14 changes: 7 additions & 7 deletions examples/isaac_sim/realsense_collision.py
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@
import torch
from matplotlib import cm
from nvblox_torch.datasets.realsense_dataset import RealsenseDataloader
from omni.isaac.kit import SimulationApp
from isaacsim import SimulationApp

simulation_app = SimulationApp(
{
Expand All @@ -49,9 +49,9 @@
import argparse

# Third Party
from omni.isaac.core import World
from omni.isaac.core.materials import OmniPBR
from omni.isaac.core.objects import cuboid, sphere
from isaacsim.core.api import World
from isaacsim.core.api.materials import OmniPBR
from isaacsim.core.api.objects import cuboid, sphere

parser = argparse.ArgumentParser()

Expand All @@ -68,7 +68,7 @@ def draw_points(voxels):
# Third Party

# Third Party
from omni.isaac.debug_draw import _debug_draw
from isaacsim.util.debug_draw import _debug_draw

draw = _debug_draw.acquire_debug_draw_interface()
# if draw.get_num_points() > 0:
Expand Down Expand Up @@ -125,7 +125,7 @@ def clip_camera(camera_data):

def draw_line(start, gradient):
# Third Party
from omni.isaac.debug_draw import _debug_draw
from isaacsim.util.debug_draw import _debug_draw

draw = _debug_draw.acquire_debug_draw_interface()
# if draw.get_num_points() > 0:
Expand Down Expand Up @@ -270,7 +270,7 @@ def draw_line(start, gradient):
draw_line(sph_position, d_vec[..., :3].view(3).cpu().numpy())
else:
# Third Party
from omni.isaac.debug_draw import _debug_draw
from isaacsim.util.debug_draw import _debug_draw

draw = _debug_draw.acquire_debug_draw_interface()
# if draw.get_num_points() > 0:
Expand Down
14 changes: 7 additions & 7 deletions examples/isaac_sim/realsense_mpc.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@
a = torch.zeros(4, device="cuda:0")

# Third Party
from omni.isaac.kit import SimulationApp
from isaacsim import SimulationApp

simulation_app = SimulationApp(
{
Expand Down Expand Up @@ -57,9 +57,9 @@
# Third Party
import carb
from helper import VoxelManager, add_robot_to_scene
from omni.isaac.core import World
from omni.isaac.core.materials import OmniPBR
from omni.isaac.core.objects import cuboid, sphere
from isaacsim.core.api import World
from isaacsim.core.api.materials import OmniPBR
from isaacsim.core.api.objects import cuboid, sphere
from omni.isaac.core.utils.types import ArticulationAction

# CuRobo
Expand Down Expand Up @@ -98,7 +98,7 @@ def draw_rollout_points(rollouts: torch.Tensor, clear: bool = False):
import random

# Third Party
from omni.isaac.debug_draw import _debug_draw
from isaacsim.util.debug_draw import _debug_draw

draw = _debug_draw.acquire_debug_draw_interface()
N = 100
Expand All @@ -124,7 +124,7 @@ def draw_points(voxels):
# Third Party

# Third Party
from omni.isaac.debug_draw import _debug_draw
from isaacsim.util.debug_draw import _debug_draw

draw = _debug_draw.acquire_debug_draw_interface()
# if draw.get_num_points() > 0:
Expand Down Expand Up @@ -171,7 +171,7 @@ def clip_camera(camera_data):

def draw_line(start, gradient):
# Third Party
from omni.isaac.debug_draw import _debug_draw
from isaacsim.util.debug_draw import _debug_draw

draw = _debug_draw.acquire_debug_draw_interface()
# if draw.get_num_points() > 0:
Expand Down
12 changes: 6 additions & 6 deletions examples/isaac_sim/realsense_reacher.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@

a = torch.zeros(4, device="cuda:0")
# Third Party
from omni.isaac.kit import SimulationApp
from isaacsim import SimulationApp

simulation_app = SimulationApp(
{
Expand Down Expand Up @@ -57,9 +57,9 @@
# Third Party
import carb
from helper import VoxelManager, add_robot_to_scene
from omni.isaac.core import World
from omni.isaac.core.materials import OmniPBR
from omni.isaac.core.objects import cuboid, sphere
from isaacsim.core.api import World
from isaacsim.core.api.materials import OmniPBR
from isaacsim.core.api.objects import cuboid, sphere
from omni.isaac.core.utils.types import ArticulationAction

# CuRobo
Expand Down Expand Up @@ -88,7 +88,7 @@ def draw_points(voxels):
# Third Party

# Third Party
from omni.isaac.debug_draw import _debug_draw
from isaacsim.util.debug_draw import _debug_draw

draw = _debug_draw.acquire_debug_draw_interface()
# if draw.get_num_points() > 0:
Expand Down Expand Up @@ -135,7 +135,7 @@ def clip_camera(camera_data):

def draw_line(start, gradient):
# Third Party
from omni.isaac.debug_draw import _debug_draw
from isaacsim.util.debug_draw import _debug_draw

draw = _debug_draw.acquire_debug_draw_interface()
# if draw.get_num_points() > 0:
Expand Down
8 changes: 4 additions & 4 deletions examples/isaac_sim/simple_stacking.py
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,7 @@
args = parser.parse_args()

# Third Party
from omni.isaac.kit import SimulationApp
from isaacsim import SimulationApp

simulation_app = SimulationApp(
{
Expand All @@ -67,9 +67,9 @@
# Third Party
import carb
from helper import add_extensions
from omni.isaac.core import World
from omni.isaac.core.controllers import BaseController
from omni.isaac.core.tasks import Stacking as BaseStacking
from isaacsim.core.api import World
from isaacsim.core.api.controllers import BaseController
from isaacsim.core.api.tasks import Stacking as BaseStacking
from omni.isaac.core.utils.prims import is_prim_path_valid
from omni.isaac.core.utils.stage import get_stage_units
from omni.isaac.core.utils.string import find_unique_string_name
Expand Down
8 changes: 4 additions & 4 deletions examples/isaac_sim/util/convert_urdf_to_usd.py
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Expand Up @@ -35,19 +35,19 @@
args = parser.parse_args()

# Third Party
from omni.isaac.kit import SimulationApp
from isaacsim import SimulationApp

simulation_app = SimulationApp({"headless": args.save_usd})

# Third Party
import omni.usd
from omni.isaac.core import World
from omni.isaac.core.robots import Robot
from isaacsim.core.api import World
from isaacsim.core.api.robots import Robot
from omni.isaac.core.utils.types import ArticulationAction

try:
# Third Party
from omni.isaac.urdf import _urdf # isaacsim 2022.2
from isaacsim.asset.importer.urdf import _urdf # isaacsim 2022.2
except ImportError:
from omni.importer.urdf import _urdf # isaac sim 2023.1

Expand Down
10 changes: 5 additions & 5 deletions examples/isaac_sim/util/dowload_assets.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,14 +25,14 @@
a = torch.zeros(4, device="cuda:0")

# Third Party
from omni.isaac.kit import SimulationApp
from isaacsim import SimulationApp

simulation_app = SimulationApp({"headless": True})
# Third Party
from omni.isaac.core import World
from omni.isaac.core.robots import Robot
from omni.isaac.core.utils.nucleus import get_assets_root_path as nucleus_path
from omni.isaac.core.utils.stage import add_reference_to_stage
from isaacsim.core.api import World
from isaacsim.core.api.robots import Robot
from isaacsim.core.api.utils.nucleus import get_assets_root_path as nucleus_path
from isaacsim.core.api.utils.stage import add_reference_to_stage

# CuRobo
from curobo.util.usd_helper import UsdHelper
Expand Down
3 changes: 3 additions & 0 deletions setup_python_env.sh
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@@ -0,0 +1,3 @@
#!/bin/bash
export PYTHONPATH=$PYTHONPATH:$ISAAC_PATH/../../../$PYTHONPATH:$ISAAC_PATH/kit/python/lib/python3.10:$ISAAC_PATH/kit/python/lib/python3.10/site-packages:$ISAAC_PATH/python_packages:$ISAAC_PATH/exts/isaacsim.simulation_app:$ISAAC_PATH/extsDeprecated/omni.isaac.kit:$ISAAC_PATH/kit/kernel/py:$ISAAC_PATH/kit/plugins/bindings-python:$ISAAC_PATH/exts/isaacsim.robot_motion.lula/pip_prebundle:$ISAAC_PATH/exts/isaacsim.asset.exporter.urdf/pip_prebundle:$ISAAC_PATH/extscache/omni.kit.pip_archive-0.0.0+d02c707b.lx64.cp310/pip_prebundle:$ISAAC_PATH/exts/isaacsim.core.api_archive/pip_prebundle:$ISAAC_PATH/exts/omni.isaac.ml_archive/pip_prebundle:$ISAAC_PATH/exts/omni.pip.compute/pip_prebundle:$ISAAC_PATH/exts/omni.pip.cloud/pip_prebundle
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$ISAAC_PATH/../../../$LD_LIBRARY_PATH:$ISAAC_PATH/.:$ISAAC_PATH/exts/omni.usd.schema.isaac/plugins/IsaacSensorSchema/lib:$ISAAC_PATH/exts/omni.usd.schema.isaac/plugins/RangeSensorSchema/lib:$ISAAC_PATH/exts/isaacsim.robot_motion.lula/pip_prebundle:$ISAAC_PATH/exts/isaacsim.asset.exporter.urdf/pip_prebundle:$ISAAC_PATH/kit:$ISAAC_PATH/kit/kernel/plugins:$ISAAC_PATH/kit/libs/iray:$ISAAC_PATH/kit/plugins:$ISAAC_PATH/kit/plugins/bindings-python:$ISAAC_PATH/kit/plugins/carb_gfx:$ISAAC_PATH/kit/plugins/rtx:$ISAAC_PATH/kit/plugins/gpu.foundation