[Newton] Decouples OV to enable OV-optional code paths

scripts/demos/cloner.py

@@ -0,0 +1,319 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""This script demonstrates how to spawn multiple objects in multiple environments.
+
+.. code-block:: bash
+
+    # Usage
+    ./isaaclab.sh -p scripts/demos/multi_asset.py --num_envs 2048
+
+"""
+
+from __future__ import annotations
+
+"""Launch Isaac Sim Simulator first."""
+
+
+import argparse
+
+from isaaclab.app import AppLauncher
+
+# add argparse arguments
+parser = argparse.ArgumentParser(description="Demo on spawning different objects in multiple environments.")
+parser.add_argument("--num_envs", type=int, default=32, help="Number of environments to spawn.")
+parser.add_argument("--newton_visualizer", action="store_true", default=False, help="Enable Newton rendering.")
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
+args_cli = parser.parse_args()
+
+# launch omniverse app
+app_launcher = AppLauncher(args_cli)
+simulation_app = app_launcher.app
+
+"""Rest everything follows."""
+
+##
+# Pre-defined Configuration
+##
+import torch
+
+import isaaclab.sim as sim_utils
+from isaaclab.assets import (  # RigidObject,; RigidObjectCfg,; RigidObjectCollection,; RigidObjectCollectionCfg,
+    Articulation,
+    ArticulationCfg,
+    AssetBaseCfg,
+)
+from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
+from isaaclab.sim import SimulationContext
+from isaaclab.sim._impl.newton_manager_cfg import NewtonCfg
+from isaaclab.sim._impl.solvers_cfg import MJWarpSolverCfg
+from isaaclab.utils import Timer, configclass
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
+
+from isaaclab_assets.robots.anymal import ANYDRIVE_3_LSTM_ACTUATOR_CFG  # isort: skip
+
+
+##
+# Scene Configuration
+##
+
+
+@configclass
+class MultiObjectSceneCfg(InteractiveSceneCfg):
+    """Configuration for a multi-object scene."""
+
+    # ground plane
+    ground = AssetBaseCfg(prim_path="/World/defaultGroundPlane", spawn=sim_utils.GroundPlaneCfg())
+
+    # lights
+    dome_light = AssetBaseCfg(
+        prim_path="/World/Light", spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
+    )
+
+    # rigid object
+    object: ArticulationCfg = ArticulationCfg(
+        prim_path="/World/envs/env_.*/Object",
+        spawn=sim_utils.UsdFileCfg(
+            usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/DexCube/dex_cube_instanceable.usd",
+            mass_props=sim_utils.MassPropertiesCfg(mass=25.0),
+            scale=(5.0, 5.0, 5.0),
+            rigid_props=sim_utils.RigidBodyPropertiesCfg(
+                solver_position_iteration_count=4, solver_velocity_iteration_count=0
+            ),
+            collision_props=sim_utils.CollisionPropertiesCfg(),
+        ),
+        init_state=ArticulationCfg.InitialStateCfg(pos=(0.0, 0.0, 2.0)),
+        actuators={},
+        articulation_root_prim_path="",
+    )
+
+    # # object collection
+    # object_collection: RigidObjectCollectionCfg = RigidObjectCollectionCfg(
+    #     rigid_objects={
+    #         "object_A": RigidObjectCfg(
+    #             prim_path="/World/envs/env_.*/Object_A",
+    #             spawn=sim_utils.SphereCfg(
+    #                 radius=0.1,
+    #                 visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0), metallic=0.2),
+    #                 rigid_props=sim_utils.RigidBodyPropertiesCfg(
+    #                     solver_position_iteration_count=4, solver_velocity_iteration_count=0
+    #                 ),
+    #                 mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
+    #                 collision_props=sim_utils.CollisionPropertiesCfg(),
+    #             ),
+    #             init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, -0.5, 2.0)),
+    #         ),
+    #         "object_B": RigidObjectCfg(
+    #             prim_path="/World/envs/env_.*/Object_B",
+    #             spawn=sim_utils.CuboidCfg(
+    #                 size=(0.1, 0.1, 0.1),
+    #                 visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0), metallic=0.2),
+    #                 rigid_props=sim_utils.RigidBodyPropertiesCfg(
+    #                     solver_position_iteration_count=4, solver_velocity_iteration_count=0
+    #                 ),
+    #                 mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
+    #                 collision_props=sim_utils.CollisionPropertiesCfg(),
+    #             ),
+    #             init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 0.5, 2.0)),
+    #         ),
+    #         "object_C": RigidObjectCfg(
+    #             prim_path="/World/envs/env_.*/Object_C",
+    #             spawn=sim_utils.ConeCfg(
+    #                 radius=0.1,
+    #                 height=0.3,
+    #                 visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0), metallic=0.2),
+    #                 rigid_props=sim_utils.RigidBodyPropertiesCfg(
+    #                     solver_position_iteration_count=4, solver_velocity_iteration_count=0
+    #                 ),
+    #                 mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
+    #                 collision_props=sim_utils.CollisionPropertiesCfg(),
+    #             ),
+    #             init_state=RigidObjectCfg.InitialStateCfg(pos=(0.5, 0.0, 2.0)),
+    #         ),
+    #     }
+    # )
+
+    # # articulation
+    robot: ArticulationCfg = ArticulationCfg(
+        prim_path="/World/envs/env_.*/Robot",
+        spawn=sim_utils.UsdFileCfg(
+            usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd",
+            rigid_props=sim_utils.RigidBodyPropertiesCfg(
+                disable_gravity=False,
+                retain_accelerations=False,
+                linear_damping=0.0,
+                angular_damping=0.0,
+                max_linear_velocity=1000.0,
+                max_angular_velocity=1000.0,
+                max_depenetration_velocity=1.0,
+            ),
+            articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+                enabled_self_collisions=True, solver_position_iteration_count=4, solver_velocity_iteration_count=0
+            ),
+            activate_contact_sensors=True,
+        ),
+        init_state=ArticulationCfg.InitialStateCfg(
+            pos=(0.0, 0.0, 0.6),
+            joint_pos={
+                ".*HAA": 0.0,  # all HAA
+                ".*F_HFE": 0.4,  # both front HFE
+                ".*H_HFE": -0.4,  # both hind HFE
+                ".*F_KFE": -0.8,  # both front KFE
+                ".*H_KFE": 0.8,  # both hind KFE
+            },
+        ),
+        actuators={"legs": ANYDRIVE_3_LSTM_ACTUATOR_CFG},
+    )
+
+    # articulation
+    # robot: ArticulationCfg = ArticulationCfg(
+    #     prim_path="/World/envs/env_.*/Robot",
+    #     spawn=sim_utils.MultiUsdFileCfg(
+    #         usd_path=[
+    #             f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd",
+    #             f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd",
+    #         ],
+    #         random_choice=True,
+    #         rigid_props=sim_utils.RigidBodyPropertiesCfg(
+    #             disable_gravity=False,
+    #             retain_accelerations=False,
+    #             linear_damping=0.0,
+    #             angular_damping=0.0,
+    #             max_linear_velocity=1000.0,
+    #             max_angular_velocity=1000.0,
+    #             max_depenetration_velocity=1.0,
+    #         ),
+    #         articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+    #             enabled_self_collisions=True, solver_position_iteration_count=4, solver_velocity_iteration_count=0
+    #         ),
+    #         activate_contact_sensors=True,
+    #     ),
+    #     init_state=ArticulationCfg.InitialStateCfg(
+    #         pos=(0.0, 0.0, 0.6),
+    #         joint_pos={
+    #             ".*HAA": 0.0,  # all HAA
+    #             ".*F_HFE": 0.4,  # both front HFE
+    #             ".*H_HFE": -0.4,  # both hind HFE
+    #             ".*F_KFE": -0.8,  # both front KFE
+    #             ".*H_KFE": 0.8,  # both hind KFE
+    #         },
+    #     ),
+    #     actuators={"legs": ANYDRIVE_3_LSTM_ACTUATOR_CFG},
+    # )
+
+
+##
+# Simulation Loop
+##
+
+
+def run_simulator(sim: SimulationContext, scene: InteractiveScene):
+    """Runs the simulation loop."""
+    # Extract scene entities
+    # note: we only do this here for readability.
+    rigid_object: Articulation | None = scene["object"] if "object" in scene.keys() else None
+    rigid_object_collection: Articulation | None = (
+        scene["object_collection"] if "object_collection" in scene.keys() else None
+    )
+    robot: Articulation | None = scene["robot"] if "robot" in scene.keys() else None
+    # Define simulation stepping
+    sim_dt = sim.get_physics_dt()
+    count = 0
+    # Simulation loop
+    while simulation_app.is_running():
+        # Reset
+        if count % 250 == 0:
+            # reset counter
+            count = 0
+            # reset the scene entities
+            # object
+            if rigid_object:
+                root_state = rigid_object.data.default_root_state.clone()
+                root_state[:, :3] += scene.env_origins + torch.rand_like(root_state[:, :3]) * 0.5 - 0.25
+                rigid_object.write_root_pose_to_sim(root_state[:, :7])
+                rigid_object.write_root_velocity_to_sim(root_state[:, 7:])
+            # object collection
+            if rigid_object_collection:
+                object_state = rigid_object_collection.data.default_object_state.clone()
+                object_state[..., :3] += (
+                    scene.env_origins.unsqueeze(1) + torch.rand_like(root_state[:, :3]) * 0.5 - 0.25
+                )
+                rigid_object_collection.write_object_link_pose_to_sim(object_state[..., :7])
+                rigid_object_collection.write_object_com_velocity_to_sim(object_state[..., 7:])
+            # robot
+            if robot:
+                # -- root state
+                root_state = robot.data.default_root_state.clone()
+                root_state[:, :3] += scene.env_origins + torch.rand_like(root_state[:, :3]) * 0.5 - 0.25
+                robot.write_root_pose_to_sim(root_state[:, :7])
+                robot.write_root_velocity_to_sim(root_state[:, 7:])
+                # -- joint state
+                joint_pos, joint_vel = robot.data.default_joint_pos.clone(), robot.data.default_joint_vel.clone()
+                robot.write_joint_state_to_sim(joint_pos, joint_vel)
+            # clear internal buffers
+            scene.reset()
+            print("[INFO]: Resetting scene state...")
+
+        # Apply action to robot
+        # robot.set_joint_position_target(robot.data.default_joint_pos)
+        # Write data to sim
+        scene.write_data_to_sim()
+        # Perform step
+        sim.step()
+        # Increment counter
+        count += 1
+        # Update buffers
+        scene.update(sim_dt)
+
+
+def main():
+    """Main function."""
+    # Load kit helper
+
+    newton_cfg = NewtonCfg(
+        solver_cfg=MJWarpSolverCfg(
+            njmax=300,
+            nconmax=25,
+            ls_iterations=15,
+            cone="elliptic",
+            impratio=100.0,
+            ls_parallel=True,
+        ),
+        num_substeps=1,
+        debug_mode=False,
+    )
+    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device, newton_cfg=newton_cfg)
+    sim_cfg.enable_newton_rendering = args_cli.newton_visualizer
+    sim = SimulationContext(sim_cfg)
+    # Set main camera
+    sim.set_camera_view([2.5, 0.0, 4.0], [0.0, 0.0, 2.0])
+    # Design scene
+    scene_cfg = MultiObjectSceneCfg(num_envs=args_cli.num_envs, env_spacing=2.0, replicate_physics=True)
+    with Timer("[INFO] Time to create scene: "):
+        scene = InteractiveScene(scene_cfg)
+
+    # with Timer("[INFO] Time to randomize scene: "):
+    #     # DO YOUR OWN OTHER KIND OF RANDOMIZATION HERE!
+    #     # Note: Just need to acquire the right attribute about the property you want to set
+    #     # Here is an example on setting color randomly
+    #     randomize_shape_color(scene_cfg.object.prim_path)
+
+    # Play the simulator
+    with Timer("[INFO] Time to start Simulation: "):
+        # The code `sim.reset()` is resetting a simulation or a simulation environment.
+        sim.reset()
+    # Now we are ready!
+    print("[INFO]: Setup complete...")
+    # Run the simulator
+    run_simulator(sim, scene)
+
+
+if __name__ == "__main__":
+    # run the main execution
+    main()
+    # close sim app
+    simulation_app.close()

scripts/reinforcement_learning/rl_games/play.py

@@ -206,4 +206,5 @@ def main():
     # run the main function
     main()
     # close sim app
-    simulation_app.close()
+    if simulation_app:
+        simulation_app.close()

scripts/reinforcement_learning/rl_games/train.py

@@ -208,4 +208,5 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg, agent_cfg: dict):
     # run the main function
     main()
     # close sim app
-    simulation_app.close()
+    if simulation_app:
+        simulation_app.close()

scripts/reinforcement_learning/rsl_rl/play.py

@@ -201,4 +201,5 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg, agent_cfg: RslRlBaseRun
     # run the main function
     main()
     # close sim app
-    simulation_app.close()
+    if simulation_app:
+        simulation_app.close()

scripts/reinforcement_learning/rsl_rl/train.py

@@ -209,4 +209,5 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg, agent_cfg: RslRlBaseRun
     # run the main function
     main()
     # close sim app
-    simulation_app.close()
+    if simulation_app:
+        simulation_app.close()

scripts/reinforcement_learning/sb3/play.py

@@ -186,4 +186,5 @@ def main():
     # run the main function
     main()
     # close sim app
-    simulation_app.close()
+    if simulation_app:
+        simulation_app.close()

scripts/reinforcement_learning/sb3/train.py

@@ -204,4 +204,5 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg, agent_cfg: dict):
     # run the main function
     main()
     # close sim app
-    simulation_app.close()
+    if simulation_app:
+        simulation_app.close()

scripts/reinforcement_learning/skrl/play.py

@@ -210,4 +210,5 @@ def main():
     # run the main function
     main()
     # close sim app
-    simulation_app.close()
+    if simulation_app:
+        simulation_app.close()

scripts/reinforcement_learning/skrl/train.py

@@ -196,4 +196,5 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg, agent_cfg: dict):
     # run the main function
     main()
     # close sim app
-    simulation_app.close()
+    if simulation_app:
+        simulation_app.close()

source/isaaclab/isaaclab/app/__init__.py

@@ -9,7 +9,9 @@
 
 * Ability to launch the simulation app with different configurations
 * Run tests with the simulation app
+* Settings manager for storing configuration in both Omniverse and standalone modes
 
 """
 
 from .app_launcher import AppLauncher  # noqa: F401, F403
+from .settings_manager import SettingsManager, get_settings_manager, initialize_carb_settings  # noqa: F401, F403