Renames the project to Isaac Lab (isaac-sim#443)

# Description

Renames the project to Isaac Lab:
- All the references to Orbit have been renamed to Isaac Lab
- The script `orbit.sh` has been renamed to `isaaclab.sh`
- `omni.isaac.orbit` has been renamed to `omni.isaac.lab`
- `omni.isaac.orbit_tasks` has been renamed to `omni.isaac.lab_tasks`
- `omni.isaac.orbit_assets` has been renamed to `omni.isaac.lab_assets`

## Type of change

- Breaking change

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have run all the tests with `./orbit.sh --test` and they pass
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

.github/LICENSE_HEADER.txt

@@ -1,4 +1,4 @@
-Copyright (c) 2022-2024, The ORBIT Project Developers.
+Copyright (c) 2022-2024, The Isaac Lab Project Developers.
 All rights reserved.
 
 SPDX-License-Identifier: BSD-3-Clause

.github/PULL_REQUEST_TEMPLATE.md

@@ -3,7 +3,7 @@
 <!--
 Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines.
 
-Link: https://isaac-orbit.github.io/orbit/source/refs/contributing.html
+Link: https://isaac-sim.github.io/IsaacLab/source/refs/contributing.html
 -->
 
 Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context.
@@ -40,11 +40,11 @@ To upload images to a PR -- simply drag and drop an image while in edit mode and
 
 ## Checklist
 
-- [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.sh --format`
+- [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format`
 - [ ] I have made corresponding changes to the documentation
 - [ ] My changes generate no new warnings
 - [ ] I have added tests that prove my fix is effective or that my feature works
-- [ ] I have run all the tests with `./orbit.sh --test` and they pass
+- [ ] I have run all the tests with `./isaaclab.sh --test` and they pass
 - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file
 - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
 

.github/workflows/docs.yaml

@@ -6,7 +6,7 @@ jobs:
   build-docs:
     name: Build and deploy documentation
     runs-on: ubuntu-latest
-    if: github.repository == 'Isaac-Orbit/orbit' && github.ref == 'refs/heads/main'
+    if: github.repository == 'isaac-sim/IsaacLab' && github.ref == 'refs/heads/main'
 
     steps:
     - name: Checkout code

.pre-commit-config.yaml

@@ -38,7 +38,7 @@ repos:
       - id: pyupgrade
         args: ["--py310-plus"]
         # FIXME: This is a hack because Pytorch does not like: torch.Tensor | dict aliasing
-        exclude: "source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/base_env.py"
+        exclude: "source/extensions/omni.isaac.lab/omni/isaac/lab/envs/base_env.py"
   - repo: https://github.com/codespell-project/codespell
     rev: v2.2.6
     hooks:

.vscode/tasks.json

@@ -16,7 +16,7 @@
             "label": "run_formatter",
             "type": "shell",
             "linux": {
-                "command": "${workspaceFolder}/orbit.sh --format"
+                "command": "${workspaceFolder}/isaaclab.sh --format"
             }
         }
     ]

.vscode/tools/settings.template.json

@@ -80,6 +80,6 @@
         "editor.tabSize": 2
     },
     // Python extra paths
-    // Note: this is filled up when "./orbit.sh -i" is run
+    // Note: this is filled up when "./isaaclab.sh -i" is run
     "python.analysis.extraPaths": []
 }

.vscode/tools/setup_vscode.py

@@ -1,9 +1,9 @@
-# Copyright (c) 2022-2024, The ORBIT Project Developers.
+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""This script sets up the vs-code settings for the orbit project.
+"""This script sets up the vs-code settings for the Isaac Lab project.
 
 This script merges the python.analysis.extraPaths from the "_isaac_sim/.vscode/settings.json" file into
 the ".vscode/settings.json" file.
@@ -18,20 +18,20 @@
 import pathlib
 
 
-ORBIT_DIR = pathlib.Path(__file__).parents[2]
-"""Path to the orbit directory."""
-ISAACSIM_DIR = os.path.join(ORBIT_DIR, "_isaac_sim")
+ISAACLAB_DIR = pathlib.Path(__file__).parents[2]
+"""Path to the Isaac Lab directory."""
+ISAACSIM_DIR = os.path.join(ISAACLAB_DIR, "_isaac_sim")
 """Path to the isaac-sim directory."""
 
 
-def overwrite_python_analysis_extra_paths(orbit_settings: str) -> str:
-    """Overwrite the python.analysis.extraPaths in the orbit settings file.
+def overwrite_python_analysis_extra_paths(isaaclab_settings: str) -> str:
+    """Overwrite the python.analysis.extraPaths in the Isaac Lab settings file.
 
     The extraPaths are replaced with the path names from the isaac-sim settings file that exists in the
     "_isaac_sim/.vscode/settings.json" file.
 
     Args:
-        orbit_settings: The settings string to use as template.
+        isaaclab_settings: The settings string to use as template.
 
     Returns:
         The settings string with overwritten python analysis extra paths.
@@ -54,33 +54,33 @@ def overwrite_python_analysis_extra_paths(orbit_settings: str) -> str:
     settings = settings.group(0)
     settings = settings.split('"python.analysis.extraPaths": [')[-1]
     settings = settings.split("]")[0]
-    # change the path names to be relative to the orbit directory
+    # change the path names to be relative to the Isaac Lab directory
     path_names = settings.split(",")
     path_names = [path_name.strip().strip('"') for path_name in path_names]
     path_names = ['"${workspaceFolder}/_isaac_sim/' + path_name + '"' for path_name in path_names if len(path_name) > 0]
     # combine them into a single string
     path_names = ",\n\t\t".expandtabs(4).join(path_names)
 
-    # replace the path names in the orbit settings file with the path names from the isaac-sim settings file
-    orbit_settings = re.sub(
+    # replace the path names in the Isaac Lab settings file with the path names from the isaac-sim settings file
+    isaaclab_settings = re.sub(
         r"\"python.analysis.extraPaths\": \[.*?\]",
         '"python.analysis.extraPaths": [\n\t\t'.expandtabs(4) + path_names + "\n\t]".expandtabs(4),
-        orbit_settings,
+        isaaclab_settings,
         flags=re.DOTALL,
     )
-    # return the orbit settings string
-    return orbit_settings
+    # return the Isaac Lab settings string
+    return isaaclab_settings
 
 
-def overwrite_default_python_interpreter(orbit_settings: str) -> str:
-    """Overwrite the default python interpreter in the orbit settings file.
+def overwrite_default_python_interpreter(isaaclab_settings: str) -> str:
+    """Overwrite the default python interpreter in the Isaac Lab settings file.
 
     The default python interpreter is replaced with the path to the python interpreter used by the
     isaac-sim project. This is necessary because the default python interpreter is the one shipped with
     isaac-sim.
 
     Args:
-        orbit_settings: The settings string to use as template.
+        isaaclab_settings: The settings string to use as template.
 
     Returns:
         The settings string with overwritten default python interpreter.
@@ -89,62 +89,66 @@ def overwrite_default_python_interpreter(orbit_settings: str) -> str:
     python_exe = sys.executable
     # if python interpreter is from conda, use that. Otherwise, use the template.
     if "conda" not in python_exe:
-        return orbit_settings
-    # replace the default python interpreter in the orbit settings file with the path to the
-    # python interpreter in the orbit directory
-    orbit_settings = re.sub(
+        return isaaclab_settings
+    # replace the default python interpreter in the Isaac Lab settings file with the path to the
+    # python interpreter in the Isaac Lab directory
+    isaaclab_settings = re.sub(
         r"\"python.defaultInterpreterPath\": \".*?\"",
         f'"python.defaultInterpreterPath": "{python_exe}"',
-        orbit_settings,
+        isaaclab_settings,
         flags=re.DOTALL,
     )
-    # return the orbit settings file
-    return orbit_settings
+    # return the Isaac Lab settings file
+    return isaaclab_settings
 
 
 def main():
-    # orbit template settings
-    orbit_vscode_template_filename = os.path.join(ORBIT_DIR, ".vscode", "tools", "settings.template.json")
-    # make sure the orbit template settings file exists
-    if not os.path.exists(orbit_vscode_template_filename):
-        raise FileNotFoundError(f"Could not find the orbit template settings file: {orbit_vscode_template_filename}")
-    # read the orbit template settings file
-    with open(orbit_vscode_template_filename) as f:
-        orbit_template_settings = f.read()
-
-    # overwrite the python.analysis.extraPaths in the orbit settings file with the path names
-    orbit_settings = overwrite_python_analysis_extra_paths(orbit_template_settings)
-    # overwrite the default python interpreter in the orbit settings file
+    # Isaac Lab template settings
+    isaaclab_vscode_template_filename = os.path.join(ISAACLAB_DIR, ".vscode", "tools", "settings.template.json")
+    # make sure the Isaac Lab template settings file exists
+    if not os.path.exists(isaaclab_vscode_template_filename):
+        raise FileNotFoundError(
+            f"Could not find the Isaac Lab template settings file: {isaaclab_vscode_template_filename}"
+        )
+    # read the Isaac Lab template settings file
+    with open(isaaclab_vscode_template_filename) as f:
+        isaaclab_template_settings = f.read()
+
+    # overwrite the python.analysis.extraPaths in the Isaac Lab settings file with the path names
+    isaaclab_settings = overwrite_python_analysis_extra_paths(isaaclab_template_settings)
+    # overwrite the default python interpreter in the Isaac Lab settings file
     # NOTE: thisis disabled since we don't need it. The default interpreter should always be the one from isaac-sim
-    # orbit_settings = overwrite_default_python_interpreter(orbit_settings)
+    # isaaclab_settings = overwrite_default_python_interpreter(isaaclab_settings)
 
     # add template notice to the top of the file
     header_message = (
         "// This file is a template and is automatically generated by the setup_vscode.py script.\n"
         "// Do not edit this file directly.\n"
         "// \n"
-        f"// Generated from: {orbit_vscode_template_filename}\n"
+        f"// Generated from: {isaaclab_vscode_template_filename}\n"
     )
-    orbit_settings = header_message + orbit_settings
+    isaaclab_settings = header_message + isaaclab_settings
 
-    # write the orbit settings file
-    orbit_vscode_filename = os.path.join(ORBIT_DIR, ".vscode", "settings.json")
-    with open(orbit_vscode_filename, "w") as f:
-        f.write(orbit_settings)
+    # write the Isaac Lab settings file
+    isaaclab_vscode_filename = os.path.join(ISAACLAB_DIR, ".vscode", "settings.json")
+    with open(isaaclab_vscode_filename, "w") as f:
+        f.write(isaaclab_settings)
 
     # copy the launch.json file if it doesn't exist
-    orbit_vscode_launch_filename = os.path.join(ORBIT_DIR, ".vscode", "launch.json")
-    orbit_vscode_template_launch_filename = os.path.join(ORBIT_DIR, ".vscode", "tools", "launch.template.json")
-    if not os.path.exists(orbit_vscode_launch_filename):
+    isaaclab_vscode_launch_filename = os.path.join(ISAACLAB_DIR, ".vscode", "launch.json")
+    isaaclab_vscode_template_launch_filename = os.path.join(ISAACLAB_DIR, ".vscode", "tools", "launch.template.json")
+    if not os.path.exists(isaaclab_vscode_launch_filename):
         # read template launch settings
-        with open(orbit_vscode_template_launch_filename) as f:
-            orbit_template_launch_settings = f.read()
+        with open(isaaclab_vscode_template_launch_filename) as f:
+            isaaclab_template_launch_settings = f.read()
         # add header
-        header_message = header_message.replace(orbit_vscode_template_filename, orbit_vscode_template_launch_filename)
-        orbit_launch_settings = header_message + orbit_template_launch_settings
-        # write the orbit launch settings file
-        with open(orbit_vscode_launch_filename, "w") as f:
-            f.write(orbit_launch_settings)
+        header_message = header_message.replace(
+            isaaclab_vscode_template_filename, isaaclab_vscode_template_launch_filename
+        )
+        isaaclab_launch_settings = header_message + isaaclab_template_launch_settings
+        # write the Isaac Lab launch settings file
+        with open(isaaclab_vscode_launch_filename, "w") as f:
+            f.write(isaaclab_launch_settings)
 
 
 if __name__ == "__main__":

CONTRIBUTING.md

@@ -1,8 +1,8 @@
 # Contribution Guidelines
 
-Orbit is a community maintained project. We wholeheartedly welcome contributions to the project to make
+Isaac Lab is a community maintained project. We wholeheartedly welcome contributions to the project to make
 the framework more mature and useful for everyone. These may happen in forms of bug reports, feature requests,
 design proposals and more.
 
 For general information on how to contribute see
-<https://isaac-orbit.github.io/orbit/source/refs/contributing.html>.
+<https://isaac-sim.github.io/IsaacLab/source/refs/contributing.html>.

CONTRIBUTORS.md

@@ -1,6 +1,6 @@
-# Orbit Developers and Contributors
+# Isaac Lab Developers and Contributors
 
-This is the official list of Orbit Project developers and contributors.
+This is the official list of Isaac Lab Project developers and contributors.
 
 To see the full list of contributors, please check the revision history in the source control.
 

LICENSE

@@ -1,4 +1,4 @@
-Copyright (c) 2022-2024, The ORBIT Project Developers.
+Copyright (c) 2022-2024, The Isaac Lab Project Developers.
 
 All rights reserved.
 

README.md

@@ -1,60 +1,59 @@
-![Example Tasks created with ORBIT](docs/source/_static/tasks.jpg)
+![Example Tasks created with Isaac Lab](docs/source/_static/tasks.jpg)
 
 ---
 
-# Orbit
+# Isaac Lab
 
 [![IsaacSim](https://img.shields.io/badge/IsaacSim-2023.1.1-silver.svg)](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html)
 [![Python](https://img.shields.io/badge/python-3.10-blue.svg)](https://docs.python.org/3/whatsnew/3.10.html)
 [![Linux platform](https://img.shields.io/badge/platform-linux--64-orange.svg)](https://releases.ubuntu.com/20.04/)
 [![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit&logoColor=white)](https://pre-commit.com/)
-[![Docs status](https://img.shields.io/badge/docs-passing-brightgreen.svg)](https://isaac-orbit.github.io/orbit)
+[![Docs status](https://img.shields.io/badge/docs-passing-brightgreen.svg)](https://isaac-sim.github.io/IsaacLab)
 [![License](https://img.shields.io/badge/license-BSD--3-yellow.svg)](https://opensource.org/licenses/BSD-3-Clause)
 
-<!-- TODO: Replace docs status with workflow badge? Link: https://github.com/isaac-orbit/orbit/actions/workflows/docs.yaml/badge.svg -->
 
-**Orbit** is a unified and modular framework for robot learning that aims to simplify common workflows
+**Isaac Lab** is a unified and modular framework for robot learning that aims to simplify common workflows
 in robotics research (such as RL, learning from demonstrations, and motion planning). It is built upon
 [NVIDIA Isaac Sim](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html) to leverage the latest
 simulation capabilities for photo-realistic scenes and fast and accurate simulation.
 
-Please refer to our [documentation page](https://isaac-orbit.github.io/orbit) to learn more about the
-installation steps, features, tutorials, and how to set up your project with Orbit.
+Please refer to our [documentation page](https://isaac-sim.github.io/IsaacLab) to learn more about the
+installation steps, features, tutorials, and how to set up your project with Isaac Lab.
 
 ## Announcements
 
-* [17.04.2024] [**v0.3.0**](https://github.com/NVIDIA-Omniverse/orbit/releases/tag/v0.3.0):
+* [17.04.2024] [**v0.3.0**](https://github.com/isaac-sim/IsaacLab/releases/tag/v0.3.0):
   Several improvements and bug fixes to the framework. Includes cabinet opening and dexterous manipulation environments,
   terrain-aware patch sampling, and animation recording.
 
-* [22.12.2023] [**v0.2.0**](https://github.com/NVIDIA-Omniverse/orbit/releases/tag/v0.2.0):
+* [22.12.2023] [**v0.2.0**](https://github.com/isaac-sim/IsaacLab/releases/tag/v0.2.0):
   Significant breaking updates to enhance the modularity and user-friendliness of the framework. Also includes
   procedural terrain generation, warp-based custom ray-casters, and legged-locomotion environments.
 
-## Contributing to Orbit
+## Contributing to Isaac Lab
 
 We wholeheartedly welcome contributions from the community to make this framework mature and useful for everyone.
 These may happen as bug reports, feature requests, or code contributions. For details, please check our
-[contribution guidelines](https://isaac-orbit.github.io/orbit/source/refs/contributing.html).
+[contribution guidelines](https://isaac-sim.github.io/IsaacLab/source/refs/contributing.html).
 
 ## Troubleshooting
 
-Please see the [troubleshooting](https://isaac-orbit.github.io/orbit/source/refs/troubleshooting.html) section for
-common fixes or [submit an issue](https://github.com/NVIDIA-Omniverse/orbit/issues).
+Please see the [troubleshooting](https://isaac-sim.github.io/IsaacLab/source/refs/troubleshooting.html) section for
+common fixes or [submit an issue](https://github.com/isaac-sim/IsaacLab/issues).
 
 For issues related to Isaac Sim, we recommend checking its [documentation](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html)
 or opening a question on its [forums](https://forums.developer.nvidia.com/c/agx-autonomous-machines/isaac/67).
 
 ## Support
 
-* Please use GitHub [Discussions](https://github.com/NVIDIA-Omniverse/Orbit/discussions) for discussing ideas, asking questions, and requests for new features.
-* Github [Issues](https://github.com/NVIDIA-Omniverse/orbit/issues) should only be used to track executable pieces of work with a definite scope and a clear deliverable. These can be fixing bugs, documentation issues, new features, or general updates.
+* Please use GitHub [Discussions](https://github.com/isaac-sim/IsaacLab/discussions) for discussing ideas, asking questions, and requests for new features.
+* Github [Issues](https://github.com/isaac-sim/IsaacLab/issues) should only be used to track executable pieces of work with a definite scope and a clear deliverable. These can be fixing bugs, documentation issues, new features, or general updates.
 
 ## Acknowledgement
 
 NVIDIA Isaac Sim is available freely under [individual license](https://www.nvidia.com/en-us/omniverse/download/). For more information about its license terms, please check [here](https://docs.omniverse.nvidia.com/app_isaacsim/common/NVIDIA_Omniverse_License_Agreement.html#software-support-supplement).
 
-Orbit framework is released under [BSD-3 License](LICENSE). The license files of its dependencies and assets are present in the [`docs/licenses`](docs/licenses) directory.
+The Isaac Lab framework is released under [BSD-3 License](LICENSE). The license files of its dependencies and assets are present in the [`docs/licenses`](docs/licenses) directory.
 
 ## Citing
 

docker/.env.base

@@ -8,8 +8,8 @@ ACCEPT_EULA=Y
 ISAACSIM_VERSION=2023.1.1
 # Derived from the default path in the NVIDIA provided Isaac Sim container
 DOCKER_ISAACSIM_ROOT_PATH=/isaac-sim
-# The Orbit path in the container
-DOCKER_ORBIT_PATH=/workspace/orbit
+# The Isaac Lab path in the container
+DOCKER_ISAACLAB_PATH=/workspace/isaaclab
 # Docker user directory - by default this is the root user's home directory
 DOCKER_USER_HOME=/root
 
@@ -20,13 +20,13 @@ DOCKER_USER_HOME=/root
 # Docker cache dir for Isaac Sim (has to end on docker-isaac-sim)
 # e.g. /cluster/scratch/$USER/docker-isaac-sim
 CLUSTER_ISAAC_SIM_CACHE_DIR=/some/path/on/cluster/docker-isaac-sim
-# Orbit directory on the cluster (has to end on orbit)
-# e.g. /cluster/home/$USER/orbit
-CLUSTER_ORBIT_DIR=/some/path/on/cluster/orbit
+# Isaac Lab directory on the cluster (has to end on isaaclab)
+# e.g. /cluster/home/$USER/isaaclab
+CLUSTER_ISAACLAB_DIR=/some/path/on/cluster/isaaclab
 # Cluster login
 CLUSTER_LOGIN=username@cluster_ip
 # Cluster scratch directory to store the SIF file
 # e.g. /cluster/scratch/$USER
 CLUSTER_SIF_PATH=/some/path/on/cluster/
-# Python executable within orbit directory to run with the submitted job
+# Python executable within Isaac Lab directory to run with the submitted job
 CLUSTER_PYTHON_EXECUTABLE=source/standalone/workflows/rsl_rl/train.py