Move physics cfgs back into simulation cfg

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

@@ -1,6 +1,5 @@
-
-.. automodule:: isaaclab_physx.assets
-isaaclab_physx.assets
+isaaclab_physx.assets
+=====================
 
 .. automodule:: isaaclab_physx.assets
   :noindex:

scripts/benchmarks/benchmark_view_comparison.py

@@ -69,7 +69,6 @@
 import time
 
 import torch
-from isaaclab_physx.physics import PhysxCfg
 
 import isaaclab.sim as sim_utils
 from isaaclab.sim.views import XformPrimView
@@ -97,9 +96,7 @@ 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(
-        device=args_cli.device, physics=PhysxCfg(dt=0.01, use_fabric=(view_type == "xform_fabric"))
-    )
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device, use_fabric=(view_type == "xform_fabric"))
     sim = sim_utils.SimulationContext(sim_cfg)
     stage = sim_utils.get_current_stage()
 

scripts/demos/bin_packing.py

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

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

@@ -36,7 +36,6 @@
 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
@@ -179,7 +178,7 @@ def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, Deformab
 def main():
     """Main function."""
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device, physics=PhysxCfg(dt=0.01))
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
     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

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

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

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

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

@@ -33,7 +33,6 @@
 """Rest everything follows."""
 
 import torch
-from isaaclab_physx.physics import PhysxCfg
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import Articulation
@@ -48,7 +47,7 @@
 def main():
     """Main function."""
     # Load kit helper
-    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device, physics=PhysxCfg(dt=0.005))
+    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
     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])

scripts/demos/quadrupeds.py

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

scripts/demos/sensors/cameras.py

@@ -42,7 +42,6 @@
 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
@@ -281,9 +280,7 @@ def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
 def main():
     """Main function."""
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(
-        device=args_cli.device, physics=PhysxCfg(dt=0.005, use_fabric=not args_cli.disable_fabric)
-    )
+    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device, 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

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

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

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

@@ -47,7 +47,6 @@
 import random
 
 import torch
-from isaaclab_physx.physics import PhysxCfg
 
 import omni.usd
 from pxr import Gf, Sdf
@@ -278,7 +277,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device, physics=PhysxCfg(dt=0.005))
+    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
     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/multi_mesh_raycaster_camera.py

@@ -47,7 +47,6 @@
 import random
 
 import torch
-from isaaclab_physx.physics import PhysxCfg
 
 import omni.usd
 from pxr import Gf, Sdf
@@ -304,7 +303,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device, physics=PhysxCfg(dt=0.005))
+    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
     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/raycaster_sensor.py

@@ -23,7 +23,6 @@
 
 import numpy as np
 import torch
-from isaaclab_physx.physics import PhysxCfg
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import AssetBaseCfg
@@ -140,7 +139,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device, physics=PhysxCfg(dt=0.005))
+    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
     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/tools/check_instanceable.py

@@ -64,8 +64,6 @@
 """Rest everything follows."""
 
 
-from isaaclab_physx.physics import PhysxCfg
-
 from isaacsim.core.cloner import GridCloner
 
 import isaaclab.sim as sim_utils
@@ -80,7 +78,7 @@ def main():
     if not check_file_path(args_cli.input):
         raise ValueError(f"Invalid file path: {args_cli.input}")
     # Load kit helper
-    sim = SimulationContext(SimulationCfg(physics=PhysxCfg(dt=0.01)))
+    sim = SimulationContext(SimulationCfg(dt=0.01))
 
     # get stage handle
     stage = sim_utils.get_current_stage()

scripts/tutorials/00_sim/create_empty.py

@@ -31,7 +31,6 @@
 
 """Rest everything follows."""
 
-from isaaclab_physx.physics import PhysxCfg
 
 from isaaclab.sim import SimulationCfg, SimulationContext
 
@@ -40,7 +39,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim_cfg = SimulationCfg(physics=PhysxCfg(dt=0.01))
+    sim_cfg = SimulationCfg(dt=0.01)
     sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])

scripts/tutorials/00_sim/launch_app.py

@@ -41,7 +41,6 @@
 
 """Rest everything follows."""
 
-from isaaclab_physx.physics import PhysxCfg
 
 import isaaclab.sim as sim_utils
 
@@ -72,7 +71,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device, physics=PhysxCfg(dt=0.01))
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([2.0, 0.0, 2.5], [-0.5, 0.0, 0.5])

scripts/tutorials/00_sim/log_time.py

@@ -34,7 +34,6 @@
 
 """Rest everything follows."""
 
-from isaaclab_physx.physics import PhysxCfg
 
 from isaaclab.sim import SimulationCfg, SimulationContext
 
@@ -55,7 +54,7 @@ def main():
     print(f"[INFO] Logging experiment to directory: {log_dir_path}")
 
     # Initialize the simulation context
-    sim_cfg = SimulationCfg(physics=PhysxCfg(dt=0.01))
+    sim_cfg = SimulationCfg(dt=0.01)
     sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])

scripts/tutorials/00_sim/spawn_prims.py

@@ -31,7 +31,6 @@
 
 """Rest everything follows."""
 
-from isaaclab_physx.physics import PhysxCfg
 
 import isaaclab.sim as sim_utils
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
@@ -92,7 +91,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device, physics=PhysxCfg(dt=0.01))
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([2.0, 0.0, 2.5], [-0.5, 0.0, 0.5])