Upgrade robotic surgery workflow to use IsaacSim 4.5 and IsaacLab 2.0.2 #87
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Signed-off-by: Mingxin Zheng <[email protected]>
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Pull Request Overview
This PR upgrades the robotic surgery workflow to support IsaacSim 4.5 and IsaacLab 2.0.2 by updating module import paths and gym environment registration entry points. Key changes include:
- Systematic replacement of "omni.isaac.lab" modules with the new "isaaclab" (and related) modules.
- Updating entry points in gym.register calls to reflect the new environment class paths.
- Updating dependency references in the README to reflect the new IsaacSim/IsaacLab versions.
Reviewed Changes
Copilot reviewed 67 out of 68 changed files in this pull request and generated no comments.
Show a summary per file
| File | Description |
|---|---|
| workflows/robotic_surgery/scripts/simulation/exts/robotic.surgery.tasks/robotic/surgery/tasks/surgical/lift/config/block/ik_abs_env_cfg.py | Updated import paths from omni.isaac.lab to isaaclab |
| workflows/robotic_surgery/scripts/simulation/exts/robotic.surgery.tasks/robotic/surgery/tasks/surgical/lift/config/block/agents/rsl_rl_cfg.py | Updated module paths and changed import source for RL configuration |
| workflows/robotic_surgery/scripts/simulation/exts/robotic.surgery.tasks/robotic/surgery/tasks/surgical/lift/config/block/init.py | Changed gym environment entry points to use isaaclab.envs |
| workflows/robotic_surgery/scripts/simulation/exts/robotic.surgery.tasks/robotic/surgery/tasks/surgical/handover/** | Updated import paths across handover modules and configurations |
| workflows/robotic_surgery/scripts/simulation/exts/robotic.surgery.assets/robotic/surgery/assets/** | Updated asset configurations to use isaaclab modules |
| workflows/robotic_surgery/README.md | Updated dependency versions and links for IsaacSim and IsaacLab |
Files not reviewed (1)
- tools/env_setup_robot_surgery.sh: Language not supported
Comments suppressed due to low confidence (1)
workflows/robotic_surgery/scripts/simulation/exts/robotic.surgery.tasks/robotic/surgery/tasks/surgical/lift/config/block/init.py:48
- Verify that 'LiftBlockPPORunnerCfg' is defined in 'agents/rsl_rl_cfg.py' after the upgrade. If this configuration class has been renamed or replaced in IsaacLab 2.0.2, update the reference accordingly.
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.LiftBlockPPORunnerCfg,
Signed-off-by: Mingxin Zheng <[email protected]>
Nic-Ma
approved these changes
Apr 2, 2025
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Fixes #ISSUE_NUMBER
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