Merge branch 'devel' into fix/docs-updates

docs/source/api/orbit_tasks/rl_env.rst

@@ -4,7 +4,7 @@ omni.isaac.orbit.envs.rl_task_env
 We use OpenAI Gym registry to register the environment and their default configuration file.
 The default configuration file is passed to the argument "kwargs" in the Gym specification registry.
 The string is parsed into respective configuration container which needs to be passed to the environment
-class. This is done using the function :meth:`load_default_env_cfg` in the sub-module
+class. This is done using the function :meth:`load_cfg_from_registry` in the sub-module
 :mod:`omni.isaac.orbit.utils.parse_cfg`.
 
 
@@ -17,12 +17,12 @@ class. This is done using the function :meth:`load_default_env_cfg` in the sub-m
 
 .. code-block:: python
 
-   import gym
+   import gymnasium as gym
    import omni.isaac.orbit_tasks
-   from omni.isaac.orbit_tasks.utils.parse_cfg import load_default_env_cfg
+   from omni.isaac.orbit_tasks.utils.parse_cfg import load_cfg_from_registry
 
    task_name = "Isaac-Cartpole-v0"
-   cfg = load_default_env_cfg(task_name)
+   cfg = load_cfg_from_registry(task_name, "env_cfg_entry_point")
    env = gym.make(task_name, cfg=cfg)
 
 

docs/source/refs/issues.rst

@@ -1,33 +1,6 @@
 Known issues
 ============
 
-Installation errors due to gym==0.21.0
---------------------------------------
-
-When installing the gym package, you may encounter the following error:
-
-.. code-block::
-
-    error in gym setup command: 'extras_require' must be a dictionary whose values are strings or lists of
-    strings containing valid project/version requirement specifiers.
-    ----------------------------------------
-    ERROR: Could not find a version that satisfies the requirement gym==0.21.0 (from omni-isaac-orbit-envs[all])
-    (from versions: 0.0.2, 0.0.3, 0.0.4, 0.0.5, 0.0.6, 0.0.7, 0.1.0, 0.1.1, 0.1.2, 0.1.3, 0.1.4, 0.1.5, 0.1.6,
-    ...
-    0.15.7, 0.16.0, 0.17.0, 0.17.1, 0.17.2, 0.17.3, 0.18.0, 0.18.3, 0.19.0, 0.20.0, 0.21.0, 0.22.0, 0.23.0,
-    0.23.1, 0.24.0, 0.24.1, 0.25.0, 0.25.1, 0.25.2, 0.26.0, 0.26.1, 0.26.2)
-    ERROR: No matching distribution found for gym==0.21.0
-
-
-This issue arises since the ``setuptools`` package from version 67.0 onwards does not support malformed version strings.
-Since the OpenAI Gym package that is no longer being maintained (`issue link <https://github.com/openai/gym/issues/3200>`_),
-the current workaround is to install the ``setuptools`` package version 66.0.0. You can do this by running the following
-command:
-
-.. code-block:: bash
-
-    ./orbit.sh -p -m pip install -U setuptools==66
-
 Regression in Isaac Sim 2022.2.1
 --------------------------------
 

docs/source/setup/sample.rst

@@ -141,7 +141,7 @@ format.
    .. code:: bash
 
       # install python module (for robomimic)
-      ./orbit.sh -p -m pip install -e 'source/extensions/omni.isaac.orbit_tasks[robomimic]'
+      ./orbit.sh -e robomimic
       # split data
       ./orbit.sh -p source/standalone//workflows/robomimic/tools/split_train_val.py logs/robomimic/Isaac-Lift-Franka-v0/hdf_dataset.hdf5 --ratio 0.2
 
@@ -171,7 +171,7 @@ from the environments into the respective libraries function argument and return
    .. code:: bash
 
       # install python module (for stable-baselines3)
-      ./orbit.sh -p -m pip install -e 'source/extensions/omni.isaac.orbit_tasks[sb3]'
+      ./orbit.sh -e sb3
       # run script for training
       # note: we enable cpu flag since SB3 doesn't optimize for GPU anyway
       ./orbit.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --headless --cpu
@@ -184,7 +184,7 @@ from the environments into the respective libraries function argument and return
    .. code:: bash
 
       # install python module (for skrl)
-      ./orbit.sh -p -m pip install -e 'source/extensions/omni.isaac.orbit_tasks[skrl]'
+      ./orbit.sh -e skrl
       # run script for training
       ./orbit.sh -p source/standalone/workflows/skrl/train.py --task Isaac-Reach-Franka-v0 --headless
       # run script for playing with 32 environments
@@ -196,7 +196,7 @@ from the environments into the respective libraries function argument and return
    .. code:: bash
 
       # install python module (for rl-games)
-      ./orbit.sh -p -m pip install -e 'source/extensions/omni.isaac.orbit_tasks[rl_games]'
+      ./orbit.sh -e rl_games
       # run script for training
       ./orbit.sh -p source/standalone/workflows/rl_games/train.py --task Isaac-Ant-v0 --headless
       # run script for playing with 32 environments
@@ -208,7 +208,7 @@ from the environments into the respective libraries function argument and return
    .. code:: bash
 
       # install python module (for rsl-rl)
-      ./orbit.sh -p -m pip install -e 'source/extensions/omni.isaac.orbit_tasks[rsl_rl]'
+      ./orbit.sh -e rsl_rl
       # run script for training
       ./orbit.sh -p source/standalone/workflows/rsl_rl/train.py --task Isaac-Reach-Franka-v0 --headless
       # run script for playing with 32 environments

docs/source/tutorials_envs/00_gym_env.rst

@@ -39,11 +39,12 @@ an environment by calling ``gym.make``. The environments are registered in the `
     gym.register(
         id="Isaac-Cartpole-v0",
         entry_point="omni.isaac.orbit_tasks.classic.cartpole:CartpoleEnv",
-        kwargs={"cfg_entry_point": "omni.isaac.orbit_tasks.classic.cartpole:cartpole_cfg.yaml"},
+        disable_env_checker=True,
+        kwargs={"env_cfg_entry_point": "omni.isaac.orbit_tasks.classic.cartpole:cartpole_cfg.yaml"},
     )
 
-The ``cfg_entry_point`` argument is used to load the default configuration for the environment. The default
-configuration is loaded using the :meth:`omni.isaac.orbit_tasks.utils.parse_cfg.load_default_env_cfg` function.
+The ``env_cfg_entry_point`` argument is used to load the default configuration for the environment. The default
+configuration is loaded using the :meth:`omni.isaac.orbit_tasks.utils.parse_cfg.load_cfg_from_registry` function.
 The configuration entry point can correspond to both a YAML file or a python configuration
 class. The default configuration can be overridden by passing a custom configuration instance to the ``gym.make``
 function as shown later in the tutorial.

docs/source/tutorials_envs/02_wrappers.rst

@@ -26,13 +26,13 @@ For example, here is how you would wrap an environment to enforce that reset is
 
     """Rest everything follows."""
 
-    import gym
+    import gymnasium as gym
 
     import omni.isaac.orbit_tasks  # noqa: F401
-    from omni.isaac.orbit_tasks.utils import load_default_env_cfg
+    from omni.isaac.orbit_tasks.utils import load_cfg_from_registry
 
     # create base environment
-    cfg = load_default_env_cfg("Isaac-Reach-Franka-v0")
+    cfg = load_cfg_from_registry("Isaac-Reach-Franka-v0", "env_cfg_entry_point")
     env = gym.make("Isaac-Reach-Franka-v0", cfg=cfg)
     # wrap environment to enforce that reset is called before step
     env = gym.wrappers.OrderEnforcing(env)
@@ -105,7 +105,7 @@ for 200 steps, and saves it in the ``videos`` folder at a step interval of 1500
     """Rest everything follows."""
 
 
-    import gym
+    import gymnasium as gym
 
     # adjust camera resolution and pose
     env_cfg.viewer.resolution = (640, 480)

orbit.sh

@@ -185,7 +185,7 @@ print_help () {
     echo -e "\nusage: $(basename "$0") [-h] [-i] [-e] [-f] [-p] [-s] [-o] [-v] [-d] [-c] -- Utility to manage extensions in Orbit."
     echo -e "\noptional arguments:"
     echo -e "\t-h, --help           Display the help content."
-    echo -e "\t-i, --install        Install the extensions inside Isaac Orbit."
+    echo -e "\t-i, --install        Install the extensions inside Orbit."
     echo -e "\t-e, --extra          Install extra dependencies such as the learning frameworks."
     echo -e "\t-f, --format         Run pre-commit to format the code and check lints."
     echo -e "\t-p, --python         Run the python executable (python.sh) provided by Isaac Sim."
@@ -220,9 +220,6 @@ while [[ $# -gt 0 ]]; do
             # this does not check dependencies between extensions
             export -f extract_python_exe
             export -f install_orbit_extension
-            # downgrade setuptools to avoid issues with OpenAI Gym
-            # Check the `Known Issues` section in the documentation
-            $(extract_python_exe) -m pip install --upgrade setuptools==66
             # source directory
             find -L "${ORBIT_PATH}/source/extensions" -mindepth 1 -maxdepth 1 -type d -exec bash -c 'install_orbit_extension "{}"' \;
             # unset local variables
@@ -235,8 +232,17 @@ while [[ $# -gt 0 ]]; do
             # install the python packages for supported reinforcement learning frameworks
             echo "[INFO] Installing extra requirements such as learning frameworks..."
             python_exe=$(extract_python_exe)
+            # check if specified which rl-framework to install
+            if [ -z "$2" ]; then
+                echo "[INFO] Installing all rl-frameworks..."
+                framework_name="all"
+            else
+                echo "[INFO] Installing rl-framework: $2"
+                framework_name=$2
+                shift # past argument
+            fi
             # install the rl-frameworks specified
-            ${python_exe} -m pip install -e ${ORBIT_PATH}/source/extensions/omni.isaac.orbit_tasks[all]
+            ${python_exe} -m pip install -e ${ORBIT_PATH}/source/extensions/omni.isaac.orbit_tasks["${framework_name}"]
             shift # past argument
             ;;
         -c|--conda)

pyproject.toml

@@ -27,7 +27,7 @@ extra_standard_library = [
     "tensordict",
     "bpy",
     "matplotlib",
-    "gym",
+    "gymnasium",
     "scipy",
     "hid",
     "yaml",

source/extensions/omni.isaac.contrib_tasks/docs/README.md

@@ -18,9 +18,12 @@ itself. However, its various instances should be included in directories within
 The environments should then be registered in the `omni/isaac/contrib_tasks/__init__.py`:
 
 ```python
+import gymnasium as gym
+
 gym.register(
     id="Isaac-Contrib-<my-awesome-env>-v0",
     entry_point="omni.isaac.contrib_tasks.<your-env-package>:<your-env-class>",
+    disable_env_checker=True,
     kwargs={"cfg_entry_point": "omni.isaac.contrib_tasks.<your-env-package-cfg>:<your-env-class-cfg>"},
 )
 ```

source/extensions/omni.isaac.contrib_tasks/omni/isaac/contrib_tasks/__init__.py

@@ -9,7 +9,7 @@
 We use OpenAI Gym registry to register the environment and their default configuration file.
 The default configuration file is passed to the argument "kwargs" in the Gym specification registry.
 The string is parsed into respective configuration container which needs to be passed to the environment
-class. This is done using the function :meth:`load_default_env_cfg` in the sub-module
+class. This is done using the function :meth:`load_cfg_from_registry` in the sub-module
 :mod:`omni.isaac.orbit.utils.parse_cfg`.
 
 Note:
@@ -18,18 +18,18 @@
     the kwarg argument :obj:`cfg` while creating the environment.
 
 Usage:
-    >>> import gym
+    >>> import gymnasium as gym
     >>> import omni.isaac.contrib_tasks
-    >>> from omni.isaac.orbit_tasks.utils.parse_cfg import load_default_env_cfg
+    >>> from omni.isaac.orbit_tasks.utils.parse_cfg import load_cfg_from_registry
     >>>
     >>> task_name = "Isaac-Contrib-<my-registered-env-name>-v0"
-    >>> cfg = load_default_env_cfg(task_name)
+    >>> cfg = load_cfg_from_registry(task_name, "env_cfg_entry_point")
     >>> env = gym.make(task_name, cfg=cfg)
 """
 
 from __future__ import annotations
 
-import gym  # noqa: F401
+import gymnasium as gym  # noqa: F401
 import os
 import toml
 

source/extensions/omni.isaac.contrib_tasks/setup.py

@@ -28,6 +28,10 @@
     include_package_data=True,
     python_requires=">=3.7",
     packages=["omni.isaac.contrib_tasks"],
-    classifiers=["Natural Language :: English", "Programming Language :: Python :: 3.7"],
+    classifiers=[
+        "Natural Language :: English",
+        "Programming Language :: Python :: 3.10",
+        "Isaac Sim :: 2023.1.0-hotfix.1",
+    ],
     zip_safe=False,
 )

source/extensions/omni.isaac.orbit/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.9.35"
+version = "0.9.39"
 
 # Description
 title = "ORBIT framework for Robot Learning"

source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst

@@ -1,6 +1,56 @@
 Changelog
 ---------
 
+0.9.39 (2023-11-08)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Changed the reference of private `_body_view` variable inside the :class:`RigidObject` class
+  to the public `body_view` property. For a rigid object, the private variable is not defined.
+
+
+0.9.38 (2023-11-07)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Upgraded the :class:`omni.isaac.orbit.envs.RLTaskEnv` class to support Gym 0.29.0 environment definition.
+
+Added
+^^^^^
+
+* Added computation of ``time_outs`` and ``terminated`` signals inside the termination manager. These follow the
+  definition mentioned in `Gym 0.29.0 <https://gymnasium.farama.org/tutorials/gymnasium_basics/handling_time_limits/>`_.
+* Added proper handling of observation and action spaces in the :class:`omni.isaac.orbit.envs.RLTaskEnv` class.
+  These now follow closely to how Gym VecEnv handles the spaces.
+
+
+0.9.37 (2023-11-06)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed broken visualization in :mod:`omni.isaac.orbit.sensors.FrameTramsformer` class by overwriting the
+  correct ``_debug_vis_callback`` function.
+* Moved the visualization marker configurations of sensors to their respective sensor configuration classes.
+  This allows users to set these configurations from the configuration object itself.
+
+
+0.9.36 (2023-11-03)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Added explicit deleting of different managers in the :class:`omni.isaac.orbit.envs.BaseEnv` and
+  :class:`omni.isaac.orbit.envs.RLTaskEnv` classes. This is required since deleting the managers
+  is order-sensitive (many managers need to be deleted before the scene is deleted).
+
+
 0.9.35 (2023-11-02)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/asset_base.py

@@ -108,7 +108,7 @@ def data(self) -> Any:
     def has_debug_vis_implementation(self) -> bool:
         """Whether the asset has a debug visualization implemented."""
         # check if function raises NotImplementedError
-        source_code = inspect.getsource(self._debug_vis_callback)
+        source_code = inspect.getsource(self._set_debug_vis_impl)
         return "NotImplementedError" not in source_code
 
     """

source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/rigid_object/rigid_object.py

@@ -116,7 +116,7 @@ def write_data_to_sim(self):
         """
         # write external wrench
         if self.has_external_wrench:
-            self._body_view._physics_view.apply_forces_and_torques_at_position(
+            self.body_physx_view.apply_forces_and_torques_at_position(
                 force_data=self._external_force_b.view(-1, 3),
                 torque_data=self._external_torque_b.view(-1, 3),
                 position_data=None,

source/extensions/omni.isaac.orbit/omni/isaac/orbit/command_generators/command_generator_base.py

@@ -93,7 +93,7 @@ def command(self) -> torch.Tensor:
     def has_debug_vis_implementation(self) -> bool:
         """Whether the command generator has a debug visualization implemented."""
         # check if function raises NotImplementedError
-        source_code = inspect.getsource(self._debug_vis_callback)
+        source_code = inspect.getsource(self._set_debug_vis_impl)
         return "NotImplementedError" not in source_code
 
     """

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/base_env.py

@@ -76,7 +76,9 @@ def __init__(self, cfg: BaseEnvCfg):
         else:
             raise RuntimeError("Simulation context already exists. Cannot create a new one.")
         # set camera view for "/OmniverseKit_Persp" camera
-        self.sim.set_camera_view(eye=self.cfg.viewer.eye, target=self.cfg.viewer.lookat)
+        # viewport is not available in other rendering modes so the function will throw a warning
+        if self.sim.render_mode >= self.sim.RenderMode.PARTIAL_RENDERING:
+            self.sim.set_camera_view(eye=self.cfg.viewer.eye, target=self.cfg.viewer.lookat)
 
         # print useful information
         print("[INFO]: Base environment:")
@@ -187,6 +189,11 @@ def seed(seed: int = -1) -> int:
     def close(self):
         """Cleanup for the environment."""
         if not self._is_closed:
+            # destructor is order-sensitive
+            del self.action_manager
+            del self.observation_manager
+            del self.randomization_manager
+            del self.scene
             # clear callbacks and instance
             self.sim.clear_all_callbacks()
             self.sim.clear_instance()