Merge pull request #258 from StanfordVL/isaac-2023-1-0-compat

Support Isaac Sim 2023.1.0

omnigibson/controllers/controller_base.py

@@ -1,4 +1,4 @@
-from collections import Iterable
+from collections.abc import Iterable
 from enum import IntEnum
 
 import numpy as np

omnigibson/objects/controllable_object.py

@@ -2,7 +2,7 @@
 from copy import deepcopy
 import numpy as np
 import gym
-from collections import Iterable
+from collections.abc import Iterable
 import omnigibson as og
 from omnigibson.objects.object_base import BaseObject
 from omnigibson.controllers import create_controller

omnigibson/objects/light_object.py

@@ -1,4 +1,5 @@
-from pxr import UsdLux
+from omnigibson.utils.sim_utils import meets_minimum_isaac_version
+from pxr import UsdLux, Sdf, Gf
 import omnigibson as og
 from omni.isaac.core.utils.stage import get_current_stage
 from omnigibson.objects.stateful_object import StatefulObject
@@ -167,22 +168,72 @@ def radius(self, radius):
     @property
     def intensity(self):
         """
-        Gets this joint's intensity
+        Gets this light's intensity
 
         Returns:
             float: intensity for this light
         """
-        return self._light_link.get_attribute("intensity")
+        return self._light_link.get_attribute(
+            "inputs:intensity" if meets_minimum_isaac_version("2023.0.0") else "intensity")
 
     @intensity.setter
     def intensity(self, intensity):
         """
-        Sets this joint's intensity
+        Sets this light's intensity
 
         Args:
             intensity (float): intensity to set
         """
-        self._light_link.set_attribute("intensity", intensity)
+        self._light_link.set_attribute(
+            "inputs:intensity" if meets_minimum_isaac_version("2023.0.0") else "intensity",
+            intensity)
+
+    @property
+    def color(self):
+        """
+        Gets this light's color
+
+        Returns:
+            float: color for this light
+        """
+        return tuple(float(x) for x in self._light_link.get_attribute(
+            "inputs:color" if meets_minimum_isaac_version("2023.0.0") else "color"))
+
+    @color.setter
+    def color(self, color):
+        """
+        Sets this light's color
+
+        Args:
+            color ([float, float, float]): color to set, each value in range [0, 1]
+        """
+        self._light_link.set_attribute(
+            "inputs:color" if meets_minimum_isaac_version("2023.0.0") else "color",
+            Gf.Vec3f(color))
+
+    @property
+    def texture_file_path(self):
+        """
+        Gets this light's texture file path. Only valid for dome lights.
+
+        Returns:
+            str: texture file path for this light
+        """
+        return str(self._light_link.get_attribute(
+            "inputs:texture:file" if meets_minimum_isaac_version("2023.0.0") else "texture:file"))
+
+    @texture_file_path.setter
+    def texture_file_path(self, texture_file_path):
+        """
+        Sets this light's texture file path. Only valid for dome lights.
+
+        Args:
+            texture_file_path (str): path of texture file that should be used for this light
+        """
+        self._light_link.set_attribute(
+            "inputs:texture:file" if meets_minimum_isaac_version("2023.0.0") else "texture:file",
+            Sdf.AssetPath(texture_file_path))
+
 
     def _create_prim_with_same_kwargs(self, prim_path, name, load_config):
         # Add additional kwargs (fit_avg_dim_volume and bounding_box are already captured in load_config)

omnigibson/objects/object_base.py

@@ -1,6 +1,6 @@
 from abc import ABCMeta
 import numpy as np
-from collections import Iterable
+from collections.abc import Iterable
 
 import omnigibson as og
 from omnigibson.macros import create_module_macros, gm

omnigibson/prims/joint_prim.py

@@ -1,4 +1,4 @@
-from collections import Iterable
+from collections.abc import Iterable
 from pxr import Gf, Usd, Sdf, UsdGeom, UsdShade, UsdPhysics, PhysxSchema
 from omni.isaac.dynamic_control import _dynamic_control
 from omni.isaac.core.utils.rotations import gf_quat_to_np_array

omnigibson/prims/xform_prim.py

@@ -1,4 +1,4 @@
-from collections import Iterable
+from collections.abc import Iterable
 from pxr import Gf, Usd, UsdGeom, UsdShade, UsdPhysics
 from omni.isaac.core.utils.rotations import gf_quat_to_np_array
 from omni.isaac.core.utils.prims import (

omnigibson/scenes/scene_base.py

@@ -14,7 +14,6 @@
 from omnigibson.systems.system_base import SYSTEM_REGISTRY, clear_all_systems, get_system
 from omnigibson.objects.light_object import LightObject
 from omnigibson.robots.robot_base import m as robot_macros
-from pxr import Sdf, Gf
 
 # Create module logger
 log = create_module_logger(module_name=__name__)
@@ -184,9 +183,8 @@ def _load(self):
                 fixed_base=True,
             )
             og.sim.import_object(self._skybox, register=False)
-            light_prim = self._skybox.light_link.prim
-            light_prim.GetAttribute("color").Set(Gf.Vec3f(1.07, 0.85, 0.61))
-            light_prim.GetAttribute("texture:file").Set(Sdf.AssetPath(m.DEFAULT_SKYBOX_TEXTURE))
+            self._skybox.color = (1.07, 0.85, 0.61)
+            self._skybox.texture_file_path = m.DEFAULT_SKYBOX_TEXTURE
 
     def _load_objects_from_scene_file(self):
         """

omnigibson/sensors/scan_sensor.py

@@ -1,6 +1,6 @@
 import cv2
 import numpy as np
-from collections import Iterable
+from collections.abc import Iterable
 
 from transforms3d.quaternions import quat2mat
 

omnigibson/simulator.py

@@ -23,6 +23,7 @@
 from omnigibson.utils.constants import LightingMode
 from omnigibson.utils.config_utils import NumpyEncoder
 from omnigibson.utils.python_utils import clear as clear_pu, create_object_from_init_info, Serializable
+from omnigibson.utils.sim_utils import meets_minimum_isaac_version
 from omnigibson.utils.usd_utils import clear as clear_uu, BoundingBoxAPI, FlatcacheAPI, RigidContactAPI
 from omnigibson.utils.ui_utils import CameraMover, disclaimer, create_module_logger, suppress_omni_log
 from omnigibson.scenes import Scene
@@ -202,7 +203,11 @@ def _set_physics_engine_settings(self):
         # collide with each other, and modify settings for speed optimization
         self._physics_context.set_invert_collision_group_filter(True)
         self._physics_context.enable_ccd(gm.ENABLE_CCD)
-        self._physics_context.enable_flatcache(gm.ENABLE_FLATCACHE)
+
+        if meets_minimum_isaac_version("2023.0.0"):
+            self._physics_context.enable_fabric(gm.ENABLE_FLATCACHE)
+        else:
+            self._physics_context.enable_flatcache(gm.ENABLE_FLATCACHE)
 
         # Enable GPU dynamics based on whether we need omni particles feature
         if gm.USE_GPU_DYNAMICS:

omnigibson/utils/config_utils.py

@@ -1,4 +1,4 @@
-import collections
+import collections.abc
 import json
 import os
 import numpy as np
@@ -19,7 +19,7 @@ def parse_config(config):
     Returns:
         dict: Parsed config
     """
-    if isinstance(config, collections.Mapping):
+    if isinstance(config, collections.abc.Mapping):
         return config
     else:
         assert isinstance(config, str)

omnigibson/utils/python_utils.py

@@ -5,7 +5,7 @@
 import re
 from abc import ABCMeta
 from copy import deepcopy
-from collections import Iterable
+from collections.abc import Iterable
 from functools import wraps
 from importlib import import_module
 

omnigibson/utils/registry_utils.py

@@ -3,7 +3,7 @@
 """
 from inspect import isclass
 import numpy as np
-from collections import Iterable
+from collections.abc import Iterable
 from omnigibson.macros import create_module_macros
 from omnigibson.utils.python_utils import Serializable, SerializableNonInstance, UniquelyNamed
 from omnigibson.utils.ui_utils import create_module_logger

omnigibson/utils/sim_utils.py

@@ -1,12 +1,15 @@
 import numpy as np
-from collections import Iterable, namedtuple
+from collections import namedtuple
+from collections.abc import Iterable
 
 import omnigibson as og
 from omnigibson.macros import gm
+from omnigibson.utils import python_utils
 import omnigibson.utils.transform_utils as T
 from omnigibson.utils.usd_utils import BoundingBoxAPI
 from omni.physx import get_physx_simulation_interface
 from omni.isaac.core.utils.prims import is_prim_ancestral, get_prim_type_name, is_prim_no_delete
+from omni.isaac.version import get_version
 from omnigibson.utils.ui_utils import create_module_logger
 
 # Create module logger
@@ -351,3 +354,7 @@ def land_object(obj, pos, quat=None, z_offset=None):
         log.warning(f"Object {obj.name} failed to land.")
 
     obj.keep_still()
+
+
+def meets_minimum_isaac_version(minimum_version):
+    return python_utils.meets_minimum_version(get_version()[0], minimum_version)

omnigibson/utils/usd_utils.py

@@ -1,5 +1,5 @@
 import math
-from collections import Iterable
+from collections.abc import Iterable
 import os
 
 import omni.usd

scripts/setup.bat

@@ -29,8 +29,12 @@ echo:
 echo Using %conda_name% as the conda environment name
 echo:
 
-:: Create a conda environment with python 3.7
-call conda create -y -n %conda_name% python=3.7 || goto :error
+:: Get Python version from Isaac Sim
+FOR /F "tokens=*" %%g IN ('%ISAAC_SIM_PATH%\python.bat -c "import platform; print(platform.python_version())"') do (SET ISAAC_PYTHON_VERSION=%%g)
+echo Using Python version %ISAAC_PYTHON_VERSION% matching your current Isaac Sim version
+
+:: Create a conda environment with the appropriate python version
+call conda create -y -n %conda_name% python=%ISAAC_PYTHON_VERSION% || goto :error
 call conda activate %conda_name% || goto :error
 
 :: We add some preprocessing information so that the Isaac Sim paths are linked to this environment upon startup

scripts/setup.sh

@@ -26,9 +26,13 @@ read -p "If you want to use a different name, please type in here (press enter t
 conda_name=${conda_name:-omnigibson}
 echo -e "\nUsing $conda_name as the conda environment name\n"
 
-# Create a conda environment with python 3.7
+# Get Python version from Isaac Sim
+ISAAC_PYTHON_VERSION=$(${ISAAC_SIM_PATH}/python -c "import platform; print(platform.python_version())")
+echo Using Python version $ISAAC_PYTHON_VERSION[0m matching your current Isaac Sim version
+
+# Create a conda environment with the appropriate python version
 source $(conda info --base)/etc/profile.d/conda.sh
-conda create -y -n $conda_name python=3.7
+conda create -y -n $conda_name python=${ISAAC_PYTHON_VERSION}
 
 # Now activate the omnigibson environment
 conda activate $conda_name