Upgrade to IsaacSim 4.5 and IsaacLab 2.0.2

tools/env_setup_robot_us.sh

@@ -52,10 +52,10 @@ fi
 
 # ---- Install IsaacSim and necessary dependencies ----
 echo "Installing IsaacSim..."
-pip install isaacsim==4.2.0.2 isaacsim-extscache-physics==4.2.0.2 \
-    isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 \
+pip install 'isaacsim[all,extscache]==4.5.0' \
     rti.connext==7.3.0 pyrealsense2==2.55.1.6486 toml==0.10.2 dearpygui==2.0.0 \
-    git+ssh://[email protected]/isaac-for-healthcare/[email protected] \
+    git+ssh://[email protected]/isaac-for-healthcare/i4h-asset-catalog.git@mz/isaacsim45 \
+    setuptools==75.8.0 pydantic==2.10.6 \
     --extra-index-url https://pypi.nvidia.com
 
 
@@ -64,9 +64,8 @@ echo "Installing IsaacLab..."
 # CLONING REPOSITORIES INTO PROJECT_ROOT/third_party
 echo "Cloning repositories into $PROJECT_ROOT/third_party..."
 mkdir $PROJECT_ROOT/third_party
-git clone -b v1.4.1 [email protected]:isaac-sim/IsaacLab.git $PROJECT_ROOT/third_party/IsaacLab
+git clone -b v2.0.2 [email protected]:isaac-sim/IsaacLab.git $PROJECT_ROOT/third_party/IsaacLab
 pushd $PROJECT_ROOT/third_party/IsaacLab
-sed -i "s/rsl-rl/rsl-rl-lib/g" source/extensions/omni.isaac.lab_tasks/setup.py
 yes Yes | ./isaaclab.sh --install
 popd
 

workflows/robotic_ultrasound/scripts/simulation/annotators/base.py

@@ -18,7 +18,7 @@
 import omni.usd
 from dds.publisher import Publisher
 from dds.subscriber import Subscriber
-from omni.isaac.core import World
+from isaacsim.core.api.world import World
 from simulation.utils.ratelimit import add_physx_step_callback, remove_physx_callback
 
 __all__ = ["Annotator"]

workflows/robotic_ultrasound/scripts/simulation/annotators/franka.py

@@ -22,10 +22,10 @@
 from dds.schemas.franka_ctrl import FrankaCtrlInput
 from dds.schemas.franka_info import FrankaInfo
 from dds.subscriber import Subscriber
-from omni.isaac.core.robots import Robot
-from omni.isaac.core.utils.types import ArticulationAction
-from omni.isaac.franka import KinematicsSolver
-from omni.isaac.franka.controllers.rmpflow_controller import RMPFlowController
+from isaacsim.core.api.robots import Robot
+from isaacsim.core.utils.types import ArticulationAction
+from isaacsim.robot.manipulators.examples.franka import KinematicsSolver
+from isaacsim.robot.manipulators.examples.franka.controllers.rmpflow_controller import RMPFlowController
 from simulation.configs.config import FrankaConfig
 
 

workflows/robotic_ultrasound/scripts/simulation/annotators/target.py

@@ -19,7 +19,7 @@
 from dds.schemas.target_ctrl import TargetCtrlInput
 from dds.schemas.target_info import TargetInfo
 from dds.subscriber import Subscriber
-from omni.isaac.core.prims import XFormPrim
+from isaacsim.core.prims import SingleXFormPrim
 from simulation.configs.config import TargetConfig
 
 
@@ -52,7 +52,7 @@ def produce(self, dt: float, sim_time: float) -> Any:
             TargetInfo: Target state information including position and orientation,
                 refer to dds.schemas.target_info.TargetInfo.
         """
-        target = XFormPrim(prim_path=self.prim_path)
+        target = SingleXFormPrim(prim_path=self.prim_path)
         position, orientation = target.get_world_pose()
 
         output = TargetInfo()
@@ -105,7 +105,7 @@ def consume(self, input: TargetCtrlInput) -> None:
         """
         print(f"Target:: Set Target New Position: {input.position}")
 
-        target = XFormPrim(prim_path=self.prim_path)
+        target = SingleXFormPrim(prim_path=self.prim_path)
         target.set_world_pose(position=input.position, orientation=input.orientation)
 
     @staticmethod

workflows/robotic_ultrasound/scripts/simulation/annotators/ultrasound.py

@@ -17,7 +17,7 @@
 
 from dds.publisher import Publisher
 from dds.schemas.usp_info import UltraSoundProbeInfo
-from omni.isaac.core.prims import XFormPrim
+from isaacsim.core.prims import SingleXFormPrim
 from simulation.configs.config import UltraSoundConfig
 
 
@@ -52,7 +52,7 @@ def produce(self, dt: float, sim_time: float) -> Any:
             UltraSoundProbeInfo: Probe state information including position and orientation
                 refer to dds.schemas.usp_info.UltraSoundProbeInfo.
         """
-        usb = XFormPrim(prim_path=self.prim_path)
+        usb = SingleXFormPrim(prim_path=self.prim_path)
         position, orientation = usb.get_world_pose()
 
         output = UltraSoundProbeInfo()

workflows/robotic_ultrasound/scripts/simulation/environments/state_machine/liver_scan_sm.py

@@ -23,7 +23,7 @@
 
 from dds.publisher import Publisher
 from dds.schemas.camera_info import CameraInfo
-from omni.isaac.lab.app import AppLauncher
+from isaaclab.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="This script demonstrates a single-arm manipulator.")
@@ -101,8 +101,8 @@
 """Import remaining modules."""
 import gymnasium as gym  # noqa: F401
 import torch  # noqa: F401
+from isaaclab_tasks.utils.parse_cfg import parse_env_cfg  # noqa: F401
 from meta_state_machine.ultrasound_state_machine import UltrasoundStateMachine  # noqa: F401
-from omni.isaac.lab_tasks.utils.parse_cfg import parse_env_cfg  # noqa: F401
 from robotic_us_ext import tasks  # noqa: F401
 from simulation.environments.state_machine.data_collection import DataCollectionManager  # noqa: F401
 from simulation.environments.state_machine.modules.force_module import ForceControlModule  # noqa: F401

workflows/robotic_ultrasound/scripts/simulation/environments/state_machine/meta_state_machine/ultrasound_state_machine.py

@@ -16,7 +16,7 @@
 from typing import Dict
 
 import torch
-from omni.isaac.core.prims import RigidPrimView
+from isaacsim.core.prims import RigidPrim
 from simulation.environments.state_machine.modules.base_module import BaseControlModule
 from simulation.environments.state_machine.utils import SMState, compute_relative_action
 
@@ -34,7 +34,7 @@ def __init__(self, modules: Dict[str, BaseControlModule], device: str = "cuda:0"
         self.modules = modules
         self.device = device
         self.sm_state = SMState()
-        self.object_view = RigidPrimView(
+        self.object_view = RigidPrim(
             prim_paths_expr="/World/envs/env.*/Robot/panda_hand",
             name="robot",
             track_contact_forces=True,

workflows/robotic_ultrasound/scripts/simulation/environments/state_machine/modules/orientation_module.py

@@ -14,7 +14,7 @@
 # limitations under the License.
 
 import torch
-from omni.isaac.lab.utils.math import euler_xyz_from_quat, quat_from_euler_xyz
+from isaaclab.utils.math import euler_xyz_from_quat, quat_from_euler_xyz
 from simulation.environments.state_machine.utils import RobotQuaternions, SMState, UltrasoundState
 
 from .base_module import BaseControlModule

workflows/robotic_ultrasound/scripts/simulation/environments/state_machine/modules/path_planning_module.py

@@ -14,7 +14,7 @@
 # limitations under the License.
 
 import torch
-from omni.isaac.lab.utils.math import quat_apply_yaw
+from isaaclab.utils.math import quat_apply_yaw
 from simulation.environments.state_machine.modules.base_module import BaseControlModule
 from simulation.environments.state_machine.utils import PhantomScanPositions, SMState, UltrasoundState
 

workflows/robotic_ultrasound/scripts/simulation/environments/state_machine/pi0_policy/eval.py

@@ -19,7 +19,7 @@
 import gymnasium as gym
 import numpy as np
 import torch
-from omni.isaac.lab.app import AppLauncher
+from isaaclab.app import AppLauncher
 from policy_runner import PI0PolicyRunner
 from simulation.environments.state_machine.utils import (
     RobotPositions,
@@ -67,7 +67,7 @@
 reset_flag = False
 
 # isort: off
-from omni.isaac.lab_tasks.utils.parse_cfg import parse_env_cfg
+from isaaclab_tasks.utils.parse_cfg import parse_env_cfg
 
 # Import extensions to set up environment tasks
 from robotic_us_ext import tasks  # noqa: F401

workflows/robotic_ultrasound/scripts/simulation/environments/state_machine/utils.py

@@ -18,11 +18,10 @@
 from enum import Enum
 from typing import Sequence
 
+import isaaclab.utils.math as math_utils  # noqa: F401
 import numpy as np
-import omni.isaac.lab.utils.math as math_utils  # noqa: F401
 import onnxruntime as ort
 import torch
-from omni.isaac.lab.utils.math import compute_pose_error, quat_from_euler_xyz
 
 
 # MARK: - State Machine Enums + Dataclasses
@@ -65,7 +64,7 @@ class RobotQuaternions:
     DOWN_EULER_DEG = (180.0, 0.0, 180)
     # Convert to radians and then to quaternion
     DOWN: tuple[float, float, float, float] = tuple(
-        quat_from_euler_xyz(
+        math_utils.quat_from_euler_xyz(
             torch.tensor(math.radians(DOWN_EULER_DEG[0])),  # X rotation (rad)
             torch.tensor(math.radians(DOWN_EULER_DEG[1])),  # Y rotation (rad)
             torch.tensor(math.radians(DOWN_EULER_DEG[2])),  # Z rotation (rad)
@@ -113,7 +112,7 @@ def compute_relative_action(action: torch.Tensor, robot_obs: torch.Tensor, retur
     """Compute the relative action from the robot observation."""
     pos_sm = action[:, :3]
     rot_sm = action[:, 3:]
-    delta_pos, delta_angle = compute_pose_error(
+    delta_pos, delta_angle = math_utils.compute_pose_error(
         robot_obs[0, :, :3], robot_obs[0, :, 3:], pos_sm, rot_sm, rot_error_type="axis_angle"
     )
     rel_action = torch.cat([delta_pos, delta_angle], dim=-1)

workflows/robotic_ultrasound/scripts/simulation/environments/teleoperation/teleop_se3_agent.py

@@ -22,7 +22,7 @@
 import argparse
 import os
 
-from omni.isaac.lab.app import AppLauncher
+from isaaclab.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="Keyboard teleoperation for Isaac Lab environments.")
@@ -109,19 +109,19 @@
 import time  # noqa: F401
 
 import gymnasium as gym  # noqa: F401
-import omni.isaac.lab.utils.math as math_utils  # noqa: F401
-import omni.isaac.lab_tasks  # noqa: F401
+import isaaclab.utils.math as math_utils  # noqa: F401
+import isaaclab_tasks  # noqa: F401
 import omni.log  # noqa: F401
 import torch  # noqa: F401
 from dds.publisher import Publisher  # noqa: F401
 from dds.schemas.camera_info import CameraInfo  # noqa: F401
 from dds.schemas.franka_info import FrankaInfo  # noqa: F401
 from dds.schemas.usp_info import UltraSoundProbeInfo  # noqa: F401
-from omni.isaac.lab.devices import Se3Keyboard, Se3SpaceMouse  # noqa: F401
-from omni.isaac.lab.managers import SceneEntityCfg  # noqa: F401
-from omni.isaac.lab.managers import TerminationTermCfg as DoneTerm  # noqa: F401
-from omni.isaac.lab_tasks.manager_based.manipulation.lift import mdp  # noqa: F401
-from omni.isaac.lab_tasks.utils import parse_env_cfg  # noqa: F401
+from isaaclab.devices import Se3Keyboard, Se3SpaceMouse  # noqa: F401
+from isaaclab.managers import SceneEntityCfg  # noqa: F401
+from isaaclab.managers import TerminationTermCfg as DoneTerm  # noqa: F401
+from isaaclab_tasks.manager_based.manipulation.lift import mdp  # noqa: F401
+from isaaclab_tasks.utils import parse_env_cfg  # noqa: F401
 
 # Import extensions to set up environment tasks
 from robotic_us_ext import tasks  # noqa: F401

workflows/robotic_ultrasound/scripts/simulation/examples/sim_with_dds.py

@@ -26,7 +26,7 @@
 from dds.schemas.franka_info import FrankaInfo
 from dds.schemas.usp_info import UltraSoundProbeInfo
 from dds.subscriber import SubscriberWithQueue
-from omni.isaac.lab.app import AppLauncher
+from isaaclab.app import AppLauncher
 from simulation.environments.state_machine.utils import (
     RobotPositions,
     RobotQuaternions,
@@ -115,7 +115,7 @@
 reset_flag = False
 
 # isort: off
-from omni.isaac.lab_tasks.utils.parse_cfg import parse_env_cfg
+from isaaclab_tasks.utils.parse_cfg import parse_env_cfg
 
 # Import extensions to set up environment tasks
 from robotic_us_ext import tasks  # noqa: F401

workflows/robotic_ultrasound/scripts/simulation/exts/robotic_us_ext/robotic_us_ext/lab_assets/franka.py

@@ -32,10 +32,10 @@
 
 """
 
-import omni.isaac.lab.sim as sim_utils
-from omni.isaac.lab.actuators import ImplicitActuatorCfg
-from omni.isaac.lab.assets.articulation import ArticulationCfg
-from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR
+import isaaclab.sim as sim_utils
+from isaaclab.actuators import ImplicitActuatorCfg
+from isaaclab.assets.articulation import ArticulationCfg
+from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 from simulation.utils.assets import robotic_ultrasound_assets as robot_us_assets
 
 ##

workflows/robotic_ultrasound/scripts/simulation/exts/robotic_us_ext/robotic_us_ext/tasks/__init__.py

@@ -15,7 +15,7 @@
 
 """Package containing task implementations for various robotic environments."""
 
-from omni.isaac.lab_tasks.utils import import_packages
+from isaaclab_tasks.utils import import_packages
 
 ##
 # Register Gym environments.

workflows/robotic_ultrasound/scripts/simulation/exts/robotic_us_ext/robotic_us_ext/tasks/ultrasound/approach/config/franka/__init__.py

@@ -39,7 +39,7 @@
 
 gym.register(
     id="Isaac-Reach-Torso-FrankaUsRs-IK-RL-Abs-v0",
-    entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
     kwargs={
         "env_cfg_entry_point": franka_manager_rl_env_cfg.FrankaModRGBDIkRlEnvCfg
         # "sb3_cfg_entry_point": f"{agents.__name__}:sb3_ppo_cfg.yaml",
@@ -54,7 +54,7 @@
 ##
 gym.register(
     id="Isaac-Teleop-Torso-FrankaUsRs-IK-RL-Rel-v0",
-    entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
     kwargs={
         "env_cfg_entry_point": ik_rel_env_cfg.ModFrankaUltrasoundTeleopEnv,
         #       "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.LiftNeedlePPORunnerCfg,

workflows/robotic_ultrasound/scripts/simulation/exts/robotic_us_ext/robotic_us_ext/tasks/ultrasound/approach/config/franka/franka_manager_rl_env_cfg.py

@@ -20,24 +20,24 @@
 
 from dataclasses import MISSING
 
-import omni.isaac.lab.sim as sim_utils
+import isaaclab.sim as sim_utils
 import torch
-from omni.isaac.core.utils.torch.rotations import euler_angles_to_quats
-from omni.isaac.lab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
-from omni.isaac.lab.controllers import DifferentialIKControllerCfg
-from omni.isaac.lab.envs import ManagerBasedRLEnvCfg
-from omni.isaac.lab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
-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.markers.config import FRAME_MARKER_CFG
-from omni.isaac.lab.scene import InteractiveSceneCfg
-from omni.isaac.lab.sensors import CameraCfg, FrameTransformerCfg
-from omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg
-from omni.isaac.lab.utils import configclass
+from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
+from isaaclab.controllers import DifferentialIKControllerCfg
+from isaaclab.envs import ManagerBasedRLEnvCfg
+from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
+from isaaclab.managers import EventTermCfg as EventTerm
+from isaaclab.managers import ObservationGroupCfg as ObsGroup
+from isaaclab.managers import ObservationTermCfg as ObsTerm
+from isaaclab.managers import RewardTermCfg as RewTerm
+from isaaclab.managers import SceneEntityCfg
+from isaaclab.managers import TerminationTermCfg as DoneTerm
+from isaaclab.markers.config import FRAME_MARKER_CFG
+from isaaclab.scene import InteractiveSceneCfg
+from isaaclab.sensors import CameraCfg, FrameTransformerCfg
+from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg
+from isaaclab.utils import configclass
+from isaacsim.core.utils.torch.rotations import euler_angles_to_quats
 from robotic_us_ext.lab_assets.franka import FRANKA_PANDA_HIGH_PD_FORCE_CFG, FRANKA_PANDA_REALSENSE_ULTRASOUND_CFG
 from robotic_us_ext.tasks.ultrasound.approach import mdp
 from simulation.utils.assets import robotic_ultrasound_assets as robot_us_assets

workflows/robotic_ultrasound/scripts/simulation/exts/robotic_us_ext/robotic_us_ext/tasks/ultrasound/approach/config/teleop/ik_rel_env_cfg.py

@@ -19,13 +19,13 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 import torch
-from omni.isaac.core.utils.torch.rotations import euler_angles_to_quats
-from omni.isaac.lab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
-from omni.isaac.lab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
-from omni.isaac.lab.markers.config import FRAME_MARKER_CFG
-from omni.isaac.lab.sensors import FrameTransformerCfg
-from omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg
-from omni.isaac.lab.utils import configclass
+from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
+from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
+from isaaclab.markers.config import FRAME_MARKER_CFG
+from isaaclab.sensors import FrameTransformerCfg
+from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg
+from isaaclab.utils import configclass
+from isaacsim.core.utils.torch.rotations import euler_angles_to_quats
 from robotic_us_ext.lab_assets.franka import FRANKA_PANDA_HIGH_PD_FORCE_CFG, FRANKA_PANDA_REALSENSE_ULTRASOUND_CFG
 
 from ..franka import franka_manager_rl_env_cfg

workflows/robotic_ultrasound/scripts/simulation/exts/robotic_us_ext/robotic_us_ext/tasks/ultrasound/approach/mdp/__init__.py

@@ -16,10 +16,10 @@
 """This sub-module contains the functions that are specific to the lift environments."""
 
 # from .terminations import *  # noqa: F401, F403
-from omni.isaac.lab.assets import Articulation  # noqa: F401
-from omni.isaac.lab.envs import ManagerBasedEnv  # noqa: F401
-from omni.isaac.lab.envs.mdp import *  # noqa: F401, F403
-from omni.isaac.lab.managers import SceneEntityCfg  # noqa: F401
+from isaaclab.assets import Articulation  # noqa: F401
+from isaaclab.envs import ManagerBasedEnv  # noqa: F401
+from isaaclab.envs.mdp import *  # noqa: F401, F403
+from isaaclab.managers import SceneEntityCfg  # noqa: F401
 
 from .events import *  # noqa: F401, F403
 from .observations import *  # noqa: F401, F403

workflows/robotic_ultrasound/scripts/simulation/exts/robotic_us_ext/robotic_us_ext/tasks/ultrasound/approach/mdp/events.py

@@ -23,9 +23,9 @@
 from __future__ import annotations
 
 import torch
-from omni.isaac.lab.assets import Articulation
-from omni.isaac.lab.envs import ManagerBasedEnv
-from omni.isaac.lab.managers import SceneEntityCfg
+from isaaclab.assets import Articulation
+from isaaclab.envs import ManagerBasedEnv
+from isaaclab.managers import SceneEntityCfg
 
 
 def reset_panda_joints_by_fraction_of_limits(