +547,6 @@ def close(self):
                     self.sim.stop()
                     self.sim.clear()
 
-            self.sim.clear_all_callbacks()
             self.sim.clear_instance()
 
             # destroy the window

source/isaaclab/isaaclab/envs/direct_rl_env.py

@@ -5,7 +5,6 @@
 
 from __future__ import annotations
 
-import builtins
 import gymnasium as gym
 import inspect
 import logging
@@ -157,17 +156,16 @@ def __init__(self, cfg: DirectRLEnvCfg, render_mode: str | None = None, **kwargs
         # play the simulator to activate physics handles
         # note: this activates the physics simulation view that exposes TensorAPIs
         # note: when started in extension mode, first call sim.reset_async() and then initialize the managers
-        if builtins.ISAAC_LAUNCHED_FROM_TERMINAL is False:
-            print("[INFO]: Starting the simulation. This may take a few seconds. Please wait...")
-            with Timer("[INFO]: Time taken for simulation start", "simulation_start"):
-                # since the reset can trigger callbacks which use the stage,
-                # we need to set the stage context here
-                with use_stage(self.sim.get_initial_stage()):
-                    self.sim.reset()
-                # update scene to pre populate data buffers for assets and sensors.
-                # this is needed for the observation manager to get valid tensors for initialization.
-                # this shouldn't cause an issue since later on, users do a reset over all the environments so the lazy buffers would be reset.
-                self.scene.update(dt=self.physics_dt)
+        print("[INFO]: Starting the simulation. This may take a few seconds. Please wait...")
+        with Timer("[INFO]: Time taken for simulation start", "simulation_start"):
+            # since the reset can trigger callbacks which use the stage,
+            # we need to set the stage context here
+            with use_stage(self.sim.get_initial_stage()):
+                self.sim.reset()
+            # update scene to pre populate data buffers for assets and sensors.
+            # this is needed for the observation manager to get valid tensors for initialization.
+            # this shouldn't cause an issue since later on, users do a reset over all the environments so the lazy buffers would be reset.
+            self.scene.update(dt=self.physics_dt)
 
         # check if debug visualization is has been implemented by the environment
         source_code = inspect.getsource(self._set_debug_vis_impl)
@@ -518,7 +516,6 @@ def close(self):
                     self.sim.stop()
                     self.sim.clear()
 
-            self.sim.clear_all_callbacks()
             self.sim.clear_instance()
 
             # destroy the window

source/isaaclab/isaaclab/envs/manager_based_env.py

@@ -3,7 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-import builtins
 import logging
 import torch
 import warnings
@@ -101,11 +100,7 @@ def __init__(self, cfg: ManagerBasedEnvCfg):
             # since it gets confused with Isaac Sim's SimulationContext class
             self.sim: SimulationContext = SimulationContext(self.cfg.sim)
         else:
-            # simulation context should only be created before the environment
-            # when in extension mode
-            if not builtins.ISAAC_LAUNCHED_FROM_TERMINAL:
-                raise RuntimeError("Simulation context already exists. Cannot create a new one.")
-            self.sim: SimulationContext = SimulationContext.instance()
+            raise RuntimeError("Simulation context already exists. Cannot create a new one.")
 
         # make sure torch is running on the correct device
         if "cuda" in self.device:
@@ -162,19 +157,18 @@ def __init__(self, cfg: ManagerBasedEnvCfg):
         # play the simulator to activate physics handles
         # note: this activates the physics simulation view that exposes TensorAPIs
         # note: when started in extension mode, first call sim.reset_async() and then initialize the managers
-        if builtins.ISAAC_LAUNCHED_FROM_TERMINAL is False:
-            print("[INFO]: Starting the simulation. This may take a few seconds. Please wait...")
-            with Timer("[INFO]: Time taken for simulation start", "simulation_start"):
-                # since the reset can trigger callbacks which use the stage,
-                # we need to set the stage context here
-                with use_stage(self.sim.get_initial_stage()):
-                    self.sim.reset()
-                # update scene to pre populate data buffers for assets and sensors.
-                # this is needed for the observation manager to get valid tensors for initialization.
-                # this shouldn't cause an issue since later on, users do a reset over all the environments so the lazy buffers would be reset.
-                self.scene.update(dt=self.physics_dt)
-            # add timeline event to load managers
-            self.load_managers()
+        print("[INFO]: Starting the simulation. This may take a few seconds. Please wait...")
+        with Timer("[INFO]: Time taken for simulation start", "simulation_start"):
+            # since the reset can trigger callbacks which use the stage,
+            # we need to set the stage context here
+            with use_stage(self.sim.get_initial_stage()):
+                self.sim.reset()
+            # update scene to pre populate data buffers for assets and sensors.
+            # this is needed for the observation manager to get valid tensors for initialization.
+            # this shouldn't cause an issue since later on, users do a reset over all the environments so the lazy buffers would be reset.
+            self.scene.update(dt=self.physics_dt)
+        # add timeline event to load managers
+        self.load_managers()
 
         # extend UI elements
         # we need to do this here after all the managers are initialized
@@ -536,7 +530,6 @@ def close(self):
                     self.sim.stop()
                     self.sim.clear()
 
-            self.sim.clear_all_callbacks()
             self.sim.clear_instance()
 
             # destroy the window

source/isaaclab/isaaclab/sensors/sensor_base.py

@@ -203,7 +203,6 @@ def _initialize_impl(self):
             raise RuntimeError("Simulation Context is not initialized!")
         # Obtain device and backend
         self._device = sim.device
-        self._backend = sim.backend
         self._sim_physics_dt = sim.get_physics_dt()
         # Count number of environments
         env_prim_path_expr = self.cfg.prim_path.rsplit("/", 1)[0]
@@ -301,8 +300,8 @@ def _initialize_callback(self, event):
             try:
                 self._initialize_impl()
             except Exception as e:
-                if builtins.ISAACLAB_CALLBACK_EXCEPTION is None:
-                    builtins.ISAACLAB_CALLBACK_EXCEPTION = e
+                if builtins.ISAACLAB_CALLBACK_EXCEPTION is None:  # type: ignore
+                    builtins.ISAACLAB_CALLBACK_EXCEPTION = e  # type: ignore
             self._is_initialized = True
 
     def _invalidate_initialize_callback(self, event):

source/isaaclab/isaaclab/sim/simulation_cfg.py

@@ -43,6 +43,26 @@ class PhysxCfg:
     * :obj:`1`: TGS (Temporal Gauss-Seidel)
     """
 
+    solve_articulation_contact_last: bool = False
+    """Changes the ordering inside the articulation solver. Default is False.
+
+    PhysX employs a strict ordering for handling constraints in an articulation. The outcome of
+    each constraint resolution modifies the joint and associated link speeds. However, the default
+    ordering may not be ideal for gripping scenarios because the solver favours the constraint
+    types that are resolved last. This is particularly true of stiff constraint systems that are hard
+    to resolve without resorting to vanishingly small simulation timesteps.
+
+    With dynamic contact resolution being such an important part of gripping, it may make
+    more sense to solve dynamic contact towards the end of the solver rather than at the
+    beginning. This parameter modifies the default ordering to enable this change.
+
+    For more information, please check `here <https://docs.omniverse.nvidia.com/kit/docs/omni_physics/107.3/dev_guide/guides/articulation_stability_guide.html#articulation-solver-order>`__.
+
+    .. versionadded:: v2.3
+        This parameter is only available with Isaac Sim 5.1.
+
+    """
+
     min_position_iteration_count: int = 1
     """Minimum number of solver position iterations (rigid bodies, cloth, particles etc.). Default is 1.
 
@@ -173,26 +193,6 @@ class PhysxCfg:
     gpu_max_particle_contacts: int = 2**20
     """Size of particle contacts stream buffer allocated in pinned host memory. Default is 2 ** 20."""
 
-    solve_articulation_contact_last: bool = False
-    """Changes the ordering inside the articulation solver. Default is False.
-
-    PhysX employs a strict ordering for handling constraints in an articulation. The outcome of
-    each constraint resolution modifies the joint and associated link speeds. However, the default
-    ordering may not be ideal for gripping scenarios because the solver favours the constraint
-    types that are resolved last. This is particularly true of stiff constraint systems that are hard
-    to resolve without resorting to vanishingly small simulation timesteps.
-
-    With dynamic contact resolution being such an important part of gripping, it may make
-    more sense to solve dynamic contact towards the end of the solver rather than at the
-    beginning. This parameter modifies the default ordering to enable this change.
-
-    For more information, please check `here <https://docs.omniverse.nvidia.com/kit/docs/omni_physics/107.3/dev_guide/guides/articulation_stability_guide.html#articulation-solver-order>`__.
-
-    .. versionadded:: v2.3
-        This parameter is only available with Isaac Sim 5.1.
-
-    """
-
 
 @configclass
 class RenderCfg: