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" = {}

scripts/benchmarks/benchmark_view_comparison.py

@@ -67,8 +67,7 @@
 import time
 import torch
 
-from isaacsim.core.simulation_manager import SimulationManager
-
+from isaaclab.sim.simulation_manager import SimulationManager
 import isaaclab.sim as sim_utils
 import isaaclab.utils.math as math_utils
 from isaaclab.sim.views import XformPrimView

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/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

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.sim.simulation_manager import SimulationManager
 from pxr import PhysxSchema, UsdPhysics
 
 import isaaclab.sim as sim_utils

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.sim.simulation_manager import SimulationManager
 
 import isaaclab.utils.math as math_utils
 from isaaclab.utils.buffers import TimestampedBuffer

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, SimulationManager
 
 import isaaclab.sim as sim_utils
 from isaaclab.sim.utils.stage import get_current_stage
@@ -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
@@ -345,8 +349,12 @@ 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)
             self._prim_deletion_callback_id = None

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.sim.simulation_manager import SimulationManager
 from pxr import PhysxSchema, UsdShade
 
 import isaaclab.sim as sim_utils

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.sim.simulation_manager import SimulationManager
 from pxr import UsdPhysics
 
 import isaaclab.sim as sim_utils

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.sim.simulation_manager import SimulationManager
 from pxr import UsdPhysics
 
 import isaaclab.sim as sim_utils
@@ -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

source/isaaclab/isaaclab/envs/direct_marl_env.py

@@ -5,7 +5,6 @@
 
 from __future__ import annotations
 
-import builtins
 import gymnasium as gym
 import inspect
 import logging
@@ -150,17 +149,16 @@ def __init__(self, cfg: DirectMARLEnvCfg, render_mode: str | None = None, **kwar
         # play the simulator to activate physics handles
         # note: this activates the physics simulation view that exposes TensorAPIs
         # note: when started in extension mode, first call sim.reset_async() and then initialize the managers
-        if builtins.ISAAC_LAUNCHED_FROM_TERMINAL is False:
-            print("[INFO]: Starting the simulation. This may take a few seconds. Please wait...")
-            with Timer("[INFO]: Time taken for simulation start", "simulation_start"):
-                # since the reset can trigger callbacks which use the stage,
-                # we need to set the stage context here
-                with use_stage(self.sim.get_initial_stage()):
-                    self.sim.reset()
-                # update scene to pre populate data buffers for assets and sensors.
-                # this is needed for the observation manager to get valid tensors for initialization.
-                # this shouldn't cause an issue since later on, users do a reset over all the environments so the lazy buffers would be reset.
-                self.scene.update(dt=self.physics_dt)
+        print("[INFO]: Starting the simulation. This may take a few seconds. Please wait...")
+        with Timer("[INFO]: Time taken for simulation start", "simulation_start"):
+            # since the reset can trigger callbacks which use the stage,
+            # we need to set the stage context here
+            with use_stage(self.sim.get_initial_stage()):
+                self.sim.reset()
+            # update scene to pre populate data buffers for assets and sensors.
+            # this is needed for the observation manager to get valid tensors for initialization.
+            # this shouldn't cause an issue since later on, users do a reset over all the environments so the lazy buffers would be reset.
+            self.scene.update(dt=self.physics_dt)
 
         # check if debug visualization is has been implemented by the environment
         source_code = inspect.getsource(self._set_debug_vis_impl)
@@ -549,7 +547,6 @@ def close(self):
                     self.sim.stop()
                     self.sim.clear()
 
-            self.sim.clear_all_callbacks()
             self.sim.clear_instance()
 
             # destroy the window

source/isaaclab/isaaclab/envs/direct_rl_env.py

@@ -5,7 +5,6 @@
 
 from __future__ import annotations
 
-import builtins
 import gymnasium as gym
 import inspect
 import logging
@@ -21,7 +20,7 @@
 
 import omni.kit.app
 import omni.physx
-from isaacsim.core.simulation_manager import SimulationManager
+from isaaclab.sim.simulation_manager import SimulationManager
 
 from isaaclab.managers import EventManager
 from isaaclab.scene import InteractiveScene
@@ -157,17 +156,16 @@ def __init__(self, cfg: DirectRLEnvCfg, render_mode: str | None = None, **kwargs
         # play the simulator to activate physics handles
         # note: this activates the physics simulation view that exposes TensorAPIs
         # note: when started in extension mode, first call sim.reset_async() and then initialize the managers
-        if builtins.ISAAC_LAUNCHED_FROM_TERMINAL is False:
-            print("[INFO]: Starting the simulation. This may take a few seconds. Please wait...")
-            with Timer("[INFO]: Time taken for simulation start", "simulation_start"):
-                # since the reset can trigger callbacks which use the stage,
-                # we need to set the stage context here
-                with use_stage(self.sim.get_initial_stage()):
-                    self.sim.reset()
-                # update scene to pre populate data buffers for assets and sensors.
-                # this is needed for the observation manager to get valid tensors for initialization.
-                # this shouldn't cause an issue since later on, users do a reset over all the environments so the lazy buffers would be reset.
-                self.scene.update(dt=self.physics_dt)
+        print("[INFO]: Starting the simulation. This may take a few seconds. Please wait...")
+        with Timer("[INFO]: Time taken for simulation start", "simulation_start"):
+            # since the reset can trigger callbacks which use the stage,
+            # we need to set the stage context here
+            with use_stage(self.sim.get_initial_stage()):
+                self.sim.reset()
+            # update scene to pre populate data buffers for assets and sensors.
+            # this is needed for the observation manager to get valid tensors for initialization.
+            # this shouldn't cause an issue since later on, users do a reset over all the environments so the lazy buffers would be reset.
+            self.scene.update(dt=self.physics_dt)
 
         # check if debug visualization is has been implemented by the environment
         source_code = inspect.getsource(self._set_debug_vis_impl)
@@ -518,7 +516,6 @@ def close(self):
                     self.sim.stop()
                     self.sim.clear()
 
-            self.sim.clear_all_callbacks()
             self.sim.clear_instance()
 
             # destroy the window

source/isaaclab/isaaclab/envs/manager_based_env.py

@@ -3,15 +3,14 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-import builtins
 import logging
 import torch
 import warnings
 from collections.abc import Sequence
 from typing import Any
 
 import omni.physx
-from isaacsim.core.simulation_manager import SimulationManager
+from isaaclab.sim.simulation_manager import SimulationManager
 
 from isaaclab.managers import ActionManager, EventManager, ObservationManager, RecorderManager
 from isaaclab.scene import InteractiveScene
@@ -101,11 +100,7 @@ def __init__(self, cfg: ManagerBasedEnvCfg):
             # since it gets confused with Isaac Sim's SimulationContext class
             self.sim: SimulationContext = SimulationContext(self.cfg.sim)
         else:
-            # simulation context should only be created before the environment
-            # when in extension mode
-            if not builtins.ISAAC_LAUNCHED_FROM_TERMINAL:
-                raise RuntimeError("Simulation context already exists. Cannot create a new one.")
-            self.sim: SimulationContext = SimulationContext.instance()
+            raise RuntimeError("Simulation context already exists. Cannot create a new one.")
 
         # make sure torch is running on the correct device
         if "cuda" in self.device:
@@ -162,19 +157,18 @@ def __init__(self, cfg: ManagerBasedEnvCfg):
         # play the simulator to activate physics handles
         # note: this activates the physics simulation view that exposes TensorAPIs
         # note: when started in extension mode, first call sim.reset_async() and then initialize the managers
-        if builtins.ISAAC_LAUNCHED_FROM_TERMINAL is False:
-            print("[INFO]: Starting the simulation. This may take a few seconds. Please wait...")
-            with Timer("[INFO]: Time taken for simulation start", "simulation_start"):
-                # since the reset can trigger callbacks which use the stage,
-                # we need to set the stage context here
-                with use_stage(self.sim.get_initial_stage()):
-                    self.sim.reset()
-                # update scene to pre populate data buffers for assets and sensors.
-                # this is needed for the observation manager to get valid tensors for initialization.
-                # this shouldn't cause an issue since later on, users do a reset over all the environments so the lazy buffers would be reset.
-                self.scene.update(dt=self.physics_dt)
-            # add timeline event to load managers
-            self.load_managers()
+        print("[INFO]: Starting the simulation. This may take a few seconds. Please wait...")
+        with Timer("[INFO]: Time taken for simulation start", "simulation_start"):
+            # since the reset can trigger callbacks which use the stage,
+            # we need to set the stage context here
+            with use_stage(self.sim.get_initial_stage()):
+                self.sim.reset()
+            # update scene to pre populate data buffers for assets and sensors.
+            # this is needed for the observation manager to get valid tensors for initialization.
+            # this shouldn't cause an issue since later on, users do a reset over all the environments so the lazy buffers would be reset.
+            self.scene.update(dt=self.physics_dt)
+        # add timeline event to load managers
+        self.load_managers()
 
         # extend UI elements
         # we need to do this here after all the managers are initialized
@@ -536,7 +530,6 @@ def close(self):
                     self.sim.stop()
                     self.sim.clear()
 
-            self.sim.clear_all_callbacks()
             self.sim.clear_instance()
 
             # destroy the window

source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor.py

@@ -14,7 +14,7 @@
 
 import carb
 import omni.physics.tensors.impl.api as physx
-from isaacsim.core.simulation_manager import SimulationManager
+from isaaclab.sim.simulation_manager import SimulationManager
 from pxr import PhysxSchema
 
 import isaaclab.sim as sim_utils

source/isaaclab/isaaclab/sensors/frame_transformer/frame_transformer.py

@@ -11,7 +11,7 @@
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-from isaacsim.core.simulation_manager import SimulationManager
+from isaaclab.sim.simulation_manager import SimulationManager
 from pxr import UsdPhysics
 
 import isaaclab.sim as sim_utils

source/isaaclab/isaaclab/sensors/imu/imu.py

@@ -9,7 +9,7 @@
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-from isaacsim.core.simulation_manager import SimulationManager
+from isaaclab.sim.simulation_manager import SimulationManager
 from pxr import UsdGeom, UsdPhysics
 
 import isaaclab.sim as sim_utils

source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py

@@ -14,7 +14,7 @@
 from typing import TYPE_CHECKING, ClassVar
 
 import omni
-from isaacsim.core.simulation_manager import SimulationManager
+from isaaclab.sim.simulation_manager import SimulationManager
 from pxr import UsdGeom, UsdPhysics
 
 import isaaclab.sim as sim_utils