Fixes the rendering logic inside the environment classes

source/extensions/omni.isaac.lab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.17.13"
+version = "0.18.0"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/extensions/omni.isaac.lab/docs/CHANGELOG.rst

@@ -1,6 +1,22 @@
 Changelog
 ---------
 
+0.18.0 (2024-06-13)
+~~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed the rendering logic to render at the specified interval. Earlier, the substep parameter had no effect and rendering
+  would happen once every env.step() when active.
+
+Changed
+^^^^^^^
+
+* Renamed :attr:`omni.isaac.lab.sim.SimulationCfg.substeps` to :attr:`omni.isaac.lab.sim.SimulationCfg.render_interval`.
+  The render logic is now integrated in the decimation loop of the environment.
+
+
 0.17.13 (2024-06-13)
 ~~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py

@@ -16,6 +16,7 @@
 from collections.abc import Sequence
 from typing import Any, ClassVar
 
+import carb
 import omni.isaac.core.utils.torch as torch_utils
 import omni.kit.app
 from omni.isaac.version import get_version
@@ -91,11 +92,19 @@ def __init__(self, cfg: DirectRLEnvCfg, render_mode: str | None = None, **kwargs
         print("[INFO]: Base environment:")
         print(f"\tEnvironment device    : {self.device}")
         print(f"\tPhysics step-size     : {self.physics_dt}")
-        print(f"\tRendering step-size   : {self.physics_dt * self.cfg.sim.substeps}")
+        print(f"\tRendering step-size   : {self.physics_dt * self.cfg.sim.render_interval}")
         print(f"\tEnvironment step-size : {self.step_dt}")
         print(f"\tPhysics GPU pipeline  : {self.cfg.sim.use_gpu_pipeline}")
         print(f"\tPhysics GPU simulation: {self.cfg.sim.physx.use_gpu}")
 
+        if self.cfg.sim.render_interval < self.cfg.decimation:
+            msg = (
+                f"The render interval ({self.cfg.sim.render_interval}) is smaller than the decimation "
+                f"({self.cfg.decimation}). Multiple multiple render calls will happen for each environment step."
+                "If this is not intended, set the render interval to be equal to the decimation."
+            )
+            carb.log_warn(msg)
+
         # generate scene
         with Timer("[INFO]: Time taken for scene creation"):
             self.scene = InteractiveScene(self.cfg.scene)
@@ -146,6 +155,8 @@ def __init__(self, cfg: DirectRLEnvCfg, render_mode: str | None = None, **kwargs
         self.extras = {}
 
         # initialize data and constants
+        # -- counter for simulation steps
+        self._sim_step_counter = 0
         # -- counter for curriculum
         self.common_step_counter = 0
         # -- init buffers
@@ -270,17 +281,18 @@ def step(self, action: torch.Tensor) -> VecEnvStepReturn:
         self._pre_physics_step(action)
         # perform physics stepping
         for _ in range(self.cfg.decimation):
+            self._sim_step_counter += 1
             # set actions into buffers
             self._apply_action()
             # set actions into simulator
             self.scene.write_data_to_sim()
+            render = self._sim_step_counter % self.cfg.sim.render_interval == 0 and (
+                self.sim.has_gui() or self.sim.has_rtx_sensors()
+            )
             # simulate
-            self.sim.step(render=False)
+            self.sim.step(render=render)
             # update buffers at sim dt
             self.scene.update(dt=self.physics_dt)
-        # perform rendering if gui is enabled
-        if self.sim.has_gui() or self.sim.has_rtx_sensors():
-            self.sim.render()
 
         # post-step:
         # -- update env counters (used for curriculum generation)

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py

@@ -87,11 +87,22 @@ def __init__(self, cfg: ManagerBasedEnvCfg):
         print("[INFO]: Base environment:")
         print(f"\tEnvironment device    : {self.device}")
         print(f"\tPhysics step-size     : {self.physics_dt}")
-        print(f"\tRendering step-size   : {self.physics_dt * self.cfg.sim.substeps}")
+        print(f"\tRendering step-size   : {self.physics_dt * self.cfg.sim.render_interval}")
         print(f"\tEnvironment step-size : {self.step_dt}")
         print(f"\tPhysics GPU pipeline  : {self.cfg.sim.use_gpu_pipeline}")
         print(f"\tPhysics GPU simulation: {self.cfg.sim.physx.use_gpu}")
 
+        if self.cfg.sim.render_interval < self.cfg.decimation:
+            msg = (
+                f"The render interval ({self.cfg.sim.render_interval}) is smaller than the decimation "
+                f"({self.cfg.decimation}). Multiple multiple render calls will happen for each environment step. "
+                "If this is not intended, set the render interval to be equal to the decimation."
+            )
+            carb.log_warn(msg)
+
+        # counter for simulation steps
+        self._sim_step_counter = 0
+
         # generate scene
         with Timer("[INFO]: Time taken for scene creation"):
             self.scene = InteractiveScene(self.cfg.scene)
@@ -253,17 +264,18 @@ def step(self, action: torch.Tensor) -> tuple[VecEnvObs, dict]:
         self.action_manager.process_action(action)
         # perform physics stepping
         for _ in range(self.cfg.decimation):
+            self._sim_step_counter += 1
             # set actions into buffers
             self.action_manager.apply_action()
             # set actions into simulator
             self.scene.write_data_to_sim()
+            render = self._sim_step_counter % self.cfg.sim.render_interval == 0 and (
+                self.sim.has_gui() or self.sim.has_rtx_sensors()
+            )
             # simulate
-            self.sim.step(render=False)
+            self.sim.step(render=render)
             # update buffers at sim dt
             self.scene.update(dt=self.physics_dt)
-        # perform rendering if gui is enabled
-        if self.sim.has_gui() or self.sim.has_rtx_sensors():
-            self.sim.render()
 
         # post-step: step interval event
         if "interval" in self.event_manager.available_modes:

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py

@@ -154,17 +154,18 @@ def step(self, action: torch.Tensor) -> VecEnvStepReturn:
         self.action_manager.process_action(action)
         # perform physics stepping
         for _ in range(self.cfg.decimation):
+            self._sim_step_counter += 1
             # set actions into buffers
             self.action_manager.apply_action()
             # set actions into simulator
             self.scene.write_data_to_sim()
+            render = self._sim_step_counter % self.cfg.sim.render_interval == 0 and (
+                self.sim.has_gui() or self.sim.has_rtx_sensors()
+            )
             # simulate
-            self.sim.step(render=False)
+            self.sim.step(render=render)
             # update buffers at sim dt
             self.scene.update(dt=self.physics_dt)
-        # perform rendering if gui is enabled
-        if self.sim.has_gui() or self.sim.has_rtx_sensors():
-            self.sim.render()
 
         # post-step:
         # -- update env counters (used for curriculum generation)

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py

@@ -168,7 +168,7 @@ class SimulationCfg:
     dt: float = 1.0 / 60.0
     """The physics simulation time-step (in seconds). Default is 0.0167 seconds."""
 
-    substeps: int = 1
+    render_interval: int = 1
     """The number of physics simulation steps per rendering step. Default is 1."""
 
     gravity: tuple[float, float, float] = (0.0, 0.0, -9.81)

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py

@@ -214,7 +214,7 @@ def __init__(self, cfg: SimulationCfg | None = None):
         super().__init__(
             stage_units_in_meters=1.0,
             physics_dt=self.cfg.dt,
-            rendering_dt=self.cfg.dt * self.cfg.substeps,
+            rendering_dt=self.cfg.dt * self.cfg.render_interval,
             backend="torch",
             sim_params=sim_params,
             physics_prim_path=self.cfg.physics_prim_path,
@@ -384,14 +384,14 @@ def reset(self, soft: bool = False):
                 self.render()
 
     def step(self, render: bool = True):
-        """Steps the physics simulation with the pre-defined time-step.
+        """Steps the simulation.
 
         .. note::
             This function blocks if the timeline is paused. It only returns when the timeline is playing.
 
         Args:
             render: Whether to render the scene after stepping the physics simulation.
-                If set to False, the scene is not rendered and only the physics simulation is stepped.
+                    If set to False, the scene is not rendered and only the physics simulation is stepped.
         """
         # check if the simulation timeline is paused. in that case keep stepping until it is playing
         if not self.is_playing():
@@ -467,6 +467,11 @@ async def reset_async(self, soft: bool = False):
 
     def _init_stage(self, *args, **kwargs) -> Usd.Stage:
         _ = super()._init_stage(*args, **kwargs)
+        # a stage update here is needed for the case when physics_dt != rendering_dt, otherwise the app crashes
+        # when in headless mode
+        self.set_setting("/app/player/playSimulations", False)
+        self._app.update()
+        self.set_setting("/app/player/playSimulations", True)
         # set additional physx parameters and bind material
         self._set_additional_physx_params()
         # load flatcache/fabric interface

source/extensions/omni.isaac.lab/test/assets/check_fixed_base_assets.py

@@ -144,7 +144,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim = sim_utils.SimulationContext(sim_utils.SimulationCfg(dt=0.01, substeps=1))
+    sim = sim_utils.SimulationContext(sim_utils.SimulationCfg(dt=0.01))
     # Set main camera
     sim.set_camera_view(eye=[2.5, 2.5, 2.5], target=[0.0, 0.0, 0.0])
     # design scene

source/extensions/omni.isaac.lab/test/markers/check_markers_visibility.py

@@ -128,7 +128,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(dt=0.005, substeps=1)
+    sim_cfg = sim_utils.SimulationCfg(dt=0.005)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[3.5, 3.5, 3.5], target=[0.0, 0.0, 0.0])

source/extensions/omni.isaac.lab/test/sensors/test_contact_sensor.py

@@ -9,10 +9,8 @@
 
 from omni.isaac.lab.app import AppLauncher, run_tests
 
-HEADLESS = True
-
 # launch omniverse app
-app_launcher = AppLauncher(headless=HEADLESS)
+app_launcher = AppLauncher(headless=True)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""
@@ -467,7 +465,7 @@ def _perform_sim_step(self) -> None:
         # write data to simulation
         self.scene.write_data_to_sim()
         # simulate
-        self.sim.step(render=not HEADLESS)
+        self.sim.step(render=False)
         # update buffers at sim dt
         self.scene.update(dt=self.sim_dt)
 

source/extensions/omni.isaac.lab/test/sim/test_simulation_context.py

@@ -52,15 +52,15 @@ def test_singleton(self):
 
     def test_initialization(self):
         """Test the simulation config."""
-        cfg = SimulationCfg(physics_prim_path="/Physics/PhysX", substeps=5, gravity=(0.0, -0.5, -0.5))
+        cfg = SimulationCfg(physics_prim_path="/Physics/PhysX", render_interval=5, gravity=(0.0, -0.5, -0.5))
         sim = SimulationContext(cfg)
         # TODO: Figure out why keyword argument doesn't work.
         # note: added a fix in Isaac Sim 2023.1 for this.
         # sim = SimulationContext(cfg=cfg)
 
         # check valid settings
         self.assertEqual(sim.get_physics_dt(), cfg.dt)
-        self.assertEqual(sim.get_rendering_dt(), cfg.dt * cfg.substeps)
+        self.assertEqual(sim.get_rendering_dt(), cfg.dt * cfg.render_interval)
         self.assertFalse(sim.has_rtx_sensors())
         # check valid paths
         self.assertTrue(prim_utils.is_prim_path_valid("/Physics/PhysX"))

source/extensions/omni.isaac.lab_tasks/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.7.6"
+version = "0.7.7"
 
 # Description
 title = "Isaac Lab Environments"

source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst

@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.7.7 (2024-06-14)
+~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Updated the tasks to use the renamed attribute :attr:`omni.isaac.lab.sim.SimulationCfg.render_interval`.
+
+
 0.7.6 (2024-06-13)
 ~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/ant/ant_env.py

@@ -20,8 +20,16 @@
 
 @configclass
 class AntEnvCfg(DirectRLEnvCfg):
+    # env
+    episode_length_s = 15.0
+    decimation = 2
+    action_scale = 0.5
+    num_actions = 8
+    num_observations = 36
+    num_states = 0
+
     # simulation
-    sim: SimulationCfg = SimulationCfg(dt=1 / 120)
+    sim: SimulationCfg = SimulationCfg(dt=1 / 120, render_interval=decimation)
     terrain = TerrainImporterCfg(
         prim_path="/World/ground",
         terrain_type="plane",
@@ -43,14 +51,6 @@ class AntEnvCfg(DirectRLEnvCfg):
     robot: ArticulationCfg = ANT_CFG.replace(prim_path="/World/envs/env_.*/Robot")
     joint_gears: list = [15, 15, 15, 15, 15, 15, 15, 15]
 
-    # env
-    episode_length_s = 15.0
-    decimation = 2
-    action_scale = 0.5
-    num_actions = 8
-    num_observations = 36
-    num_states = 0
-
     heading_weight: float = 0.5
     up_weight: float = 0.1
 

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/anymal_c/anymal_c_env.py

@@ -25,9 +25,18 @@
 
 @configclass
 class AnymalCFlatEnvCfg(DirectRLEnvCfg):
+    # env
+    episode_length_s = 20.0
+    decimation = 4
+    action_scale = 0.5
+    num_actions = 12
+    num_observations = 48
+    num_states = 0
+
     # simulation
     sim: SimulationCfg = SimulationCfg(
         dt=1 / 200,
+        render_interval=decimation,
         disable_contact_processing=True,
         physics_material=sim_utils.RigidBodyMaterialCfg(
             friction_combine_mode="multiply",
@@ -60,14 +69,6 @@ class AnymalCFlatEnvCfg(DirectRLEnvCfg):
         prim_path="/World/envs/env_.*/Robot/.*", history_length=3, update_period=0.005, track_air_time=True
     )
 
-    # env
-    episode_length_s = 20.0
-    decimation = 4
-    action_scale = 0.5
-    num_actions = 12
-    num_observations = 48
-    num_states = 0
-
     # reward scales
     lin_vel_reward_scale = 1.0
     yaw_rate_reward_scale = 0.5