Removes the use of body view inside the asset classes (isaac-sim#643)

# Description

The deprecation notice has been out for a while. The MR removes the body
PhysX view from the rigid object and articulation classes. This is no
longer needed as their respective root views expose all the data needed
for them.

This is a breaking change, and we lose compatibility with Isaac Sim
2023.1.1.

Fixes isaac-sim#237

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

docs/source/setup/installation/index.rst

@@ -19,7 +19,7 @@ Installation Guide
 
 .. caution::
 
-   We have dropped support for Isaac Sim versions 2023.1.0 and below. We recommend using the latest
+   We have dropped support for Isaac Sim versions 2023.1.1 and below. We recommend using the latest
    Isaac Sim 4.0 release to benefit from the latest features and improvements.
 
    For more information, please refer to the

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

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.18.6"
+version = "0.19.0"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

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

@@ -1,6 +1,25 @@
 Changelog
 ---------
 
+0.19.0 (2024-07-04)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed parsing of articulations with nested rigid links while using the :class:`omni.isaac.lab.assets.Articulation`
+  class. Earlier, the class initialization failed when the articulation had nested rigid links since the rigid
+  links were not being parsed correctly by the PhysX view.
+
+Removed
+^^^^^^^
+
+* Removed the attribute :attr:`body_physx_view` from the :class:`omni.isaac.lab.assets.Articulation` and
+  :class:`omni.isaac.lab.assets.RigidObject` classes. These were causing confusions when used with articulation
+  view since the body names were not following the same ordering.
+* Dropped support for Isaac Sim 2023.1.1. The minimum supported version is now Isaac Sim 4.0.0.
+
+
 0.18.6 (2024-07-01)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py

@@ -9,7 +9,6 @@
 from __future__ import annotations
 
 import torch
-import warnings
 from collections.abc import Sequence
 from prettytable import PrettyTable
 from typing import TYPE_CHECKING
@@ -156,25 +155,6 @@ def root_physx_view(self) -> physx.ArticulationView:
         """
         return self._root_physx_view
 
-    @property
-    def body_physx_view(self) -> physx.RigidBodyView:
-        """Rigid body view for the asset (PhysX).
-
-        .. deprecated:: v0.3.0
-
-            In previous versions, this attribute returned the rigid body view over all the links of the articulation.
-            However, this led to confusion with the link ordering as they were not ordered in the same way as the
-            articulation view.
-
-            Therefore, this attribute will be removed in v0.4.0. Please use the :attr:`root_physx_view` attribute
-            instead.
-
-        """
-        dep_msg = "The attribute 'body_physx_view' will be removed in v0.4.0. Please use 'root_physx_view' instead."
-        warnings.warn(dep_msg, DeprecationWarning)
-        carb.log_error(dep_msg)
-        return self._body_physx_view
-
     """
     Operations.
     """
@@ -194,16 +174,8 @@ def write_data_to_sim(self):
         If any explicit actuators are present, then the actuator models are used to compute the
         joint commands. Otherwise, the joint commands are directly set into the simulation.
         """
-        # write external wrench
-        if self.has_external_wrench:
-            # apply external forces and torques
-            self._body_physx_view.apply_forces_and_torques_at_position(
-                force_data=self._external_force_body_view_b.view(-1, 3),
-                torque_data=self._external_torque_body_view_b.view(-1, 3),
-                position_data=None,
-                indices=self._ALL_BODY_INDICES,
-                is_global=False,
-            )
+        # apply external forces and torques
+        super().write_data_to_sim()
 
         # apply actuator models
         self._apply_actuator_model()
@@ -260,24 +232,6 @@ def find_fixed_tendons(
         # find tendons
         return string_utils.resolve_matching_names(name_keys, tendon_subsets, preserve_order)
 
-    """
-    Operations - Setters.
-    """
-
-    def set_external_force_and_torque(
-        self,
-        forces: torch.Tensor,
-        torques: torch.Tensor,
-        body_ids: Sequence[int] | slice | None = None,
-        env_ids: Sequence[int] | None = None,
-    ):
-        # call parent to set the external forces and torques into buffers
-        super().set_external_force_and_torque(forces, torques, body_ids, env_ids)
-        # reordering of the external forces and torques to match the body view ordering
-        if self.has_external_wrench:
-            self._external_force_body_view_b = self._external_force_b[:, self._body_view_ordering]
-            self._external_torque_body_view_b = self._external_torque_b[:, self._body_view_ordering]
-
     """
     Operations - Writers.
     """
@@ -332,6 +286,7 @@ def write_joint_state_to_sim(
             physx_env_ids = self._ALL_INDICES
         if joint_ids is None:
             joint_ids = slice(None)
+        # broadcast env_ids if needed to allow double indexing
         if env_ids != slice(None) and joint_ids != slice(None):
             env_ids = env_ids[:, None]
         # set into internal buffers
@@ -364,6 +319,7 @@ def write_joint_stiffness_to_sim(
             physx_env_ids = self._ALL_INDICES
         if joint_ids is None:
             joint_ids = slice(None)
+        # broadcast env_ids if needed to allow double indexing
         if env_ids != slice(None) and joint_ids != slice(None):
             env_ids = env_ids[:, None]
         # set into internal buffers
@@ -394,6 +350,7 @@ def write_joint_damping_to_sim(
             physx_env_ids = self._ALL_INDICES
         if joint_ids is None:
             joint_ids = slice(None)
+        # broadcast env_ids if needed to allow double indexing
         if env_ids != slice(None) and joint_ids != slice(None):
             env_ids = env_ids[:, None]
         # set into internal buffers
@@ -422,6 +379,7 @@ def write_joint_effort_limit_to_sim(
             physx_env_ids = self._ALL_INDICES
         if joint_ids is None:
             joint_ids = slice(None)
+        # broadcast env_ids if needed to allow double indexing
         if env_ids != slice(None) and joint_ids != slice(None):
             env_ids = env_ids[:, None]
         # move tensor to cpu if needed
@@ -453,6 +411,7 @@ def write_joint_armature_to_sim(
             physx_env_ids = self._ALL_INDICES
         if joint_ids is None:
             joint_ids = slice(None)
+        # broadcast env_ids if needed to allow double indexing
         if env_ids != slice(None) and joint_ids != slice(None):
             env_ids = env_ids[:, None]
         # set into internal buffers
@@ -480,6 +439,7 @@ def write_joint_friction_to_sim(
             physx_env_ids = self._ALL_INDICES
         if joint_ids is None:
             joint_ids = slice(None)
+        # broadcast env_ids if needed to allow double indexing
         if env_ids != slice(None) and joint_ids != slice(None):
             env_ids = env_ids[:, None]
         # set into internal buffers
@@ -508,6 +468,7 @@ def write_joint_limits_to_sim(
             physx_env_ids = self._ALL_INDICES
         if joint_ids is None:
             joint_ids = slice(None)
+        # broadcast env_ids if needed to allow double indexing
         if env_ids != slice(None) and joint_ids != slice(None):
             env_ids = env_ids[:, None]
         # set into internal buffers
@@ -538,6 +499,7 @@ def set_joint_position_target(
             env_ids = slice(None)
         if joint_ids is None:
             joint_ids = slice(None)
+        # broadcast env_ids if needed to allow double indexing
         if env_ids != slice(None) and joint_ids != slice(None):
             env_ids = env_ids[:, None]
         # set targets
@@ -562,6 +524,7 @@ def set_joint_velocity_target(
             env_ids = slice(None)
         if joint_ids is None:
             joint_ids = slice(None)
+        # broadcast env_ids if needed to allow double indexing
         if env_ids != slice(None) and joint_ids != slice(None):
             env_ids = env_ids[:, None]
         # set targets
@@ -586,6 +549,7 @@ def set_joint_effort_target(
             env_ids = slice(None)
         if joint_ids is None:
             joint_ids = slice(None)
+        # broadcast env_ids if needed to allow double indexing
         if env_ids != slice(None) and joint_ids != slice(None):
             env_ids = env_ids[:, None]
         # set targets
@@ -821,24 +785,6 @@ def _initialize_impl(self):
         root_prim_path_expr = self.cfg.prim_path + root_prim_path[len(template_prim_path) :]
         # -- articulation
         self._root_physx_view = self._physics_sim_view.create_articulation_view(root_prim_path_expr.replace(".*", "*"))
-        # -- link views
-        # note: we use the root view to get the body names, but we use the body view to get the
-        #       actual data. This is mainly needed to apply external forces to the bodies.
-        physx_body_names = self.root_physx_view.shared_metatype.link_names
-        body_names_regex = r"(" + "|".join(physx_body_names) + r")"
-        body_names_regex = f"{self.cfg.prim_path}/{body_names_regex}"
-        self._body_physx_view = self._physics_sim_view.create_rigid_body_view(body_names_regex.replace(".*", "*"))
-
-        # create ordering from articulation view to body view for body names
-        # note: we need to do this since the body view is not ordered in the same way as the articulation view
-        # -- root view
-        root_view_body_names = self.body_names
-        # -- body view
-        prim_paths = self._body_physx_view.prim_paths[: self.num_bodies]
-        body_view_body_names = [path.split("/")[-1] for path in prim_paths]
-        # -- mapping from articulation view to body view
-        self._body_view_ordering = [root_view_body_names.index(name) for name in body_view_body_names]
-        self._body_view_ordering = torch.tensor(self._body_view_ordering, dtype=torch.long, device=self.device)
 
         # log information about the articulation
         carb.log_info(f"Articulation initialized at: {self.cfg.prim_path} with root '{root_prim_path_expr}'.")
@@ -848,9 +794,6 @@ def _initialize_impl(self):
         carb.log_info(f"Number of joints: {self.num_joints}")
         carb.log_info(f"Joint names: {self.joint_names}")
         carb.log_info(f"Number of fixed tendons: {self.num_fixed_tendons}")
-        # -- assert that parsing was successful
-        if set(physx_body_names) != set(self.body_names):
-            raise RuntimeError("Failed to parse all bodies properly in the articulation.")
 
         # container for data access
         self._data = ArticulationData(self.root_physx_view, self.device)

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py

@@ -6,7 +6,6 @@
 from __future__ import annotations
 
 import torch
-import warnings
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
@@ -89,20 +88,6 @@ def root_physx_view(self) -> physx.RigidBodyView:
         """
         return self._root_physx_view
 
-    @property
-    def body_physx_view(self) -> physx.RigidBodyView:
-        """Rigid body view for the asset (PhysX).
-
-        .. deprecated:: v0.3.0
-
-            The attribute 'body_physx_view' will be removed in v0.4.0. Please use :attr:`root_physx_view` instead.
-
-        """
-        dep_msg = "The attribute 'body_physx_view' will be removed in v0.4.0. Please use 'root_physx_view' instead."
-        warnings.warn(dep_msg, DeprecationWarning)
-        carb.log_error(dep_msg)
-        return self.root_physx_view
-
     """
     Operations.
     """
@@ -128,7 +113,7 @@ def write_data_to_sim(self):
                 force_data=self._external_force_b.view(-1, 3),
                 torque_data=self._external_torque_b.view(-1, 3),
                 position_data=None,
-                indices=self._ALL_BODY_INDICES,
+                indices=self._ALL_INDICES,
                 is_global=False,
             )
 
@@ -253,26 +238,17 @@ def set_external_force_and_torque(
             # resolve all indices
             # -- env_ids
             if env_ids is None:
-                env_ids = self._ALL_INDICES
-            elif not isinstance(env_ids, torch.Tensor):
-                env_ids = torch.tensor(env_ids, dtype=torch.long, device=self.device)
+                env_ids = slice(None)
             # -- body_ids
             if body_ids is None:
-                body_ids = torch.arange(self.num_bodies, dtype=torch.long, device=self.device)
-            elif isinstance(body_ids, slice):
-                body_ids = torch.arange(self.num_bodies, dtype=torch.long, device=self.device)[body_ids]
-            elif not isinstance(body_ids, torch.Tensor):
-                body_ids = torch.tensor(body_ids, dtype=torch.long, device=self.device)
-
-            # note: we need to do this complicated indexing since torch doesn't support multi-indexing
-            # create global body indices from env_ids and env_body_ids
-            # (env_id * total_bodies_per_env) + body_id
-            indices = body_ids.repeat(len(env_ids), 1) + env_ids.unsqueeze(1) * self.num_bodies
-            indices = indices.view(-1)
+                body_ids = slice(None)
+            # broadcast env_ids if needed to allow double indexing
+            if env_ids != slice(None) and body_ids != slice(None):
+                env_ids = env_ids[:, None]
+
             # set into internal buffers
-            # note: these are applied in the write_to_sim function
-            self._external_force_b.flatten(0, 1)[indices] = forces.flatten(0, 1)
-            self._external_torque_b.flatten(0, 1)[indices] = torques.flatten(0, 1)
+            self._external_force_b[env_ids, body_ids] = forces
+            self._external_torque_b[env_ids, body_ids] = torques
         else:
             self.has_external_wrench = False
 
@@ -332,9 +308,7 @@ def _create_buffers(self):
         """Create buffers for storing data."""
         # constants
         self._ALL_INDICES = torch.arange(self.num_instances, dtype=torch.long, device=self.device)
-        self._ALL_BODY_INDICES = torch.arange(
-            self.root_physx_view.count * self.num_bodies, dtype=torch.long, device=self.device
-        )
+
         # external forces and torques
         self.has_external_wrench = False
         self._external_force_b = torch.zeros((self.num_instances, self.num_bodies, 3), device=self.device)

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

@@ -98,10 +98,6 @@ def test_initialization_floating_base_non_root(self):
         prim_path_body_names = [path.split("/")[-1] for path in robot.root_physx_view.link_paths[0]]
         self.assertListEqual(prim_path_body_names, robot.body_names)
 
-        # Check that the body_physx_view is deprecated
-        with self.assertWarns(DeprecationWarning):
-            robot.body_physx_view
-
         # Simulate physics
         for _ in range(10):
             # perform rendering
@@ -141,10 +137,6 @@ def test_initialization_floating_base(self):
         prim_path_body_names = [path.split("/")[-1] for path in robot.root_physx_view.link_paths[0]]
         self.assertListEqual(prim_path_body_names, robot.body_names)
 
-        # Check that the body_physx_view is deprecated
-        with self.assertWarns(DeprecationWarning):
-            robot.body_physx_view
-
         # Simulate physics
         for _ in range(10):
             # perform rendering
@@ -184,10 +176,6 @@ def test_initialization_fixed_base(self):
         prim_path_body_names = [path.split("/")[-1] for path in robot.root_physx_view.link_paths[0]]
         self.assertListEqual(prim_path_body_names, robot.body_names)
 
-        # Check that the body_physx_view is deprecated
-        with self.assertWarns(DeprecationWarning):
-            robot.body_physx_view
-
         # Simulate physics
         for _ in range(10):
             # perform rendering
@@ -242,10 +230,6 @@ def test_initialization_fixed_base_single_joint(self):
         prim_path_body_names = [path.split("/")[-1] for path in robot.root_physx_view.link_paths[0]]
         self.assertListEqual(prim_path_body_names, robot.body_names)
 
-        # Check that the body_physx_view is deprecated
-        with self.assertWarns(DeprecationWarning):
-            robot.body_physx_view
-
         # Simulate physics
         for _ in range(10):
             # perform rendering
@@ -324,10 +308,6 @@ def test_initialization_floating_base_made_fixed_base(self):
         prim_path_body_names = [path.split("/")[-1] for path in robot.root_physx_view.link_paths[0]]
         self.assertListEqual(prim_path_body_names, robot.body_names)
 
-        # Check that the body_physx_view is deprecated
-        with self.assertWarns(DeprecationWarning):
-            robot.body_physx_view
-
         # Root state should be at the default state
         robot.write_root_state_to_sim(robot.data.default_root_state.clone())
         # Simulate physics