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Rename Orbit wrapper to Isaac Lab
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@Toni-SM
Toni-SM committed Jun 21, 2024
1 parent 86f2ef3 commit 1efb188
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Showing 4 changed files with 23 additions and 23 deletions.
16 changes: 8 additions & 8 deletions skrl/envs/wrappers/jax/__init__.py
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Expand Up @@ -9,7 +9,7 @@
from skrl.envs.wrappers.jax.gym_envs import GymWrapper
from skrl.envs.wrappers.jax.gymnasium_envs import GymnasiumWrapper
from skrl.envs.wrappers.jax.isaacgym_envs import IsaacGymPreview2Wrapper, IsaacGymPreview3Wrapper
from skrl.envs.wrappers.jax.isaaclab_envs import IsaacOrbitWrapper
from skrl.envs.wrappers.jax.isaaclab_envs import IsaacLabWrapper
from skrl.envs.wrappers.jax.omniverse_isaacgym_envs import OmniverseIsaacGymWrapper
from skrl.envs.wrappers.jax.pettingzoo_envs import PettingZooWrapper

Expand Down Expand Up @@ -52,7 +52,7 @@ def wrap_env(env: Any, wrapper: str = "auto", verbose: bool = True) -> Union[Wra
+--------------------+-------------------------+
|Omniverse Isaac Gym |``"omniverse-isaacgym"`` |
+--------------------+-------------------------+
|Isaac Sim (orbit) |``"isaac-orbit"`` |
|Isaac Lab |``"isaaclab"`` |
+--------------------+-------------------------+
:type wrapper: str, optional
:param verbose: Whether to print the wrapper type (default: ``True``)
Expand All @@ -74,11 +74,11 @@ def wrap_env(env: Any, wrapper: str = "auto", verbose: bool = True) -> Union[Wra
logger.info("Environment wrapper: Omniverse Isaac Gym")
return OmniverseIsaacGymWrapper(env)
elif isinstance(env, gym.core.Env) or isinstance(env, gym.core.Wrapper):
# isaac-orbit
# isaaclab
if hasattr(env, "sim") and hasattr(env, "env_ns"):
if verbose:
logger.info("Environment wrapper: Isaac Orbit")
return IsaacOrbitWrapper(env)
logger.info("Environment wrapper: Isaac Lab")
return IsaacLabWrapper(env)
# gym
if verbose:
logger.info("Environment wrapper: Gym")
Expand Down Expand Up @@ -146,9 +146,9 @@ def wrap_env(env: Any, wrapper: str = "auto", verbose: bool = True) -> Union[Wra
if verbose:
logger.info("Environment wrapper: Omniverse Isaac Gym")
return OmniverseIsaacGymWrapper(env)
elif wrapper == "isaac-orbit":
elif wrapper == "isaaclab" or wrapper == "isaac-orbit":
if verbose:
logger.info("Environment wrapper: Isaac Orbit")
return IsaacOrbitWrapper(env)
logger.info("Environment wrapper: Isaac Lab")
return IsaacLabWrapper(env)
else:
raise ValueError(f"Unknown wrapper type: {wrapper}")
8 changes: 4 additions & 4 deletions skrl/envs/wrappers/jax/isaaclab_envs.py
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Expand Up @@ -19,7 +19,7 @@
# jaxlib.xla_extension.XlaRuntimeError: INVALID_ARGUMENT: DLPack tensor is on GPU, but no GPU backend was provided.
_CPU = jax.devices()[0].device_kind.lower() == "cpu"
if _CPU:
logger.warning("Isaac Orbit runs on GPU, but there is no GPU backend for JAX. JAX operations will run on CPU.")
logger.warning("Isaac Lab runs on GPU, but there is no GPU backend for JAX. JAX operations will run on CPU.")

def _jax2torch(array, device, from_jax=True):
if from_jax:
Expand All @@ -32,12 +32,12 @@ def _torch2jax(tensor, to_jax=True):
return tensor.cpu().numpy()


class IsaacOrbitWrapper(Wrapper):
class IsaacLabWrapper(Wrapper):
def __init__(self, env: Any) -> None:
"""Isaac Orbit environment wrapper
"""Isaac Lab environment wrapper
:param env: The environment to wrap
:type env: Any supported Isaac Orbit environment
:type env: Any supported Isaac Lab environment
"""
super().__init__(env)

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16 changes: 8 additions & 8 deletions skrl/envs/wrappers/torch/__init__.py
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Expand Up @@ -10,7 +10,7 @@
from skrl.envs.wrappers.torch.gym_envs import GymWrapper
from skrl.envs.wrappers.torch.gymnasium_envs import GymnasiumWrapper
from skrl.envs.wrappers.torch.isaacgym_envs import IsaacGymPreview2Wrapper, IsaacGymPreview3Wrapper
from skrl.envs.wrappers.torch.isaaclab_envs import IsaacOrbitWrapper
from skrl.envs.wrappers.torch.isaaclab_envs import IsaacLabWrapper
from skrl.envs.wrappers.torch.omniverse_isaacgym_envs import OmniverseIsaacGymWrapper
from skrl.envs.wrappers.torch.pettingzoo_envs import PettingZooWrapper
from skrl.envs.wrappers.torch.robosuite_envs import RobosuiteWrapper
Expand Down Expand Up @@ -58,7 +58,7 @@ def wrap_env(env: Any, wrapper: str = "auto", verbose: bool = True) -> Union[Wra
+--------------------+-------------------------+
|Omniverse Isaac Gym |``"omniverse-isaacgym"`` |
+--------------------+-------------------------+
|Isaac Sim (orbit) |``"isaac-orbit"`` |
|Isaac Lab |``"isaaclab"`` |
+--------------------+-------------------------+
:type wrapper: str, optional
:param verbose: Whether to print the wrapper type (default: ``True``)
Expand All @@ -80,11 +80,11 @@ def wrap_env(env: Any, wrapper: str = "auto", verbose: bool = True) -> Union[Wra
logger.info("Environment wrapper: Omniverse Isaac Gym")
return OmniverseIsaacGymWrapper(env)
elif isinstance(env, gym.core.Env) or isinstance(env, gym.core.Wrapper):
# isaac-orbit
# isaaclab
if hasattr(env, "sim") and hasattr(env, "env_ns"):
if verbose:
logger.info("Environment wrapper: Isaac Orbit")
return IsaacOrbitWrapper(env)
logger.info("Environment wrapper: Isaac Lab")
return IsaacLabWrapper(env)
# gym
if verbose:
logger.info("Environment wrapper: Gym")
Expand Down Expand Up @@ -152,9 +152,9 @@ def wrap_env(env: Any, wrapper: str = "auto", verbose: bool = True) -> Union[Wra
if verbose:
logger.info("Environment wrapper: Omniverse Isaac Gym")
return OmniverseIsaacGymWrapper(env)
elif wrapper == "isaac-orbit":
elif wrapper == "isaaclab" or wrapper == "isaac-orbit":
if verbose:
logger.info("Environment wrapper: Isaac Orbit")
return IsaacOrbitWrapper(env)
logger.info("Environment wrapper: Isaac Lab")
return IsaacLabWrapper(env)
else:
raise ValueError(f"Unknown wrapper type: {wrapper}")
6 changes: 3 additions & 3 deletions skrl/envs/wrappers/torch/isaaclab_envs.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,12 +5,12 @@
from skrl.envs.wrappers.torch.base import Wrapper


class IsaacOrbitWrapper(Wrapper):
class IsaacLabWrapper(Wrapper):
def __init__(self, env: Any) -> None:
"""Isaac Orbit environment wrapper
"""Isaac Lab environment wrapper
:param env: The environment to wrap
:type env: Any supported Isaac Orbit environment
:type env: Any supported Isaac Lab environment
"""
super().__init__(env)

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