leggedrobotics · Ruihyw · Jul 3, 2025
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
@@ -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/...erse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/matterport_importer.py b/...erse/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/...xtension/omni.isaac.matterport/omni/isaac/matterport/domains/matterport_raycast_camera.py b/...xtension/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/...rse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/matterport_raycaster.py b/...rse/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
@@ -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/...verse/extension/omni.isaac.matterport/omni/isaac/matterport/scripts/matterport_domains.py b/...verse/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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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/...erse/extension/omni.viplanner/omni/viplanner/utils/viplanner_matterport_raycast_camera.py b/...erse/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
@@ -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/...verse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/actions/navigation_actions.py b/...verse/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