Removes usage of IsaacSim SimulationContext inside tests

scripts/tools/check_instanceable.py

@@ -64,10 +64,10 @@
 """Rest everything follows."""
 
 
-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.cloner import GridCloner
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.utils import Timer
 from isaaclab.utils.assets import check_file_path
 
@@ -78,9 +78,7 @@ def main():
     if not check_file_path(args_cli.input):
         raise ValueError(f"Invalid file path: {args_cli.input}")
     # Load kit helper
-    sim = SimulationContext(
-        stage_units_in_meters=1.0, physics_dt=0.01, rendering_dt=0.01, backend="torch", device="cuda:0"
-    )
+    sim = SimulationContext(SimulationCfg(dt=0.01))
 
     # get stage handle
     stage = sim_utils.get_current_stage()

source/isaaclab/isaaclab/sim/utils/stage.py

@@ -354,7 +354,7 @@ def is_stage_loading() -> bool:
     """Convenience function to see if any files are being loaded.
 
     Returns:
-        bool: True if loading, False otherwise
+        True if loading, False otherwise
 
     Example:
         >>> import isaaclab.sim as sim_utils

source/isaaclab/isaaclab/ui/widgets/line_plot.py

@@ -12,7 +12,8 @@
 import numpy as np
 
 import omni
-from isaacsim.core.api.simulation_context import SimulationContext
+
+from isaaclab.sim import SimulationContext
 
 with suppress(ImportError):
     # isaacsim.gui is not available when running in headless mode.

source/isaaclab/isaaclab/ui/widgets/manager_live_visualizer.py

@@ -13,9 +13,9 @@
 import numpy
 
 import omni.kit.app
-from isaacsim.core.api.simulation_context import SimulationContext
 
 from isaaclab.managers import ManagerBase
+from isaaclab.sim import SimulationContext
 from isaaclab.utils import configclass
 
 from .image_plot import ImagePlot

source/isaaclab/test/deps/isaacsim/check_rep_texture_randomizer.py

@@ -46,29 +46,20 @@
 import torch
 
 import omni.replicator.core as rep
-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.cloner import GridCloner
 from isaacsim.core.objects import DynamicSphere
 from isaacsim.core.prims import RigidPrim
 from isaacsim.core.utils.viewports import set_camera_view
 
 import isaaclab.sim.utils.prims as prim_utils
+from isaaclab.sim import SimulationCfg, SimulationContext
 
 
 def main():
     """Spawn a bunch of balls and randomly change their textures."""
 
     # Load kit helper
-    sim_params = {
-        "use_gpu": True,
-        "use_gpu_pipeline": True,
-        "use_flatcache": True,  # deprecated from Isaac Sim 2023.1 onwards
-        "use_fabric": True,  # used from Isaac Sim 2023.1 onwards
-        "enable_scene_query_support": True,
-    }
-    sim = SimulationContext(
-        physics_dt=1.0 / 60.0, rendering_dt=1.0 / 60.0, sim_params=sim_params, backend="torch", device="cuda:0"
-    )
+    sim = SimulationContext(SimulationCfg())
     # Set main camera
     set_camera_view([0.0, 30.0, 25.0], [0.0, 0.0, -2.5])
 

source/isaaclab/test/devices/check_keyboard.py

@@ -23,9 +23,8 @@
 
 import ctypes
 
-from isaacsim.core.api.simulation_context import SimulationContext
-
 from isaaclab.devices import Se3Keyboard, Se3KeyboardCfg
+from isaaclab.sim import SimulationCfg, SimulationContext
 
 
 def print_cb():
@@ -41,7 +40,7 @@ def quit_cb():
 
 def main():
     # Load kit helper
-    sim = SimulationContext(physics_dt=0.01, rendering_dt=0.01)
+    sim = SimulationContext(SimulationCfg(dt=0.01))
 
     # Create teleoperation interface
     teleop_interface = Se3Keyboard(Se3KeyboardCfg(pos_sensitivity=0.1, rot_sensitivity=0.1))

source/isaaclab/test/markers/test_visualization_markers.py

@@ -15,11 +15,10 @@
 import pytest
 import torch
 
-from isaacsim.core.api.simulation_context import SimulationContext
-
 import isaaclab.sim as sim_utils
 from isaaclab.markers import VisualizationMarkers, VisualizationMarkersCfg
 from isaaclab.markers.config import FRAME_MARKER_CFG, POSITION_GOAL_MARKER_CFG
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.utils.math import random_orientation
 from isaaclab.utils.timer import Timer
 
@@ -32,9 +31,10 @@ def sim():
     # Open a new stage
     sim_utils.create_new_stage()
     # Load kit helper
-    sim_context = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="torch", device="cuda:0")
+    sim_context = SimulationContext(SimulationCfg(dt=dt))
     yield sim_context
     # Cleanup
+    sim_context._disable_app_control_on_stop_handle = True  # prevent timeout
     sim_context.stop()
     sim_context.clear_instance()
     sim_utils.close_stage()

source/isaaclab/test/sensors/check_contact_sensor.py

@@ -36,13 +36,13 @@
 
 import torch
 
-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.cloner import GridCloner
 from isaacsim.core.utils.viewports import set_camera_view
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import Articulation
 from isaaclab.sensors.contact_sensor import ContactSensor, ContactSensorCfg
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.utils.timer import Timer
 
 ##
@@ -75,9 +75,9 @@ def main():
     """Spawns the ANYmal robot and clones it using Isaac Sim Cloner API."""
 
     # Load kit helper
-    sim = SimulationContext(physics_dt=0.005, rendering_dt=0.005, backend="torch", device="cuda:0")
+    sim = SimulationContext(SimulationCfg(dt=0.005))
     # Set main camera
-    set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])
+    sim.set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])
 
     # Enable hydra scene-graph instancing
     # this is needed to visualize the scene when flatcache is enabled

source/isaaclab/test/sensors/check_imu_sensor.py

@@ -41,7 +41,6 @@
 import torch
 
 import omni
-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.cloner import GridCloner
 from isaacsim.core.utils.viewports import set_camera_view
 from pxr import PhysxSchema
@@ -50,6 +49,7 @@
 import isaaclab.terrains as terrain_gen
 from isaaclab.assets import RigidObject, RigidObjectCfg
 from isaaclab.sensors.imu import Imu, ImuCfg
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.terrains.config.rough import ROUGH_TERRAINS_CFG
 from isaaclab.terrains.terrain_importer import TerrainImporter
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
@@ -119,16 +119,7 @@ def main():
     """Main function."""
 
     # Load kit helper
-    sim_params = {
-        "use_gpu": True,
-        "use_gpu_pipeline": True,
-        "use_flatcache": True,  # deprecated from Isaac Sim 2023.1 onwards
-        "use_fabric": True,  # used from Isaac Sim 2023.1 onwards
-        "enable_scene_query_support": True,
-    }
-    sim = SimulationContext(
-        physics_dt=1.0 / 60.0, rendering_dt=1.0 / 60.0, sim_params=sim_params, backend="torch", device="cuda:0"
-    )
+    sim = SimulationContext(SimulationCfg())
     # Set main camera
     set_camera_view([0.0, 30.0, 25.0], [0.0, 0.0, -2.5])
 

source/isaaclab/test/sensors/check_ray_caster.py

@@ -41,14 +41,14 @@
 
 import torch
 
-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.cloner import GridCloner
 from isaacsim.core.prims import RigidPrim
 from isaacsim.core.utils.viewports import set_camera_view
 
 import isaaclab.sim as sim_utils
 import isaaclab.terrains as terrain_gen
 from isaaclab.sensors.ray_caster import RayCaster, RayCasterCfg, patterns
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.terrains.config.rough import ROUGH_TERRAINS_CFG
 from isaaclab.terrains.terrain_importer import TerrainImporter
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
@@ -88,19 +88,9 @@ def design_scene(sim: SimulationContext, num_envs: int = 2048):
 def main():
     """Main function."""
 
-    # Load kit helper
-    sim_params = {
-        "use_gpu": True,
-        "use_gpu_pipeline": True,
-        "use_flatcache": True,  # deprecated from Isaac Sim 2023.1 onwards
-        "use_fabric": True,  # used from Isaac Sim 2023.1 onwards
-        "enable_scene_query_support": True,
-    }
-    sim = SimulationContext(
-        physics_dt=1.0 / 60.0, rendering_dt=1.0 / 60.0, sim_params=sim_params, backend="torch", device="cuda:0"
-    )
-    # Set main camera
-    set_camera_view([0.0, 30.0, 25.0], [0.0, 0.0, -2.5])
+    sim = SimulationContext(SimulationCfg())
+# Set main camera
+sim.set_camera_view([0.0, 30.0, 25.0], [0.0, 0.0, -2.5])
 
     # Parameters
     num_envs = args_cli.num_envs

source/isaaclab/test/sim/test_mesh_converter.py

@@ -20,10 +20,10 @@
 import pytest
 
 import omni
-from isaacsim.core.api.simulation_context import SimulationContext
 from pxr import UsdGeom, UsdPhysics
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.sim.converters import MeshConverter, MeshConverterCfg
 from isaaclab.sim.schemas import MESH_APPROXIMATION_TOKENS, schemas_cfg
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR, retrieve_file_path
@@ -66,7 +66,7 @@ def sim():
     # Simulation time-step
     dt = 0.01
     # Load kit helper
-    sim = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="numpy")
+    sim = SimulationContext(SimulationCfg(dt=dt))
     yield sim
     # stop simulation
     sim.stop()

source/isaaclab/test/sim/test_mjcf_converter.py

@@ -16,10 +16,10 @@
 
 import pytest
 
-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.utils.extensions import enable_extension, get_extension_path_from_name
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.sim.converters import MjcfConverter, MjcfConverterCfg
 
 
@@ -31,7 +31,7 @@ def test_setup_teardown():
 
     # Setup: Create simulation context
     dt = 0.01
-    sim = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="numpy")
+    sim = SimulationContext(SimulationCfg(dt=dt))
 
     # Setup: Create MJCF config
     enable_extension("isaacsim.asset.importer.mjcf")

source/isaaclab/test/sim/test_schemas.py

@@ -16,11 +16,11 @@
 
 import pytest
 
-from isaacsim.core.api.simulation_context import SimulationContext
 from pxr import UsdPhysics
 
 import isaaclab.sim as sim_utils
 import isaaclab.sim.schemas as schemas
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 from isaaclab.utils.string import to_camel_case
 
@@ -33,7 +33,7 @@ def setup_simulation():
     # Simulation time-step
     dt = 0.1
     # Load kit helper
-    sim = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="numpy")
+    sim = SimulationContext(SimulationCfg(dt=dt))
     # Set some default values for test
     arti_cfg = schemas.ArticulationRootPropertiesCfg(
         enabled_self_collisions=False,
@@ -74,6 +74,7 @@ def setup_simulation():
     )
     yield sim, arti_cfg, rigid_cfg, collision_cfg, mass_cfg, joint_cfg
     # Teardown
+    sim._disable_app_control_on_stop_handle = True  # prevent timeout
     sim.stop()
     sim.clear()
     sim.clear_all_callbacks()

source/isaaclab/test/sim/test_simulation_context.py

@@ -18,7 +18,6 @@
 import pytest
 
 import omni.physx
-from isaacsim.core.api.simulation_context import SimulationContext as IsaacSimulationContext
 
 import isaaclab.sim as sim_utils
 from isaaclab.sim import SimulationCfg, SimulationContext
@@ -61,21 +60,15 @@ def test_singleton():
     """Tests that the singleton is working."""
     sim1 = SimulationContext()
     sim2 = SimulationContext()
-    sim3 = IsaacSimulationContext()
     assert sim1 is sim2
-    assert sim1 is sim3
 
     # try to delete the singleton
     sim2.clear_instance()
     assert sim1.instance() is None
     # create new instance
     sim4 = SimulationContext()
     assert sim1 is not sim4
-    assert sim3 is not sim4
     assert sim1.instance() is sim4.instance()
-    assert sim3.instance() is sim4.instance()
-    # clear instance
-    sim3.clear_instance()
 
 
 @pytest.mark.isaacsim_ci

source/isaaclab/test/sim/test_spawn_from_files.py

@@ -16,9 +16,9 @@
 from packaging.version import Version
 
 import omni.kit.app
-from isaacsim.core.api.simulation_context import SimulationContext
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 from isaaclab.utils.version import get_isaac_sim_version
 
@@ -31,7 +31,7 @@ def sim():
     # Simulation time-step
     dt = 0.1
     # Load kit helper
-    sim = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="numpy")
+    sim = SimulationContext(SimulationCfg(dt=dt))
     # Wait for spawning
     sim_utils.update_stage()
 

source/isaaclab/test/sim/test_spawn_lights.py

@@ -15,10 +15,10 @@
 
 import pytest
 
-from isaacsim.core.api.simulation_context import SimulationContext
 from pxr import Usd, UsdLux
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.utils.string import to_camel_case
 
 
@@ -30,7 +30,7 @@ def sim():
     # Simulation time-step
     dt = 0.1
     # Load kit helper
-    sim = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="numpy")
+    sim = SimulationContext(SimulationCfg(dt=dt))
     # Wait for spawning
     sim_utils.update_stage()
 

source/isaaclab/test/sim/test_spawn_materials.py

@@ -15,10 +15,10 @@
 
 import pytest
 
-from isaacsim.core.api.simulation_context import SimulationContext
 from pxr import UsdPhysics, UsdShade
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.utils.assets import NVIDIA_NUCLEUS_DIR
 
 
@@ -27,7 +27,7 @@ def sim():
     """Create a simulation context."""
     sim_utils.create_new_stage()
     dt = 0.1
-    sim = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="numpy")
+    sim = SimulationContext(SimulationCfg(dt=dt))
     sim_utils.update_stage()
     yield sim
     sim.stop()