Replace Orbit by Isaac Lab in docs

Toni-SM · Jun 21, 2024 · 7403263 · 7403263
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diff --git a/docs/source/api/envs.rst b/docs/source/api/envs.rst
@@ -7,16 +7,16 @@ Environments
     Wrapping (single-agent) <envs/wrapping>
     Wrapping (multi-agents) <envs/multi_agents_wrapping>
     Isaac Gym environments <envs/isaac_gym>
-    Isaac Orbit environments <envs/isaac_orbit>
     Omniverse Isaac Gym environments <envs/omniverse_isaac_gym>
+    Isaac Lab environments <envs/isaac_orbit>
 
 The environment plays a fundamental and crucial role in defining the RL setup. It is the place where the agent interacts, and it is responsible for providing the agent with information about its current state, as well as the rewards/penalties associated with each action.
 
 .. raw:: html
 
     <br><hr>
 
-Grouped in this section you will find how to load environments from NVIDIA Isaac Gym, Isaac Orbit and Omniverse Isaac Gym with a simple function.
+Grouped in this section you will find how to load environments from NVIDIA Isaac Gym, Omniverse Isaac Gym and Isaac Lab with a simple function.
 
 In addition, you will be able to :doc:`wrap single-agent <envs/wrapping>` and :doc:`multi-agent <envs/multi_agents_wrapping>` RL environment interfaces.
 
@@ -29,10 +29,10 @@ In addition, you will be able to :doc:`wrap single-agent <envs/wrapping>` and :d
     * - :doc:`Isaac Gym environments <envs/isaac_gym>`
       - .. centered:: :math:`\blacksquare`
       - .. centered:: :math:`\blacksquare`
-    * - :doc:`Isaac Orbit environments <envs/isaac_orbit>`
+    * - :doc:`Omniverse Isaac Gym environments <envs/omniverse_isaac_gym>`
       - .. centered:: :math:`\blacksquare`
       - .. centered:: :math:`\blacksquare`
-    * - :doc:`Omniverse Isaac Gym environments <envs/omniverse_isaac_gym>`
+    * - :doc:`Isaac Lab environments <envs/isaac_orbit>`
       - .. centered:: :math:`\blacksquare`
       - .. centered:: :math:`\blacksquare`
 
@@ -57,10 +57,10 @@ In addition, you will be able to :doc:`wrap single-agent <envs/wrapping>` and :d
     * - Isaac Gym (previews)
       - .. centered:: :math:`\blacksquare`
       - .. centered:: :math:`\blacksquare`
-    * - Isaac Orbit
+    * - Omniverse Isaac Gym |_5| |_5| |_5| |_5| |_2|
       - .. centered:: :math:`\blacksquare`
       - .. centered:: :math:`\blacksquare`
-    * - Omniverse Isaac Gym |_5| |_5| |_5| |_5| |_2|
+    * - Isaac Lab
       - .. centered:: :math:`\blacksquare`
       - .. centered:: :math:`\blacksquare`
     * - PettingZoo

diff --git a/docs/source/api/envs/isaac_orbit.rst b/docs/source/api/envs/isaac_orbit.rst
@@ -1,10 +1,10 @@
-Isaac Orbit environments
-========================
+Isaac Lab environments
+======================
 
 .. image:: ../../_static/imgs/example_isaac_orbit.png
     :width: 100%
     :align: center
-    :alt: Isaac Orbit environments
+    :alt: Isaac Lab environments
 
 .. raw:: html
 
@@ -13,17 +13,17 @@ Isaac Orbit environments
 Environments
 ------------
 
-The repository https://github.com/NVIDIA-Omniverse/Orbit provides the example reinforcement learning environments for Isaac orbit.
+The repository https://github.com/isaac-sim/IsaacLab provides the example reinforcement learning environments for Isaac Lab (Orbit and Omniverse Isaac Gym unification).
 
-These environments can be easily loaded and configured by calling a single function provided with this library. This function also makes it possible to configure the environment from the command line arguments (see Isaac Orbit's `Running an RL environment <https://isaac-orbit.github.io/orbit/source/tutorials_envs/00_gym_env.html>`_) or from its parameters (:literal:`task_name`, :literal:`num_envs`, :literal:`headless`, and :literal:`cli_args`).
+These environments can be easily loaded and configured by calling a single function provided with this library. This function also makes it possible to configure the environment from the command line arguments (see Isaac Lab's `Training with an RL Agent <https://isaac-sim.github.io/IsaacLab/source/tutorials/03_envs/run_rl_training.html>`_) or from its parameters (:literal:`task_name`, :literal:`num_envs`, :literal:`headless`, and :literal:`cli_args`).
 
 .. note::
 
     The command line arguments has priority over the function parameters.
 
 .. note::
 
-    Isaac Orbit environments implement a functionality to get their configuration from the command line. Setting the :literal:`headless` option from the trainer configuration will not work. In this case, it is necessary to set the load function's :literal:`headless` argument to True or to invoke the scripts as follows: :literal:`orbit -p script.py --headless`.
+    Isaac Lab environments implement a functionality to get their configuration from the command line. Setting the :literal:`headless` option from the trainer configuration will not work. In this case, it is necessary to set the load function's :literal:`headless` argument to True or to invoke the scripts as follows: :literal:`isaaclab -p script.py --headless`.
 
 .. raw:: html
 
@@ -43,16 +43,16 @@ Usage
                 .. literalinclude:: ../../snippets/loaders.py
                     :language: python
                     :emphasize-lines: 2, 5
-                    :start-after: [start-isaac-orbit-envs-parameters-torch]
-                    :end-before: [end-isaac-orbit-envs-parameters-torch]
+                    :start-after: [start-isaaclab-envs-parameters-torch]
+                    :end-before: [end-isaaclab-envs-parameters-torch]
 
             .. group-tab:: |_4| |jax| |_4|
 
                 .. literalinclude:: ../../snippets/loaders.py
                     :language: python
                     :emphasize-lines: 2, 5
-                    :start-after: [start-isaac-orbit-envs-parameters-jax]
-                    :end-before: [end-isaac-orbit-envs-parameters-jax]
+                    :start-after: [start-isaaclab-envs-parameters-jax]
+                    :end-before: [end-isaaclab-envs-parameters-jax]
 
     .. tab:: Command line arguments (priority)
 
@@ -63,22 +63,22 @@ Usage
                 .. literalinclude:: ../../snippets/loaders.py
                     :language: python
                     :emphasize-lines: 2, 5
-                    :start-after: [start-isaac-orbit-envs-cli-torch]
-                    :end-before: [end-isaac-orbit-envs-cli-torch]
+                    :start-after: [start-isaaclab-envs-cli-torch]
+                    :end-before: [end-isaaclab-envs-cli-torch]
 
             .. group-tab:: |_4| |jax| |_4|
 
                 .. literalinclude:: ../../snippets/loaders.py
                     :language: python
                     :emphasize-lines: 2, 5
-                    :start-after: [start-isaac-orbit-envs-cli-jax]
-                    :end-before: [end-isaac-orbit-envs-cli-jax]
+                    :start-after: [start-isaaclab-envs-cli-jax]
+                    :end-before: [end-isaaclab-envs-cli-jax]
 
         Run the main script passing the configuration as command line arguments. For example:
 
         .. code-block::
 
-            orbit -p main.py --task Isaac-Cartpole-v0
+            isaaclab -p main.py --task Isaac-Cartpole-v0
 
 .. raw:: html
 
@@ -87,4 +87,4 @@ Usage
 API
 ^^^
 
-.. autofunction:: skrl.envs.loaders.torch.load_isaac_orbit_env
+.. autofunction:: skrl.envs.loaders.torch.load_isaaclab_env
diff --git a/docs/source/api/envs/wrapping.rst b/docs/source/api/envs/wrapping.rst
@@ -14,8 +14,8 @@ This library works with a common API to interact with the following RL environme
 * `DeepMind <https://github.com/deepmind/dm_env>`_
 * `robosuite <https://robosuite.ai/>`_
 * `NVIDIA Isaac Gym <https://developer.nvidia.com/isaac-gym>`_ (preview 2, 3 and 4)
-* `NVIDIA Isaac Orbit <https://isaac-orbit.github.io/orbit/index.html>`_
 * `NVIDIA Omniverse Isaac Gym <https://docs.omniverse.nvidia.com/isaacsim/latest/tutorial_gym_isaac_gym.html>`_
+* `NVIDIA Isaac Lab <https://isaac-sim.github.io/IsaacLab/index.html>`_
 
 To operate with them and to support interoperability between these non-compatible interfaces, a **wrapping mechanism is provided** as shown in the diagram below
 
@@ -44,6 +44,24 @@ Usage
 
 .. tabs::
 
+    .. tab:: Isaac Lab
+
+        .. tabs::
+
+            .. group-tab:: |_4| |pytorch| |_4|
+
+                .. literalinclude:: ../../snippets/wrapping.py
+                    :language: python
+                    :start-after: [pytorch-start-isaaclab]
+                    :end-before: [pytorch-end-isaaclab]
+
+            .. group-tab:: |_4| |jax| |_4|
+
+                .. literalinclude:: ../../snippets/wrapping.py
+                    :language: python
+                    :start-after: [jax-start-isaaclab]
+                    :end-before: [jax-end-isaaclab]
+
     .. tab:: Omniverse Isaac Gym
 
         .. tabs::
@@ -84,24 +102,6 @@ Usage
                             :start-after: [jax-start-omniverse-isaacgym-mt]
                             :end-before: [jax-end-omniverse-isaacgym-mt]
 
-    .. tab:: Isaac Orbit
-
-        .. tabs::
-
-            .. group-tab:: |_4| |pytorch| |_4|
-
-                .. literalinclude:: ../../snippets/wrapping.py
-                    :language: python
-                    :start-after: [pytorch-start-isaac-orbit]
-                    :end-before: [pytorch-end-isaac-orbit]
-
-            .. group-tab:: |_4| |jax| |_4|
-
-                .. literalinclude:: ../../snippets/wrapping.py
-                    :language: python
-                    :start-after: [jax-start-isaac-orbit]
-                    :end-before: [jax-end-isaac-orbit]
-
     .. tab:: Isaac Gym
 
         .. tabs::
@@ -365,7 +365,7 @@ Internal API (PyTorch)
 
     .. automethod:: __init__
 
-.. autoclass:: skrl.envs.wrappers.torch.IsaacOrbitWrapper
+.. autoclass:: skrl.envs.wrappers.torch.IsaacLabWrapper
     :undoc-members:
     :show-inheritance:
     :members:
@@ -443,7 +443,7 @@ Internal API (JAX)
 
     .. automethod:: __init__
 
-.. autoclass:: skrl.envs.wrappers.jax.IsaacOrbitWrapper
+.. autoclass:: skrl.envs.wrappers.jax.IsaacLabWrapper
     :undoc-members:
     :show-inheritance:
     :members:

diff --git a/docs/source/api/utils/omniverse_isaacgym_utils.rst b/docs/source/api/utils/omniverse_isaacgym_utils.rst
@@ -17,7 +17,7 @@ Control of robotic manipulators
 Differential inverse kinematics
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-This implementation attempts to unify under a single and reusable function the whole set of procedures used to compute the inverse kinematics of a robotic manipulator, originally shown in the Isaac Orbit framework's task space controllers section, but this time for Omniverse Isaac Gym.
+This implementation attempts to unify under a single and reusable function the whole set of procedures used to compute the inverse kinematics of a robotic manipulator, originally shown in the Isaac Lab (Orbit then) framework's task space controllers section, but this time for Omniverse Isaac Gym.
 
 :math:`\Delta\theta =` :guilabel:`scale` :math:`J^\dagger \, \vec{e}`
 

diff --git a/docs/source/index.rst b/docs/source/index.rst
@@ -28,15 +28,15 @@ SKRL - Reinforcement Learning library (|version|)
     </a>
     <br><br>
 
-**skrl** is an open-source library for Reinforcement Learning written in Python (on top of `PyTorch <https://pytorch.org/>`_ and `JAX <https://jax.readthedocs.io>`_) and designed with a focus on modularity, readability, simplicity and transparency of algorithm implementation. In addition to supporting the OpenAI `Gym <https://www.gymlibrary.dev>`_ / Farama `Gymnasium <https://gymnasium.farama.org/>`_, `DeepMind <https://github.com/deepmind/dm_env>`_ and other environment interfaces, it allows loading and configuring `NVIDIA Isaac Gym <https://developer.nvidia.com/isaac-gym>`_, `NVIDIA Isaac Orbit <https://isaac-orbit.github.io/orbit/index.html>`_ and `NVIDIA Omniverse Isaac Gym <https://docs.omniverse.nvidia.com/isaacsim/latest/tutorial_gym_isaac_gym.html>`_ environments, enabling agents' simultaneous training by scopes (subsets of environments among all available environments), which may or may not share resources, in the same run.
+**skrl** is an open-source library for Reinforcement Learning written in Python (on top of `PyTorch <https://pytorch.org/>`_ and `JAX <https://jax.readthedocs.io>`_) and designed with a focus on modularity, readability, simplicity and transparency of algorithm implementation. In addition to supporting the OpenAI `Gym <https://www.gymlibrary.dev>`_ / Farama `Gymnasium <https://gymnasium.farama.org/>`_, `DeepMind <https://github.com/deepmind/dm_env>`_ and other environment interfaces, it allows loading and configuring `NVIDIA Isaac Gym <https://developer.nvidia.com/isaac-gym>`_, `NVIDIA Omniverse Isaac Gym <https://docs.omniverse.nvidia.com/isaacsim/latest/tutorial_gym_isaac_gym.html>`_, and `NVIDIA Isaac Lab <https://isaac-sim.github.io/IsaacLab/index.html>`_ environments, enabling agents' simultaneous training by scopes (subsets of environments among all available environments), which may or may not share resources, in the same run.
 
 **Main features:**
     * PyTorch (|_1| |pytorch| |_1|) and JAX (|_1| |jax| |_1|)
     * Clean code
     * Modularity and reusability
     * Documented library, code and implementations
-    * Support for Gym/Gymnasium (single and vectorized), DeepMind, NVIDIA Isaac Gym (preview 2, 3 and 4), NVIDIA Isaac Orbit, NVIDIA Omniverse Isaac Gym environments, among others
-    * Simultaneous learning by scopes in Gym/Gymnasium (vectorized), NVIDIA Isaac Gym, NVIDIA Isaac Orbit and NVIDIA Omniverse Isaac Gym
+    * Support for Gym/Gymnasium (single and vectorized), DeepMind, NVIDIA Isaac Gym (preview 2, 3 and 4), NVIDIA Omniverse Isaac Gym environments, NVIDIA Isaac Lab, among others
+    * Simultaneous learning by scopes in Gym/Gymnasium (vectorized), NVIDIA Isaac Gym, NVIDIA Omniverse Isaac Gym, and NVIDIA Isaac Lab
 
 .. raw:: html
 
@@ -132,13 +132,13 @@ Multi-agents
 Environments
 ^^^^^^^^^^^^
 
-    Definition of the Isaac Gym (preview 2, 3 and 4), Isaac Orbit and Omniverse Isaac Gym environment loaders, and wrappers for the Gym/Gymnasium, DeepMind, Isaac Gym, Isaac Orbit, Omniverse Isaac Gym environments, among others
+    Definition of the Isaac Gym (preview 2, 3 and 4), Omniverse Isaac Gym, and Isaac Lab environment loaders, and wrappers for the Gym/Gymnasium, DeepMind, Isaac Gym, Omniverse Isaac Gym environments, Isaac Lab, among others
 
-    * :doc:`Single-agent environment wrapping <api/envs/wrapping>` for **Gym/Gymnasium**, **DeepMind**, **Isaac Gym**, **Isaac Orbit**, **Omniverse Isaac Gym** environments, among others
+    * :doc:`Single-agent environment wrapping <api/envs/wrapping>` for **Gym/Gymnasium**, **DeepMind**, **Isaac Gym**, **Omniverse Isaac Gym**, **Isaac Lab** environments, among others
     * :doc:`Multi-agent environment wrapping <api/envs/multi_agents_wrapping>` for **PettingZoo** and **Bi-DexHands** environments
     * Loading :doc:`Isaac Gym environments <api/envs/isaac_gym>`
-    * Loading :doc:`Isaac Orbit environments <api/envs/isaac_orbit>`
     * Loading :doc:`Omniverse Isaac Gym environments <api/envs/omniverse_isaac_gym>`
+    * Loading :doc:`Isaac Lab environments <api/envs/isaac_orbit>`
 
 Memories
 ^^^^^^^^