Removes instances of IsaacSim SimulationContext

scripts/tools/check_instanceable.py

@@ -65,11 +65,11 @@
 
 
 import isaacsim.core.utils.prims as prim_utils
-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.cloner import GridCloner
 from isaacsim.core.utils.carb import set_carb_setting
 from isaacsim.core.utils.stage import get_current_stage
 
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.utils import Timer
 from isaaclab.utils.assets import check_file_path
 
@@ -80,9 +80,7 @@ def main():
     if not check_file_path(args_cli.input):
         raise ValueError(f"Invalid file path: {args_cli.input}")
     # Load kit helper
-    sim = SimulationContext(
-        stage_units_in_meters=1.0, physics_dt=0.01, rendering_dt=0.01, backend="torch", device="cuda:0"
-    )
+    sim = SimulationContext(SimulationCfg(dt=0.01))
 
     # get stage handle
     stage = get_current_stage()

source/isaaclab/isaaclab/sim/utils/stage.py

@@ -7,14 +7,13 @@
 import contextlib
 import logging
 import threading
-import typing
-from collections.abc import Generator
+from collections.abc import Callable, Generator, Iterable
+from typing import Literal
 
 import carb
 import omni
 import omni.kit.app
 from isaacsim.core.utils import stage as sim_stage
-from isaacsim.core.utils.carb import get_carb_setting
 from isaacsim.core.version import get_version
 from omni.metrics.assembler.core import get_metrics_assembler_interface
 from omni.usd.commands import DeletePrimsCommand
@@ -27,6 +26,7 @@
 # _context is a singleton design in isaacsim and for that reason
 #  until we fully replace all modules that references the singleton(such as XformPrim, Prim ....), we have to point
 #  that singleton to this _context
+# FIXME: remove once split from isaac-sim is completed
 sim_stage._context = _context
 
 AXES_TOKEN = {
@@ -58,7 +58,7 @@ def attach_stage_to_usd_context(attaching_early: bool = False):
         If the stage is not in memory or rendering is not enabled, this function will return without attaching.
 
     Args:
-        attaching_early: Whether to attach the stage to the usd context before stage is created. Defaults to False.
+        Whether to attach the stage to the usd context before stage is created. Defaults to False.
     """
 
     from isaacsim.core.simulation_manager import SimulationManager
@@ -81,7 +81,7 @@ def attach_stage_to_usd_context(attaching_early: bool = False):
 
     # this carb flag is equivalent to if rendering is enabled
     carb_setting = carb.settings.get_settings()
-    is_rendering_enabled = get_carb_setting(carb_setting, "/physics/fabricUpdateTransformations")
+    is_rendering_enabled = carb_setting.get("/physics/fabricUpdateTransformations")
 
     # if rendering is not enabled, we don't need to attach it
     if not is_rendering_enabled:
@@ -142,7 +142,7 @@ def use_stage(stage: Usd.Stage) -> Generator[None, None, None]:
     In Isaac Sim < 5.0, this is a no-op to maintain compatibility.
 
     Args:
-        stage: The stage to set temporarily.
+        The stage to set temporarily.
 
     Raises:
         AssertionError: If the stage is not a USD stage instance.
@@ -243,7 +243,7 @@ def update_stage() -> None:
 
 
 # TODO: make a generic util for setting all layer properties
-def set_stage_up_axis(axis: str = "z") -> None:
+def set_stage_up_axis(axis: Literal["x", "y", "z"] = "z") -> None:
     """Change the up axis of the current stage
 
     Args:
@@ -271,7 +271,7 @@ def get_stage_up_axis() -> str:
     """Get the current up-axis of USD stage.
 
     Returns:
-        str: The up-axis of the stage.
+        The up-axis of the stage.
 
     Example:
 
@@ -286,11 +286,11 @@ def get_stage_up_axis() -> str:
     return UsdGeom.GetStageUpAxis(stage)
 
 
-def clear_stage(predicate: typing.Callable[[str], bool] | None = None) -> None:
+def clear_stage(predicate: Callable[[str], bool] | None = None) -> None:
     """Deletes all prims in the stage without populating the undo command buffer
 
     Args:
-        predicate: user defined function that takes a prim_path (str) as input and returns True/False if the prim
+        predicate: user defined function that takes a prim_path as input and returns True/False if the prim
             should/shouldn't be deleted. If predicate is None, a default is used that deletes all prims
 
     Example:
@@ -445,7 +445,7 @@ def create_new_stage() -> Usd.Stage:
     """Create a new stage attached to the USD context.
 
     Returns:
-        Usd.Stage: The created USD stage.
+        The created USD stage.
 
     Example:
 
@@ -493,13 +493,13 @@ def open_stage(usd_path: str) -> bool:
     """Open the given usd file and replace currently opened stage.
 
     Args:
-        usd_path (str): Path to the USD file to open.
+        usd_path: Path to the USD file to open.
 
     Raises:
         ValueError: When input path is not a supported file type by USD.
 
     Returns:
-        bool: True if operation is successful, otherwise false.
+        True if operation is successful, otherwise false.
 
     Example:
 
@@ -523,14 +523,14 @@ def save_stage(usd_path: str, save_and_reload_in_place=True) -> bool:
     """Save usd file to path, it will be overwritten with the current stage
 
     Args:
-        usd_path (str): File path to save the current stage to
+        usd_path: File path to save the current stage to
         save_and_reload_in_place (bool, optional): use ``save_as_stage`` to save and reload the root layer in place. Defaults to True.
 
     Raises:
         ValueError: When input path is not a supported file type by USD.
 
     Returns:
-        bool: True if operation is successful, otherwise false.
+        True if operation is successful, otherwise false.
 
     Example:
 
@@ -555,7 +555,7 @@ def save_stage(usd_path: str, save_and_reload_in_place=True) -> bool:
     return result
 
 
-def close_stage(callback_fn: typing.Callable | None = None) -> bool:
+def close_stage(callback_fn: Callable | None = None) -> bool:
     """Closes the current opened USD stage.
 
     .. note::
@@ -566,7 +566,7 @@ def close_stage(callback_fn: typing.Callable | None = None) -> bool:
         callback_fn: Callback function to call while closing. Defaults to None.
 
     Returns:
-        bool: True if operation is successful, otherwise false.
+        True if operation is successful, otherwise false.
 
     Example:
 
@@ -597,7 +597,7 @@ def close_stage(callback_fn: typing.Callable | None = None) -> bool:
     return result
 
 
-def traverse_stage(fabric=False) -> typing.Iterable:
+def traverse_stage(fabric=False) -> Iterable:
     """Traverse through prims (hidden or not) in the opened Usd stage.
 
     Returns:
@@ -630,7 +630,7 @@ def is_stage_loading() -> bool:
     """Convenience function to see if any files are being loaded.
 
     Returns:
-        bool: True if loading, False otherwise
+        True if loading, False otherwise
 
     Example:
 
@@ -723,11 +723,11 @@ def get_next_free_path(path: str, parent: str = None) -> str:
     """Returns the next free usd path for the current stage
 
     Args:
-        path (str): path we want to check
-        parent (str, optional): Parent prim for the given path. Defaults to None.
+        path: path we want to check
+        parent: Parent prim for the given path. Defaults to None.
 
     Returns:
-        str: a new path that is guaranteed to not exist on the current stage
+        A new path that is guaranteed to not exist on the current stage
 
     Example:
 

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

@@ -11,7 +11,8 @@
 from typing import TYPE_CHECKING
 
 import omni
-from isaacsim.core.api.simulation_context import SimulationContext
+
+from isaaclab.sim import SimulationContext
 
 with suppress(ImportError):
     # isaacsim.gui is not available when running in headless mode.

source/isaaclab/isaaclab/ui/widgets/manager_live_visualizer.py

@@ -12,9 +12,9 @@
 from typing import TYPE_CHECKING
 
 import omni.kit.app
-from isaacsim.core.api.simulation_context import SimulationContext
 
 from isaaclab.managers import ManagerBase
+from isaaclab.sim import SimulationContext
 from isaaclab.utils import configclass
 
 from .image_plot import ImagePlot

source/isaaclab/test/deps/isaacsim/check_rep_texture_randomizer.py

@@ -47,27 +47,19 @@
 
 import isaacsim.core.utils.prims as prim_utils
 import omni.replicator.core as rep
-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.cloner import GridCloner
 from isaacsim.core.objects import DynamicSphere
 from isaacsim.core.prims import RigidPrim
 from isaacsim.core.utils.viewports import set_camera_view
 
+from isaaclab.sim import SimulationCfg, SimulationContext
+
 
 def main():
     """Spawn a bunch of balls and randomly change their textures."""
 
     # Load kit helper
-    sim_params = {
-        "use_gpu": True,
-        "use_gpu_pipeline": True,
-        "use_flatcache": True,  # deprecated from Isaac Sim 2023.1 onwards
-        "use_fabric": True,  # used from Isaac Sim 2023.1 onwards
-        "enable_scene_query_support": True,
-    }
-    sim = SimulationContext(
-        physics_dt=1.0 / 60.0, rendering_dt=1.0 / 60.0, sim_params=sim_params, backend="torch", device="cuda:0"
-    )
+    sim = SimulationContext(SimulationCfg())
     # Set main camera
     set_camera_view([0.0, 30.0, 25.0], [0.0, 0.0, -2.5])
 

source/isaaclab/test/devices/check_keyboard.py

@@ -23,9 +23,8 @@
 
 import ctypes
 
-from isaacsim.core.api.simulation_context import SimulationContext
-
 from isaaclab.devices import Se3Keyboard, Se3KeyboardCfg
+from isaaclab.sim import SimulationCfg, SimulationContext
 
 
 def print_cb():
@@ -41,7 +40,7 @@ def quit_cb():
 
 def main():
     # Load kit helper
-    sim = SimulationContext(physics_dt=0.01, rendering_dt=0.01)
+    sim = SimulationContext(SimulationCfg(dt=0.01))
 
     # Create teleoperation interface
     teleop_interface = Se3Keyboard(Se3KeyboardCfg(pos_sensitivity=0.1, rot_sensitivity=0.1))

source/isaaclab/test/markers/test_visualization_markers.py

@@ -15,11 +15,11 @@
 import torch
 
 import pytest
-from isaacsim.core.api.simulation_context import SimulationContext
 
 import isaaclab.sim as sim_utils
 from isaaclab.markers import VisualizationMarkers, VisualizationMarkersCfg
 from isaaclab.markers.config import FRAME_MARKER_CFG, POSITION_GOAL_MARKER_CFG
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.utils.math import random_orientation
 from isaaclab.utils.timer import Timer
@@ -33,7 +33,7 @@ def sim():
     # Open a new stage
     stage_utils.create_new_stage()
     # Load kit helper
-    sim_context = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="torch", device="cuda:0")
+    sim_context = SimulationContext(SimulationCfg(dt=dt))
     yield sim_context
     # Cleanup
     sim_context.stop()

source/isaaclab/test/sensors/check_contact_sensor.py

@@ -37,13 +37,13 @@
 import torch
 
 import isaacsim.core.utils.prims as prim_utils
-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.cloner import GridCloner
 from isaacsim.core.utils.viewports import set_camera_view
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import Articulation
 from isaaclab.sensors.contact_sensor import ContactSensor, ContactSensorCfg
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.utils.timer import Timer
 
 ##
@@ -76,7 +76,7 @@ def main():
     """Spawns the ANYmal robot and clones it using Isaac Sim Cloner API."""
 
     # Load kit helper
-    sim = SimulationContext(physics_dt=0.005, rendering_dt=0.005, backend="torch", device="cuda:0")
+    sim = SimulationContext(SimulationCfg(dt=0.005))
     # Set main camera
     set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])
 

source/isaaclab/test/sensors/check_imu_sensor.py

@@ -40,7 +40,6 @@
 
 import carb
 import omni
-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.cloner import GridCloner
 from isaacsim.core.utils.viewports import set_camera_view
 from pxr import PhysxSchema
@@ -49,6 +48,7 @@
 import isaaclab.terrains as terrain_gen
 from isaaclab.assets import RigidObject, RigidObjectCfg
 from isaaclab.sensors.imu import Imu, ImuCfg
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.terrains.config.rough import ROUGH_TERRAINS_CFG
 from isaaclab.terrains.terrain_importer import TerrainImporter
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
@@ -115,16 +115,7 @@ def main():
     """Main function."""
 
     # Load kit helper
-    sim_params = {
-        "use_gpu": True,
-        "use_gpu_pipeline": True,
-        "use_flatcache": True,  # deprecated from Isaac Sim 2023.1 onwards
-        "use_fabric": True,  # used from Isaac Sim 2023.1 onwards
-        "enable_scene_query_support": True,
-    }
-    sim = SimulationContext(
-        physics_dt=1.0 / 60.0, rendering_dt=1.0 / 60.0, sim_params=sim_params, backend="torch", device="cuda:0"
-    )
+    sim = SimulationContext(SimulationCfg())
     # Set main camera
     set_camera_view([0.0, 30.0, 25.0], [0.0, 0.0, -2.5])
 

source/isaaclab/test/sensors/check_ray_caster.py

@@ -42,14 +42,14 @@
 import torch
 
 import isaacsim.core.utils.prims as prim_utils
-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.cloner import GridCloner
 from isaacsim.core.prims import RigidPrim
 from isaacsim.core.utils.viewports import set_camera_view
 
 import isaaclab.sim as sim_utils
 import isaaclab.terrains as terrain_gen
 from isaaclab.sensors.ray_caster import RayCaster, RayCasterCfg, patterns
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.terrains.config.rough import ROUGH_TERRAINS_CFG
 from isaaclab.terrains.terrain_importer import TerrainImporter
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
@@ -89,17 +89,7 @@ def design_scene(sim: SimulationContext, num_envs: int = 2048):
 def main():
     """Main function."""
 
-    # Load kit helper
-    sim_params = {
-        "use_gpu": True,
-        "use_gpu_pipeline": True,
-        "use_flatcache": True,  # deprecated from Isaac Sim 2023.1 onwards
-        "use_fabric": True,  # used from Isaac Sim 2023.1 onwards
-        "enable_scene_query_support": True,
-    }
-    sim = SimulationContext(
-        physics_dt=1.0 / 60.0, rendering_dt=1.0 / 60.0, sim_params=sim_params, backend="torch", device="cuda:0"
-    )
+    sim = SimulationContext(SimulationCfg())
     # Set main camera
     set_camera_view([0.0, 30.0, 25.0], [0.0, 0.0, -2.5])