| .. _migration_guide: | |
| Migration Guide (Isaac Sim) | |
| =========================== | |
| Moving from Isaac Sim 4.2 to 4.5 and later brings in a number of changes to the | |
| APIs and Isaac Sim extensions and classes. This document outlines the changes | |
| and how to migrate your code to the new APIs. | |
| Renaming of Isaac Sim Extensions | |
| -------------------------------- | |
| Previously, Isaac Sim extensions have been following the convention of ``omni.isaac.*``, | |
| such as ``omni.isaac.core``. In Isaac Sim 4.5, Isaac Sim extensions have been renamed | |
| to use the prefix ``isaacsim``, replacing ``omni.isaac``. In addition, many extensions | |
| have been renamed and split into multiple extensions to prepare for a more modular | |
| framework that can be customized by users through the use of app templates. | |
| Notably, the following commonly used Isaac Sim extensions in Isaac Lab are renamed as follow: | |
| * ``omni.isaac.cloner`` --> ``isaacsim.core.cloner`` | |
| * ``omni.isaac.core.prims`` --> ``isaacsim.core.prims`` | |
| * ``omni.isaac.core.simulation_context`` --> ``isaacsim.core.api.simulation_context`` | |
| * ``omni.isaac.core.utils`` --> ``isaacsim.core.utils`` | |
| * ``omni.isaac.core.world`` --> ``isaacsim.core.api.world`` | |
| * ``omni.isaac.kit.SimulationApp`` --> ``isaacsim.SimulationApp`` | |
| * ``omni.isaac.ui`` --> ``isaacsim.gui.components`` | |
| Renaming of the URDF and MJCF Importers | |
| --------------------------------------- | |
| Starting from Isaac Sim 4.5, the URDF and MJCF importers have been renamed to be more consistent | |
| with the other extensions in Isaac Sim. The importers are available on isaac-sim GitHub | |
| as open source projects. | |
| Due to the extension name change, the Python module names have also been changed: | |
| * URDF Importer: :mod:`isaacsim.asset.importer.urdf` (previously :mod:`omni.importer.urdf`) | |
| * MJCF Importer: :mod:`isaacsim.asset.importer.mjcf` (previously :mod:`omni.importer.mjcf`) | |
| From the Isaac Sim UI, both URDF and MJCF importers can now be accessed directly from the File > Import | |
| menu when selecting a corresponding .urdf or .xml file in the file browser. | |
| Changes in URDF Importer | |
| ------------------------ | |
| Isaac Sim 4.5 brings some updates to the URDF Importer, with a fresh UI to allow for better configurations | |
| when importing robots from URDF. As a result, the Isaac Lab URDF Converter has also been updated to | |
| reflect these changes. The :class:`UrdfConverterCfg` includes some new settings, such as :class:`PDGainsCfg` | |
| and :class:`NaturalFrequencyGainsCfg` classes for configuring the gains of the drives. | |
| One breaking change to note is that the :attr:`UrdfConverterCfg.JointDriveCfg.gains` attribute must | |
| be of class type :class:`PDGainsCfg` or :class:`NaturalFrequencyGainsCfg`. | |
| The stiffness of the :class:`PDGainsCfg` must be specified, as such: | |
| .. code::python | |
| joint_drive=sim_utils.UrdfConverterCfg.JointDriveCfg( | |
| gains=sim_utils.UrdfConverterCfg.JointDriveCfg.PDGainsCfg(stiffness=None, damping=None) | |
| ) | |
| The :attr:`natural_frequency` must be specified for :class:`NaturalFrequencyGainsCfg`. | |
| Renaming of omni.isaac.core Classes | |
| ----------------------------------- | |
| Isaac Sim 4.5 introduced some naming changes to the core prim classes that are commonly | |
| used in Isaac Lab. These affect the single and ``View`` variations of the prim classes, including | |
| Articulation, RigidPrim, XFormPrim, and others. Single-object classes are now prefixed with | |
| ``Single``, such as ``SingleArticulation``, while tensorized View classes now have the ``View`` | |
| suffix removed. | |
| The exact renaming of the classes are as follow: | |
| * ``Articulation`` --> ``SingleArticulation`` | |
| * ``ArticulationView`` --> ``Articulation`` | |
| * ``ClothPrim`` --> ``SingleClothPrim`` | |
| * ``ClothPrimView`` --> ``ClothPrim`` | |
| * ``DeformablePrim`` --> ``SingleDeformablePrim`` | |
| * ``DeformablePrimView`` --> ``DeformablePrim`` | |
| * ``GeometryPrim`` --> ``SingleGeometryPrim`` | |
| * ``GeometryPrimView`` --> ``GeometryPrim`` | |
| * ``ParticleSystem`` --> ``SingleParticleSystem`` | |
| * ``ParticleSystemView`` --> ``ParticleSystem`` | |
| * ``RigidPrim`` --> ``SingleRigidPrim`` | |
| * ``RigidPrimView`` --> ``RigidPrim`` | |
| * ``XFormPrim`` --> ``SingleXFormPrim`` | |
| * ``XFormPrimView`` --> ``XFormPrim`` | |
| Renaming of Isaac Lab Extensions and Folders | |
| -------------------------------------------- | |
| Corresponding to Isaac Sim 4.5 changes, we have also made some updates to the Isaac Lab directories and extensions. | |
| All extensions that were previously under ``source/extensions`` are now under the ``source/`` directory directly. | |
| The ``source/apps`` and ``source/standalone`` folders have been moved to the root directory and are now called | |
| ``apps/`` and ``scripts/``. | |
| Isaac Lab extensions have been renamed to: | |
| * ``omni.isaac.lab`` --> ``isaaclab`` | |
| * ``omni.isaac.lab_assets`` --> ``isaaclab_assets`` | |
| * ``omni.isaac.lab_tasks`` --> ``isaaclab_tasks`` | |
| In addition, we have split up the previous ``source/standalone/workflows`` directory into ``scripts/imitation_learning`` | |
| and ``scripts/reinforcement_learning`` directories. The RSL RL, Stable-Baselines, RL_Games, SKRL, and Ray directories | |
| are under ``scripts/reinforcement_learning``, while Robomimic and the new Isaac Lab Mimic directories are under | |
| ``scripts/imitation_learning``. | |
| To assist with the renaming of Isaac Lab extensions in your project, we have provided a `simple script`_ that will traverse | |
| through the ``source`` and ``docs`` directories in your local Isaac Lab project and replace any instance of the renamed | |
| directories and imports. **Please use the script at your own risk as it will overwrite source files directly.** | |
| Restructuring of Isaac Lab Extensions | |
| ------------------------------------- | |
| With the introduction of ``isaaclab_mimic``, designed for supporting data generation workflows for imitation learning, | |
| we have also split out the previous ``wrappers`` folder under ``isaaclab_tasks`` to its own module, named ``isaaclab_rl``. | |
| This new extension will contain reinforcement learning specific wrappers for the various RL libraries supported by Isaac Lab. | |
| The new ``isaaclab_mimic`` extension will also replace the previous imitation learning scripts under the ``robomimic`` folder. | |
| We have removed the old scripts for data collection and dataset preparation in favor of the new mimic workflow. For users | |
| who prefer to use the previous scripts, they will be available in previous release branches. | |
| Additionally, we have also restructured the ``isaaclab_assets`` extension to be split into ``robots`` and ``sensors`` | |
| subdirectories. This allows for clearer separation between the pre-defined configurations provided in the extension. | |
| For any existing imports such as ``from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG``, please replace it with | |
| ``from isaaclab.robots.anymal import ANYMAL_C_CFG``. | |
| .. _simple script: https://gist.github.com/kellyguo11/3e8f73f739b1c013b1069ad372277a85 | |