Upgrade to IsaacSim 4.5 and IsaacLab 2.0.2

.gitignore

@@ -209,6 +209,7 @@ wandb/
 
 # Third party
 third_party/
+third-party/
 
 # third-party files
 **/clarius_cast/include

tools/env_setup_robot_us.sh

@@ -34,10 +34,10 @@ if ! nvidia-smi &> /dev/null; then
     exit 1
 fi
 
-# Check if the third_party directory exists, if yes, then exit
-if [ -d "$PROJECT_ROOT/third_party" ]; then
-    echo "Error: third_party directory already exists"
-    echo "Please remove the third_party directory before running this script"
+# Check if the third-party directory exists, if yes, then exit
+if [ -d "$PROJECT_ROOT/third-party" ]; then
+    echo "Error: third-party directory already exists"
+    echo "Please remove the third-party directory before running this script"
     exit 1
 fi
 
@@ -52,21 +52,20 @@ 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
 
 
 # ---- Install IsaacLab ----
 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
-pushd $PROJECT_ROOT/third_party/IsaacLab
-sed -i "s/rsl-rl/rsl-rl-lib/g" source/extensions/omni.isaac.lab_tasks/setup.py
+# CLONING REPOSITORIES INTO PROJECT_ROOT/third-party
+echo "Cloning repositories into $PROJECT_ROOT/third-party..."
+mkdir $PROJECT_ROOT/third-party
+git clone -b v2.0.2 [email protected]:isaac-sim/IsaacLab.git $PROJECT_ROOT/third-party/IsaacLab
+pushd $PROJECT_ROOT/third-party/IsaacLab
 yes Yes | ./isaaclab.sh --install
 popd
 
@@ -77,23 +76,24 @@ pushd $PROJECT_ROOT/workflows/robotic_ultrasound/scripts/simulation
 pip install -e exts/robotic_us_ext
 popd
 
+# exit 0
 
 # ---- Install OpenPI with IsaacSim 4.2 ----
 echo "Installing OpenPI..."
 # Clone the openpi repository
-git clone [email protected]:Physical-Intelligence/openpi.git $PROJECT_ROOT/third_party/openpi
-pushd $PROJECT_ROOT/third_party/openpi
+git clone [email protected]:Physical-Intelligence/openpi.git $PROJECT_ROOT/third-party/openpi
+pushd $PROJECT_ROOT/third-party/openpi
 git checkout 581e07d73af36d336cef1ec9d7172553b2332193
 
 # Update python version in pyproject.toml
-pyproject_path="$PROJECT_ROOT/third_party/openpi/pyproject.toml"
+pyproject_path="$PROJECT_ROOT/third-party/openpi/pyproject.toml"
 sed -i.bak \
     -e 's/requires-python = ">=3.11"/requires-python = ">=3.10"/' \
     -e 's/"s3fs>=2024.9.0"/"s3fs==2024.9.0"/' \
     "$pyproject_path"
 
 # Apply temporary workaround for openpi/src/openpi/shared/download.py
-file_path="$PROJECT_ROOT/third_party/openpi/src/openpi/shared/download.py"
+file_path="$PROJECT_ROOT/third-party/openpi/src/openpi/shared/download.py"
 
 # Comment out specific import lines
 sed -i.bak \
@@ -109,7 +109,7 @@ sed -i.bak -e 's/)[[:space:]]*-> s3_transfer\.TransferManager[[:space:]]*:/):/'
 sed -i.bak -e 's/datetime\.UTC/datetime.timezone.utc/' "$file_path"
 
 # Modify the type hints in training/utils.py to use Any instead of optax types
-utils_path="$PROJECT_ROOT/third_party/openpi/src/openpi/training/utils.py"
+utils_path="$PROJECT_ROOT/third-party/openpi/src/openpi/training/utils.py"
 sed -i.bak \
     -e 's/opt_state: optax\.OptState/opt_state: Any/' \
     "$utils_path"
@@ -120,19 +120,19 @@ rm "$file_path.bak"
 rm "$utils_path.bak"
 
 # Add training script to openpi module
-if [ ! -f $PROJECT_ROOT/third_party/openpi/src/openpi/train.py ]; then
-    cp $PROJECT_ROOT/third_party/openpi/scripts/train.py $PROJECT_ROOT/third_party/openpi/src/openpi/train.py
+if [ ! -f $PROJECT_ROOT/third-party/openpi/src/openpi/train.py ]; then
+    cp $PROJECT_ROOT/third-party/openpi/scripts/train.py $PROJECT_ROOT/third-party/openpi/src/openpi/train.py
 fi
 
 # Add norm stats generator script to openpi module
-if [ ! -f $PROJECT_ROOT/third_party/openpi/src/openpi/compute_norm_stats.py ]; then
-    cp $PROJECT_ROOT/third_party/openpi/scripts/compute_norm_stats.py $PROJECT_ROOT/third_party/openpi/src/openpi/compute_norm_stats.py
+if [ ! -f $PROJECT_ROOT/third-party/openpi/src/openpi/compute_norm_stats.py ]; then
+    cp $PROJECT_ROOT/third-party/openpi/scripts/compute_norm_stats.py $PROJECT_ROOT/third-party/openpi/src/openpi/compute_norm_stats.py
 fi
 
 # Install the dependencies
 pip install git+https://github.com/huggingface/lerobot@6674e368249472c91382eb54bb8501c94c7f0c56
-pip install -e $PROJECT_ROOT/third_party/openpi/packages/openpi-client/
-pip install -e $PROJECT_ROOT/third_party/openpi/
+pip install -e $PROJECT_ROOT/third-party/openpi/packages/openpi-client/
+pip install -e $PROJECT_ROOT/third-party/openpi/
 
 # Revert the "import changes of "$file_path after installation to prevent errors
 sed -i \

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 +22,9 @@
 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.franka import KinematicsSolver
+from isaacsim.franka.controllers.rmpflow_controller import RMPFlowController
+from isaacsim.utils.types import ArticulationAction
 from simulation.configs.config import FrankaConfig
 
 
@@ -44,7 +43,7 @@ class FrankaPublisher(Publisher):
         domain_id: DDS domain identifier
     """
 
-    def __init__(self, franka: Robot, ik: bool, prim_path: str, topic: str, period: float, domain_id):
+    def __init__(self, franka, ik: bool, prim_path: str, topic: str, period: float, domain_id):
         """Initialize the Franka publisher."""
         super().__init__(topic, FrankaInfo, period, domain_id)
 
@@ -73,7 +72,7 @@ def produce(self, dt: float, sim_time: float) -> Any:
         return output
 
     @staticmethod
-    def new_instance(config: FrankaConfig, franka: Robot):
+    def new_instance(config: FrankaConfig, franka):
         """Create a new FrankaPublisher instance from configuration.
 
         Args:
@@ -108,7 +107,7 @@ class FrankaSubscriber(Subscriber):
         domain_id: DDS domain identifier
     """
 
-    def __init__(self, franka: Robot, ik: bool, prim_path: str, topic: str, period: float, domain_id):
+    def __init__(self, franka, ik: bool, prim_path: str, topic: str, period: float, domain_id):
         """Initialize the Franka subscriber."""
         super().__init__(topic, FrankaCtrlInput, period, domain_id)
 
@@ -163,7 +162,7 @@ def consume(self, input: FrankaCtrlInput) -> None:
             self.franka_articulation_controller.apply_action(actions)
 
     @staticmethod
-    def new_instance(config: FrankaConfig, franka: Robot):
+    def new_instance(config: FrankaConfig, franka):
         """Create a new FrankaSubscriber instance from configuration.
 
         Args:

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 XFormPrim
 from simulation.configs.config import TargetConfig
 
 

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 XFormPrim
 from simulation.configs.config import UltraSoundConfig
 
 

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 RigidPrimView
 from simulation.environments.state_machine.modules.base_module import BaseControlModule
 from simulation.environments.state_machine.utils import SMState, compute_relative_action
 

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,
@@ -37,14 +37,16 @@
     "--disable_fabric", action="store_true", default=False, help="Disable fabric and use USD I/O operations."
 )
 parser.add_argument("--num_envs", type=int, default=1, help="Number of environments to spawn.")
-parser.add_argument("--task", type=str, default=None, help="Name of the task.")
+parser.add_argument("--task", type=str, default="Isaac-Teleop-Torso-FrankaUsRs-IK-RL-Rel-v0", help="Name of the task.")
 parser.add_argument(
     "--ckpt_path",
     type=str,
     default=robot_us_assets.policy_ckpt,
     help="checkpoint path. Default to use policy checkpoint in the latest assets.",
 )
-parser.add_argument("--repo_id", type=str, help="the LeRobot repo id for the dataset norm.")
+parser.add_argument(
+    "--repo_id", type=str, default="i4h/sim_liver_scan", help="the LeRobot repo id for the dataset norm."
+)
 
 # append AppLauncher cli argr
 AppLauncher.add_app_launcher_args(parser)
@@ -57,7 +59,7 @@
 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.