added isaacLab support

Isaac_sim/extension.toml

@@ -3,7 +3,7 @@ reloadable = true
 order = 0
 
 [package]
-version = "9.11.1"
+version = "11.3.0"
 category = "Simulation"
 title = "Isaac Sim Isaac Sensor Simulation"
 description = "Support physics based sensors, such as contact sensors and imu sensors"
@@ -27,15 +27,16 @@ writeTarget.kit = true
 "omni.isaac.range_sensor" = {}
 "omni.isaac.core_nodes" = {}
 "omni.usd.schema.isaac" = {}
-"omni.isaac.debug_draw" = {}
 "omni.graph" = {}
 "omni.graph.action" = {}
 "omni.syntheticdata" = {}
 "omni.replicator.core" = {}
 "omni.usd" = {} # needed for call to add aov
 "usdrt.scenegraph" = {}
+"omni.sensors.nv.common" = {}
 "omni.sensors.nv.lidar" = {}
 "omni.sensors.nv.radar" = {}
+"omni.isaac.nucleus" = {}
 
 [[python.module]]
 name = "omni.isaac.sensor"
@@ -56,25 +57,28 @@ recursive = false
 
 [settings]
 app.sensors.nv.lidar.profileBaseFolder=[
-    "${app}/../data/sensors/lidar/",
+    "${app}/../extsbuild/omni.sensors.nv.common/data/lidar/",
     "${app}/../exts/omni.isaac.sensor/data/lidar_configs/HESAI/",
     "${app}/../exts/omni.isaac.sensor/data/lidar_configs/NVIDIA/",
-    "${app}/../exts/omni.isaac.sensor/data/lidar_configs/Ouster/",
+    "${app}/../exts/omni.isaac.sensor/data/lidar_configs/Ouster/OS0/",
+    "${app}/../exts/omni.isaac.sensor/data/lidar_configs/Ouster/OS1/",
+    "${app}/../exts/omni.isaac.sensor/data/lidar_configs/Ouster/OS2/",
     "${app}/../exts/omni.isaac.sensor/data/lidar_configs/SICK/",
     "${app}/../exts/omni.isaac.sensor/data/lidar_configs/SLAMTEC/",
     "${app}/../exts/omni.isaac.sensor/data/lidar_configs/Velodyne/",
     "${app}/../exts/omni.isaac.sensor/data/lidar_configs/ZVISION/",
     "${app}/../exts/omni.isaac.sensor/data/lidar_configs/Unitree/",
     "${app}/../exts/omni.isaac.sensor/data/lidar_configs/"]
-app.sensors.nv.radar.runWithoutMBVH = true
-# app.sensors.nv.lidar.enableVelocity=true
+# app.sensors.nv.lidar.outputBufferOnGPU = true
+app.sensors.nv.radar.runWithoutMBVH = false
+app.sensors.nv.lidar.enableVelocity=true
 rtx.rtxsensor.coordinateFrameQuaternion = "0.0,0.0,0.0,1.0"
 # sensor material mapping is hard coded for now, and this is needed to enable sensor materials.
-rtx.materialDb.rtSensorNameToIdMap="DefaultMaterial:0;AsphaltStandardMaterial:1;AsphaltWeatheredMaterial:2;VegetationGrassMaterial:3;WaterStandardMaterial:4;GlassStandardMaterial:5;FiberGlassStandardMaterial:6;MetalAlloyMaterial:7;MetalAluminumMaterial:8;MetalAluminumOxidizedMaterial:9;PlasticStandardMaterial:10;RetroMarkingsMaterial:11;RetroSignMaterial:12;RubberStandardMaterial:13;SoilClayMaterial:14;ConcreteRoughMaterial:15;ConcreteSmoothMaterial:16;OakTreeBarkMaterial:17;FabricStandardMaterial:18;PlexiGlassStandardMaterial:19;MetalSilverMaterial:20"
-#renderer.raytracingMotion.enabled=true
+rtx.materialDb.rtSensorNameToIdMap="DefaultMaterial:0;AsphaltStandardMaterial:1;AsphaltWeatheredMaterial:2;VegetationGrassMaterial:3;WaterStandardMaterial:4;GlassStandardMaterial:5;FiberGlassMaterial:6;MetalAlloyMaterial:7;MetalAluminumMaterial:8;MetalAluminumOxidizedMaterial:9;PlasticStandardMaterial:10;RetroMarkingsMaterial:11;RetroSignMaterial:12;RubberStandardMaterial:13;SoilClayMaterial:14;ConcreteRoughMaterial:15;ConcreteSmoothMaterial:16;OakTreeBarkMaterial:17;FabricStandardMaterial:18;PlexiGlassStandardMaterial:19;MetalSilverMaterial:20"
+renderer.raytracingMotion.enabled=true
 
 [[test]]
-timeout=900
+timeout=1200
 dependencies = [
     "omni.hydra.rtx",                       # "omni.hydra.pxr", Can we run and pass with Storm ?
     "omni.kit.viewport.utility",
@@ -86,7 +90,8 @@ dependencies = [
 stdoutFailPatterns.exclude = [
     # This is excluded in at least 3 kit tests.
     "*Missing call to destroyResourceBindingSignature()*",
-    '*[Error] [omni.graph.core.plugin] /TestGraph/Template_omni_isaac_sensor_IsaacReadContactSensor: [/TestGraph] OmniGraph Error: Invalid contact sensor prim*',
+    '*[Error] [omni.graph.core.plugin] /TestGraph/Template_omni_isaac_sensor_IsaacReadContactSensor: [/TestGraph] Invalid contact sensor prim*',
     '*[Error] [omni.graph.core.plugin] /TestGraph/Template_omni_isaac_sensor_IsaacReadEffortSensor: [/TestGraph] OmniGraph Error: Failed to create effort sensor, unable to find prim path*',
-    '*[Error] [omni.graph.core.plugin] /TestGraph/Template_omni_isaac_sensor_IsaacReadIMU: [/TestGraph] OmniGraph Error: Invalid Imu sensor prim*',
+    '*[Error] [omni.graph.core.plugin] /TestGraph/Template_omni_isaac_sensor_IsaacReadIMU: [/TestGraph] Invalid Imu sensor prim*',
+    '*[Error] [carb] [Plugin: omni.sensors.nv.lidar.ext.plugin] Dependency: [omni::sensors::lidar::IGenericModelOutputIOFactory v0.1] failed to be resolved.*'
 ]

README.md

@@ -1,6 +1,6 @@
 # Welcome to the Unitree Go2 Omniverse Project!
 
-I am thrilled to announce that the Unitree Go2 robot has now been integrated with the Nvidia Isaac Sim (Orbit), marking a major step forward in robotics research and development. The combination of these two cutting-edge technologies opens up a world of possibilities for creating and testing algorithms in a variety of simulated environments.
+I am thrilled to announce that the Unitree Go2 robot has now been integrated with the Nvidia Isaac Sim 4.0 (Isaac Lab), marking a major step forward in robotics research and development. The combination of these two cutting-edge technologies opens up a world of possibilities for creating and testing algorithms in a variety of simulated environments.
 
 Get ready to take your research to the next level with this powerful new resource at your fingertips!
 
@@ -71,7 +71,7 @@ VR support:
 8. Real-time control from ROS2 :white_check_mark:
 9. Nav2 with Slam_toolbox :white_check_mark:
 10. Bunch of RL-envs for custom dog training :white_check_mark:
-11. Custom numbers of robots
+11. Custom numbers of robots :white_check_mark:
 
 ## Your feedback and support mean the world to us. 
 
@@ -85,22 +85,21 @@ Together, let's push the boundaries of what's possible with the Unitree Go2 and
 ## System requirements
 You need to install:
 1. Ubuntu 22.04
-2. Nvidia Isaac Sim 2023.1.1
-3. Nvidia Orbit 0.3.0
+2. Nvidia Isaac Sim 4.0
+3. Nvidia Isaac Lab
 4. Ros2 Humble
 
 
 Full instruction:
 ```
-https://isaac-orbit.github.io/orbit/source/setup/installation.html
+https://isaac-sim.github.io/IsaacLab/source/setup/installation/binaries_installation.html
 ```
 
 Some suggestions from me:
-1. You need to check nvidia-smi, it should work, before installing Isaac Sim
+1. You need to check nvidia-smi, it should work, before installing Isaac Sim 4.0
 2. You need to install Miniconda and execute: conda config --set auto_activate_base false
-3. Install Omniverse launcher and then install Isaac Sim.
-4. Create conda env then activate it, also execute ./orbit.sh --install and ./orbit.sh --extra and ./orbit.sh --extra rsl_rl
-
+3. Install Omniverse launcher and then install Isaac Sim 4.0.
+4. Create conda env then activate it, also execute ./isaaclab.sh --install 
 Also, you need to install ROS2 on your system and configure it:
 
 ```
@@ -121,15 +120,13 @@ git clone https://github.com/abizovnuralem/go2_omniverse/ --recurse-submodules -
 First, you need to copy files from Isaac Sim folder to your local Isaac Sim installation in order to use Unitree L1 lidar inside Orbit.
 
 ```
-1. You need to replace original file that located in ~/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.sensor/config/extrensiom.toml 
-with Isaac_sim/extension.toml
-2. You need to add Unitree folder that is inside Isaac_sim folder to  ~/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.sensor/data/lidar_configs/
-3. You need to go inside Orbit project folder and then mkdir -p /source/exts/omni.isaac.sensor/data/lidar_configs/Unitree/
-4. Put Unitree_L1.json inside orbit/source/exts/omni.isaac.sensor/data/lidar_configs/Unitree/
+1. You need to replace original file that located in ~/.local/share/ov/pkg/isaac-sim-4.0.0/exts/omni.isaac.sensor/config/extrensiom.toml 
+with Isaac_sim/extension.toml in this repo.
+2. You need to add Unitree_L1.json to IsaacLab repo folder, where IsaacLab/source/exts/omni.isaac.sensor/data/lidar_configs/Unitree/Unitree_L1.json will be the final path (If it doesnt exists, create it)
 ```
 
 ## Usage
-The current project was tested on Ubuntu 22.04, IsaacSim 2023.1.1 with Orbit 0.3.0 and Nvidia Driver Version: 545.
+The current project was tested on Ubuntu 22.04, IsaacSim 4.0 with Isaac Lab and Nvidia Driver Version: 545.
 To start the project, execute:
 
 ```
@@ -167,16 +164,6 @@ I have tested it on:
 ## Thanks
 Special thanks to Leul Tesfaye for his expertise in Orbit lidars and Tamas @tfoldi for his contribution to this project.
 
-## VR support
-
-To enable VR support on linux will take some time, but it works!
-I have tested it on:
-1. Ubuntu 22.04
-2. Nvidia drivers are 545.29.06 
-3. SteamVR 2.4.4 (IMPORTANT! It should be 2.4.4) and you need to go to Compatibility tab (Inside Steam app) and "Force the use of a specific Steam Play compatibility tool" and switch to "Steam-Play-None", additional info you can find in ALVR github issues tab.
-4. ALVR streamer 20.8.1 + Oculus Quest 2 (client ALVR you can install via SideQuest app) (How to install it: https://github.com/alvr-org/ALVR)
-5. Execute IsaacSim, Go to Window -> Extensions, find STEAMVR INPUT/OUTPUT then enable it and enable AutoLoad. Reopen IsaacSim. Use OpenXR mode.
-6. Enjoy Omniverse in VR mode!
 
 ## License
 

cli_args.py

@@ -9,7 +9,7 @@
 from typing import TYPE_CHECKING
 
 if TYPE_CHECKING:
-    from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import RslRlOnPolicyRunnerCfg
+    from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import RslRlOnPolicyRunnerCfg
 
 
 def add_rsl_rl_args(parser: argparse.ArgumentParser):
@@ -48,7 +48,7 @@ def parse_rsl_rl_cfg(task_name: str, args_cli: argparse.Namespace) -> RslRlOnPol
     Returns:
         The parsed configuration for RSL-RL agent based on inputs.
     """
-    from omni.isaac.orbit_tasks.utils.parse_cfg import load_cfg_from_registry
+    from omni.isaac.lab_tasks.utils.parse_cfg import load_cfg_from_registry
 
     # load the default configuration
     rslrl_cfg: RslRlOnPolicyRunnerCfg = load_cfg_from_registry(task_name, "rsl_rl_cfg_entry_point")

custom_rl_env.py

@@ -28,31 +28,31 @@
 from typing import Literal
 
 
-from omni.isaac.orbit.envs import RLTaskEnvCfg
-from omni.isaac.orbit.utils import configclass
-from omni.isaac.orbit.envs import RLTaskEnvCfg
-import omni.isaac.orbit.sim as sim_utils
-from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
-from omni.isaac.orbit.scene import InteractiveSceneCfg
-from omni.isaac.orbit.sensors import ContactSensorCfg, RayCasterCfg, patterns
-from omni.isaac.orbit.terrains import TerrainImporterCfg
-from omni.isaac.orbit.utils import configclass
-from omni.isaac.orbit_assets.unitree import UNITREE_GO2_CFG 
-from omni.isaac.orbit.managers import EventTermCfg as EventTerm
-from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
-from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
-from omni.isaac.orbit.managers import RewardTermCfg as RewTerm
-from omni.isaac.orbit.managers import SceneEntityCfg
-from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm
-from omni.isaac.orbit.utils import configclass
-from omni.isaac.orbit.utils.noise import AdditiveUniformNoiseCfg as Unoise
-import omni.isaac.orbit_tasks.locomotion.velocity.mdp as mdp
+from omni.isaac.lab.envs import ManagerBasedRLEnvCfg
+from omni.isaac.lab.utils import configclass
+
+import omni.isaac.lab.sim as sim_utils
+from omni.isaac.lab.assets import ArticulationCfg, AssetBaseCfg
+from omni.isaac.lab.scene import InteractiveSceneCfg
+from omni.isaac.lab.sensors import ContactSensorCfg, RayCasterCfg, patterns
+from omni.isaac.lab.terrains import TerrainImporterCfg
+from omni.isaac.lab.utils import configclass
+from omni.isaac.lab_assets.unitree import UNITREE_GO2_CFG 
+from omni.isaac.lab.managers import EventTermCfg as EventTerm
+from omni.isaac.lab.managers import ObservationGroupCfg as ObsGroup
+from omni.isaac.lab.managers import ObservationTermCfg as ObsTerm
+from omni.isaac.lab.managers import RewardTermCfg as RewTerm
+from omni.isaac.lab.managers import SceneEntityCfg
+from omni.isaac.lab.managers import TerminationTermCfg as DoneTerm
+from omni.isaac.lab.utils import configclass
+from omni.isaac.lab.utils.noise import AdditiveUniformNoiseCfg as Unoise
+import omni.isaac.lab_tasks.manager_based.locomotion.velocity.mdp as mdp
 
 
 base_command = []
 
 
-def constant_commands(env: RLTaskEnvCfg) -> torch.Tensor:
+def constant_commands(env: ManagerBasedRLEnvCfg) -> torch.Tensor:
     global base_command
     """The generated command from the command generator."""
     tensor_lst = torch.tensor([0, 0, 0], device=env.device).repeat(env.num_envs, 1)
@@ -235,7 +235,7 @@ class EventCfg:
 
 
 @configclass
-class LocomotionVelocityRoughEnvCfg(RLTaskEnvCfg):
+class LocomotionVelocityRoughEnvCfg(ManagerBasedRLEnvCfg):
     """Configuration for the locomotion velocity-tracking environment."""
     # Scene settings
     scene: MySceneCfg = MySceneCfg(num_envs=4096, env_spacing=2.5)

logs/rsl_rl/unitree_go2_rough/2024-04-06_02-37-07/git/orbit.diff

@@ -5,18 +5,18 @@ Your branch is up to date with 'origin/main'.
 Changes not staged for commit:
   (use "git add <file>..." to update what will be committed)
   (use "git restore <file>..." to discard changes in working directory)
-	modified:   source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/agents/rsl_rl_cfg.py
+	modified:   source/extensions/omni.isaac.lab_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/agents/rsl_rl_cfg.py
 	modified:   source/standalone/workflows/rsl_rl/play.py
 
 no changes added to commit (use "git add" and/or "git commit -a") 
 
 
 --- git diff ---
-diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/agents/rsl_rl_cfg.py b/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/agents/rsl_rl_cfg.py
+diff --git a/source/extensions/omni.isaac.lab_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/agents/rsl_rl_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/agents/rsl_rl_cfg.py
 index 7de557b..f027b3d 100644
---- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/agents/rsl_rl_cfg.py
-+++ b/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/agents/rsl_rl_cfg.py
-@@ -15,7 +15,7 @@ from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import (
+--- a/source/extensions/omni.isaac.lab_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/agents/rsl_rl_cfg.py
++++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/agents/rsl_rl_cfg.py
+@@ -15,7 +15,7 @@ from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import (
  @configclass
  class UnitreeGo2RoughPPORunnerCfg(RslRlOnPolicyRunnerCfg):
      num_steps_per_env = 24