Merge pull request #61 from Toni-SM/omniisaacgymenvs

Omniisaacgymenvs

CHANGELOG.md

@@ -2,6 +2,11 @@
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
+## [0.10.2] - 2023-03-23
+### Changed
+- Update loader and utils for OmniIsaacGymEnvs 2022.2.1.0
+- Update Omniverse Isaac Gym real-world examples
+
 ## [0.10.1] - 2023-01-26
 ### Fixed
 - Tensorboard writer instantiation when `write_interval` is zero

docs/source/examples/real_world/franka_emika_panda/reaching_franka_omniverse_isaacgym_env.py

@@ -1,6 +1,9 @@
 import torch
 import numpy as np
 
+from omni.isaac.core.utils.extensions import enable_extension
+enable_extension("omni.replicator.isaac")  # required by OIGE
+
 from omniisaacgymenvs.tasks.base.rl_task import RLTask
 from omniisaacgymenvs.robots.articulations.franka import Franka as Robot
 
@@ -23,6 +26,7 @@
             "device_id": 0,
             "headless": True,
             "sim_device": "gpu",
+            "enable_livestream": False,
             "task": {"name": "ReachingFranka",
                      "physics_engine": "physx",
                      "env": {"numEnvs": 1024,

docs/source/examples/real_world/franka_emika_panda/reaching_franka_omniverse_isaacgym_skrl_eval.py

@@ -31,7 +31,7 @@ def compute(self, inputs, role):
 
 
 # instance VecEnvBase and setup task
-headless = True  # set headless to False for rendering
+headless = False  # set headless to False for rendering
 env = get_env_instance(headless=headless)
 
 from omniisaacgymenvs.utils.config_utils.sim_config import SimConfig

docs/source/examples/real_world/kuka_lbr_iiwa/reaching_iiwa_omniverse_isaacgym_env.py

@@ -1,6 +1,9 @@
 import torch
 import numpy as np
 
+from omni.isaac.core.utils.extensions import enable_extension
+enable_extension("omni.replicator.isaac")  # required by OIGE
+
 from omniisaacgymenvs.tasks.base.rl_task import RLTask
 
 from omni.isaac.core.prims import RigidPrimView
@@ -24,6 +27,7 @@
             "device_id": 0,
             "headless": True,
             "sim_device": "gpu",
+            "enable_livestream": False,
             "task": {"name": "ReachingIiwa",
                      "physics_engine": "physx",
                      "env": {"numEnvs": 1024,

docs/source/examples/real_world/kuka_lbr_iiwa/reaching_iiwa_omniverse_isaacgym_skrl_eval.py

@@ -31,7 +31,7 @@ def compute(self, inputs, role):
 
 
 # instance VecEnvBase and setup task
-headless = not True  # set headless to False for rendering
+headless = False  # set headless to False for rendering
 env = get_env_instance(headless=headless)
 
 from omniisaacgymenvs.utils.config_utils.sim_config import SimConfig

skrl/envs/torch/loaders.py

@@ -350,24 +350,9 @@ def load_omniverse_isaacgym_env(task_name: str = "",
     hydra_object = Hydra.create_main_hydra2(task_name='load_omniisaacgymenv', config_search_path=search_path)
     config = hydra_object.compose_config(config_file, args.overrides, run_mode=RunMode.RUN)
 
-    cfg = {}
-    cfg["task"] = _omegaconf_to_dict(config.task)
-    cfg["task_name"] = config.task_name
-    cfg["experiment"] = config.experiment
-    cfg["num_envs"] = config.num_envs
-    cfg["seed"] = config.seed
-    cfg["torch_deterministic"] = config.torch_deterministic
-    cfg["max_iterations"] = config.max_iterations
-    cfg["physics_engine"] = config.physics_engine
-    cfg["pipeline"] = config.pipeline
-    cfg["sim_device"] = config.sim_device
-    cfg["device_id"] = config.device_id
-    cfg["rl_device"] = config.rl_device
-    cfg["num_threads"] = config.num_threads
-    cfg["solver_type"] = config.solver_type
-    cfg["test"] = config.test
-    cfg["checkpoint"] = config.checkpoint
-    cfg["headless"] = config.headless
+    del config.hydra
+    cfg = _omegaconf_to_dict(config)
+    cfg["train"] = {}
 
     # print config
     if show_cfg:
@@ -402,8 +387,8 @@ def stop(self):
             pass
 
     class _OmniIsaacGymVecEnvMT(VecEnvMT):
-        def __init__(self, headless):
-            super().__init__(headless)
+        def __init__(self, *args, **kwargs):
+            super().__init__(*args, **kwargs)
 
             self.action_queue = queue.Queue(1)
             self.data_queue = queue.Queue(1)
@@ -442,12 +427,24 @@ def close(self):
     sys.path.append(omniisaacgymenvs_path)
     from utils.task_util import initialize_task
 
+    if config.multi_gpu:
+        rank = int(os.getenv("LOCAL_RANK", "0"))
+        config.device_id = rank
+        config.rl_device = f"cuda:{rank}"
+    enable_viewport = "enable_cameras" in config.task.sim and config.task.sim.enable_cameras
+
     if multi_threaded:
-        env = _OmniIsaacGymVecEnvMT(headless=config.headless)
+        env = _OmniIsaacGymVecEnvMT(headless=config.headless,
+                                    sim_device=config.device_id,
+                                    enable_livestream=config.enable_livestream,
+                                    enable_viewport=enable_viewport)
         task = initialize_task(cfg, env, init_sim=False)
         env.initialize(env.action_queue, env.data_queue, timeout=timeout)
     else:
-        env = _OmniIsaacGymVecEnv(headless=config.headless)
+        env = _OmniIsaacGymVecEnv(headless=config.headless,
+                                  sim_device=config.device_id,
+                                  enable_livestream=config.enable_livestream,
+                                  enable_viewport=enable_viewport)
         task = initialize_task(cfg, env, init_sim=True)
 
     return env

skrl/utils/omniverse_isaacgym_utils.py

@@ -1,5 +1,6 @@
 from typing import Optional, Union
 
+import queue
 import torch
 import numpy as np
 
@@ -117,12 +118,19 @@ def ik(jacobian_end_effector: torch.Tensor,
         else:
             return transpose @ np.linalg.inv(jacobian_end_effector @ transpose + lmbda) @ error
 
-def get_env_instance(headless: bool = True, multi_threaded: bool = False) -> "omni.isaac.gym.vec_env.VecEnvBase":
+def get_env_instance(headless: bool = True,
+                     enable_livestream: bool = False,
+                     enable_viewport: bool = False,
+                     multi_threaded: bool = False) -> "omni.isaac.gym.vec_env.VecEnvBase":
     """
     Instantiate a VecEnvBase-based object compatible with OmniIsaacGymEnvs
 
     :param headless: Disable UI when running (default: ``True``)
     :type headless: bool, optional
+    :param enable_livestream: Whether to enable live streaming (default: ``False``)
+    :type enable_livestream: bool, optional
+    :param enable_viewport: Whether to enable viewport (default: ``False``)
+    :type enable_viewport: bool, optional
     :param multi_threaded: Whether to return a multi-threaded environment instance (default: ``False``)
     :type multi_threaded: bool, optional
 
@@ -142,7 +150,9 @@ def get_env_instance(headless: bool = True, multi_threaded: bool = False) -> "om
         sim_config = SimConfig({"test": False,
                                 "device_id": 0,
                                 "headless": True,
+                                "multi_gpu": False,
                                 "sim_device": "gpu",
+                                "enable_livestream": False,
                                 "task": {"name": "CustomTask",
                                          "physics_engine": "physx",
                                          "env": {"numEnvs": 512,
@@ -223,8 +233,8 @@ def stop(self):
             pass
 
     class _OmniIsaacGymVecEnvMT(VecEnvMT):
-        def __init__(self, headless):
-            super().__init__(headless)
+        def __init__(self, *args, **kwargs):
+            super().__init__(*args, **kwargs)
 
             self.action_queue = queue.Queue(1)
             self.data_queue = queue.Queue(1)
@@ -260,6 +270,6 @@ def close(self):
             self.stop = True
 
     if multi_threaded:
-        return _OmniIsaacGymVecEnvMT(headless=headless)
+        return _OmniIsaacGymVecEnvMT(headless=headless, enable_livestream=enable_livestream, enable_viewport=enable_viewport)
     else:
-        return _OmniIsaacGymVecEnv(headless=headless)
+        return _OmniIsaacGymVecEnv(headless=headless, enable_livestream=enable_livestream, enable_viewport=enable_viewport)

skrl/version.txt

@@ -1 +1 @@
-0.10.1
+0.10.2