Using Orbit in Isaac Sim Extension Workflows

[snoato]

I've started working with Isaac Sim lately and was curious about trying out the functionalities Orbit provides. So far I've mostly been working with the Extension Workflow in Isaac, since I find it quite convenient for explorative development. Looking at the docs and the code I've failed so far to figure out how to use this kind of workflow together with Orbit.

Naively I thought that if I start Isaac Sim via the Orbit python launch file (i.e., ./orbit.sh -s), I might be able to modify existing extension examples (like the Hello World extension known from this tutorial ), however that doesn't seem to be the case as the Python environment doesn't seem to be set up correctly (even though I ran the launch script from a terminal with the orbit virtual environment activated), giving me the following error:

2023-10-05 18:30:35 [495,668ms] [Error] [omni.ext._impl.custom_importer] Failed to import python module omni.isaac.examples.tests. Error: No module named 'omni.isaac.orbit'. Traceback:
Traceback (most recent call last):
  File "<path>/isaac_sim-2022.2.1/kit/kernel/py/omni/ext/_impl/custom_importer.py", line 76, in import_module
    return importlib.import_module(name)
  File "<path>/isaac_sim-2022.2.1/kit/python/lib/python3.7/importlib/__init__.py", line 127, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
  File "<frozen importlib._bootstrap>", line 1006, in _gcd_import
  File "<frozen importlib._bootstrap>", line 983, in _find_and_load
  File "<frozen importlib._bootstrap>", line 967, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 677, in _load_unlocked
  File "<frozen importlib._bootstrap_external>", line 728, in exec_module
  File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
  File "<path>/isaac_sim-2022.2.1/exts/omni.isaac.examples/omni/isaac/examples/tests/__init__.py", line 17, in <module>
    from .test_hello_world import *
  File "<path>/isaac_sim-2022.2.1/exts/omni.isaac.examples/omni/isaac/examples/tests/test_hello_world.py", line 18, in <module>
    from omni.isaac.examples.hello_world import HelloWorld
  File "<path>/isaac_sim-2022.2.1/exts/omni.isaac.examples/omni/isaac/examples/hello_world/__init__.py", line 11, in <module>
    from omni.isaac.examples.hello_world.hello_world_extension import HelloWorldExtension
  File "<path>/isaac_sim-2022.2.1/exts/omni.isaac.examples/omni/isaac/examples/hello_world/hello_world_extension.py", line 15, in <module>
    import omni.isaac.orbit.utils.kit as kit_utils
ModuleNotFoundError: No module named 'omni.isaac.orbit'

What is the right way to use Orbit in Extension Workflows?

I hope this is the right place to ask. Thanks!

[Mayankm96]

Yes, it is possible to use Orbit in extension workflows. You need to add it as a dependency to your extension as shown here.

[dependencies]
"omni.isaac.orbit" = {}

I am not 100% sure if Orbit is visible directly as an extension on Omniverse platform. But based on the information about kit-project-template, it should be. Let me know if it doesn't work.