From 1efb188ca3c2001e719f0a8260e94497409e71e4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Antonio=20Serrano=20Mu=C3=B1oz?= Date: Fri, 21 Jun 2024 11:55:22 -0400 Subject: [PATCH] Rename Orbit wrapper to Isaac Lab --- skrl/envs/wrappers/jax/__init__.py | 16 ++++++++-------- skrl/envs/wrappers/jax/isaaclab_envs.py | 8 ++++---- skrl/envs/wrappers/torch/__init__.py | 16 ++++++++-------- skrl/envs/wrappers/torch/isaaclab_envs.py | 6 +++--- 4 files changed, 23 insertions(+), 23 deletions(-) diff --git a/skrl/envs/wrappers/jax/__init__.py b/skrl/envs/wrappers/jax/__init__.py index a3f0b4f7..70ac2a7c 100644 --- a/skrl/envs/wrappers/jax/__init__.py +++ b/skrl/envs/wrappers/jax/__init__.py @@ -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 @@ -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``) @@ -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") @@ -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}") diff --git a/skrl/envs/wrappers/jax/isaaclab_envs.py b/skrl/envs/wrappers/jax/isaaclab_envs.py index c1e897c9..f5ad6db6 100644 --- a/skrl/envs/wrappers/jax/isaaclab_envs.py +++ b/skrl/envs/wrappers/jax/isaaclab_envs.py @@ -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: @@ -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) diff --git a/skrl/envs/wrappers/torch/__init__.py b/skrl/envs/wrappers/torch/__init__.py index 7adea0cc..c4fe61f2 100644 --- a/skrl/envs/wrappers/torch/__init__.py +++ b/skrl/envs/wrappers/torch/__init__.py @@ -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 @@ -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``) @@ -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") @@ -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}") diff --git a/skrl/envs/wrappers/torch/isaaclab_envs.py b/skrl/envs/wrappers/torch/isaaclab_envs.py index c9670ce1..3c33ae0e 100644 --- a/skrl/envs/wrappers/torch/isaaclab_envs.py +++ b/skrl/envs/wrappers/torch/isaaclab_envs.py @@ -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)