diff --git a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/config/importer_cfg.py b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/config/importer_cfg.py
index 133487e..87cd631 100644
--- a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/config/importer_cfg.py
+++ b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/config/importer_cfg.py
@@ -5,9 +5,9 @@
# SPDX-License-Identifier: BSD-3-Clause
-from omni.isaac.core.utils import extensions
-from omni.isaac.lab.terrains import TerrainImporterCfg
-from omni.isaac.lab.utils import configclass
+from isaacsim.core.utils import extensions
+from isaaclab.terrains import TerrainImporterCfg
+from isaaclab.utils import configclass
from omni.isaac.matterport.domains import MatterportImporter
from typing_extensions import Literal
diff --git a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/matterport_importer.py b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/matterport_importer.py
index 5db838f..48af372 100644
--- a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/matterport_importer.py
+++ b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/matterport_importer.py
@@ -15,19 +15,19 @@
# omni
import carb
-import omni.isaac.core.utils.prims as prim_utils
-import omni.isaac.core.utils.stage as stage_utils
+import isaacsim.core.utils.prims as prim_utils
+import isaacsim.core.utils.stage as stage_utils
# isaac-lab
-import omni.isaac.lab.sim as sim_utils
-from omni.isaac.core.simulation_context import SimulationContext
-from omni.isaac.lab.terrains import TerrainImporter
+import isaaclab.sim as sim_utils
+from isaacsim.core.api.simulation_context import SimulationContext
+from isaaclab.terrains import TerrainImporter
if TYPE_CHECKING:
from omni.isaac.matterport.config import MatterportImporterCfg
# omniverse
-from omni.isaac.core.utils import extensions
+from isaacsim.core.utils import extensions
extensions.enable_extension("omni.kit.asset_converter")
import omni.kit.asset_converter as converter
diff --git a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/matterport_raycast_camera.py b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/matterport_raycast_camera.py
index 135fbb1..011d7e6 100644
--- a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/matterport_raycast_camera.py
+++ b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/matterport_raycast_camera.py
@@ -12,13 +12,13 @@
import carb
import numpy as np
-import omni.isaac.lab.utils.math as math_utils
+import isaaclab.utils.math as math_utils
import pandas as pd
import torch
import trimesh
import warp as wp
-from omni.isaac.lab.sensors import RayCasterCamera, RayCasterCameraCfg
-from omni.isaac.lab.utils.warp import raycast_mesh
+from isaaclab.sensors import RayCasterCamera, RayCasterCameraCfg
+from isaaclab.utils.warp import raycast_mesh
from omni.isaac.matterport.domains import DATA_DIR
from tensordict import TensorDict
diff --git a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/matterport_raycaster.py b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/matterport_raycaster.py
index fc8faad..de2891f 100644
--- a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/matterport_raycaster.py
+++ b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/matterport_raycaster.py
@@ -13,7 +13,7 @@
import numpy as np
import trimesh
import warp as wp
-from omni.isaac.lab.sensors.ray_caster import RayCaster
+from isaaclab.sensors.ray_caster import RayCaster
from omni.isaac.matterport.domains import DATA_DIR
if TYPE_CHECKING:
diff --git a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/raycaster_cfg.py b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/raycaster_cfg.py
index 92960ad..009f83c 100644
--- a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/raycaster_cfg.py
+++ b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/raycaster_cfg.py
@@ -5,8 +5,8 @@
# SPDX-License-Identifier: BSD-3-Clause
-from omni.isaac.lab.sensors.ray_caster import RayCasterCfg
-from omni.isaac.lab.utils import configclass
+from isaaclab.sensors.ray_caster import RayCasterCfg
+from isaaclab.utils import configclass
from .matterport_raycaster import MatterportRayCaster
diff --git a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/scripts/matterport_domains.py b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/scripts/matterport_domains.py
index fab4bbf..a4e8186 100644
--- a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/scripts/matterport_domains.py
+++ b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/scripts/matterport_domains.py
@@ -13,9 +13,9 @@
import numpy as np
import omni
import torch
-from omni.isaac.lab.sensors.camera import CameraData
-from omni.isaac.lab.sensors.ray_caster import RayCasterCfg
-from omni.isaac.lab.sim import SimulationContext
+from isaaclab.sensors.camera import CameraData
+from isaaclab.sensors.ray_caster import RayCasterCfg
+from isaaclab.sim import SimulationContext
from omni.isaac.matterport.domains.matterport_raycast_camera import (
MatterportRayCasterCamera,
)
diff --git a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/scripts/matterport_ext.py b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/scripts/matterport_ext.py
index 051a327..99b5a0e 100644
--- a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/scripts/matterport_ext.py
+++ b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/scripts/matterport_ext.py
@@ -22,8 +22,8 @@
# isaac-core
import omni.ui as ui
-from omni.isaac.lab.sensors.ray_caster import RayCasterCameraCfg, patterns
-from omni.isaac.lab.sim import SimulationCfg, SimulationContext
+from isaaclab.sensors.ray_caster import RayCasterCameraCfg, patterns
+from isaaclab.sim import SimulationCfg, SimulationContext
from omni.isaac.matterport.domains import MatterportImporter
# omni-isaac-ui
diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/collectors/terrain_analysis.py b/omniverse/extension/omni.viplanner/omni/viplanner/collectors/terrain_analysis.py
index da200c2..3fc69f0 100644
--- a/omniverse/extension/omni.viplanner/omni/viplanner/collectors/terrain_analysis.py
+++ b/omniverse/extension/omni.viplanner/omni/viplanner/collectors/terrain_analysis.py
@@ -15,10 +15,10 @@
import scipy.spatial.transform as tf
import torch
from omni.isaac.core.utils.semantics import get_semantics
-from omni.isaac.lab.scene import InteractiveScene
-from omni.isaac.lab.sensors import RayCaster, RayCasterCamera
-from omni.isaac.lab.sim import SimulationContext
-from omni.isaac.lab.utils.warp import raycast_mesh
+from isaaclab.scene import InteractiveScene
+from isaaclab.sensors import RayCaster, RayCasterCamera
+from isaaclab.sim import SimulationContext
+from isaaclab.utils.warp import raycast_mesh
from omni.isaac.matterport.domains import MatterportRayCaster, MatterportRayCasterCamera
from omni.physx import get_physx_scene_query_interface
from pxr import Gf, Usd, UsdGeom
diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/collectors/terrain_analysis_cfg.py b/omniverse/extension/omni.viplanner/omni/viplanner/collectors/terrain_analysis_cfg.py
index ded2987..3ae407a 100644
--- a/omniverse/extension/omni.viplanner/omni/viplanner/collectors/terrain_analysis_cfg.py
+++ b/omniverse/extension/omni.viplanner/omni/viplanner/collectors/terrain_analysis_cfg.py
@@ -6,7 +6,7 @@
from __future__ import annotations
-from omni.isaac.lab.utils import configclass
+from isaaclab.utils import configclass
from omni.viplanner.config import MatterportSemanticCostMapping
diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/collectors/viewpoint_sampling.py b/omniverse/extension/omni.viplanner/omni/viplanner/collectors/viewpoint_sampling.py
index 164c19c..5867fe9 100644
--- a/omniverse/extension/omni.viplanner/omni/viplanner/collectors/viewpoint_sampling.py
+++ b/omniverse/extension/omni.viplanner/omni/viplanner/collectors/viewpoint_sampling.py
@@ -14,13 +14,13 @@
import cv2
import numpy as np
-import omni.isaac.lab.utils.math as math_utils
+import isaaclab.utils.math as math_utils
import torch
-from omni.isaac.lab.markers import VisualizationMarkers
-from omni.isaac.lab.markers.config import GREEN_ARROW_X_MARKER_CFG
-from omni.isaac.lab.scene import InteractiveScene
-from omni.isaac.lab.sensors import Camera
-from omni.isaac.lab.sim import SimulationContext
+from isaaclab.markers import VisualizationMarkers
+from isaaclab.markers.config import GREEN_ARROW_X_MARKER_CFG
+from isaaclab.scene import InteractiveScene
+from isaaclab.sensors import Camera
+from isaaclab.sim import SimulationContext
from viplanner.config import VIPlannerSemMetaHandler
diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/collectors/viewpoint_sampling_cfg.py b/omniverse/extension/omni.viplanner/omni/viplanner/collectors/viewpoint_sampling_cfg.py
index 6571703..39d9549 100644
--- a/omniverse/extension/omni.viplanner/omni/viplanner/collectors/viewpoint_sampling_cfg.py
+++ b/omniverse/extension/omni.viplanner/omni/viplanner/collectors/viewpoint_sampling_cfg.py
@@ -4,7 +4,7 @@
#
# SPDX-License-Identifier: BSD-3-Clause
-from omni.isaac.lab.utils import configclass
+from isaaclab.utils import configclass
from .terrain_analysis_cfg import TerrainAnalysisCfg
diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/config/base_cfg.py b/omniverse/extension/omni.viplanner/omni/viplanner/config/base_cfg.py
index af1b6f5..d0d1575 100644
--- a/omniverse/extension/omni.viplanner/omni/viplanner/config/base_cfg.py
+++ b/omniverse/extension/omni.viplanner/omni/viplanner/config/base_cfg.py
@@ -7,15 +7,14 @@
import os
import omni.viplanner.viplanner.mdp as mdp
-from omni.isaac.lab.envs import ManagerBasedRLEnvCfg
-from omni.isaac.lab.managers import EventTermCfg as EventTerm
-from omni.isaac.lab.managers import ObservationGroupCfg as ObsGroup
-from omni.isaac.lab.managers import ObservationTermCfg as ObsTerm
-from omni.isaac.lab.managers import SceneEntityCfg
-from omni.isaac.lab.managers import TerminationTermCfg as DoneTerm
-from omni.isaac.lab.utils import configclass
-from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR
-
+from isaaclab.envs import ManagerBasedRLEnvCfg
+from isaaclab.managers import EventTermCfg as EventTerm
+from isaaclab.managers import ObservationGroupCfg as ObsGroup
+from isaaclab.managers import ObservationTermCfg as ObsTerm
+from isaaclab.managers import SceneEntityCfg
+from isaaclab.managers import TerminationTermCfg as DoneTerm
+from isaaclab.utils import configclass
+from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
##
# MDP settings
##
@@ -152,9 +151,10 @@ class CommandsCfg:
vel_command: mdp.PathFollowerCommandGeneratorCfg = mdp.PathFollowerCommandGeneratorCfg(
robot_attr="robot",
- lookAheadDistance=1.0,
+ lookAheadDistance=2,
debug_vis=True,
maxSpeed=1.0,
+ resampling_time_range=(0.1, 0.3),
)
diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/config/carla_cfg.py b/omniverse/extension/omni.viplanner/omni/viplanner/config/carla_cfg.py
index 6b02cae..390ea3e 100644
--- a/omniverse/extension/omni.viplanner/omni/viplanner/config/carla_cfg.py
+++ b/omniverse/extension/omni.viplanner/omni/viplanner/config/carla_cfg.py
@@ -6,18 +6,19 @@
import os
-import omni.isaac.lab.sim as sim_utils
-from omni.isaac.lab.assets import AssetBaseCfg
-from omni.isaac.lab.scene import InteractiveSceneCfg
-from omni.isaac.lab.sensors import CameraCfg, ContactSensorCfg, RayCasterCfg, patterns
-from omni.isaac.lab.utils import configclass
+import isaaclab.sim as sim_utils
+from isaaclab.assets import AssetBaseCfg
+from isaaclab.scene import InteractiveSceneCfg
+from isaaclab.sensors import CameraCfg, ContactSensorCfg, RayCasterCfg, patterns
+from isaaclab.utils import configclass
from omni.viplanner.utils import UnRealImporterCfg
##
# Pre-defined configs
##
# isort: off
-from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG
+from isaaclab_assets.robots.anymal import ANYMAL_C_CFG
+from isaaclab_assets.robots.fourier import GR1T2_CFG
from .base_cfg import ViPlannerBaseCfg
from ..viplanner import DATA_DIR
@@ -40,7 +41,7 @@ class TerrainSceneCfg(InteractiveSceneCfg):
dynamic_friction=1.0,
),
# NOTE: this path should be absolute to load the textures correctly
- usd_path="${USER_PATH_TO_USD}/carla.usd",
+ usd_path="/home/fourier/vip_ws/src/viplanner/Carla_USD/carla.usd",
groundplane=True,
cw_config_file=os.path.join(DATA_DIR, "town01", "cw_multiply_cfg.yml"),
sem_mesh_to_class_map=os.path.join(DATA_DIR, "town01", "keyword_mapping.yml"),
@@ -108,13 +109,14 @@ class ViPlannerCarlaCfg(ViPlannerBaseCfg):
"""Configuration for the locomotion velocity-tracking environment."""
# Scene settings
- scene: TerrainSceneCfg = TerrainSceneCfg(num_envs=1, env_spacing=1.0, replicate_physics=False)
+ scene: TerrainSceneCfg = TerrainSceneCfg(num_envs=1, env_spacing=1.0, replicate_physics=True)
def __post_init__(self):
"""Post initialization."""
super().__post_init__()
# adapt viewer
self.viewer.eye = (133, 127.5, 8.5)
+ #self.sim.dt = 1.0 / 10.0
self.viewer.lookat = (125.5, 120, 1.0)
# change ANYmal position
self.scene.robot.init_state.pos = (125.5, 118.5, 0.8)
diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/config/carla_class_cost.py b/omniverse/extension/omni.viplanner/omni/viplanner/config/carla_class_cost.py
index f102598..89cf583 100644
--- a/omniverse/extension/omni.viplanner/omni/viplanner/config/carla_class_cost.py
+++ b/omniverse/extension/omni.viplanner/omni/viplanner/config/carla_class_cost.py
@@ -4,7 +4,7 @@
#
# SPDX-License-Identifier: BSD-3-Clause
-from omni.isaac.lab.utils import configclass
+from isaaclab.utils import configclass
OBSTACLE_COST = 2.0
ROAD_LOSS = 1.5
diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/config/matterport_cfg.py b/omniverse/extension/omni.viplanner/omni/viplanner/config/matterport_cfg.py
index bf25479..e93cbc8 100644
--- a/omniverse/extension/omni.viplanner/omni/viplanner/config/matterport_cfg.py
+++ b/omniverse/extension/omni.viplanner/omni/viplanner/config/matterport_cfg.py
@@ -4,15 +4,15 @@
#
# SPDX-License-Identifier: BSD-3-Clause
-import omni.isaac.lab.sim as sim_utils
+import isaaclab.sim as sim_utils
import omni.viplanner.viplanner.mdp as mdp
-from omni.isaac.lab.assets import AssetBaseCfg
-from omni.isaac.lab.managers import ObservationGroupCfg as ObsGroup
-from omni.isaac.lab.managers import ObservationTermCfg as ObsTerm
-from omni.isaac.lab.managers import SceneEntityCfg
-from omni.isaac.lab.scene import InteractiveSceneCfg
-from omni.isaac.lab.sensors import ContactSensorCfg, patterns, CameraCfg
-from omni.isaac.lab.utils import configclass
+from isaaclab.assets import AssetBaseCfg
+from isaaclab.managers import ObservationGroupCfg as ObsGroup
+from isaaclab.managers import ObservationTermCfg as ObsTerm
+from isaaclab.managers import SceneEntityCfg
+from isaaclab.scene import InteractiveSceneCfg
+from isaaclab.sensors import ContactSensorCfg, patterns, CameraCfg
+from isaaclab.utils import configclass
from omni.isaac.matterport.config import MatterportImporterCfg
from omni.isaac.matterport.domains import MatterportRayCasterCfg
from omni.viplanner.utils import VIPlannerMatterportRayCasterCameraCfg
@@ -23,8 +23,7 @@
# Pre-defined configs
##
# isort: off
-from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG
-
+from isaaclab_assets.robots.anymal import ANYMAL_C_CFG
##
# Scene definition
##
diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/config/matterport_class_cost.py b/omniverse/extension/omni.viplanner/omni/viplanner/config/matterport_class_cost.py
index 500e25b..4617881 100644
--- a/omniverse/extension/omni.viplanner/omni/viplanner/config/matterport_class_cost.py
+++ b/omniverse/extension/omni.viplanner/omni/viplanner/config/matterport_class_cost.py
@@ -4,7 +4,7 @@
#
# SPDX-License-Identifier: BSD-3-Clause
-from omni.isaac.lab.utils import configclass
+from isaaclab.utils import configclass
OBSTACLE_COST = 1.0
TRAVERSABLE_COST = 0.0
diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/config/warehouse_cfg.py b/omniverse/extension/omni.viplanner/omni/viplanner/config/warehouse_cfg.py
index ae6c97e..57589bb 100644
--- a/omniverse/extension/omni.viplanner/omni/viplanner/config/warehouse_cfg.py
+++ b/omniverse/extension/omni.viplanner/omni/viplanner/config/warehouse_cfg.py
@@ -6,11 +6,11 @@
import os
-import omni.isaac.lab.sim as sim_utils
-from omni.isaac.lab.assets import AssetBaseCfg
-from omni.isaac.lab.scene import InteractiveSceneCfg
-from omni.isaac.lab.sensors import CameraCfg, ContactSensorCfg, RayCasterCfg, patterns
-from omni.isaac.lab.utils import configclass
+import isaaclab.sim as sim_utils
+from isaaclab.assets import AssetBaseCfg
+from isaaclab.scene import InteractiveSceneCfg
+from isaaclab.sensors import CameraCfg, ContactSensorCfg, RayCasterCfg, patterns
+from isaaclab.utils import configclass
from omni.viplanner.utils import UnRealImporterCfg
from ..viplanner import DATA_DIR
@@ -20,8 +20,7 @@
# Pre-defined configs
##
# isort: off
-from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG
-
+from isaaclab_assets.robots.anymal import ANYMAL_C_CFG
##
# Scene definition
diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/utils/unreal_importer.py b/omniverse/extension/omni.viplanner/omni/viplanner/utils/unreal_importer.py
index f46fca7..01c0803 100644
--- a/omniverse/extension/omni.viplanner/omni/viplanner/utils/unreal_importer.py
+++ b/omniverse/extension/omni.viplanner/omni/viplanner/utils/unreal_importer.py
@@ -12,14 +12,14 @@
import carb
import numpy as np
import omni
-import omni.isaac.core.utils.prims as prim_utils
-import omni.isaac.lab.sim as sim_utils
+import isaacsim.core.utils.prims as prim_utils
+import isaaclab.sim as sim_utils
import trimesh
import yaml
-from omni.isaac.core.utils.semantics import add_update_semantics, remove_all_semantics
-from omni.isaac.lab.terrains import TerrainImporter
-from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR
-from omni.isaac.lab.utils.warp import convert_to_warp_mesh
+from isaacsim.core.utils.semantics import add_update_semantics, remove_all_semantics
+from isaaclab.terrains import TerrainImporter
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
+from isaaclab.utils.warp import convert_to_warp_mesh
from pxr import Gf, Usd, UsdGeom
if TYPE_CHECKING:
diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/utils/unreal_importer_cfg.py b/omniverse/extension/omni.viplanner/omni/viplanner/utils/unreal_importer_cfg.py
index 317b407..43c641e 100644
--- a/omniverse/extension/omni.viplanner/omni/viplanner/utils/unreal_importer_cfg.py
+++ b/omniverse/extension/omni.viplanner/omni/viplanner/utils/unreal_importer_cfg.py
@@ -4,8 +4,8 @@
#
# SPDX-License-Identifier: BSD-3-Clause
-from omni.isaac.lab.terrains import TerrainImporterCfg
-from omni.isaac.lab.utils import configclass
+from isaaclab.terrains import TerrainImporterCfg
+from isaaclab.utils import configclass
from .unreal_importer import UnRealImporter
diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/utils/viplanner_matterport_raycast_camera.py b/omniverse/extension/omni.viplanner/omni/viplanner/utils/viplanner_matterport_raycast_camera.py
index 5e30ed9..27ede95 100644
--- a/omniverse/extension/omni.viplanner/omni/viplanner/utils/viplanner_matterport_raycast_camera.py
+++ b/omniverse/extension/omni.viplanner/omni/viplanner/utils/viplanner_matterport_raycast_camera.py
@@ -6,8 +6,8 @@
import torch
import yaml
-from omni.isaac.lab.sensors.ray_caster import RayCasterCameraCfg
-from omni.isaac.lab.utils.configclass import configclass
+from isaaclab.sensors.ray_caster import RayCasterCameraCfg
+from isaaclab.utils.configclass import configclass
from omni.isaac.matterport.domains import MatterportRayCasterCamera
from omni.viplanner.viplanner import DATA_DIR
diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/__init__.py b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/__init__.py
index 3d013af..79cacf7 100644
--- a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/__init__.py
+++ b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/__init__.py
@@ -6,7 +6,7 @@
"""This sub-module contains the functions that are specific to the viplanner environments."""
-from omni.isaac.lab.envs.mdp import * # noqa: F401, F403
+from isaaclab.envs.mdp import * # noqa: F401, F403
from .actions import * # noqa: F401, F403
from .commands import * # noqa: F401, F403
diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/actions/navigation_actions.py b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/actions/navigation_actions.py
index 84d42c2..b77ec02 100644
--- a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/actions/navigation_actions.py
+++ b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/actions/navigation_actions.py
@@ -9,10 +9,10 @@
from dataclasses import MISSING
import torch
-from omni.isaac.lab.envs import ManagerBasedRLEnv
-from omni.isaac.lab.managers.action_manager import ActionTerm, ActionTermCfg
-from omni.isaac.lab.utils import configclass
-from omni.isaac.lab.utils.assets import check_file_path, read_file
+from isaaclab.envs import ManagerBasedRLEnv
+from isaaclab.managers.action_manager import ActionTerm, ActionTermCfg
+from isaaclab.utils import configclass
+from isaaclab.utils.assets import check_file_path, read_file
# -- Navigation Action
diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/commands/path_follower_command_generator.py b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/commands/path_follower_command_generator.py
index 0ce4705..06e9e49 100644
--- a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/commands/path_follower_command_generator.py
+++ b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/commands/path_follower_command_generator.py
@@ -10,17 +10,17 @@
import math
from typing import TYPE_CHECKING, Sequence
-import omni.isaac.lab.utils.math as math_utils
+import isaaclab.utils.math as math_utils
import torch
-from omni.isaac.lab.assets.articulation import Articulation
-from omni.isaac.lab.envs import ManagerBasedRLEnv
-from omni.isaac.lab.managers import CommandTerm
-from omni.isaac.lab.markers import VisualizationMarkers
-from omni.isaac.lab.markers.config import (
+from isaaclab.assets.articulation import Articulation
+from isaaclab.envs import ManagerBasedRLEnv
+from isaaclab.managers import CommandTerm
+from isaaclab.markers import VisualizationMarkers
+from isaaclab.markers.config import (
BLUE_ARROW_X_MARKER_CFG,
GREEN_ARROW_X_MARKER_CFG,
)
-from omni.isaac.lab.sim import SimulationContext
+from isaaclab.sim import SimulationContext
if TYPE_CHECKING:
from .path_follower_command_generator_cfg import PathFollowerCommandGeneratorCfg
diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/commands/path_follower_command_generator_cfg.py b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/commands/path_follower_command_generator_cfg.py
index a336d63..adf08db 100644
--- a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/commands/path_follower_command_generator_cfg.py
+++ b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/commands/path_follower_command_generator_cfg.py
@@ -9,8 +9,8 @@
import math
from dataclasses import MISSING
-from omni.isaac.lab.managers import CommandTermCfg
-from omni.isaac.lab.utils.configclass import configclass
+from isaaclab.managers import CommandTermCfg
+from isaaclab.utils.configclass import configclass
from typing_extensions import Literal
from .path_follower_command_generator import PathFollowerCommandGenerator
@@ -46,7 +46,7 @@ class PathFollowerCommandGeneratorCfg(CommandTermCfg):
"""Gain for the yaw rate."""
stopYawRateGain: float = 7.0 # 3.5
""""""
- maxYawRate: float = 90.0 * math.pi / 360
+ maxYawRate: float = 90 * math.pi / 360
dirDiffThre: float = 0.7
stopDisThre: float = 0.2
slowDwnDisThre: float = 0.3
diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/observations.py b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/observations.py
index 70513ab..2625981 100644
--- a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/observations.py
+++ b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/observations.py
@@ -15,15 +15,15 @@
from typing import TYPE_CHECKING
import torch
-from omni.isaac.lab.managers import SceneEntityCfg
-from omni.isaac.lab.sensors.camera import CameraData
+from isaaclab.managers import SceneEntityCfg
+from isaaclab.sensors.camera import CameraData
from viplanner.config import VIPlannerSemMetaHandler
from .actions import NavigationAction
if TYPE_CHECKING:
- from omni.isaac.lab.envs.base_env import ManagerBasedEnv
+ from isaaclab.envs.base_env import ManagerBasedEnv
# initialize viplanner config
diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/terminations.py b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/terminations.py
index 2ad4373..970b333 100644
--- a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/terminations.py
+++ b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/terminations.py
@@ -8,13 +8,13 @@
from typing import TYPE_CHECKING
-import omni.isaac.core.utils.prims as prim_utils
+import isaacsim.core.utils.prims as prim_utils
import torch
-from omni.isaac.lab.assets import Articulation
-from omni.isaac.lab.managers import SceneEntityCfg
+from isaaclab.assets import Articulation
+from isaaclab.managers import SceneEntityCfg
if TYPE_CHECKING:
- from omni.isaac.lab.envs import ManagerBasedRLEnv
+ from isaaclab.envs import ManagerBasedRLEnv
def at_goal(
diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/viplanner_algo.py b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/viplanner_algo.py
index a52465f..2fb45e3 100644
--- a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/viplanner_algo.py
+++ b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/viplanner_algo.py
@@ -7,7 +7,7 @@
import os
import carb
-import omni.isaac.lab.utils.math as math_utils
+import isaaclab.utils.math as math_utils
import torch
import torchvision.transforms as transforms
@@ -52,7 +52,7 @@ def __init__(self, model_dir: str, fear_threshold: float = 0.5, device: str = "c
# setup waypoint display in Isaac
# in headless mode, we cannot visualize the graph and omni.debug.draw is not available
try:
- import omni.isaac.debug_draw._debug_draw as omni_debug_draw
+ import isaacsim.util.debug_draw._debug_draw as omni_debug_draw
self.draw = omni_debug_draw.acquire_debug_draw_interface()
except ImportError:
diff --git a/omniverse/standalone/viplanner_demo.py b/omniverse/standalone/viplanner_demo.py
index 6af4521..cd1d274 100644
--- a/omniverse/standalone/viplanner_demo.py
+++ b/omniverse/standalone/viplanner_demo.py
@@ -13,7 +13,7 @@
import argparse
# omni-isaac-lab
-from omni.isaac.lab.app import AppLauncher
+from isaaclab.app import AppLauncher
# add argparse arguments
parser = argparse.ArgumentParser(description="This script demonstrates how to use the camera sensor.")
@@ -28,16 +28,19 @@
args_cli = parser.parse_args()
args_cli.enable_cameras = True
-
+args_cli.no_vsync = True
+args_cli.fixed_time_step = True
+args_cli.async_rendering = True
# launch omniverse app
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app
+
"""Rest everything follows."""
-import omni.isaac.core.utils.prims as prim_utils
+import isaacsim.core.utils.prims as prim_utils
import torch
-from omni.isaac.core.objects import VisualCuboid
-from omni.isaac.lab.envs import ManagerBasedRLEnv
+from isaacsim.core.api.objects import VisualCuboid
+from isaaclab.envs import ManagerBasedRLEnv
from omni.viplanner.config import (
ViPlannerCarlaCfg,
ViPlannerMatterportCfg,
@@ -98,7 +101,7 @@ def main():
goal_pos = prim_utils.get_prim_at_path("/World/goal").GetAttribute("xformOp:translate")
# pause the simulator
- # env.sim.pause()
+ #env.sim.pause()
# load viplanner
viplanner = VIPlannerAlgo(model_dir=args_cli.model_dir, device=env.device)
@@ -112,6 +115,7 @@ def main():
# Simulate physics
while simulation_app.is_running():
+ print("Cam position:", obs["planner_transform"]["cam_position"])
with torch.inference_mode():
# If simulation is paused, then skip.
if not env.sim.is_playing():
@@ -119,7 +123,16 @@ def main():
continue
obs = env.step(action=paths.view(paths.shape[0], -1))[0]
+ robot_pos = env.scene["robot"].data.root_pos_w
+ robot_rot = env.scene["robot"].data.root_quat_w
+ cam_offset = torch.tensor([0.510, 0.0, 0.015], device=env.device)
+ cam_position = robot_pos + cam_offset
+ cam_orientation = robot_rot # 假设相机朝向与 base 保持一致
+
+ # 替换 obs 中的感知参考帧
+ obs["planner_transform"]["cam_position"] = cam_position
+ obs["planner_transform"]["cam_orientation"] = cam_orientation
# apply planner
goals = torch.tensor(goal_pos.Get(), device=env.device).repeat(env.num_envs, 1)
if torch.any(
@@ -142,6 +155,7 @@ def main():
paths, obs["planner_transform"]["cam_position"], obs["planner_transform"]["cam_orientation"]
)
+
# draw path
viplanner.debug_draw(paths, fear, goals)
diff --git a/ros/planner/config/anymal_mount.yaml b/ros/planner/config/anymal_mount.yaml
index 9c92cda..aab4c9e 100644
--- a/ros/planner/config/anymal_mount.yaml
+++ b/ros/planner/config/anymal_mount.yaml
@@ -7,22 +7,22 @@ overlap_ratio_thres: 0.80
depth_zero_ratio_thres: 0.6
# network model
model_save: models
-m2f_model_path: models/sem_model.pth
-m2f_cfg_file: /root/git/mmdetection/configs/mask2former/mask2former_r50_8xb2-lsj-50e_coco-panoptic.py
+m2f_model_path: /workspace/vip_ws/src/viplanner/ros/planner/models/mask2former_r50_8xb2-lsj-50e_coco-panoptic_20230118_125535-54df384a.pth
+m2f_cfg_file: /workspace/mmdetection/configs/mask2former/mask2former_r50_8xb2-lsj-50e_coco-panoptic.py
# ros topics
-depth_topic: /depth_cam_mounted_front/depth/image_rect_raw
-depth_info_topic: /depth_cam_mounted_front/depth/camera_info
-rgb_topic: /depth_cam_mounted_front/color/image_raw/compressed
-rgb_info_topic: /depth_cam_mounted_front/color/camera_info
-mount_cam_frame: wide_angle_camera_rear_camera_parent # mounted camera is not part of the TF tree, specify its frame here
+depth_topic: /camera/depth/image_rect_raw
+depth_info_topic: /camera/depth/camera_info
+rgb_topic: /camera/color/image_raw/compressed
+rgb_info_topic: /camera/color/camera_info
+mount_cam_frame: camera_link # mounted camera is not part of the TF tree, specify its frame here
goal_topic: /mp_waypoint
path_topic: /viplanner/path
m2f_timer_topic: /viplanner/m2f_timer
depth_uint_type: True
compressed: True
# frame ids
-robot_id: base_inverted # also adjust in path_follower.launch
-world_id: odom
+robot_id: camera_link # also adjust in path_follower.launch
+world_id: camera_init
# fear reaction
is_fear_act: False
buffer_size: 3
diff --git a/ros/planner/launch/viplanner.launch b/ros/planner/launch/viplanner.launch
index 79808bc..221efcd 100644
--- a/ros/planner/launch/viplanner.launch
+++ b/ros/planner/launch/viplanner.launch
@@ -20,5 +20,7 @@
+
+
diff --git a/ros/waypoint_rviz_plugin/src/waypoint_tool.cpp b/ros/waypoint_rviz_plugin/src/waypoint_tool.cpp
index a0496c8..e0ec9b3 100644
--- a/ros/waypoint_rviz_plugin/src/waypoint_tool.cpp
+++ b/ros/waypoint_rviz_plugin/src/waypoint_tool.cpp
@@ -64,7 +64,7 @@ void WaypointTool::onPoseSet(double x, double y, double theta)
pub_joy_.publish(joy);
geometry_msgs::PointStamped waypoint_odom;
- waypoint_odom.header.frame_id = "odom";
+ waypoint_odom.header.frame_id = "camera_init";
waypoint_odom.header.stamp = joy.header.stamp;
waypoint_odom.point.x = x;
waypoint_odom.point.y = y;
@@ -76,10 +76,10 @@ void WaypointTool::onPoseSet(double x, double y, double theta)
// Wait for the transform to become available
try {
- geometry_msgs::TransformStamped transform = tf_buffer.lookupTransform("map", "base", ros::Time(0));
+ geometry_msgs::TransformStamped transform = tf_buffer.lookupTransform("camera_init", "camera_link", ros::Time(0));
geometry_msgs::PointStamped waypoint_map;
tf2::doTransform(waypoint_odom, waypoint_map, transform);
- waypoint_map.header.frame_id = "map";
+ waypoint_map.header.frame_id = "camera_init";
waypoint_map.header.stamp = ros::Time::now();
// Print out the transformed point coordinates