Rename Orbit examples to Isaac Lab

Toni-SM · Jun 21, 2024 · 25a4cf5 · 25a4cf5
1 parent 1efb188
commit 25a4cf5
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Showing 18 changed files with 54 additions and 54 deletions.
diff --git a/...ource/examples/isaacorbit/jax_ant_ddpg.py → .../source/examples/isaaclab/jax_ant_ddpg.py b/...ource/examples/isaacorbit/jax_ant_ddpg.py → .../source/examples/isaaclab/jax_ant_ddpg.py
@@ -19,7 +19,7 @@
 # import the skrl components to build the RL system
 from skrl import config
 from skrl.agents.jax.ddpg import DDPG, DDPG_DEFAULT_CONFIG
-from skrl.envs.loaders.jax import load_isaac_orbit_env
+from skrl.envs.loaders.jax import load_isaaclab_env
 from skrl.envs.wrappers.jax import wrap_env
 from skrl.memories.jax import RandomMemory
 from skrl.models.jax import DeterministicMixin, Model
@@ -69,8 +69,8 @@ def __call__(self, inputs, role):
         return x, {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Ant-v0", num_envs=64)
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Ant-v0", num_envs=64)
 env = wrap_env(env)
 
 device = env.device

diff --git a/...source/examples/isaacorbit/jax_ant_ppo.py → docs/source/examples/isaaclab/jax_ant_ppo.py b/...source/examples/isaacorbit/jax_ant_ppo.py → docs/source/examples/isaaclab/jax_ant_ppo.py
@@ -19,7 +19,7 @@
 # import the skrl components to build the RL system
 from skrl import config
 from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
-from skrl.envs.loaders.jax import load_isaac_orbit_env
+from skrl.envs.loaders.jax import load_isaaclab_env
 from skrl.envs.wrappers.jax import wrap_env
 from skrl.memories.jax import RandomMemory
 from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
@@ -72,8 +72,8 @@ def __call__(self, inputs, role):
         return x, {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Ant-v0")
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Ant-v0")
 env = wrap_env(env)
 
 device = env.device

diff --git a/...source/examples/isaacorbit/jax_ant_sac.py → docs/source/examples/isaaclab/jax_ant_sac.py b/...source/examples/isaacorbit/jax_ant_sac.py → docs/source/examples/isaaclab/jax_ant_sac.py
@@ -19,7 +19,7 @@
 # import the skrl components to build the RL system
 from skrl import config
 from skrl.agents.jax.sac import SAC, SAC_DEFAULT_CONFIG
-from skrl.envs.loaders.jax import load_isaac_orbit_env
+from skrl.envs.loaders.jax import load_isaaclab_env
 from skrl.envs.wrappers.jax import wrap_env
 from skrl.memories.jax import RandomMemory
 from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
@@ -70,8 +70,8 @@ def __call__(self, inputs, role):
         return x, {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Ant-v0", num_envs=64)
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Ant-v0", num_envs=64)
 env = wrap_env(env)
 
 device = env.device

diff --git a/...source/examples/isaacorbit/jax_ant_td3.py → docs/source/examples/isaaclab/jax_ant_td3.py b/...source/examples/isaacorbit/jax_ant_td3.py → docs/source/examples/isaaclab/jax_ant_td3.py
@@ -19,7 +19,7 @@
 # import the skrl components to build the RL system
 from skrl import config
 from skrl.agents.jax.td3 import TD3, TD3_DEFAULT_CONFIG
-from skrl.envs.loaders.jax import load_isaac_orbit_env
+from skrl.envs.loaders.jax import load_isaaclab_env
 from skrl.envs.wrappers.jax import wrap_env
 from skrl.memories.jax import RandomMemory
 from skrl.models.jax import DeterministicMixin, Model
@@ -69,8 +69,8 @@ def __call__(self, inputs, role):
         return x, {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Ant-v0", num_envs=64)
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Ant-v0", num_envs=64)
 env = wrap_env(env)
 
 device = env.device

diff --git a/...e/examples/isaacorbit/jax_cartpole_ppo.py → ...rce/examples/isaaclab/jax_cartpole_ppo.py b/...e/examples/isaacorbit/jax_cartpole_ppo.py → ...rce/examples/isaaclab/jax_cartpole_ppo.py
@@ -19,7 +19,7 @@
 # import the skrl components to build the RL system
 from skrl import config
 from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
-from skrl.envs.loaders.jax import load_isaac_orbit_env
+from skrl.envs.loaders.jax import load_isaaclab_env
 from skrl.envs.wrappers.jax import wrap_env
 from skrl.memories.jax import RandomMemory
 from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
@@ -70,8 +70,8 @@ def __call__(self, inputs, role):
         return x, {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Cartpole-v0")
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Cartpole-v0")
 env = wrap_env(env)
 
 device = env.device

diff --git a/...e/examples/isaacorbit/jax_humanoid_ppo.py → ...rce/examples/isaaclab/jax_humanoid_ppo.py b/...e/examples/isaacorbit/jax_humanoid_ppo.py → ...rce/examples/isaaclab/jax_humanoid_ppo.py
@@ -19,7 +19,7 @@
 # import the skrl components to build the RL system
 from skrl import config
 from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
-from skrl.envs.loaders.jax import load_isaac_orbit_env
+from skrl.envs.loaders.jax import load_isaaclab_env
 from skrl.envs.wrappers.jax import wrap_env
 from skrl.memories.jax import RandomMemory
 from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
@@ -72,8 +72,8 @@ def __call__(self, inputs, role):
         return x, {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Humanoid-v0")
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Humanoid-v0")
 env = wrap_env(env)
 
 device = env.device

diff --git a/...xamples/isaacorbit/jax_lift_franka_ppo.py → .../examples/isaaclab/jax_lift_franka_ppo.py b/...xamples/isaacorbit/jax_lift_franka_ppo.py → .../examples/isaaclab/jax_lift_franka_ppo.py
@@ -19,7 +19,7 @@
 # import the skrl components to build the RL system
 from skrl import config
 from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
-from skrl.envs.loaders.jax import load_isaac_orbit_env
+from skrl.envs.loaders.jax import load_isaaclab_env
 from skrl.envs.wrappers.jax import wrap_env
 from skrl.memories.jax import RandomMemory
 from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
@@ -72,8 +72,8 @@ def __call__(self, inputs, role):
         return x, {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Lift-Franka-v0")
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Lift-Franka-v0")
 env = wrap_env(env)
 
 device = env.device

diff --git a/...amples/isaacorbit/jax_reach_franka_ppo.py → ...examples/isaaclab/jax_reach_franka_ppo.py b/...amples/isaacorbit/jax_reach_franka_ppo.py → ...examples/isaaclab/jax_reach_franka_ppo.py
@@ -19,7 +19,7 @@
 # import the skrl components to build the RL system
 from skrl import config
 from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
-from skrl.envs.loaders.jax import load_isaac_orbit_env
+from skrl.envs.loaders.jax import load_isaaclab_env
 from skrl.envs.wrappers.jax import wrap_env
 from skrl.memories.jax import RandomMemory
 from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
@@ -72,8 +72,8 @@ def __call__(self, inputs, role):
         return x, {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Reach-Franka-v0")
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Reach-Franka-v0")
 env = wrap_env(env)
 
 device = env.device

diff --git a/...s/isaacorbit/jax_velocity_anymal_c_ppo.py → ...les/isaaclab/jax_velocity_anymal_c_ppo.py b/...s/isaacorbit/jax_velocity_anymal_c_ppo.py → ...les/isaaclab/jax_velocity_anymal_c_ppo.py
@@ -19,7 +19,7 @@
 # import the skrl components to build the RL system
 from skrl import config
 from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
-from skrl.envs.loaders.jax import load_isaac_orbit_env
+from skrl.envs.loaders.jax import load_isaaclab_env
 from skrl.envs.wrappers.jax import wrap_env
 from skrl.memories.jax import RandomMemory
 from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
@@ -72,8 +72,8 @@ def __call__(self, inputs, role):
         return x, {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Velocity-Anymal-C-v0")
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Velocity-Anymal-C-v0")
 env = wrap_env(env)
 
 device = env.device

diff --git a/...rce/examples/isaacorbit/torch_ant_ddpg.py → ...ource/examples/isaaclab/torch_ant_ddpg.py b/...rce/examples/isaacorbit/torch_ant_ddpg.py → ...ource/examples/isaaclab/torch_ant_ddpg.py
@@ -3,7 +3,7 @@
 
 # import the skrl components to build the RL system
 from skrl.agents.torch.ddpg import DDPG, DDPG_DEFAULT_CONFIG
-from skrl.envs.loaders.torch import load_isaac_orbit_env
+from skrl.envs.loaders.torch import load_isaaclab_env
 from skrl.envs.wrappers.torch import wrap_env
 from skrl.memories.torch import RandomMemory
 from skrl.models.torch import DeterministicMixin, Model
@@ -48,8 +48,8 @@ def compute(self, inputs, role):
         return self.net(torch.cat([inputs["states"], inputs["taken_actions"]], dim=1)), {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Ant-v0", num_envs=64)
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Ant-v0", num_envs=64)
 env = wrap_env(env)
 
 device = env.device

diff --git a/...urce/examples/isaacorbit/torch_ant_ppo.py → ...source/examples/isaaclab/torch_ant_ppo.py b/...urce/examples/isaacorbit/torch_ant_ppo.py → ...source/examples/isaaclab/torch_ant_ppo.py
@@ -3,7 +3,7 @@
 
 # import the skrl components to build the RL system
 from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
-from skrl.envs.loaders.torch import load_isaac_orbit_env
+from skrl.envs.loaders.torch import load_isaaclab_env
 from skrl.envs.wrappers.torch import wrap_env
 from skrl.memories.torch import RandomMemory
 from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
@@ -53,8 +53,8 @@ def compute(self, inputs, role):
             return self.value_layer(shared_output), {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Ant-v0")
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Ant-v0")
 env = wrap_env(env)
 
 device = env.device

diff --git a/...urce/examples/isaacorbit/torch_ant_sac.py → ...source/examples/isaaclab/torch_ant_sac.py b/...urce/examples/isaacorbit/torch_ant_sac.py → ...source/examples/isaaclab/torch_ant_sac.py
@@ -3,7 +3,7 @@
 
 # import the skrl components to build the RL system
 from skrl.agents.torch.sac import SAC, SAC_DEFAULT_CONFIG
-from skrl.envs.loaders.torch import load_isaac_orbit_env
+from skrl.envs.loaders.torch import load_isaaclab_env
 from skrl.envs.wrappers.torch import wrap_env
 from skrl.memories.torch import RandomMemory
 from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
@@ -49,8 +49,8 @@ def compute(self, inputs, role):
         return self.net(torch.cat([inputs["states"], inputs["taken_actions"]], dim=1)), {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Ant-v0", num_envs=64)
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Ant-v0", num_envs=64)
 env = wrap_env(env)
 
 device = env.device

diff --git a/...urce/examples/isaacorbit/torch_ant_td3.py → ...source/examples/isaaclab/torch_ant_td3.py b/...urce/examples/isaacorbit/torch_ant_td3.py → ...source/examples/isaaclab/torch_ant_td3.py
@@ -3,7 +3,7 @@
 
 # import the skrl components to build the RL system
 from skrl.agents.torch.td3 import TD3, TD3_DEFAULT_CONFIG
-from skrl.envs.loaders.torch import load_isaac_orbit_env
+from skrl.envs.loaders.torch import load_isaaclab_env
 from skrl.envs.wrappers.torch import wrap_env
 from skrl.memories.torch import RandomMemory
 from skrl.models.torch import DeterministicMixin, Model
@@ -48,8 +48,8 @@ def compute(self, inputs, role):
         return self.net(torch.cat([inputs["states"], inputs["taken_actions"]], dim=1)), {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Ant-v0", num_envs=64)
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Ant-v0", num_envs=64)
 env = wrap_env(env)
 
 device = env.device

diff --git a/...examples/isaacorbit/torch_cartpole_ppo.py → ...e/examples/isaaclab/torch_cartpole_ppo.py b/...examples/isaacorbit/torch_cartpole_ppo.py → ...e/examples/isaaclab/torch_cartpole_ppo.py
@@ -3,7 +3,7 @@
 
 # import the skrl components to build the RL system
 from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
-from skrl.envs.loaders.torch import load_isaac_orbit_env
+from skrl.envs.loaders.torch import load_isaaclab_env
 from skrl.envs.wrappers.torch import wrap_env
 from skrl.memories.torch import RandomMemory
 from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
@@ -51,8 +51,8 @@ def compute(self, inputs, role):
             return self.value_layer(shared_output), {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Cartpole-v0")
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Cartpole-v0")
 env = wrap_env(env)
 
 device = env.device

diff --git a/...examples/isaacorbit/torch_humanoid_ppo.py → ...e/examples/isaaclab/torch_humanoid_ppo.py b/...examples/isaacorbit/torch_humanoid_ppo.py → ...e/examples/isaaclab/torch_humanoid_ppo.py
@@ -3,7 +3,7 @@
 
 # import the skrl components to build the RL system
 from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
-from skrl.envs.loaders.torch import load_isaac_orbit_env
+from skrl.envs.loaders.torch import load_isaaclab_env
 from skrl.envs.wrappers.torch import wrap_env
 from skrl.memories.torch import RandomMemory
 from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
@@ -53,8 +53,8 @@ def compute(self, inputs, role):
             return self.value_layer(shared_output), {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Humanoid-v0")
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Humanoid-v0")
 env = wrap_env(env)
 
 device = env.device

diff --git a/...mples/isaacorbit/torch_lift_franka_ppo.py → ...xamples/isaaclab/torch_lift_franka_ppo.py b/...mples/isaacorbit/torch_lift_franka_ppo.py → ...xamples/isaaclab/torch_lift_franka_ppo.py
@@ -3,7 +3,7 @@
 
 # import the skrl components to build the RL system
 from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
-from skrl.envs.loaders.torch import load_isaac_orbit_env
+from skrl.envs.loaders.torch import load_isaaclab_env
 from skrl.envs.wrappers.torch import wrap_env
 from skrl.memories.torch import RandomMemory
 from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
@@ -53,8 +53,8 @@ def compute(self, inputs, role):
             return self.value_layer(shared_output), {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Lift-Franka-v0")
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Lift-Franka-v0")
 env = wrap_env(env)
 
 device = env.device

diff --git a/...ples/isaacorbit/torch_reach_franka_ppo.py → ...amples/isaaclab/torch_reach_franka_ppo.py b/...ples/isaacorbit/torch_reach_franka_ppo.py → ...amples/isaaclab/torch_reach_franka_ppo.py
@@ -3,7 +3,7 @@
 
 # import the skrl components to build the RL system
 from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
-from skrl.envs.loaders.torch import load_isaac_orbit_env
+from skrl.envs.loaders.torch import load_isaaclab_env
 from skrl.envs.wrappers.torch import wrap_env
 from skrl.memories.torch import RandomMemory
 from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
@@ -53,8 +53,8 @@ def compute(self, inputs, role):
             return self.value_layer(shared_output), {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Reach-Franka-v0")
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Reach-Franka-v0")
 env = wrap_env(env)
 
 device = env.device

diff --git a/...isaacorbit/torch_velocity_anymal_c_ppo.py → ...s/isaaclab/torch_velocity_anymal_c_ppo.py b/...isaacorbit/torch_velocity_anymal_c_ppo.py → ...s/isaaclab/torch_velocity_anymal_c_ppo.py
@@ -3,7 +3,7 @@
 
 # import the skrl components to build the RL system
 from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
-from skrl.envs.loaders.torch import load_isaac_orbit_env
+from skrl.envs.loaders.torch import load_isaaclab_env
 from skrl.envs.wrappers.torch import wrap_env
 from skrl.memories.torch import RandomMemory
 from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
@@ -53,8 +53,8 @@ def compute(self, inputs, role):
             return self.value_layer(shared_output), {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Velocity-Anymal-C-v0")
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Velocity-Anymal-C-v0")
 env = wrap_env(env)
 
 device = env.device