Add visualizers and scene data provider

apps/isaaclab.python.kit

@@ -17,7 +17,6 @@ keywords = ["experience", "app", "usd"]
 "isaacsim.core.api" = {}
 "isaacsim.core.cloner" = {}
 "isaacsim.core.nodes" = {}
-"isaacsim.core.simulation_manager" = {}
 "isaacsim.core.throttling" = {}
 "isaacsim.core.utils" = {}
 "isaacsim.core.version" = {}

apps/isaacsim_5/isaaclab.python.kit

@@ -17,7 +17,6 @@ keywords = ["experience", "app", "usd"]
 "isaacsim.core.api" = {}
 "isaacsim.core.cloner" = {}
 "isaacsim.core.nodes" = {}
-"isaacsim.core.simulation_manager" = {}
 "isaacsim.core.throttling" = {}
 "isaacsim.core.utils" = {}
 "isaacsim.core.version" = {}

docs/source/api/lab_physx/isaaclab_physx.assets.rst

@@ -0,0 +1,4 @@
+isaaclab\_physx.assets
+======================
+
+.. automodule:: isaaclab_physx.assets

docs/source/experimental-features/newton-physics-integration/visualization.rst

@@ -5,7 +5,7 @@ Visualization
 
 Isaac Lab offers several lightweight visualizers for real-time simulation inspection and debugging. Unlike renderers that process sensor data, visualizers are meant for fast, interactive feedback.
 
-You can use any visualizer regardless of your chosen physics engine or rendering backend.
+You can launch any number of visualizers at once, and they work with any physics engine or rendering backend.
 
 
 Overview
@@ -31,7 +31,7 @@ Isaac Lab supports three visualizer backends, each optimized for different use c
      - Webviewer, time scrubbing, recording export
 
 
-*The following visualizers are shown training the Isaac-Velocity-Flat-Anymal-D-v0 environment.*
+*The following visualizers are shown training Isaac-Velocity-Flat-Anymal-D-v0 with 4096 concurrent environments.*
 
 .. figure:: ../../_static/visualizers/ov_viz.jpg
    :width: 100%
@@ -139,8 +139,8 @@ Omniverse Visualizer
         window_height=720,                        # Viewport height in pixels
 
         # Camera settings
-        camera_position=(8.0, 8.0, 3.0),         # Initial camera position (x, y, z)
-        camera_target=(0.0, 0.0, 0.0),           # Camera look-at target
+        camera_position=(8.0, 8.0, 3.0),          # Initial camera position (x, y, z)
+        camera_target=(0.0, 0.0, 0.0),            # Camera look-at target
 
         # Feature toggles
         enable_markers=True,                      # Enable visualization markers
@@ -195,8 +195,8 @@ Newton Visualizer
         window_height=1080,                       # Window height in pixels
 
         # Camera settings
-        camera_position=(8.0, 8.0, 3.0),         # Initial camera position (x, y, z)
-        camera_target=(0.0, 0.0, 0.0),           # Camera look-at target
+        camera_position=(8.0, 8.0, 3.0),          # Initial camera position (x, y, z)
+        camera_target=(0.0, 0.0, 0.0),            # Camera look-at target
 
         # Performance tuning
         update_frequency=1,                       # Update every N frames (1=every frame)
@@ -213,9 +213,9 @@ Newton Visualizer
         enable_wireframe=False,                   # Enable wireframe mode
 
         # Color customization
-        background_color=(0.53, 0.81, 0.92),     # Sky/background color (RGB [0,1])
-        ground_color=(0.18, 0.20, 0.25),         # Ground plane color (RGB [0,1])
-        light_color=(1.0, 1.0, 1.0),             # Directional light color (RGB [0,1])
+        sky_upper_color=(0.53, 0.81, 0.92),       # Sky upper color (RGB [0,1])
+        sky_lower_color=(0.18, 0.20, 0.25),       # Sky lower color (RGB [0,1])
+        light_color=(1.0, 1.0, 1.0),              # Directional light color (RGB [0,1])
     )
 
 
@@ -241,8 +241,8 @@ Rerun Visualizer
         web_port=9090,                            # Port for local web viewer (launched in browser)
 
         # Camera settings
-        camera_position=(8.0, 8.0, 3.0),         # Initial camera position (x, y, z)
-        camera_target=(0.0, 0.0, 0.0),           # Camera look-at target
+        camera_position=(8.0, 8.0, 3.0),          # Initial camera position (x, y, z)
+        camera_target=(0.0, 0.0, 0.0),            # Camera look-at target
 
         # History settings
         keep_historical_data=False,               # Keep transforms for time scrubbing
@@ -260,7 +260,7 @@ To reduce overhead when visualizing large-scale environments, consider:
 
 - Using Newton instead of Omniverse or Rerun
 - Reducing window sizes
-- Higher update frequencies
+- Lower update frequencies
 - Pausing visualizers while they are not being used
 
 

docs/source/how-to/optimize_stage_creation.rst

@@ -60,8 +60,7 @@ be called after the stage is created.
     sim = SimulationContext(cfg=SimulationCfg(create_stage_in_memory=True))
 
     # grab stage in memory and set stage context
-    stage_in_memory = sim.get_initial_stage()
-    with stage_utils.use_stage(stage_in_memory):
+    with stage_utils.use_stage(sim.stage):
         # create cartpole scene
         scene_cfg = CartpoleSceneCfg(num_envs=1024)
         scene = InteractiveScene(scene_cfg)

scripts/benchmarks/benchmark_view_comparison.py

@@ -69,8 +69,7 @@
 import time
 
 import torch
-
-from isaacsim.core.simulation_manager import SimulationManager
+from isaaclab_physx.physics import PhysxCfg
 
 import isaaclab.sim as sim_utils
 from isaaclab.sim.views import XformPrimView
@@ -98,7 +97,9 @@ def benchmark_view(view_type: str, num_iterations: int) -> tuple[dict[str, float
     sim_utils.create_new_stage()
     # Create simulation context
     start_time = time.perf_counter()
-    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device, use_fabric=(view_type == "xform_fabric"))
+    sim_cfg = sim_utils.SimulationCfg(
+        device=args_cli.device, physics=PhysxCfg(dt=0.01, use_fabric=(view_type == "xform_fabric"))
+    )
     sim = sim_utils.SimulationContext(sim_cfg)
     stage = sim_utils.get_current_stage()
 
@@ -138,7 +139,7 @@ def benchmark_view(view_type: str, num_iterations: int) -> tuple[dict[str, float
         num_prims = view.count
         view_name = "XformPrimView (Fabric)"
     else:  # physx
-        physics_sim_view = SimulationManager.get_physics_sim_view()
+        physics_sim_view = sim.physics_manager.get_physics_sim_view()
         view = physics_sim_view.create_rigid_body_view(pattern)
         num_prims = view.count
         view_name = "PhysX RigidBodyView"
@@ -196,8 +197,6 @@ def benchmark_view(view_type: str, num_iterations: int) -> tuple[dict[str, float
     computed_results["world_orientations_after_set"] = orientations_after_set.clone()
 
     # close simulation
-    sim.clear()
-    sim.clear_all_callbacks()
     sim.clear_instance()
 
     return timing_results, computed_results

scripts/benchmarks/benchmark_xform_prim_view.py

@@ -274,8 +274,6 @@ def benchmark_xform_prim_view(  # noqa: C901
     timing_results["interleaved_world_set_get"] = (time.perf_counter() - start_time) / num_iterations
 
     # close simulation
-    sim.clear()
-    sim.clear_all_callbacks()
     sim.clear_instance()
 
     return timing_results, computed_results

scripts/demos/bin_packing.py

@@ -44,6 +44,7 @@
 import math
 
 import torch
+from isaaclab_physx.physics import PhysxCfg
 
 import isaaclab.sim as sim_utils
 import isaaclab.utils.math as math_utils
@@ -327,7 +328,7 @@ def main() -> None:
         None: The function drives the simulation for its side-effects.
     """
     # Load kit helper
-    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device, physics=PhysxCfg(dt=0.005))
     sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view((2.5, 0.0, 4.0), (0.0, 0.0, 2.0))

scripts/demos/bipeds.py

@@ -33,6 +33,7 @@
 """Rest everything follows."""
 
 import torch
+from isaaclab_physx.physics import PhysxCfg
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import Articulation
@@ -114,7 +115,7 @@ def run_simulator(sim: sim_utils.SimulationContext, robots: list[Articulation],
 def main():
     """Main function."""
     # Load kit helper
-    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device, physics=PhysxCfg(dt=0.005))
     sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[3.0, 0.0, 2.25], target=[0.0, 0.0, 1.0])

scripts/demos/deformables.py

@@ -36,6 +36,7 @@
 import numpy as np
 import torch
 import tqdm
+from isaaclab_physx.physics import PhysxCfg
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import DeformableObject, DeformableObjectCfg
@@ -178,7 +179,7 @@ def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, Deformab
 def main():
     """Main function."""
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device, physics=PhysxCfg(dt=0.01))
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([4.0, 4.0, 3.0], [0.5, 0.5, 0.0])

scripts/demos/hands.py

@@ -34,6 +34,7 @@
 
 import numpy as np
 import torch
+from isaaclab_physx.physics import PhysxCfg
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import Articulation
@@ -143,7 +144,7 @@ def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, Articula
 def main():
     """Main function."""
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device, physics=PhysxCfg(dt=0.01))
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[0.0, -0.5, 1.5], target=[0.0, -0.2, 0.5])

scripts/demos/markers.py

@@ -32,6 +32,7 @@
 """Rest everything follows."""
 
 import torch
+from isaaclab_physx.physics import PhysxCfg
 
 import isaaclab.sim as sim_utils
 from isaaclab.markers import VisualizationMarkers, VisualizationMarkersCfg
@@ -94,7 +95,7 @@ def define_markers() -> VisualizationMarkers:
 def main():
     """Main function."""
     # Load kit helper
-    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device, physics=PhysxCfg(dt=0.01))
     sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([0.0, 18.0, 12.0], [0.0, 3.0, 0.0])

scripts/demos/multi_asset.py

@@ -37,6 +37,8 @@
 
 import random
 
+from isaaclab_physx.physics import PhysxCfg
+
 from pxr import Gf, Sdf
 
 import isaaclab.sim as sim_utils
@@ -275,7 +277,7 @@ def run_simulator(sim: SimulationContext, scene: InteractiveScene):
 def main():
     """Main function."""
     # Load kit helper
-    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device, physics=PhysxCfg(dt=0.005))
     sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([2.5, 0.0, 4.0], [0.0, 0.0, 2.0])

scripts/demos/procedural_terrain.py

@@ -68,6 +68,7 @@
 import random
 
 import torch
+from isaaclab_physx.physics import PhysxCfg
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import AssetBase
@@ -154,7 +155,7 @@ def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, AssetBas
 def main():
     """Main function."""
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device, physics=PhysxCfg(dt=0.01))
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[5.0, 5.0, 5.0], target=[0.0, 0.0, 0.0])

scripts/demos/quadcopter.py

@@ -33,6 +33,7 @@
 """Rest everything follows."""
 
 import torch
+from isaaclab_physx.physics import PhysxCfg
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import Articulation
@@ -47,7 +48,7 @@
 def main():
     """Main function."""
     # Load kit helper
-    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device, physics=PhysxCfg(dt=0.005))
     sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[0.5, 0.5, 1.0], target=[0.0, 0.0, 0.5])
@@ -73,7 +74,7 @@ def main():
     # Fetch relevant parameters to make the quadcopter hover in place
     prop_body_ids = robot.find_bodies("m.*_prop")[0]
     robot_mass = robot.root_view.get_masses().sum()
-    gravity = torch.tensor(sim.cfg.gravity, device=sim.device).norm()
+    gravity = torch.tensor(sim.cfg.physics.gravity, device=sim.device).norm()
 
     # Now we are ready!
     print("[INFO]: Setup complete...")

scripts/demos/quadrupeds.py

@@ -34,6 +34,7 @@
 
 import numpy as np
 import torch
+from isaaclab_physx.physics import PhysxCfg
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import Articulation
@@ -170,7 +171,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim = sim_utils.SimulationContext(sim_utils.SimulationCfg(dt=0.01))
+    sim = sim_utils.SimulationContext(sim_utils.SimulationCfg(physics=PhysxCfg(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

scripts/demos/sensors/cameras.py

@@ -42,6 +42,7 @@
 import matplotlib.pyplot as plt
 import numpy as np
 import torch
+from isaaclab_physx.physics import PhysxCfg
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import ArticulationCfg, AssetBaseCfg
@@ -280,7 +281,9 @@ def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
 def main():
     """Main function."""
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device, use_fabric=not args_cli.disable_fabric)
+    sim_cfg = sim_utils.SimulationCfg(
+        device=args_cli.device, physics=PhysxCfg(dt=0.005, use_fabric=not args_cli.disable_fabric)
+    )
     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])

scripts/demos/sensors/contact_sensor.py

@@ -24,6 +24,7 @@
 """Rest everything follows."""
 
 import torch
+from isaaclab_physx.physics import PhysxCfg
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import AssetBaseCfg, RigidObjectCfg
@@ -154,7 +155,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device, physics=PhysxCfg(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])

scripts/demos/sensors/frame_transformer_sensor.py

@@ -22,6 +22,7 @@
 """Rest everything follows."""
 
 import torch
+from isaaclab_physx.physics import PhysxCfg
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import AssetBaseCfg, RigidObjectCfg
@@ -148,7 +149,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device, physics=PhysxCfg(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])

scripts/demos/sensors/imu_sensor.py

@@ -24,6 +24,7 @@
 """Rest everything follows."""
 
 import torch
+from isaaclab_physx.physics import PhysxCfg
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import AssetBaseCfg
@@ -121,7 +122,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device, physics=PhysxCfg(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])