[refactor] Cleanup codes

Author: uzuku

.github/ISSUE_TEMPLATE/1-bug.yml

@@ -6,7 +6,7 @@ body:
   - type: markdown
     attributes:
       value: |
-        Thanks for taking the time to fill out this bug report, please make sure to [search for existing issues](https://github.com/OpenRobotLab/InternUtopia/issues) before filing a new one!
+        Thanks for taking the time to fill out this bug report, please make sure to [search for existing issues](https://github.com/InternRobotics/InternUtopia/issues) before filing a new one!
 
   - type: textarea
     id: bug-description

.github/ISSUE_TEMPLATE/3-question.yml

@@ -6,7 +6,7 @@ body:
   - type: markdown
     attributes:
       value: |
-        Please make sure to [search for existing issues](https://github.com/OpenRobotLab/InternUtopia/issues) before filing a new one!
+        Please make sure to [search for existing issues](https://github.com/InternRobotics/InternUtopia/issues) before filing a new one!
 
   - type: textarea
     attributes:

CONTRIBUTING.md

@@ -2,9 +2,9 @@
 
 Thank you for your interest in contributing to InternUtopia! We welcome contributions from everyone. Please take a moment to review this guide to ensure a smooth collaboration.
 
-- [Reporting Bugs](https://github.com/OpenRobotLab/InternUtopia/issues/new/choose)
-- [Suggesting Enhancement](https://github.com/OpenRobotLab/InternUtopia/issues/new/choose)
-- [Questions and Discussions](https://github.com/OpenRobotLab/InternUtopia/issues/new/choose)
+- [Reporting Bugs](https://github.com/InternRobotics/InternUtopia/issues/new/choose)
+- [Suggesting Enhancement](https://github.com/InternRobotics/InternUtopia/issues/new/choose)
+- [Questions and Discussions](https://github.com/InternRobotics/InternUtopia/issues/new/choose)
 - [Submitting Code Changes](#submitting-code-changes)
 - [Reviewing and Merging](#reviewing-and-merging)
 

internutopia/core/config/__init__.py

@@ -1,7 +1,7 @@
 from enum import Enum
-from typing import List, Optional
+from typing import Annotated, List, Optional
 
-from pydantic import BaseModel
+from pydantic import BaseModel, Field
 
 from internutopia.core.config.distribution import DistributionCfg
 from internutopia.core.config.object import ObjectCfg
@@ -24,7 +24,7 @@ class SimConfig(BaseModel):
     use_fabric: Optional[bool] = False
     headless: Optional[bool] = True
     webrtc: Optional[bool] = False
-    native: Optional[bool] = False
+    native: Annotated[Optional[bool], Field(deprecated='Deprecated for isaacsim ≥ 4.5.0')] = False
 
 
 class Config(BaseModel):

internutopia/core/robot/articulation.py

@@ -211,6 +211,7 @@ def create(
     ) -> 'IArticulation':
         """
         Factory method to create IArticulation instances based on simulator_type.
+
         Args:
             simulator_type (str): simulator type.
             usd_path (str, optional): The file path to the USD containing the robot definition.

internutopia/core/robot/controller.py

@@ -23,7 +23,7 @@ def __init__(self, config: ControllerCfg, robot: BaseRobot, scene: IScene):
         Args:
             config (ControllerCfg): controller configuration.
             robot (BaseRobot): robot owning the controller.
-            scene (Scene): scene from isaac sim.
+            scene (IScene): scene interface.
 
         """
         self.sub_controllers = None

internutopia/core/runner.py

@@ -439,7 +439,9 @@ def _next_episodes(self, reset_tasks: List[str] = None) -> List[TaskCfg]:
         return task_configs_list
 
     def get_obj(self, name: str) -> IRigidBody:
-        return self._scene.get(name)
+        # Only supported in gym_env.
+        # TODO: handle name by a more robust way and maybe support vec env
+        return self._scene.get(name + '_0')
 
     def remove_collider(self, prim_path: str):
         from omni.physx.scripts import utils
@@ -459,9 +461,10 @@ def create_world(self):
         physics_dt = self.config.simulator.physics_dt
         rendering_dt = self.config.simulator.rendering_dt
         physics_dt = eval(physics_dt) if isinstance(physics_dt, str) else physics_dt
-        rendering_dtt = eval(rendering_dt) if isinstance(rendering_dt, str) else rendering_dt
+        self.dt = physics_dt
+        rendering_dt = eval(rendering_dt) if isinstance(rendering_dt, str) else rendering_dt
         use_fabric = self.config.simulator.use_fabric
-        log.info(f'simulator params: physics dt={physics_dt}, rendering dt={rendering_dtt}, use_fabric={use_fabric}')
+        log.info(f'simulator params: physics dt={physics_dt}, rendering dt={rendering_dt}, use_fabric={use_fabric}')
         from omni.isaac.core import World
 
         self._world: World = World(

internutopia/core/sensor/camera.py

@@ -71,10 +71,10 @@ def create(
             simulator_type (str): simulator type.
             name (str): The unique identifier for the camera.
             prim_path (Optional[str]): The primary path associated with the camera.
-            rgba (Optional[bool], default=False): Whether to get rgba form the camera or not.
-            distance_to_image_plane (Optional[bool], default=False): Whether to get distance_to_image_plane form the camera or not.
-            bounding_box_2d_tight (Optional[bool], default=False): Whether to get bounding_box_2d_tight form the camera or not.
-            camera_params (Optional[bool], default=False): Whether to get camera_params form the camera or not.
+            rgba (Optional[bool], default=False): Whether to get rgba from the camera or not.
+            distance_to_image_plane (Optional[bool], default=False): Whether to get distance_to_image_plane from the camera or not.
+            bounding_box_2d_tight (Optional[bool], default=False): Whether to get bounding_box_2d_tight from the camera or not.
+            camera_params (Optional[bool], default=False): Whether to get camera_params from the camera or not.
             resolution (Optional[Tuple[int, int]], optional): resolution of the camera (width, height). Defaults to None.
             position (Optional[Tuple[float, float, float]], optional): position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
             translation (Optional[Tuple[float, float, float]], optional): translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.

internutopia/core/vec_env.py

@@ -8,32 +8,13 @@
 
 class Env:
     """
-    Represents an environment for multi env and multi agents. **Not gymnasium compatible**.
+    Vectorized environments to run multiple independent environments simultaneously with multiple agents.
 
-    This class encapsulates the capability to reset, step, and close environments
-    within a simulation framework. It provides properties to access the runner, active
-    configs, simulation configuration, and other relevant components. The class is
-    designed to manage the lifecycle of simulation tasks.
+    **NOT gymnasium compatible**.
 
     Parameters:
         config (Config): The config instance used for simulation
             management.
-
-    Methods:
-        reset(env_ids: List[int] = None) -> Tuple[List, List]: Resets specified environments
-            and returns initial observations and task configs.
-        step(action: List[Union[Dict, OrderedDict]]) -> Tuple[List, List, List, List, List]:
-            Executes a single step in the environment using provided actions.
-        get_dt(): Retrieves the simulation timestep (dt).
-        get_observations() -> List | Any: Fetches observations from the simulation environment.
-        close(): Closes the simulation environment.
-        finished() -> bool: Checks if all tasks in the simulation are completed.
-
-    Properties:
-        runner: Provides access to the internal runner instance.
-        is_render: Indicates whether the environment is in a renderable state.
-        active_task_configs: Retrieves the currently active task configs.
-        simulation_app: Retrieves the simulation app instance.
     """
 
     def __init__(self, config: Config) -> None:

internutopia/demo/aliengo_locomotion.py

@@ -9,16 +9,11 @@
 )
 from internutopia_extension.configs.tasks import SingleInferenceTaskCfg
 
-headless = False
-webrtc = False
-
-if not has_display():
-    headless = True
-    webrtc = True
+headless = not has_display()
 
 
 config = Config(
-    simulator=SimConfig(physics_dt=1 / 240, rendering_dt=1 / 240, use_fabric=False, webrtc=webrtc, headless=headless),
+    simulator=SimConfig(physics_dt=1 / 240, rendering_dt=1 / 240, use_fabric=False, headless=headless, webrtc=headless),
     task_configs=[
         SingleInferenceTaskCfg(
             scene_asset_path=gm.ASSET_PATH + '/scenes/empty.usd',