Updated code

docs/source/how-to/record_animation.rst

@@ -47,7 +47,7 @@ Here we run the state-machine example and record the animation of the simulation
 
 .. code-block:: bash
 
-  ./isaaclab.sh -p source/standalone/environments/state_machine/lift_cube_sm.py --num_envs 8 --cpu --disable_fabric
+  ./isaaclab.sh -p source/standalone/environments/state_machine/lift_cube_sm.py --num_envs 8 --device cpu --disable_fabric
 
 
 On running the script, the Isaac Lab UI window opens with the button "Record Animation" in the toolbar.

docs/source/setup/sample.rst

@@ -182,8 +182,8 @@ from the environments into the respective libraries function argument and return
       # install python module (for stable-baselines3)
       ./isaaclab.sh -i sb3
       # run script for training
-      # note: we enable cpu flag since SB3 doesn't optimize for GPU anyway
-      ./isaaclab.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --headless --cpu
+      # note: we set the device to cpu since SB3 doesn't optimize for GPU anyway
+      ./isaaclab.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --headless --device cpu
       # run script for playing with 32 environments
       ./isaaclab.sh -p source/standalone/workflows/sb3/play.py --task Isaac-Cartpole-v0 --num_envs 32 --checkpoint /PATH/TO/model.zip
 

docs/source/tutorials/03_envs/register_rl_env_gym.rst

@@ -152,11 +152,11 @@ Now that we have gone through the code, let's run the script and see the result:
 This should open a stage with everything similar to the :ref:`tutorial-create-manager-rl-env` tutorial.
 To stop the simulation, you can either close the window, or press ``Ctrl+C`` in the terminal.
 
-In addition, you can also change the simulation device from GPU to CPU by adding the ``--cpu`` flag:
+In addition, you can also change the simulation device from GPU to CPU by setting the value of the ``--device`` flag explicitly:
 
 .. code-block:: bash
 
-   ./isaaclab.sh -p source/standalone/environments/random_agent.py --task Isaac-Cartpole-v0 --num_envs 32 --cpu
+   ./isaaclab.sh -p source/standalone/environments/random_agent.py --task Isaac-Cartpole-v0 --num_envs 32 --device cpu
 
-With the ``--cpu`` flag, the simulation will run on the CPU. This is useful for debugging the simulation.
+With the ``--device cpu`` flag, the simulation will run on the CPU. This is useful for debugging the simulation.
 However, the simulation will run much slower than on the GPU.

source/standalone/demos/bipeds.py

@@ -49,9 +49,7 @@ def main():
     """Main function."""
 
     # Load kit helper
-    sim = SimulationContext(
-        sim_utils.SimulationCfg(device="cpu", use_gpu_pipeline=False, dt=0.01, physx=sim_utils.PhysxCfg(use_gpu=False))
-    )
+    sim = SimulationContext(sim_utils.SimulationCfg(device="cpu", dt=0.01))
     # Set main camera
     sim.set_camera_view(eye=[3.5, 3.5, 3.5], target=[0.0, 0.0, 0.0])
 

source/standalone/demos/quadcopter.py

@@ -42,9 +42,7 @@ def main():
     """Main function."""
 
     # Load kit helper
-    sim = SimulationContext(
-        sim_utils.SimulationCfg(device="cpu", use_gpu_pipeline=False, dt=0.005, physx=sim_utils.PhysxCfg(use_gpu=False))
-    )
+    sim = SimulationContext(sim_utils.SimulationCfg(device="cpu", dt=0.005))
     # Set main camera
     sim.set_camera_view(eye=[3.5, 3.5, 3.5], target=[0.0, 0.0, 0.0])
 

source/standalone/environments/random_agent.py

@@ -13,7 +13,6 @@
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="Random agent for Isaac Lab environments.")
-parser.add_argument("--cpu", action="store_true", default=False, help="Use CPU pipeline.")
 parser.add_argument(
     "--disable_fabric", action="store_true", default=False, help="Disable fabric and use USD I/O operations."
 )
@@ -41,7 +40,7 @@ def main():
     """Random actions agent with Isaac Lab environment."""
     # create environment configuration
     env_cfg = parse_env_cfg(
-        args_cli.task, use_gpu=not args_cli.cpu, num_envs=args_cli.num_envs, use_fabric=not args_cli.disable_fabric
+        args_cli.task, device=args_cli.device, num_envs=args_cli.num_envs, use_fabric=not args_cli.disable_fabric
     )
     # create environment
     env = gym.make(args_cli.task, cfg=env_cfg)

source/standalone/environments/state_machine/lift_cube_sm.py

@@ -23,7 +23,6 @@
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="Pick and lift state machine for lift environments.")
-parser.add_argument("--cpu", action="store_true", default=False, help="Use CPU pipeline.")
 parser.add_argument(
     "--disable_fabric", action="store_true", default=False, help="Disable fabric and use USD I/O operations."
 )
@@ -242,7 +241,7 @@ def main():
     # parse configuration
     env_cfg: LiftEnvCfg = parse_env_cfg(
         "Isaac-Lift-Cube-Franka-IK-Abs-v0",
-        use_gpu=not args_cli.cpu,
+        device=args_cli.device,
         num_envs=args_cli.num_envs,
         use_fabric=not args_cli.disable_fabric,
     )

source/standalone/environments/state_machine/open_cabinet_sm.py

@@ -23,7 +23,6 @@
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="Pick and lift state machine for cabinet environments.")
-parser.add_argument("--cpu", action="store_true", default=False, help="Use CPU pipeline.")
 parser.add_argument(
     "--disable_fabric", action="store_true", default=False, help="Disable fabric and use USD I/O operations."
 )
@@ -265,7 +264,7 @@ def main():
     # parse configuration
     env_cfg: CabinetEnvCfg = parse_env_cfg(
         "Isaac-Open-Drawer-Franka-IK-Abs-v0",
-        use_gpu=not args_cli.cpu,
+        device=args_cli.device,
         num_envs=args_cli.num_envs,
         use_fabric=not args_cli.disable_fabric,
     )

source/standalone/environments/teleoperation/teleop_se3_agent.py

@@ -13,7 +13,6 @@
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="Keyboard teleoperation for Isaac Lab environments.")
-parser.add_argument("--cpu", action="store_true", default=False, help="Use CPU pipeline.")
 parser.add_argument(
     "--disable_fabric", action="store_true", default=False, help="Disable fabric and use USD I/O operations."
 )
@@ -63,7 +62,7 @@ def main():
     """Running keyboard teleoperation with Isaac Lab manipulation environment."""
     # parse configuration
     env_cfg = parse_env_cfg(
-        args_cli.task, use_gpu=not args_cli.cpu, num_envs=args_cli.num_envs, use_fabric=not args_cli.disable_fabric
+        args_cli.task, device=args_cli.device, num_envs=args_cli.num_envs, use_fabric=not args_cli.disable_fabric
     )
     # modify configuration
     env_cfg.terminations.time_out = None

source/standalone/environments/zero_agent.py

@@ -13,7 +13,6 @@
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="Zero agent for Isaac Lab environments.")
-parser.add_argument("--cpu", action="store_true", default=False, help="Use CPU pipeline.")
 parser.add_argument(
     "--disable_fabric", action="store_true", default=False, help="Disable fabric and use USD I/O operations."
 )
@@ -41,7 +40,7 @@ def main():
     """Zero actions agent with Isaac Lab environment."""
     # parse configuration
     env_cfg = parse_env_cfg(
-        args_cli.task, use_gpu=not args_cli.cpu, num_envs=args_cli.num_envs, use_fabric=not args_cli.disable_fabric
+        args_cli.task, device=args_cli.device, num_envs=args_cli.num_envs, use_fabric=not args_cli.disable_fabric
     )
     # create environment
     env = gym.make(args_cli.task, cfg=env_cfg)

source/standalone/tutorials/01_assets/run_articulation.py

@@ -120,7 +120,7 @@ def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, Articula
 def main():
     """Main function."""
     # Load kit helper
-    sim_cfg = sim_utils.SimulationCfg(device="cpu", use_gpu_pipeline=False)
+    sim_cfg = sim_utils.SimulationCfg(device="cpu")
     sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([2.5, 0.0, 4.0], [0.0, 0.0, 2.0])

source/standalone/tutorials/02_scene/create_scene.py

@@ -109,7 +109,7 @@ def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
 def main():
     """Main function."""
     # Load kit helper
-    sim_cfg = sim_utils.SimulationCfg(device="cpu", use_gpu_pipeline=False)
+    sim_cfg = sim_utils.SimulationCfg(device="cpu")
     sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([2.5, 0.0, 4.0], [0.0, 0.0, 2.0])

source/standalone/tutorials/04_sensors/run_usd_camera.py

@@ -27,7 +27,6 @@
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="This script demonstrates how to use the camera sensor.")
-parser.add_argument("--cpu", action="store_true", default=False, help="Use CPU device for camera output.")
 parser.add_argument(
     "--draw",
     action="store_true",
@@ -276,7 +275,7 @@ def run_simulator(sim: sim_utils.SimulationContext, scene_entities: dict):
 def main():
     """Main function."""
     # Load simulation context
-    sim_cfg = sim_utils.SimulationCfg(device="cpu" if args_cli.cpu else "cuda")
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])

source/standalone/workflows/skrl/play.py

@@ -19,7 +19,6 @@
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="Play a checkpoint of an RL agent from skrl.")
-parser.add_argument("--cpu", action="store_true", default=False, help="Use CPU pipeline.")
 parser.add_argument(
     "--disable_fabric", action="store_true", default=False, help="Disable fabric and use USD I/O operations."
 )
@@ -70,7 +69,7 @@ def main():
         skrl.config.jax.backend = "jax" if args_cli.ml_framework == "jax" else "numpy"
     # parse configuration
     env_cfg = parse_env_cfg(
-        args_cli.task, use_gpu=not args_cli.cpu, num_envs=args_cli.num_envs, use_fabric=not args_cli.disable_fabric
+        args_cli.task, device=args_cli.device, num_envs=args_cli.num_envs, use_fabric=not args_cli.disable_fabric
     )
     experiment_cfg = load_cfg_from_registry(args_cli.task, "skrl_cfg_entry_point")
 

source/standalone/workflows/skrl/train.py

@@ -22,7 +22,6 @@
 parser.add_argument("--video", action="store_true", default=False, help="Record videos during training.")
 parser.add_argument("--video_length", type=int, default=200, help="Length of the recorded video (in steps).")
 parser.add_argument("--video_interval", type=int, default=2000, help="Interval between video recordings (in steps).")
-parser.add_argument("--cpu", action="store_true", default=False, help="Use CPU pipeline.")
 parser.add_argument(
     "--disable_fabric", action="store_true", default=False, help="Disable fabric and use USD I/O operations."
 )
@@ -92,7 +91,7 @@ def main():
 
     # parse configuration
     env_cfg = parse_env_cfg(
-        args_cli.task, use_gpu=not args_cli.cpu, num_envs=args_cli.num_envs, use_fabric=not args_cli.disable_fabric
+        args_cli.task, device=args_cli.device, num_envs=args_cli.num_envs, use_fabric=not args_cli.disable_fabric
     )
     experiment_cfg = load_cfg_from_registry(args_cli.task, "skrl_cfg_entry_point")