Replaces Isaac Sim SimulationManager with IsaacLab SimulationManager

apps/isaaclab.python.kit

@@ -17,7 +17,7 @@ keywords = ["experience", "app", "usd"]
 "isaacsim.core.api" = {}
 "isaacsim.core.cloner" = {}
 "isaacsim.core.nodes" = {}
-"isaacsim.core.simulation_manager" = {}
+# "isaacsim.core.simulation_manager" = {}  # Replaced by isaaclab.sim.simulation_manager
 "isaacsim.core.throttling" = {}
 "isaacsim.core.utils" = {}
 "isaacsim.core.version" = {}

apps/isaacsim_4_5/isaaclab.python.kit

@@ -17,7 +17,7 @@ keywords = ["experience", "app", "usd"]
 "isaacsim.core.api" = {}
 "isaacsim.core.cloner" = {}
 "isaacsim.core.nodes" = {}
-"isaacsim.core.simulation_manager" = {}
+# "isaacsim.core.simulation_manager" = {}  # Replaced by isaaclab.sim.simulation_manager
 "isaacsim.core.throttling" = {}
 "isaacsim.core.utils" = {}
 "isaacsim.core.version" = {}

docs/source/how-to/optimize_stage_creation.rst

@@ -60,7 +60,7 @@ be called after the stage is created.
     sim = SimulationContext(cfg=SimulationCfg(create_stage_in_memory=True))
 
     # grab stage in memory and set stage context
-    stage_in_memory = sim.get_initial_stage()
+    stage_in_memory = sim.stage
     with stage_utils.use_stage(stage_in_memory):
         # create cartpole scene
         scene_cfg = CartpoleSceneCfg(num_envs=1024)

scripts/benchmarks/benchmark_cameras.py

@@ -509,7 +509,7 @@ def inject_cameras_into_task(
     """Loads the task, sticks cameras into the config, and creates the environment."""
     cfg = load_cfg_from_registry(task, "env_cfg_entry_point")
     cfg.sim.device = args_cli.device
-    cfg.sim.use_fabric = args_cli.use_fabric
+    cfg.sim.physics_manager_cfg.use_fabric = args_cli.use_fabric
     scene_cfg = cfg.scene
 
     num_envs = int(num_cams / num_cameras_per_env)

scripts/benchmarks/benchmark_view_comparison.py

@@ -67,8 +67,7 @@
 import time
 import torch
 
-from isaacsim.core.simulation_manager import SimulationManager
-
+from isaaclab.physics.physx_manager import PhysxManager
 import isaaclab.sim as sim_utils
 import isaaclab.utils.math as math_utils
 from isaaclab.sim.views import XformPrimView
@@ -129,7 +128,7 @@ def benchmark_view(view_type: str, num_iterations: int) -> tuple[dict[str, float
         num_prims = view.count
         view_name = "XformPrimView"
     else:  # physx
-        physics_sim_view = SimulationManager.get_physics_sim_view()
+        physics_sim_view = PhysxManager.get_physics_sim_view()
         view = physics_sim_view.create_rigid_body_view(pattern)
         num_prims = view.count
         view_name = "PhysX RigidBodyView"

scripts/benchmarks/benchmark_xform_prim_view.py

@@ -216,7 +216,6 @@ def benchmark_xform_prim_view(
 
     # close simulation
     sim.clear()
-    sim.clear_all_callbacks()
     sim.clear_instance()
 
     return timing_results, computed_results

scripts/demos/quadcopter.py

@@ -73,7 +73,7 @@ def main():
     # Fetch relevant parameters to make the quadcopter hover in place
     prop_body_ids = robot.find_bodies("m.*_prop")[0]
     robot_mass = robot.root_physx_view.get_masses().sum()
-    gravity = torch.tensor(sim.cfg.gravity, device=sim.device).norm()
+    gravity = torch.tensor(sim.cfg.physics_manager_cfg.gravity, device=sim.device).norm()
 
     # Now we are ready!
     print("[INFO]: Setup complete...")

scripts/environments/state_machine/lift_cube_sm.py

@@ -276,7 +276,7 @@ def main():
     desired_orientation[:, 1] = 1.0
     # create state machine
     pick_sm = PickAndLiftSm(
-        env_cfg.sim.dt * env_cfg.decimation, env.unwrapped.num_envs, env.unwrapped.device, position_threshold=0.01
+        env_cfg.sim.physics_manager_cfg.dt * env_cfg.decimation, env.unwrapped.num_envs, env.unwrapped.device, position_threshold=0.01
     )
 
     while simulation_app.is_running():

scripts/environments/state_machine/lift_teddy_bear.py

@@ -297,7 +297,7 @@ def main():
     object_local_grasp_position = torch.tensor([0.02, -0.08, 0.0], device=env.unwrapped.device)
 
     # create state machine
-    pick_sm = PickAndLiftSm(env_cfg.sim.dt * env_cfg.decimation, env.unwrapped.num_envs, env.unwrapped.device)
+    pick_sm = PickAndLiftSm(env_cfg.sim.physics_manager_cfg.dt * env_cfg.decimation, env.unwrapped.num_envs, env.unwrapped.device)
 
     while simulation_app.is_running():
         # run everything in inference mode

scripts/environments/state_machine/open_cabinet_sm.py

@@ -293,7 +293,7 @@ def main():
     desired_orientation = torch.zeros((env.unwrapped.num_envs, 4), device=env.unwrapped.device)
     desired_orientation[:, 1] = 1.0
     # create state machine
-    open_sm = OpenDrawerSm(env_cfg.sim.dt * env_cfg.decimation, env.unwrapped.num_envs, env.unwrapped.device)
+    open_sm = OpenDrawerSm(env_cfg.sim.physics_manager_cfg.dt * env_cfg.decimation, env.unwrapped.num_envs, env.unwrapped.device)
 
     while simulation_app.is_running():
         # run everything in inference mode

scripts/tools/check_instanceable.py

@@ -64,7 +64,7 @@
 """Rest everything follows."""
 
 
-from isaacsim.core.api.simulation_context import SimulationContext
+from isaaclab.sim import SimulationContext
 from isaacsim.core.cloner import GridCloner
 
 import isaaclab.sim as sim_utils

scripts/tutorials/03_envs/create_cartpole_base_env.py

@@ -132,7 +132,7 @@ def __post_init__(self):
         # step settings
         self.decimation = 4  # env step every 4 sim steps: 200Hz / 4 = 50Hz
         # simulation settings
-        self.sim.dt = 0.005  # sim step every 5ms: 200Hz
+        self.sim.physics_manager_cfg.dt = 0.005  # sim step every 5ms: 200Hz
 
 
 def main():

scripts/tutorials/03_envs/create_cube_base_env.py

@@ -301,7 +301,7 @@ def __post_init__(self):
         # general settings
         self.decimation = 2
         # simulation settings
-        self.sim.dt = 0.01
+        self.sim.physics_manager_cfg.dt = 0.01
         self.sim.physics_material = self.scene.terrain.physics_material
         self.sim.render_interval = 2  # render interval should be a multiple of decimation
         self.sim.device = args_cli.device

scripts/tutorials/03_envs/create_quadruped_base_env.py

@@ -192,13 +192,13 @@ def __post_init__(self):
         # general settings
         self.decimation = 4  # env decimation -> 50 Hz control
         # simulation settings
-        self.sim.dt = 0.005  # simulation timestep -> 200 Hz physics
+        self.sim.physics_manager_cfg.dt = 0.005  # simulation timestep -> 200 Hz physics
         self.sim.physics_material = self.scene.terrain.physics_material
         self.sim.device = args_cli.device
         # update sensor update periods
         # we tick all the sensors based on the smallest update period (physics update period)
         if self.scene.height_scanner is not None:
-            self.scene.height_scanner.update_period = self.decimation * self.sim.dt  # 50 Hz
+            self.scene.height_scanner.update_period = self.decimation * self.sim.physics_manager_cfg.dt  # 50 Hz
 
 
 def main():

scripts/tutorials/03_envs/policy_inference_in_usd.py

@@ -69,7 +69,7 @@ def main():
     )
     env_cfg.sim.device = args_cli.device
     if args_cli.device == "cpu":
-        env_cfg.sim.use_fabric = False
+        env_cfg.sim.physics_manager_cfg.use_fabric = False
 
     # create environment
     env = ManagerBasedRLEnv(cfg=env_cfg)

scripts/tutorials/04_sensors/run_usd_camera.py

@@ -195,7 +195,7 @@ def run_simulator(sim: sim_utils.SimulationContext, scene_entities: dict):
     camera_index = args_cli.camera_id
 
     # Create the markers for the --draw option outside of is_running() loop
-    if sim.has_gui() and args_cli.draw:
+    if sim.carb_settings.get("/isaaclab/has_gui") and args_cli.draw:
         cfg = RAY_CASTER_MARKER_CFG.replace(prim_path="/Visuals/CameraPointCloud")
         cfg.markers["hit"].radius = 0.002
         pc_markers = VisualizationMarkers(cfg)
@@ -247,7 +247,7 @@ def run_simulator(sim: sim_utils.SimulationContext, scene_entities: dict):
             rep_writer.write(rep_output)
 
         # Draw pointcloud if there is a GUI and --draw has been passed
-        if sim.has_gui() and args_cli.draw and "distance_to_image_plane" in camera.data.output.keys():
+        if sim.carb_settings.get("/isaaclab/has_gui") and args_cli.draw and "distance_to_image_plane" in camera.data.output.keys():
             # Derive pointcloud from camera at camera_index
             pointcloud = create_pointcloud_from_depth(
                 intrinsic_matrix=camera.data.intrinsic_matrices[camera_index],

source/isaaclab/isaaclab/assets/articulation/articulation.py

@@ -15,7 +15,7 @@
 from typing import TYPE_CHECKING
 
 import omni.physics.tensors.impl.api as physx
-from isaacsim.core.simulation_manager import SimulationManager
+from isaaclab.physics.physx_manager import PhysxManager
 from pxr import PhysxSchema, UsdPhysics
 
 import isaaclab.sim as sim_utils
@@ -1475,7 +1475,7 @@ def write_spatial_tendon_properties_to_sim(
 
     def _initialize_impl(self):
         # obtain global simulation view
-        self._physics_sim_view = SimulationManager.get_physics_sim_view()
+        self._physics_sim_view = PhysxManager.get_physics_sim_view()
 
         if self.cfg.articulation_root_prim_path is not None:
             # The articulation root prim path is specified explicitly, so we can just use this.

source/isaaclab/isaaclab/assets/articulation/articulation_data.py

@@ -8,7 +8,7 @@
 import weakref
 
 import omni.physics.tensors.impl.api as physx
-from isaacsim.core.simulation_manager import SimulationManager
+from isaaclab.physics.physx_manager import PhysxManager
 
 import isaaclab.utils.math as math_utils
 from isaaclab.utils.buffers import TimestampedBuffer
@@ -53,7 +53,7 @@ def __init__(self, root_physx_view: physx.ArticulationView, device: str):
         self._sim_timestamp = 0.0
 
         # obtain global simulation view
-        self._physics_sim_view = SimulationManager.get_physics_sim_view()
+        self._physics_sim_view = PhysxManager.get_physics_sim_view()
         gravity = self._physics_sim_view.get_gravity()
         # Convert to direction vector
         gravity_dir = torch.tensor((gravity[0], gravity[1], gravity[2]), device=self.device)

source/isaaclab/isaaclab/assets/asset_base.py

@@ -16,7 +16,7 @@
 
 import omni.kit.app
 import omni.timeline
-from isaacsim.core.simulation_manager import IsaacEvents, SimulationManager
+from isaaclab.sim import IsaacEvents, PhysxManager
 
 import isaaclab.sim as sim_utils
 from isaaclab.sim.utils.stage import get_current_stage
@@ -295,7 +295,7 @@ def safe_callback(callback_name, event, obj_ref):
             order=10,
         )
         # register prim deletion callback
-        self._prim_deletion_callback_id = SimulationManager.register_callback(
+        self._prim_deletion_callback_id = PhysxManager.register_callback(
             lambda event, obj_ref=obj_ref: safe_callback("_on_prim_deletion", event, obj_ref),
             event=IsaacEvents.PRIM_DELETION,
         )
@@ -308,15 +308,18 @@ def _initialize_callback(self, event):
             called whenever the simulator "plays" from a "stop" state.
         """
         if not self._is_initialized:
-            # obtain simulation related information
-            self._backend = SimulationManager.get_backend()
-            self._device = SimulationManager.get_physics_sim_device()
-            # initialize the asset
             try:
+                # Obtain Simulation Context
+                sim = sim_utils.SimulationContext.instance()
+                if sim is None:
+                    raise RuntimeError("Simulation Context is not initialized!")
+                # Obtain device and backend
+                self._device = sim.device
+                # initialize the asset
                 self._initialize_impl()
             except Exception as e:
-                if builtins.ISAACLAB_CALLBACK_EXCEPTION is None:
-                    builtins.ISAACLAB_CALLBACK_EXCEPTION = e
+                if builtins.ISAACLAB_CALLBACK_EXCEPTION is None:  # type: ignore
+                    builtins.ISAACLAB_CALLBACK_EXCEPTION = e  # type: ignore
             # set flag
             self._is_initialized = True
 
@@ -327,15 +330,16 @@ def _invalidate_initialize_callback(self, event):
             self._debug_vis_handle.unsubscribe()
             self._debug_vis_handle = None
 
-    def _on_prim_deletion(self, prim_path: str) -> None:
+    def _on_prim_deletion(self, event) -> None:
         """Invalidates and deletes the callbacks when the prim is deleted.
 
         Args:
-            prim_path: The path to the prim that is being deleted.
+            event: The prim deletion event containing the prim path in payload.
 
         Note:
             This function is called when the prim is deleted.
         """
+        prim_path = event.payload["prim_path"]
         if prim_path == "/":
             self._clear_callbacks()
             return
@@ -345,10 +349,14 @@ def _on_prim_deletion(self, prim_path: str) -> None:
         if result:
             self._clear_callbacks()
 
-    def _clear_callbacks(self) -> None:
-        """Clears the callbacks."""
+    def _clear_callbacks(self, event: Any = None) -> None:
+        """Clears the callbacks.
+
+        Args:
+            event: Optional event that triggered the callback (unused but required for event handlers).
+        """
         if self._prim_deletion_callback_id:
-            SimulationManager.deregister_callback(self._prim_deletion_callback_id)
+            PhysxManager.deregister_callback(self._prim_deletion_callback_id)
             self._prim_deletion_callback_id = None
         if self._initialize_handle:
             self._initialize_handle.unsubscribe()

source/isaaclab/isaaclab/assets/deformable_object/deformable_object.py

@@ -11,7 +11,7 @@
 from typing import TYPE_CHECKING
 
 import omni.physics.tensors.impl.api as physx
-from isaacsim.core.simulation_manager import SimulationManager
+from isaaclab.physics.physx_manager import PhysxManager
 from pxr import PhysxSchema, UsdShade
 
 import isaaclab.sim as sim_utils
@@ -266,7 +266,7 @@ def transform_nodal_pos(
 
     def _initialize_impl(self):
         # obtain global simulation view
-        self._physics_sim_view = SimulationManager.get_physics_sim_view()
+        self._physics_sim_view = PhysxManager.get_physics_sim_view()
         # obtain the first prim in the regex expression (all others are assumed to be a copy of this)
         template_prim = sim_utils.find_first_matching_prim(self.cfg.prim_path)
         if template_prim is None:

source/isaaclab/isaaclab/assets/rigid_object/rigid_object.py

@@ -11,7 +11,7 @@
 from typing import TYPE_CHECKING
 
 import omni.physics.tensors.impl.api as physx
-from isaacsim.core.simulation_manager import SimulationManager
+from isaaclab.physics.physx_manager import PhysxManager
 from pxr import UsdPhysics
 
 import isaaclab.sim as sim_utils
@@ -458,7 +458,7 @@ def set_external_force_and_torque(
 
     def _initialize_impl(self):
         # obtain global simulation view
-        self._physics_sim_view = SimulationManager.get_physics_sim_view()
+        self._physics_sim_view = PhysxManager.get_physics_sim_view()
         # obtain the first prim in the regex expression (all others are assumed to be a copy of this)
         template_prim = sim_utils.find_first_matching_prim(self.cfg.prim_path)
         if template_prim is None:

source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection.py

@@ -12,7 +12,7 @@
 from typing import TYPE_CHECKING
 
 import omni.physics.tensors.impl.api as physx
-from isaacsim.core.simulation_manager import SimulationManager
+from isaaclab.physics.physx_manager import PhysxManager
 from pxr import UsdPhysics
 
 import isaaclab.sim as sim_utils
@@ -594,7 +594,7 @@ def _initialize_impl(self):
         # clear object names list to prevent double counting on re-initialization
         self._object_names_list.clear()
         # obtain global simulation view
-        self._physics_sim_view = SimulationManager.get_physics_sim_view()
+        self._physics_sim_view = PhysxManager.get_physics_sim_view()
         root_prim_path_exprs = []
         for name, rigid_object_cfg in self.cfg.rigid_objects.items():
             # obtain the first prim in the regex expression (all others are assumed to be a copy of this)
@@ -737,15 +737,16 @@ def _invalidate_initialize_callback(self, event):
         # set all existing views to None to invalidate them
         self._root_physx_view = None
 
-    def _on_prim_deletion(self, prim_path: str) -> None:
+    def _on_prim_deletion(self, event) -> None:
         """Invalidates and deletes the callbacks when the prim is deleted.
 
         Args:
-            prim_path: The path to the prim that is being deleted.
+            event: The prim deletion event containing the prim path in payload.
 
         Note:
             This function is called when the prim is deleted.
         """
+        prim_path = event.payload["prim_path"]
         if prim_path == "/":
             self._clear_callbacks()
             return

source/isaaclab/isaaclab/controllers/rmp_flow.py

@@ -6,7 +6,7 @@
 import torch
 from dataclasses import MISSING
 
-from isaacsim.core.api.simulation_context import SimulationContext
+from isaaclab.sim import SimulationContext
 from isaacsim.core.prims import SingleArticulation
 
 # enable motion generation extensions