From ccfb84dc40a0c5fd589c378cfc5ce0b584157845 Mon Sep 17 00:00:00 2001 From: David Hoeller Date: Sat, 1 Jun 2024 17:09:42 +0200 Subject: [PATCH] Renames the project to Isaac Lab (#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 | 2 +- .github/PULL_REQUEST_TEMPLATE.md | 6 +- .github/workflows/docs.yaml | 2 +- .pre-commit-config.yaml | 2 +- .vscode/tasks.json | 2 +- .vscode/tools/settings.template.json | 2 +- .vscode/tools/setup_vscode.py | 110 +++-- CONTRIBUTING.md | 4 +- CONTRIBUTORS.md | 4 +- LICENSE | 2 +- README.md | 31 +- docker/.env.base | 12 +- docker/Dockerfile.base | 42 +- docker/Dockerfile.ros2 | 4 +- docker/cluster/run_singularity.sh | 20 +- docker/container.sh | 110 ++--- docker/docker-compose.yaml | 60 +-- docker/x11.yaml | 16 +- docs/conf.py | 28 +- docs/index.rst | 10 +- docs/source/api/index.rst | 34 +- .../omni.isaac.lab.actuators.rst} | 6 +- .../omni.isaac.lab.app.rst} | 14 +- .../omni.isaac.lab.assets.rst} | 8 +- .../omni.isaac.lab.controllers.rst} | 6 +- .../omni.isaac.lab.devices.rst} | 6 +- .../api/lab/omni.isaac.lab.envs.mdp.rst | 54 +++ .../omni.isaac.lab.envs.rst} | 6 +- .../omni.isaac.lab.envs.ui.rst} | 6 +- .../omni.isaac.lab.managers.rst} | 6 +- .../omni.isaac.lab.markers.rst} | 6 +- .../omni.isaac.lab.scene.rst} | 6 +- .../omni.isaac.lab.sensors.patterns.rst} | 12 +- .../omni.isaac.lab.sensors.rst} | 6 +- .../omni.isaac.lab.sim.converters.rst} | 6 +- .../omni.isaac.lab.sim.rst} | 8 +- .../omni.isaac.lab.sim.schemas.rst} | 6 +- .../omni.isaac.lab.sim.spawners.rst} | 16 +- .../api/lab/omni.isaac.lab.terrains.rst | 261 ++++++++++ .../omni.isaac.lab.utils.rst} | 26 +- ....isaac.lab_tasks.utils.data_collector.rst} | 6 +- .../omni.isaac.lab_tasks.utils.rst} | 6 +- .../omni.isaac.lab_tasks.utils.wrappers.rst | 33 ++ .../api/orbit/omni.isaac.orbit.envs.mdp.rst | 54 --- .../api/orbit/omni.isaac.orbit.terrains.rst | 261 ---------- .../omni.isaac.orbit_tasks.utils.wrappers.rst | 33 -- docs/source/deployment/cluster.rst | 20 +- docs/source/deployment/docker.rst | 46 +- docs/source/deployment/index.rst | 6 +- docs/source/deployment/run_docker_example.rst | 54 +-- docs/source/features/actuators.rst | 6 +- docs/source/features/environments.rst | 50 +- docs/source/how-to/add_own_library.rst | 38 +- docs/source/how-to/draw_markers.rst | 6 +- docs/source/how-to/import_new_asset.rst | 18 +- docs/source/how-to/index.rst | 6 +- docs/source/how-to/make_fixed_prim.rst | 12 +- docs/source/how-to/master_omniverse.rst | 4 +- docs/source/how-to/record_animation.rst | 16 +- docs/source/how-to/save_camera_output.rst | 14 +- docs/source/how-to/wrap_rl_env.rst | 18 +- docs/source/how-to/write_articulation_cfg.rst | 12 +- docs/source/refs/changelog.rst | 26 +- docs/source/refs/contributing.rst | 24 +- docs/source/refs/issues.rst | 4 +- docs/source/refs/license.rst | 4 +- docs/source/refs/troubleshooting.rst | 28 +- docs/source/setup/developer.rst | 40 +- docs/source/setup/faq.rst | 35 +- docs/source/setup/installation.rst | 56 +-- docs/source/setup/sample.rst | 64 +-- docs/source/setup/template.rst | 14 +- docs/source/tutorials/00_sim/create_empty.rst | 18 +- docs/source/tutorials/00_sim/index.rst | 4 +- docs/source/tutorials/00_sim/launch_app.rst | 18 +- docs/source/tutorials/00_sim/spawn_prims.rst | 16 +- docs/source/tutorials/01_assets/index.rst | 6 +- .../tutorials/01_assets/run_articulation.rst | 12 +- .../tutorials/01_assets/run_rigid_object.rst | 8 +- .../tutorials/02_scene/create_scene.rst | 8 +- docs/source/tutorials/02_scene/index.rst | 2 +- .../tutorials/03_envs/create_base_env.rst | 22 +- .../tutorials/03_envs/create_rl_env.rst | 28 +- docs/source/tutorials/03_envs/index.rst | 4 +- .../tutorials/03_envs/register_rl_env_gym.rst | 22 +- .../tutorials/03_envs/run_rl_training.rst | 22 +- .../04_sensors/add_sensors_on_robot.rst | 14 +- docs/source/tutorials/04_sensors/index.rst | 4 +- .../tutorials/05_controllers/run_diff_ik.rst | 6 +- docs/source/tutorials/index.rst | 4 +- orbit.sh => isaaclab.sh | 88 ++-- pyproject.toml | 8 +- ...dless.kit => isaaclab.python.headless.kit} | 4 +- ... => isaaclab.python.headless.multicam.kit} | 8 +- .../{orbit.python.kit => isaaclab.python.kit} | 4 +- .../config/extension.toml | 6 +- .../docs/CHANGELOG.rst | 456 +++++++++--------- .../docs/README.md | 4 +- .../omni/isaac/lab}/__init__.py | 8 +- .../omni/isaac/lab}/actuators/__init__.py | 6 +- .../isaac/lab}/actuators/actuator_base.py | 6 +- .../omni/isaac/lab}/actuators/actuator_cfg.py | 6 +- .../omni/isaac/lab}/actuators/actuator_net.py | 4 +- .../omni/isaac/lab}/actuators/actuator_pd.py | 2 +- .../omni/isaac/lab}/app/__init__.py | 2 +- .../omni/isaac/lab}/app/app_launcher.py | 32 +- .../omni/isaac/lab}/app/runners.py | 2 +- .../omni/isaac/lab}/assets/__init__.py | 4 +- .../lab}/assets/articulation/__init__.py | 2 +- .../lab}/assets/articulation/articulation.py | 14 +- .../assets/articulation/articulation_cfg.py | 6 +- .../assets/articulation/articulation_data.py | 2 +- .../omni/isaac/lab}/assets/asset_base.py | 6 +- .../omni/isaac/lab}/assets/asset_base_cfg.py | 8 +- .../lab}/assets/rigid_object/__init__.py | 2 +- .../lab}/assets/rigid_object/rigid_object.py | 12 +- .../assets/rigid_object/rigid_object_cfg.py | 4 +- .../assets/rigid_object/rigid_object_data.py | 2 +- .../omni/isaac/lab}/controllers/__init__.py | 2 +- .../isaac/lab}/controllers/config/__init__.py | 2 +- .../config/data/lula_franka_gen.urdf | 0 .../isaac/lab}/controllers/config/rmp_flow.py | 4 +- .../isaac/lab}/controllers/differential_ik.py | 4 +- .../lab}/controllers/differential_ik_cfg.py | 4 +- .../isaac/lab}/controllers/joint_impedance.py | 4 +- .../lab}/controllers/operational_space.py | 6 +- .../omni/isaac/lab}/controllers/rmp_flow.py | 4 +- .../omni/isaac/lab}/devices/__init__.py | 2 +- .../omni/isaac/lab}/devices/device_base.py | 2 +- .../isaac/lab}/devices/gamepad/__init__.py | 2 +- .../isaac/lab}/devices/gamepad/se2_gamepad.py | 2 +- .../isaac/lab}/devices/gamepad/se3_gamepad.py | 2 +- .../isaac/lab}/devices/keyboard/__init__.py | 2 +- .../lab}/devices/keyboard/se2_keyboard.py | 2 +- .../lab}/devices/keyboard/se3_keyboard.py | 2 +- .../isaac/lab}/devices/spacemouse/__init__.py | 2 +- .../lab}/devices/spacemouse/se2_spacemouse.py | 2 +- .../lab}/devices/spacemouse/se3_spacemouse.py | 2 +- .../isaac/lab}/devices/spacemouse/utils.py | 2 +- .../omni/isaac/lab}/envs/__init__.py | 2 +- .../omni/isaac/lab}/envs/base_env.py | 12 +- .../omni/isaac/lab}/envs/base_env_cfg.py | 22 +- .../omni/isaac/lab}/envs/mdp/__init__.py | 2 +- .../isaac/lab}/envs/mdp/actions/__init__.py | 2 +- .../lab}/envs/mdp/actions/actions_cfg.py | 8 +- .../envs/mdp/actions/binary_joint_actions.py | 10 +- .../lab}/envs/mdp/actions/joint_actions.py | 10 +- .../mdp/actions/joint_actions_to_limits.py | 12 +- .../envs/mdp/actions/non_holonomic_actions.py | 10 +- .../envs/mdp/actions/task_space_actions.py | 12 +- .../isaac/lab}/envs/mdp/commands/__init__.py | 2 +- .../lab}/envs/mdp/commands/commands_cfg.py | 6 +- .../lab}/envs/mdp/commands/null_command.py | 4 +- .../lab}/envs/mdp/commands/pose_2d_command.py | 16 +- .../lab}/envs/mdp/commands/pose_command.py | 14 +- .../envs/mdp/commands/velocity_command.py | 14 +- .../omni/isaac/lab}/envs/mdp/curriculums.py | 6 +- .../omni/isaac/lab}/envs/mdp/events.py | 16 +- .../omni/isaac/lab}/envs/mdp/observations.py | 14 +- .../omni/isaac/lab}/envs/mdp/rewards.py | 16 +- .../omni/isaac/lab}/envs/mdp/terminations.py | 14 +- .../omni/isaac/lab}/envs/rl_task_env.py | 4 +- .../omni/isaac/lab}/envs/rl_task_env_cfg.py | 12 +- .../omni/isaac/lab}/envs/ui/__init__.py | 2 +- .../isaac/lab}/envs/ui/base_env_window.py | 6 +- .../isaac/lab}/envs/ui/rl_task_env_window.py | 6 +- .../envs/ui/viewport_camera_controller.py | 4 +- .../omni/isaac/lab}/managers/__init__.py | 2 +- .../isaac/lab}/managers/action_manager.py | 6 +- .../isaac/lab}/managers/command_manager.py | 4 +- .../isaac/lab}/managers/curriculum_manager.py | 4 +- .../omni/isaac/lab}/managers/event_manager.py | 4 +- .../omni/isaac/lab}/managers/manager_base.py | 14 +- .../isaac/lab}/managers/manager_term_cfg.py | 10 +- .../lab}/managers/observation_manager.py | 4 +- .../isaac/lab}/managers/reward_manager.py | 4 +- .../isaac/lab}/managers/scene_entity_cfg.py | 10 +- .../lab}/managers/termination_manager.py | 4 +- .../omni/isaac/lab}/markers/__init__.py | 2 +- .../isaac/lab}/markers/config/__init__.py | 8 +- .../lab}/markers/visualization_markers.py | 14 +- .../omni/isaac/lab}/scene/__init__.py | 4 +- .../isaac/lab}/scene/interactive_scene.py | 20 +- .../isaac/lab}/scene/interactive_scene_cfg.py | 16 +- .../omni/isaac/lab}/sensors/__init__.py | 2 +- .../isaac/lab}/sensors/camera/__init__.py | 2 +- .../omni/isaac/lab}/sensors/camera/camera.py | 14 +- .../isaac/lab}/sensors/camera/camera_cfg.py | 6 +- .../isaac/lab}/sensors/camera/camera_data.py | 2 +- .../omni/isaac/lab}/sensors/camera/utils.py | 6 +- .../lab}/sensors/contact_sensor/__init__.py | 2 +- .../sensors/contact_sensor/contact_sensor.py | 12 +- .../contact_sensor/contact_sensor_cfg.py | 8 +- .../contact_sensor/contact_sensor_data.py | 2 +- .../sensors/frame_transformer/__init__.py | 2 +- .../frame_transformer/frame_transformer.py | 8 +- .../frame_transformer_cfg.py | 6 +- .../frame_transformer_data.py | 2 +- .../isaac/lab}/sensors/ray_caster/__init__.py | 2 +- .../sensors/ray_caster/patterns/__init__.py | 2 +- .../sensors/ray_caster/patterns/patterns.py | 2 +- .../ray_caster/patterns/patterns_cfg.py | 4 +- .../lab}/sensors/ray_caster/ray_caster.py | 12 +- .../sensors/ray_caster/ray_caster_camera.py | 16 +- .../ray_caster/ray_caster_camera_cfg.py | 4 +- .../lab}/sensors/ray_caster/ray_caster_cfg.py | 8 +- .../sensors/ray_caster/ray_caster_data.py | 2 +- .../omni/isaac/lab}/sensors/sensor_base.py | 6 +- .../isaac/lab}/sensors/sensor_base_cfg.py | 6 +- .../omni/isaac/lab}/sim/__init__.py | 4 +- .../isaac/lab}/sim/converters/__init__.py | 2 +- .../sim/converters/asset_converter_base.py | 14 +- .../converters/asset_converter_base_cfg.py | 6 +- .../lab}/sim/converters/mesh_converter.py | 14 +- .../lab}/sim/converters/mesh_converter_cfg.py | 8 +- .../lab}/sim/converters/urdf_converter.py | 2 +- .../lab}/sim/converters/urdf_converter_cfg.py | 6 +- .../omni/isaac/lab}/sim/schemas/__init__.py | 2 +- .../omni/isaac/lab}/sim/schemas/schemas.py | 4 +- .../isaac/lab}/sim/schemas/schemas_cfg.py | 4 +- .../omni/isaac/lab}/sim/simulation_cfg.py | 4 +- .../omni/isaac/lab}/sim/simulation_context.py | 16 +- .../omni/isaac/lab}/sim/spawners/__init__.py | 16 +- .../lab}/sim/spawners/from_files/__init__.py | 2 +- .../sim/spawners/from_files/from_files.py | 6 +- .../sim/spawners/from_files/from_files_cfg.py | 14 +- .../lab}/sim/spawners/lights/__init__.py | 2 +- .../isaac/lab}/sim/spawners/lights/lights.py | 4 +- .../lab}/sim/spawners/lights/lights_cfg.py | 6 +- .../lab}/sim/spawners/materials/__init__.py | 4 +- .../spawners/materials/physics_materials.py | 4 +- .../materials/physics_materials_cfg.py | 4 +- .../spawners/materials/visual_materials.py | 6 +- .../materials/visual_materials_cfg.py | 6 +- .../lab}/sim/spawners/sensors/__init__.py | 2 +- .../lab}/sim/spawners/sensors/sensors.py | 6 +- .../lab}/sim/spawners/sensors/sensors_cfg.py | 6 +- .../lab}/sim/spawners/shapes/__init__.py | 2 +- .../isaac/lab}/sim/spawners/shapes/shapes.py | 6 +- .../lab}/sim/spawners/shapes/shapes_cfg.py | 8 +- .../isaac/lab}/sim/spawners/spawner_cfg.py | 8 +- .../omni/isaac/lab}/sim/utils.py | 4 +- .../omni/isaac/lab}/terrains/__init__.py | 4 +- .../omni/isaac/lab}/terrains/config/rough.py | 4 +- .../lab}/terrains/height_field/__init__.py | 2 +- .../lab}/terrains/height_field/hf_terrains.py | 2 +- .../terrains/height_field/hf_terrains_cfg.py | 4 +- .../isaac/lab}/terrains/height_field/utils.py | 2 +- .../isaac/lab}/terrains/terrain_generator.py | 10 +- .../lab}/terrains/terrain_generator_cfg.py | 12 +- .../isaac/lab}/terrains/terrain_importer.py | 10 +- .../lab}/terrains/terrain_importer_cfg.py | 8 +- .../isaac/lab}/terrains/trimesh/__init__.py | 2 +- .../lab}/terrains/trimesh/mesh_terrains.py | 2 +- .../terrains/trimesh/mesh_terrains_cfg.py | 8 +- .../omni/isaac/lab}/terrains/trimesh/utils.py | 2 +- .../omni/isaac/lab}/terrains/utils.py | 6 +- .../omni/isaac/lab}/utils/__init__.py | 2 +- .../omni/isaac/lab}/utils/array.py | 2 +- .../omni/isaac/lab}/utils/assets.py | 6 +- .../omni/isaac/lab}/utils/configclass.py | 4 +- .../omni/isaac/lab}/utils/dict.py | 2 +- .../omni/isaac/lab}/utils/io/__init__.py | 2 +- .../omni/isaac/lab}/utils/io/pkl.py | 2 +- .../omni/isaac/lab}/utils/io/yaml.py | 4 +- .../omni/isaac/lab}/utils/math.py | 2 +- .../omni/isaac/lab}/utils/noise/__init__.py | 4 +- .../omni/isaac/lab}/utils/noise/noise_cfg.py | 4 +- .../isaac/lab}/utils/noise/noise_model.py | 2 +- .../omni/isaac/lab}/utils/string.py | 2 +- .../omni/isaac/lab}/utils/timer.py | 6 +- .../omni/isaac/lab}/utils/warp/__init__.py | 2 +- .../omni/isaac/lab}/utils/warp/kernels.py | 2 +- .../omni/isaac/lab}/utils/warp/ops.py | 2 +- .../setup.py | 13 +- .../test/app/test_argparser_launch.py | 4 +- .../test/app/test_env_var_launch.py | 4 +- .../test/app/test_kwarg_launch.py | 4 +- .../test/assets/check_external_force.py | 16 +- .../test/assets/check_fixed_base_assets.py | 12 +- .../test/assets/check_ridgeback_franka.py | 12 +- .../test/assets/test_articulation.py | 16 +- .../test/assets/test_rigid_object.py | 16 +- .../test/controllers/test_differential_ik.py | 14 +- .../test/deps/isaacsim/check_app.py | 4 +- .../test/deps/isaacsim/check_camera.py | 12 +- .../check_floating_base_made_fixed.py | 8 +- .../deps/isaacsim/check_legged_robot_clone.py | 22 +- .../isaacsim/check_rep_texture_randomizer.py | 8 +- .../test/deps/test_scipy.py | 6 +- .../test/deps/test_torch.py | 6 +- .../test/devices/check_keyboard.py | 6 +- .../envs/check_base_env_anymal_locomotion.py | 38 +- .../test/envs/check_base_env_floating_cube.py | 28 +- .../test/envs/test_base_env.py | 10 +- .../test/envs/test_null_command_term.py | 6 +- .../test/managers/test_observation_manager.py | 8 +- .../test/managers/test_reward_manager.py | 8 +- .../test/markers/check_markers_visibility.py | 18 +- .../markers/test_visualization_markers.py | 14 +- .../test/scene/check_interactive_scene.py | 22 +- .../test/scene/test_interactive_scene.py | 22 +- .../test/sensors/check_contact_sensor.py | 16 +- .../test/sensors/check_ray_caster.py | 22 +- .../test/sensors/test_camera.py | 14 +- .../test/sensors/test_contact_sensor.py | 18 +- .../test/sensors/test_frame_transformer.py | 18 +- .../test/sensors/test_ray_caster_camera.py | 22 +- .../test_build_simulation_context_headless.py | 8 +- ...st_build_simulation_context_nonheadless.py | 8 +- .../test/sim/test_mesh_converter.py | 12 +- .../test/sim/test_schemas.py | 14 +- .../test/sim/test_simulation_context.py | 6 +- .../test/sim/test_spawn_from_files.py | 12 +- .../test/sim/test_spawn_lights.py | 8 +- .../test/sim/test_spawn_materials.py | 8 +- .../test/sim/test_spawn_sensors.py | 10 +- .../test/sim/test_spawn_shapes.py | 6 +- .../test/sim/test_urdf_converter.py | 6 +- .../test/sim/test_utils.py | 28 +- .../check_height_field_subterrains.py | 8 +- .../test/terrains/check_mesh_subterrains.py | 8 +- .../test/terrains/check_terrain_generator.py | 8 +- .../test/terrains/check_terrain_importer.py | 28 +- .../test/terrains/test_terrain_importer.py | 14 +- .../test/utils/test_assets.py | 10 +- .../test/utils/test_configclass.py | 10 +- .../test/utils/test_dict.py | 8 +- .../test/utils/test_math.py | 8 +- .../test/utils/test_string.py | 6 +- .../test/utils/test_timer.py | 6 +- .../config/extension.toml | 10 +- .../data/.gitkeep | 4 +- .../docs/CHANGELOG.rst | 2 +- .../docs/README.md | 12 +- .../omni/isaac/lab_assets}/__init__.py | 10 +- .../omni/isaac/lab_assets}/allegro.py | 10 +- .../omni/isaac/lab_assets}/anymal.py | 20 +- .../omni/isaac/lab_assets}/cartpole.py | 12 +- .../omni/isaac/lab_assets}/cassie.py | 12 +- .../omni/isaac/lab_assets}/franka.py | 12 +- .../omni/isaac/lab_assets}/kinova.py | 10 +- .../isaac/lab_assets}/ridgeback_franka.py | 10 +- .../omni/isaac/lab_assets}/sawyer.py | 10 +- .../omni/isaac/lab_assets}/shadow_hand.py | 10 +- .../omni/isaac/lab_assets}/unitree.py | 18 +- .../isaac/lab_assets}/universal_robots.py | 12 +- .../setup.py | 13 +- .../test/test_valid_configs.py | 16 +- .../config/extension.toml | 10 +- .../docs/CHANGELOG.rst | 20 +- .../docs/README.md | 12 +- .../omni/isaac/lab_tasks}/__init__.py | 8 +- .../omni/isaac/lab_tasks}/classic/__init__.py | 2 +- .../isaac/lab_tasks}/classic/ant/__init__.py | 4 +- .../lab_tasks}/classic/ant/agents/__init__.py | 2 +- .../classic/ant/agents/rl_games_ppo_cfg.yaml | 0 .../classic/ant/agents/rsl_rl_ppo_cfg.py | 6 +- .../classic/ant/agents/sb3_ppo_cfg.yaml | 0 .../classic/ant/agents/skrl_ppo_cfg.yaml | 0 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omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/cabinet/config/franka/ik_abs_env_cfg.py (78%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/cabinet/config/franka/ik_rel_env_cfg.py (78%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/cabinet/config/franka/joint_pos_env_cfg.py (83%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/cabinet/mdp/__init__.py (67%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/cabinet/mdp/observations.py (88%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/cabinet/mdp/rewards.py (96%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/inhand/__init__.py (87%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/inhand/config/__init__.py (83%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/inhand/config/allegro_hand/__init__.py (86%) create mode 100644 source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/config/allegro_hand/agents/__init__.py rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/inhand/config/allegro_hand/agents/rl_games_ppo_cfg.yaml (100%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/inhand/config/allegro_hand/agents/rsl_rl_cfg.py (86%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/inhand/config/allegro_hand/allegro_env_cfg.py (86%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/inhand/inhand_env_cfg.py (90%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/inhand/mdp/__init__.py (76%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/inhand/mdp/commands/__init__.py (82%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/inhand/mdp/commands/commands_cfg.py (87%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/inhand/mdp/commands/orientation_command.py (94%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/inhand/mdp/events.py (96%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/inhand/mdp/observations.py (81%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/inhand/mdp/rewards.py (93%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/inhand/mdp/terminations.py (94%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config => omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift}/__init__.py (82%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift => omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config}/__init__.py (82%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/lift/config/franka/__init__.py (86%) create mode 100644 source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/agents/__init__.py rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/lift/config/franka/agents/rl_games_ppo_cfg.yaml (100%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/lift/config/franka/agents/robomimic/bc.json (100%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/lift/config/franka/agents/robomimic/bcq.json (100%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/lift/config/franka/agents/rsl_rl_cfg.py (84%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/lift/config/franka/agents/sb3_ppo_cfg.yaml (100%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/lift/config/franka/agents/skrl_ppo_cfg.yaml (100%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/lift/config/franka/ik_abs_env_cfg.py (78%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/lift/config/franka/ik_rel_env_cfg.py (78%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/lift/config/franka/joint_pos_env_cfg.py (78%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/lift/lift_env_cfg.py (85%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/lift/mdp/__init__.py (71%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/lift/mdp/observations.py (73%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/lift/mdp/rewards.py (87%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/lift/mdp/terminations.py (81%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/reach/__init__.py (69%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/reach/config/__init__.py (83%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/reach/config/franka/__init__.py (88%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/reach/config/franka/agents/__init__.py (51%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/reach/config/franka/agents/rl_games_ppo_cfg.yaml (100%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/reach/config/franka/agents/rsl_rl_cfg.py (85%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/reach/config/franka/agents/skrl_ppo_cfg.yaml (100%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/reach/config/franka/ik_abs_env_cfg.py (78%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/reach/config/franka/ik_rel_env_cfg.py (78%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/reach/config/franka/joint_pos_env_cfg.py (81%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/reach/config/ur_10/__init__.py (84%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/reach/config/ur_10/agents/rl_games_ppo_cfg.yaml (100%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/reach/config/ur_10/agents/rsl_rl_ppo_cfg.py (85%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/reach/config/ur_10/joint_pos_env_cfg.py (82%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/reach/mdp/__init__.py (63%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/reach/mdp/rewards.py (87%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/manipulation/reach/reach_env_cfg.py (81%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/utils/__init__.py (81%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/utils/data_collector/__init__.py (95%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/utils/data_collector/robomimic_data_collector.py (99%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/utils/importer.py (97%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/utils/parse_cfg.py (97%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/utils/wrappers/__init__.py (91%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/utils/wrappers/rl_games.py (97%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/utils/wrappers/rsl_rl/__init__.py (85%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/utils/wrappers/rsl_rl/exporter.py (98%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/utils/wrappers/rsl_rl/rl_cfg.py (92%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/utils/wrappers/rsl_rl/vecenv_wrapper.py (96%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/utils/wrappers/sb3.py (97%) rename source/extensions/{omni.isaac.orbit_tasks/omni/isaac/orbit_tasks => omni.isaac.lab_tasks/omni/isaac/lab_tasks}/utils/wrappers/skrl.py (96%) rename source/extensions/{omni.isaac.orbit_tasks => omni.isaac.lab_tasks}/setup.py (85%) rename source/extensions/{omni.isaac.orbit_tasks => omni.isaac.lab_tasks}/test/test_data_collector.py (93%) rename source/extensions/{omni.isaac.orbit_tasks => omni.isaac.lab_tasks}/test/test_environments.py (94%) rename source/extensions/{omni.isaac.orbit_tasks => omni.isaac.lab_tasks}/test/test_record_video.py (91%) rename source/extensions/{omni.isaac.orbit_tasks => omni.isaac.lab_tasks}/test/wrappers/test_rl_games_wrapper.py (91%) rename source/extensions/{omni.isaac.orbit_tasks => omni.isaac.lab_tasks}/test/wrappers/test_rsl_rl_wrapper.py (94%) rename source/extensions/{omni.isaac.orbit_tasks => omni.isaac.lab_tasks}/test/wrappers/test_sb3_wrapper.py (91%) delete mode 100644 source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_a1/agents/__init__.py delete mode 100644 source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go1/agents/__init__.py delete mode 100644 source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/agents/__init__.py delete mode 100644 source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/franka/agents/__init__.py delete mode 100644 source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/config/allegro_hand/agents/__init__.py delete mode 100644 source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/agents/__init__.py diff --git a/.github/LICENSE_HEADER.txt b/.github/LICENSE_HEADER.txt index 9b13e07ff9..3947b29d83 100644 --- a/.github/LICENSE_HEADER.txt +++ b/.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 diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md index aa7414970b..dacd9da378 100644 --- a/.github/PULL_REQUEST_TEMPLATE.md +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -3,7 +3,7 @@ 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 diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml index 4db83a9394..82e6503344 100644 --- a/.github/workflows/docs.yaml +++ b/.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 diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 76646cad2c..60fe57a36a 100644 --- a/.pre-commit-config.yaml +++ b/.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: diff --git a/.vscode/tasks.json b/.vscode/tasks.json index a89c68248c..ef0dbd6eab 100644 --- a/.vscode/tasks.json +++ b/.vscode/tasks.json @@ -16,7 +16,7 @@ "label": "run_formatter", "type": "shell", "linux": { - "command": "${workspaceFolder}/orbit.sh --format" + "command": "${workspaceFolder}/isaaclab.sh --format" } } ] diff --git a/.vscode/tools/settings.template.json b/.vscode/tools/settings.template.json index 9fef4ead41..1502916a4e 100644 --- a/.vscode/tools/settings.template.json +++ b/.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": [] } diff --git a/.vscode/tools/setup_vscode.py b/.vscode/tools/setup_vscode.py index 60787ed4ba..00b2010d2a 100644 --- a/.vscode/tools/setup_vscode.py +++ b/.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__": diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md index ab0daec728..b75e4e5bc1 100644 --- a/CONTRIBUTING.md +++ b/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 -. +. diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md index df806b1d5b..c2750df89c 100644 --- a/CONTRIBUTORS.md +++ b/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. diff --git a/LICENSE b/LICENSE index a9640ec407..ac7efe234d 100644 --- a/LICENSE +++ b/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. diff --git a/README.md b/README.md index bb5a0cd112..7653a61abd 100644 --- a/README.md +++ b/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) - -**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 diff --git a/docker/.env.base b/docker/.env.base index 9c53e7669b..28679fdcae 100644 --- a/docker/.env.base +++ b/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 diff --git a/docker/Dockerfile.base b/docker/Dockerfile.base index 34e8dd4a94..d7920e2afc 100644 --- a/docker/Dockerfile.base +++ b/docker/Dockerfile.base @@ -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 @@ -16,15 +16,15 @@ SHELL ["/bin/bash", "-c"] # Adds labels to the Dockerfile LABEL version="1.0" -LABEL description="Dockerfile for building and running the Orbit framework inside Isaac Sim container image." +LABEL description="Dockerfile for building and running the Isaac Lab framework inside Isaac Sim container image." # Arguments # Path to Isaac Sim root folder ARG ISAACSIM_ROOT_PATH_ARG ENV ISAACSIM_ROOT_PATH=${ISAACSIM_ROOT_PATH_ARG} -# Path to orbit directory -ARG ORBIT_PATH_ARG -ENV ORBIT_PATH=${ORBIT_PATH_ARG} +# Path to Isaac Lab directory +ARG ISAACLAB_PATH_ARG +ENV ISAACLAB_PATH=${ISAACLAB_PATH_ARG} # Home dir of docker user, typically '/root' ARG DOCKER_USER_HOME_ARG ENV DOCKER_USER_HOME=${DOCKER_USER_HOME_ARG} @@ -44,15 +44,15 @@ RUN --mount=type=cache,target=/var/cache/apt \ apt -y autoremove && apt clean autoclean && \ rm -rf /var/lib/apt/lists/* -# Copy the orbit directory (files to exclude are defined in .dockerignore) -COPY ../ ${ORBIT_PATH} +# Copy the Isaac Lab directory (files to exclude are defined in .dockerignore) +COPY ../ ${ISAACLAB_PATH} -# Set up a symbolic link between the installed Isaac Sim root folder and _isaac_sim in the orbit directory -RUN ln -sf ${ISAACSIM_ROOT_PATH} ${ORBIT_PATH}/_isaac_sim +# Set up a symbolic link between the installed Isaac Sim root folder and _isaac_sim in the Isaac Lab directory +RUN ln -sf ${ISAACSIM_ROOT_PATH} ${ISAACLAB_PATH}/_isaac_sim # Install apt dependencies for extensions that declare them in their extension.toml RUN --mount=type=cache,target=/var/cache/apt \ - ${ORBIT_PATH}/orbit.sh --install-deps apt && \ + ${ISAACLAB_PATH}/isaaclab.sh --install-deps apt && \ apt -y autoremove && apt clean autoclean && \ rm -rf /var/lib/apt/lists/* @@ -76,20 +76,20 @@ RUN touch /bin/nvidia-smi && \ mkdir -p /var/run/nvidia-persistenced && \ touch /var/run/nvidia-persistenced/socket -# installing Orbit dependencies +# installing Isaac Lab dependencies # use pip caching to avoid reinstalling large packages RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \ - ${ORBIT_PATH}/orbit.sh --install --extra + ${ISAACLAB_PATH}/isaaclab.sh --install --extra -# aliasing orbit.sh and python for convenience -RUN echo "alias orbit=${ORBIT_PATH}/orbit.sh" >> ${HOME}/.bashrc && \ - echo "alias python=${ORBIT_PATH}/_isaac_sim/python.sh" >> ${HOME}/.bashrc && \ - echo "alias python3=${ORBIT_PATH}/_isaac_sim/python.sh" >> ${HOME}/.bashrc && \ - echo "alias pip='${ORBIT_PATH}/_isaac_sim/python.sh -m pip'" >> ${HOME}/.bashrc && \ - echo "alias pip3='${ORBIT_PATH}/_isaac_sim/python.sh -m pip'" >> ${HOME}/.bashrc && \ - echo "alias tensorboard='${ORBIT_PATH}/_isaac_sim/python.sh ${ORBIT_PATH}/_isaac_sim/tensorboard'" >> ${HOME}/.bashrc && \ +# aliasing isaaclab.sh and python for convenience +RUN echo "alias isaaclab=${ISAACLAB_PATH}/isaaclab.sh" >> ${HOME}/.bashrc && \ + echo "alias python=${ISAACLAB_PATH}/_isaac_sim/python.sh" >> ${HOME}/.bashrc && \ + echo "alias python3=${ISAACLAB_PATH}/_isaac_sim/python.sh" >> ${HOME}/.bashrc && \ + echo "alias pip='${ISAACLAB_PATH}/_isaac_sim/python.sh -m pip'" >> ${HOME}/.bashrc && \ + echo "alias pip3='${ISAACLAB_PATH}/_isaac_sim/python.sh -m pip'" >> ${HOME}/.bashrc && \ + echo "alias tensorboard='${ISAACLAB_PATH}/_isaac_sim/python.sh ${ISAACLAB_PATH}/_isaac_sim/tensorboard'" >> ${HOME}/.bashrc && \ echo "export TZ=$(date +%Z)" >> ${HOME}/.bashrc -# make working directory as the orbit directory +# make working directory as the Isaac Lab directory # this is the default directory when the container is run -WORKDIR ${ORBIT_PATH} +WORKDIR ${ISAACLAB_PATH} diff --git a/docker/Dockerfile.ros2 b/docker/Dockerfile.ros2 index 43fe113826..de7a516f5c 100644 --- a/docker/Dockerfile.ros2 +++ b/docker/Dockerfile.ros2 @@ -1,6 +1,6 @@ # Everything past this stage is to install # ROS2 Humble -FROM orbit-base AS ros2 +FROM isaac-lab-base AS ros2 # Which ROS2 apt package to install ARG ROS2_APT_PACKAGE @@ -24,7 +24,7 @@ RUN --mount=type=cache,target=/var/cache/apt \ ros-dev-tools && \ # Install rosdeps for extensions that declare a ros_ws in # their extension.toml - ${ORBIT_PATH}/orbit.sh --install-deps rosdep && \ + ${ISAACLAB_PATH}/isaaclab.sh --install-deps rosdep && \ apt -y autoremove && apt clean autoclean && \ rm -rf /var/lib/apt/lists/* && \ # Add sourcing of setup.bash to .bashrc diff --git a/docker/cluster/run_singularity.sh b/docker/cluster/run_singularity.sh index b19688e9e9..fb7787ab4c 100755 --- a/docker/cluster/run_singularity.sh +++ b/docker/cluster/run_singularity.sh @@ -33,7 +33,7 @@ setup_directories() { # get script directory SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" -# load variables to set the orbit path on the cluster +# load variables to set the Isaac Lab path on the cluster source $SCRIPT_DIR/../.env.base # make sure that all directories exists in cache directory @@ -41,17 +41,17 @@ setup_directories # copy all cache files cp -r $CLUSTER_ISAAC_SIM_CACHE_DIR $TMPDIR -# copy orbit source code -mkdir -p "$CLUSTER_ORBIT_DIR/logs" -touch "$CLUSTER_ORBIT_DIR/logs/.keep" -cp -r $CLUSTER_ORBIT_DIR $TMPDIR +# copy Isaac Lab source code +mkdir -p "$CLUSTER_ISAACLAB_DIR/logs" +touch "$CLUSTER_ISAACLAB_DIR/logs/.keep" +cp -r $CLUSTER_ISAACLAB_DIR $TMPDIR # copy container to the compute node tar -xf $CLUSTER_SIF_PATH/$1.tar -C $TMPDIR # execute command in singularity container -# NOTE: ORBIT_PATH is normally set in `orbit.sh` but we directly call the isaac-sim python because we sync the entire -# orbit directory to the compute node and remote the symbolic link to isaac-sim +# NOTE: ISAACLAB_PATH is normally set in `isaaclab.sh` but we directly call the isaac-sim python because we sync the entire +# Isaac Lab directory to the compute node and remote the symbolic link to isaac-sim singularity exec \ -B $TMPDIR/docker-isaac-sim/cache/kit:${DOCKER_ISAACSIM_ROOT_PATH}/kit/cache:rw \ -B $TMPDIR/docker-isaac-sim/cache/ov:${DOCKER_USER_HOME}/.cache/ov:rw \ @@ -61,10 +61,10 @@ singularity exec \ -B $TMPDIR/docker-isaac-sim/logs:${DOCKER_USER_HOME}/.nvidia-omniverse/logs:rw \ -B $TMPDIR/docker-isaac-sim/data:${DOCKER_USER_HOME}/.local/share/ov/data:rw \ -B $TMPDIR/docker-isaac-sim/documents:${DOCKER_USER_HOME}/Documents:rw \ - -B $TMPDIR/orbit:/workspace/orbit:rw \ - -B $CLUSTER_ORBIT_DIR/logs:/workspace/orbit/logs:rw \ + -B $TMPDIR/isaaclab:/workspace/isaaclab:rw \ + -B $CLUSTER_ISAACLAB_DIR/logs:/workspace/isaaclab/logs:rw \ --nv --writable --containall $TMPDIR/$1.sif \ - bash -c "export ORBIT_PATH=/workspace/orbit && cd /workspace/orbit && /isaac-sim/python.sh ${CLUSTER_PYTHON_EXECUTABLE} ${@:2}" + bash -c "export ISAACLAB_PATH=/workspace/isaaclab && cd /workspace/isaaclab && /isaac-sim/python.sh ${CLUSTER_PYTHON_EXECUTABLE} ${@:2}" # copy resulting cache files back to host cp -r $TMPDIR/docker-isaac-sim $CLUSTER_ISAAC_SIM_CACHE_DIR/.. diff --git a/docker/container.sh b/docker/container.sh index 865d06be6f..a29b7eb2c6 100755 --- a/docker/container.sh +++ b/docker/container.sh @@ -25,11 +25,11 @@ fi # print the usage description print_help () { - echo -e "\nusage: $(basename "$0") [-h] [run] [start] [stop] -- Utility for handling docker in Orbit." + echo -e "\nusage: $(basename "$0") [-h] [run] [start] [stop] -- Utility for handling docker in Isaac Lab." echo -e "\noptional arguments:" echo -e "\t-h, --help Display the help content." echo -e "\tstart [profile] Build the docker image and create the container in detached mode." - echo -e "\tenter [profile] Begin a new bash process within an existing orbit container." + echo -e "\tenter [profile] Begin a new bash process within an existing Isaac Lab container." echo -e "\tcopy [profile] Copy build and logs artifacts from the container to the host machine." echo -e "\tstop [profile] Stop the docker container and remove it." echo -e "\tpush [profile] Push the docker image to the cluster." @@ -104,8 +104,8 @@ resolve_image_extension() { # check if the second argument has to be a profile or can be a job argument instead necessary_profile=${2:-true} - # We also default to 'base' if "orbit" is passed - if [ "$1" == "orbit" ]; then + # We also default to 'base' if "isaaclab" is passed + if [ "$1" == "isaaclab" ]; then container_profile="base" fi @@ -177,56 +177,56 @@ configure_x11() { if ! command -v xauth &> /dev/null; then install_xauth fi - load_statefile_variable __ORBIT_TMP_XAUTH + load_statefile_variable __ISAACLAB_TMP_XAUTH # Create temp .xauth file to be mounted in the container - if [ "$__ORBIT_TMP_XAUTH" = "null" ] || [ ! -f "$__ORBIT_TMP_XAUTH" ]; then - __ORBIT_TMP_XAUTH=$(mktemp --suffix=".xauth") - set_statefile_variable __ORBIT_TMP_XAUTH $__ORBIT_TMP_XAUTH + if [ "$__ISAACLAB_TMP_XAUTH" = "null" ] || [ ! -f "$__ISAACLAB_TMP_XAUTH" ]; then + __ISAACLAB_TMP_XAUTH=$(mktemp --suffix=".xauth") + set_statefile_variable __ISAACLAB_TMP_XAUTH $__ISAACLAB_TMP_XAUTH # Extract MIT-MAGIC-COOKIE for current display | Change the 'connection family' to FamilyWild (ffff) | merge into tmp .xauth file # https://www.x.org/archive/X11R6.8.1/doc/Xsecurity.7.html#toc3 - xauth_cookie= xauth nlist ${DISPLAY} | sed -e s/^..../ffff/ | xauth -f $__ORBIT_TMP_XAUTH nmerge - + xauth_cookie= xauth nlist ${DISPLAY} | sed -e s/^..../ffff/ | xauth -f $__ISAACLAB_TMP_XAUTH nmerge - fi # Export here so it's an envvar for the called Docker commands - export __ORBIT_TMP_XAUTH + export __ISAACLAB_TMP_XAUTH add_yamls="$add_yamls --file x11.yaml " # TODO: Add check to make sure Xauth file is correct } x11_check() { - load_statefile_variable __ORBIT_X11_FORWARDING_ENABLED - if [ "$__ORBIT_X11_FORWARDING_ENABLED" = "null" ]; then - echo "[INFO] X11 forwarding from the Orbit container is off by default." + load_statefile_variable __ISAACLAB_X11_FORWARDING_ENABLED + if [ "$__ISAACLAB_X11_FORWARDING_ENABLED" = "null" ]; then + echo "[INFO] X11 forwarding from the Isaac Lab container is off by default." echo "[INFO] It will fail if there is no display, or this script is being run via ssh without proper configuration." read -p "Would you like to enable it? (y/N) " x11_answer if [ "$x11_answer" != "${x11_answer#[Yy]}" ]; then - __ORBIT_X11_FORWARDING_ENABLED=1 - set_statefile_variable __ORBIT_X11_FORWARDING_ENABLED 1 + __ISAACLAB_X11_FORWARDING_ENABLED=1 + set_statefile_variable __ISAACLAB_X11_FORWARDING_ENABLED 1 echo "[INFO] X11 forwarding is enabled from the container." else - __ORBIT_X11_FORWARDING_ENABLED=0 - set_statefile_variable __ORBIT_X11_FORWARDING_ENABLED 0 + __ISAACLAB_X11_FORWARDING_ENABLED=0 + set_statefile_variable __ISAACLAB_X11_FORWARDING_ENABLED 0 echo "[INFO] X11 forwarding is disabled from the container." fi else - echo "[INFO] X11 Forwarding is configured as $__ORBIT_X11_FORWARDING_ENABLED in .container.yaml" - if [ "$__ORBIT_X11_FORWARDING_ENABLED" = "1" ]; then - echo "[INFO] To disable X11 forwarding, set __ORBIT_X11_FORWARDING_ENABLED=0 in .container.yaml" + echo "[INFO] X11 Forwarding is configured as $__ISAACLAB_X11_FORWARDING_ENABLED in .container.yaml" + if [ "$__ISAACLAB_X11_FORWARDING_ENABLED" = "1" ]; then + echo "[INFO] To disable X11 forwarding, set __ISAACLAB_X11_FORWARDING_ENABLED=0 in .container.yaml" else - echo "[INFO] To enable X11 forwarding, set __ORBIT_X11_FORWARDING_ENABLED=1 in .container.yaml" + echo "[INFO] To enable X11 forwarding, set __ISAACLAB_X11_FORWARDING_ENABLED=1 in .container.yaml" fi fi - if [ "$__ORBIT_X11_FORWARDING_ENABLED" = "1" ]; then + if [ "$__ISAACLAB_X11_FORWARDING_ENABLED" = "1" ]; then configure_x11 fi } x11_cleanup() { - load_statefile_variable __ORBIT_TMP_XAUTH - if ! [ "$__ORBIT_TMP_XAUTH" = "null" ] && [ -f "$__ORBIT_TMP_XAUTH" ]; then - echo "[INFO] Removing temporary Orbit .xauth file $__ORBIT_TMP_XAUTH." - rm $__ORBIT_TMP_XAUTH - delete_statefile_variable __ORBIT_TMP_XAUTH + load_statefile_variable __ISAACLAB_TMP_XAUTH + if ! [ "$__ISAACLAB_TMP_XAUTH" = "null" ] && [ -f "$__ISAACLAB_TMP_XAUTH" ]; then + echo "[INFO] Removing temporary Isaac Lab .xauth file $__ISAACLAB_TMP_XAUTH." + rm $__ISAACLAB_TMP_XAUTH + delete_statefile_variable __ISAACLAB_TMP_XAUTH fi } @@ -277,32 +277,32 @@ echo "[INFO] Using container profile: $container_profile" # resolve mode case $mode in start) - echo "[INFO] Building the docker image and starting the container orbit-$container_profile in the background..." + echo "[INFO] Building the docker image and starting the container isaac-lab-$container_profile in the background..." pushd ${SCRIPT_DIR} > /dev/null 2>&1 # Determine if we want x11 forwarding enabled x11_check # We have to build the base image as a separate step, # in case we are building a profile which depends # upon - docker compose --file docker-compose.yaml --env-file .env.base build orbit-base + docker compose --file docker-compose.yaml --env-file .env.base build isaac-lab-base docker compose $add_yamls $add_profiles $add_envs up --detach --build --remove-orphans popd > /dev/null 2>&1 ;; enter) # Check that desired container is running, exit if it isn't - is_container_running orbit-$container_profile - echo "[INFO] Entering the existing 'orbit-$container_profile' container in a bash session..." + is_container_running isaac-lab-$container_profile + echo "[INFO] Entering the existing 'isaac-lab-$container_profile' container in a bash session..." pushd ${SCRIPT_DIR} > /dev/null 2>&1 - docker exec --interactive --tty orbit-$container_profile bash + docker exec --interactive --tty isaac-lab-$container_profile bash popd > /dev/null 2>&1 ;; copy) # Check that desired container is running, exit if it isn't - is_container_running orbit-$container_profile - echo "[INFO] Copying artifacts from the 'orbit-$container_profile' container..." - echo -e "\t - /workspace/orbit/logs -> ${SCRIPT_DIR}/artifacts/logs" - echo -e "\t - /workspace/orbit/docs/_build -> ${SCRIPT_DIR}/artifacts/docs/_build" - echo -e "\t - /workspace/orbit/data_storage -> ${SCRIPT_DIR}/artifacts/data_storage" + is_container_running isaac-lab-$container_profile + echo "[INFO] Copying artifacts from the 'isaac-lab-$container_profile' container..." + echo -e "\t - /workspace/isaaclab/logs -> ${SCRIPT_DIR}/artifacts/logs" + echo -e "\t - /workspace/isaaclab/docs/_build -> ${SCRIPT_DIR}/artifacts/docs/_build" + echo -e "\t - /workspace/isaaclab/data_storage -> ${SCRIPT_DIR}/artifacts/data_storage" # enter the script directory pushd ${SCRIPT_DIR} > /dev/null 2>&1 # We have to remove before copying because repeated copying without deletion @@ -315,16 +315,16 @@ case $mode in mkdir -p ./artifacts/docs # copy the artifacts - docker cp orbit-$container_profile:/workspace/orbit/logs ./artifacts/logs - docker cp orbit-$container_profile:/workspace/orbit/docs/_build ./artifacts/docs/_build - docker cp orbit-$container_profile:/workspace/orbit/data_storage ./artifacts/data_storage + docker cp isaac-lab-$container_profile:/workspace/isaaclab/logs ./artifacts/logs + docker cp isaac-lab-$container_profile:/workspace/isaaclab/docs/_build ./artifacts/docs/_build + docker cp isaac-lab-$container_profile:/workspace/isaaclab/data_storage ./artifacts/data_storage echo -e "\n[INFO] Finished copying the artifacts from the container." popd > /dev/null 2>&1 ;; stop) # Check that desired container is running, exit if it isn't - is_container_running orbit-$container_profile - echo "[INFO] Stopping the launched docker container orbit-$container_profile..." + is_container_running isaac-lab-$container_profile + echo "[INFO] Stopping the launched docker container isaac-lab-$container_profile..." pushd ${SCRIPT_DIR} > /dev/null 2>&1 docker compose --file docker-compose.yaml $add_profiles $add_envs down x11_cleanup @@ -335,7 +335,7 @@ case $mode in install_apptainer fi # Check if Docker image exists - check_image_exists orbit-$container_profile:latest + check_image_exists isaac-lab-$container_profile:latest # Check if Docker version is greater than 25 check_docker_version # source env file to get cluster login and path information @@ -343,39 +343,39 @@ case $mode in # make sure exports directory exists mkdir -p /$SCRIPT_DIR/exports # clear old exports for selected profile - rm -rf /$SCRIPT_DIR/exports/orbit-$container_profile* + rm -rf /$SCRIPT_DIR/exports/isaac-lab-$container_profile* # create singularity image # NOTE: we create the singularity image as non-root user to allow for more flexibility. If this causes - # issues, remove the --fakeroot flag and open an issue on the orbit repository. + # issues, remove the --fakeroot flag and open an issue on the IsaacLab repository. cd /$SCRIPT_DIR/exports - APPTAINER_NOHTTPS=1 apptainer build --sandbox --fakeroot orbit-$container_profile.sif docker-daemon://orbit-$container_profile:latest + APPTAINER_NOHTTPS=1 apptainer build --sandbox --fakeroot isaac-lab-$container_profile.sif docker-daemon://isaac-lab-$container_profile:latest # tar image (faster to send single file as opposed to directory with many files) - tar -cvf /$SCRIPT_DIR/exports/orbit-$container_profile.tar orbit-$container_profile.sif + tar -cvf /$SCRIPT_DIR/exports/isaac-lab-$container_profile.tar isaac-lab-$container_profile.sif # make sure target directory exists ssh $CLUSTER_LOGIN "mkdir -p $CLUSTER_SIF_PATH" # send image to cluster - scp $SCRIPT_DIR/exports/orbit-$container_profile.tar $CLUSTER_LOGIN:$CLUSTER_SIF_PATH/orbit-$container_profile.tar + scp $SCRIPT_DIR/exports/isaac-lab-$container_profile.tar $CLUSTER_LOGIN:$CLUSTER_SIF_PATH/isaac-lab-$container_profile.tar ;; job) source $SCRIPT_DIR/.env.base # Check if singularity image exists on the remote host - check_singularity_image_exists orbit-$container_profile + check_singularity_image_exists isaac-lab-$container_profile # make sure target directory exists - ssh $CLUSTER_LOGIN "mkdir -p $CLUSTER_ORBIT_DIR" - # Sync orbit code - echo "[INFO] Syncing orbit code..." - rsync -rh --exclude="*.git*" --filter=':- .dockerignore' /$SCRIPT_DIR/.. $CLUSTER_LOGIN:$CLUSTER_ORBIT_DIR + ssh $CLUSTER_LOGIN "mkdir -p $CLUSTER_ISAACLAB_DIR" + # Sync Isaac Lab code + echo "[INFO] Syncing ISaac Lab code..." + rsync -rh --exclude="*.git*" --filter=':- .dockerignore' /$SCRIPT_DIR/.. $CLUSTER_LOGIN:$CLUSTER_ISAACLAB_DIR # execute job script echo "[INFO] Executing job script..." # check whether the second argument is a profile or a job argument if [ "$profile_arg" == "$container_profile" ] ; then # if the second argument is a profile, we have to shift the arguments echo "[INFO] Arguments passed to job script ${@:3}" - ssh $CLUSTER_LOGIN "cd $CLUSTER_ORBIT_DIR && sbatch $CLUSTER_ORBIT_DIR/docker/cluster/submit_job.sh" "$CLUSTER_ORBIT_DIR" "orbit-$container_profile" "${@:3}" + ssh $CLUSTER_LOGIN "cd $CLUSTER_ISAACLAB_DIR && sbatch $CLUSTER_ISAACLAB_DIR/docker/cluster/submit_job.sh" "$CLUSTER_ISAACLAB_DIR" "isaac-lab-$container_profile" "${@:3}" else # if the second argument is a job argument, we have to shift only one argument echo "[INFO] Arguments passed to job script ${@:2}" - ssh $CLUSTER_LOGIN "cd $CLUSTER_ORBIT_DIR && sbatch $CLUSTER_ORBIT_DIR/docker/cluster/submit_job.sh" "$CLUSTER_ORBIT_DIR" "orbit-$container_profile" "${@:2}" + ssh $CLUSTER_LOGIN "cd $CLUSTER_ISAACLAB_DIR && sbatch $CLUSTER_ISAACLAB_DIR/docker/cluster/submit_job.sh" "$CLUSTER_ISAACLAB_DIR" "isaac-lab-$container_profile" "${@:2}" fi ;; *) diff --git a/docker/docker-compose.yaml b/docker/docker-compose.yaml index 13b7afe297..9b5f49bee4 100644 --- a/docker/docker-compose.yaml +++ b/docker/docker-compose.yaml @@ -2,7 +2,7 @@ # be re-used between services to an # extension field # https://docs.docker.com/compose/compose-file/compose-file-v3/#extension-fields -x-default-orbit-volumes: &default-orbit-volumes +x-default-isaac-lab-volumes: &default-isaac-lab-volumes # These volumes follow from this page # https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_faq.html#save-isaac-sim-configs-on-local-disk - type: volume @@ -36,30 +36,30 @@ x-default-orbit-volumes: &default-orbit-volumes # be reflected within the container immediately - type: bind source: ../source - target: /workspace/orbit/source + target: /workspace/isaaclab/source - type: bind source: ../docs - target: /workspace/orbit/docs + target: /workspace/isaaclab/docs # The effect of these volumes is twofold: # 1. Prevent root-owned files from flooding the _build and logs dir # on the host machine # 2. Preserve the artifacts in persistent volumes for later copying # to the host machine - type: volume - source: orbit-docs - target: /workspace/orbit/docs/_build + source: isaac-lab-docs + target: /workspace/isaaclab/docs/_build - type: volume - source: orbit-logs - target: /workspace/orbit/logs + source: isaac-lab-logs + target: /workspace/isaaclab/logs - type: volume - source: orbit-data - target: /workspace/orbit/data_storage + source: isaac-lab-data + target: /workspace/isaaclab/data_storage -x-default-orbit-environment: &default-orbit-environment - - ISAACSIM_PATH=${DOCKER_ORBIT_PATH}/_isaac_sim +x-default-isaac-lab-environment: &default-isaac-lab-environment + - ISAACSIM_PATH=${DOCKER_ISAACLAB_PATH}/_isaac_sim - OMNI_KIT_ALLOW_ROOT=1 -x-default-orbit-deploy: &default-orbit-deploy +x-default-isaac-lab-deploy: &default-isaac-lab-deploy resources: reservations: devices: @@ -68,8 +68,8 @@ x-default-orbit-deploy: &default-orbit-deploy capabilities: [ gpu ] services: - # This service is the base Orbit image - orbit-base: + # This service is the base Isaac Lab image + isaac-lab-base: profiles: [ "base" ] env_file: .env.base build: @@ -78,14 +78,14 @@ services: args: - ISAACSIM_VERSION_ARG=${ISAACSIM_VERSION} - ISAACSIM_ROOT_PATH_ARG=${DOCKER_ISAACSIM_ROOT_PATH} - - ORBIT_PATH_ARG=${DOCKER_ORBIT_PATH} + - ISAACLAB_PATH_ARG=${DOCKER_ISAACLAB_PATH} - DOCKER_USER_HOME_ARG=${DOCKER_USER_HOME} - image: orbit-base - container_name: orbit-base - environment: *default-orbit-environment - volumes: *default-orbit-volumes + image: isaac-lab-base + container_name: isaac-lab-base + environment: *default-isaac-lab-environment + volumes: *default-isaac-lab-volumes network_mode: host - deploy: *default-orbit-deploy + deploy: *default-isaac-lab-deploy # This is the entrypoint for the container entrypoint: bash stdin_open: true @@ -93,7 +93,7 @@ services: # This service adds a ROS2 Humble # installation on top of the base image - orbit-ros2: + isaac-lab-ros2: profiles: [ "ros2" ] env_file: - .env.base @@ -106,12 +106,12 @@ services: # avoid a warning message when building only the base profile # with the .env.base file - ROS2_APT_PACKAGE=${ROS2_APT_PACKAGE:-NONE} - image: orbit-ros2 - container_name: orbit-ros2 - environment: *default-orbit-environment - volumes: *default-orbit-volumes + image: isaac-lab-ros2 + container_name: isaac-lab-ros2 + environment: *default-isaac-lab-environment + volumes: *default-isaac-lab-volumes network_mode: host - deploy: *default-orbit-deploy + deploy: *default-isaac-lab-deploy # This is the entrypoint for the container entrypoint: bash stdin_open: true @@ -128,7 +128,7 @@ volumes: isaac-carb-logs: isaac-data: isaac-docs: - # orbit - orbit-docs: - orbit-logs: - orbit-data: + # isaaclab + isaac-lab-docs: + isaac-lab-logs: + isaac-lab-data: diff --git a/docker/x11.yaml b/docker/x11.yaml index bbd8f36ecc..b206bf769d 100644 --- a/docker/x11.yaml +++ b/docker/x11.yaml @@ -1,14 +1,14 @@ services: - orbit-base: + isaac-lab-base: environment: - DISPLAY - TERM - QT_X11_NO_MITSHM=1 - - XAUTHORITY=${__ORBIT_TMP_XAUTH} + - XAUTHORITY=${__ISAACLAB_TMP_XAUTH} volumes: - type: bind - source: ${__ORBIT_TMP_XAUTH} - target: ${__ORBIT_TMP_XAUTH} + source: ${__ISAACLAB_TMP_XAUTH} + target: ${__ISAACLAB_TMP_XAUTH} - type: bind source: /tmp/.X11-unix target: /tmp/.X11-unix @@ -17,16 +17,16 @@ services: target: /etc/localtime read_only: true - orbit-ros2: + isaac-lab-ros2: environment: - DISPLAY - TERM - QT_X11_NO_MITSHM=1 - - XAUTHORITY=${__ORBIT_TMP_XAUTH} + - XAUTHORITY=${__ISAACLAB_TMP_XAUTH} volumes: - type: bind - source: ${__ORBIT_TMP_XAUTH} - target: ${__ORBIT_TMP_XAUTH} + source: ${__ISAACLAB_TMP_XAUTH} + target: ${__ISAACLAB_TMP_XAUTH} - type: bind source: /tmp/.X11-unix target: /tmp/.X11-unix diff --git a/docs/conf.py b/docs/conf.py index 7b0f50804b..ad48298c68 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -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 @@ -18,16 +18,16 @@ import os import sys -sys.path.insert(0, os.path.abspath("../source/extensions/omni.isaac.orbit")) -sys.path.insert(0, os.path.abspath("../source/extensions/omni.isaac.orbit/omni/isaac/orbit")) -sys.path.insert(0, os.path.abspath("../source/extensions/omni.isaac.orbit_tasks")) -sys.path.insert(0, os.path.abspath("../source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks")) +sys.path.insert(0, os.path.abspath("../source/extensions/omni.isaac.lab")) +sys.path.insert(0, os.path.abspath("../source/extensions/omni.isaac.lab/omni/isaac/lab")) +sys.path.insert(0, os.path.abspath("../source/extensions/omni.isaac.lab_tasks")) +sys.path.insert(0, os.path.abspath("../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks")) # -- Project information ----------------------------------------------------- -project = "orbit" -copyright = "2022-2024, The ORBIT Project Developers." -author = "The ORBIT Project Developers." +project = "Isaac Lab" +copyright = "2022-2024, The Isaac Lab Project Developers." +author = "The Isaac Lab Project Developers." version = "0.3.0" @@ -186,7 +186,7 @@ import sphinx_book_theme -html_title = "orbit documentation" +html_title = "Isaac Lab documentation" html_theme_path = [sphinx_book_theme.get_html_theme_path()] html_theme = "sphinx_book_theme" html_favicon = "source/_static/favicon.ico" @@ -202,7 +202,7 @@ html_theme_options = { "collapse_navigation": True, - "repository_url": "https://github.com/NVIDIA-Omniverse/Orbit", + "repository_url": "https://github.com/isaac-sim/IsaacLab", "announcement": "We have now released v0.3.0! Please use the latest version for the best experience.", "use_repository_button": True, "use_issues_button": True, @@ -210,14 +210,14 @@ "show_toc_level": 1, "use_sidenotes": True, "logo": { - "text": "orbit documentation", + "text": "Isaac Lab documentation", "image_light": "source/_static/NVIDIA-logo-white.png", "image_dark": "source/_static/NVIDIA-logo-black.png", }, "icon_links": [ { "name": "GitHub", - "url": "https://github.com/NVIDIA-Omniverse/Orbit", + "url": "https://github.com/isaac-sim/IsaacLab", "icon": "fa-brands fa-square-github", "type": "fontawesome", }, @@ -229,8 +229,8 @@ }, { "name": "Stars", - "url": "https://img.shields.io/github/stars/NVIDIA-Omniverse/Orbit?color=fedcba", - "icon": "https://img.shields.io/github/stars/NVIDIA-Omniverse/Orbit?color=fedcba", + "url": "https://img.shields.io/github/stars/isaac-sim/IsaacLab?color=fedcba", + "icon": "https://img.shields.io/github/stars/isaac-sim/IsaacLab?color=fedcba", "type": "url", }, ], diff --git a/docs/index.rst b/docs/index.rst index 6f83b4e9fc..3b6f2cb929 100644 --- a/docs/index.rst +++ b/docs/index.rst @@ -1,7 +1,7 @@ Overview ======== -**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`_ to leverage the latest simulation capabilities for photo-realistic scenes, and fast and efficient simulation. The core objectives of the framework are: @@ -17,13 +17,13 @@ For more information about the framework, please refer to the `paper + GitHub Indices and tables ================== diff --git a/docs/source/api/index.rst b/docs/source/api/index.rst index e301607ee9..10e56bab97 100644 --- a/docs/source/api/index.rst +++ b/docs/source/api/index.rst @@ -1,17 +1,17 @@ API Reference ============= -This page gives an overview of all the modules and classes in the Orbit extensions. +This page gives an overview of all the modules and classes in the Isaac Lab extensions. -omni.isaac.orbit extension +omni.isaac.lab extension -------------------------- -The following modules are available in the ``omni.isaac.orbit`` extension: +The following modules are available in the ``omni.isaac.lab`` extension: -.. currentmodule:: omni.isaac.orbit +.. currentmodule:: omni.isaac.lab .. autosummary:: - :toctree: orbit + :toctree: lab app actuators @@ -30,22 +30,22 @@ The following modules are available in the ``omni.isaac.orbit`` extension: .. toctree:: :hidden: - orbit/omni.isaac.orbit.envs.mdp - orbit/omni.isaac.orbit.envs.ui - orbit/omni.isaac.orbit.sensors.patterns - orbit/omni.isaac.orbit.sim.converters - orbit/omni.isaac.orbit.sim.schemas - orbit/omni.isaac.orbit.sim.spawners + lab/omni.isaac.lab.envs.mdp + lab/omni.isaac.lab.envs.ui + lab/omni.isaac.lab.sensors.patterns + lab/omni.isaac.lab.sim.converters + lab/omni.isaac.lab.sim.schemas + lab/omni.isaac.lab.sim.spawners -omni.isaac.orbit_tasks extension +omni.isaac.lab_tasks extension -------------------------------- -The following modules are available in the ``omni.isaac.orbit_tasks`` extension: +The following modules are available in the ``omni.isaac.lab_tasks`` extension: -.. currentmodule:: omni.isaac.orbit_tasks +.. currentmodule:: omni.isaac.lab_tasks .. autosummary:: - :toctree: orbit_tasks + :toctree: lab_tasks utils @@ -53,5 +53,5 @@ The following modules are available in the ``omni.isaac.orbit_tasks`` extension: .. toctree:: :hidden: - orbit_tasks/omni.isaac.orbit_tasks.utils.wrappers - orbit_tasks/omni.isaac.orbit_tasks.utils.data_collector + lab_tasks/omni.isaac.lab_tasks.utils.wrappers + lab_tasks/omni.isaac.lab_tasks.utils.data_collector diff --git a/docs/source/api/orbit/omni.isaac.orbit.actuators.rst b/docs/source/api/lab/omni.isaac.lab.actuators.rst similarity index 94% rename from docs/source/api/orbit/omni.isaac.orbit.actuators.rst rename to docs/source/api/lab/omni.isaac.lab.actuators.rst index 03a8e28fa0..c01da82c6f 100644 --- a/docs/source/api/orbit/omni.isaac.orbit.actuators.rst +++ b/docs/source/api/lab/omni.isaac.lab.actuators.rst @@ -1,7 +1,7 @@ -orbit.actuators -=============== +omni.isaac.lab.actuators +======================== -.. automodule:: omni.isaac.orbit.actuators +.. automodule:: omni.isaac.lab.actuators .. rubric:: Classes diff --git a/docs/source/api/orbit/omni.isaac.orbit.app.rst b/docs/source/api/lab/omni.isaac.lab.app.rst similarity index 90% rename from docs/source/api/orbit/omni.isaac.orbit.app.rst rename to docs/source/api/lab/omni.isaac.lab.app.rst index e6e9de58fe..4e59660e83 100644 --- a/docs/source/api/orbit/omni.isaac.orbit.app.rst +++ b/docs/source/api/lab/omni.isaac.lab.app.rst @@ -1,7 +1,7 @@ -orbit.app -========= +omni.isaac.lab.app +================== -.. automodule:: omni.isaac.orbit.app +.. automodule:: omni.isaac.lab.app .. rubric:: Classes @@ -40,7 +40,7 @@ The following details the behavior of the class based on the environment variabl .. note:: The off-screen rendering pipeline only works when used in conjunction with the - :class:`omni.isaac.orbit.sim.SimulationContext` class. This is because the off-screen rendering + :class:`omni.isaac.lab.sim.SimulationContext` class. This is because the off-screen rendering pipeline enables flags that are internally used by the SimulationContext class. @@ -51,13 +51,13 @@ To set the environment variables, one can use the following command in the termi export REMOTE_DEPLOYMENT=3 export OFFSCREEN_RENDER=1 # run the python script - ./orbit.sh -p source/standalone/demo/play_quadrupeds.py + ./isaaclab.sh -p source/standalone/demo/play_quadrupeds.py Alternatively, one can set the environment variables to the python script directly: .. code:: bash - REMOTE_DEPLOYMENT=3 OFFSCREEN_RENDER=1 ./orbit.sh -p source/standalone/demo/play_quadrupeds.py + REMOTE_DEPLOYMENT=3 OFFSCREEN_RENDER=1 ./isaaclab.sh -p source/standalone/demo/play_quadrupeds.py Overriding the environment variables @@ -73,7 +73,7 @@ The following snippet shows how use the :class:`AppLauncher` in different ways: import argparser - from omni.isaac.orbit.app import AppLauncher + from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser() diff --git a/docs/source/api/orbit/omni.isaac.orbit.assets.rst b/docs/source/api/lab/omni.isaac.lab.assets.rst similarity index 89% rename from docs/source/api/orbit/omni.isaac.orbit.assets.rst rename to docs/source/api/lab/omni.isaac.lab.assets.rst index 9f89cc638c..b77cdb61ef 100644 --- a/docs/source/api/orbit/omni.isaac.orbit.assets.rst +++ b/docs/source/api/lab/omni.isaac.lab.assets.rst @@ -1,7 +1,7 @@ -orbit.assets -============ +omni.isaac.lab.assets +===================== -.. automodule:: omni.isaac.orbit.assets +.. automodule:: omni.isaac.lab.assets .. rubric:: Classes @@ -16,7 +16,7 @@ ArticulationData ArticulationCfg -.. currentmodule:: omni.isaac.orbit.assets +.. currentmodule:: omni.isaac.lab.assets Asset Base ---------- diff --git a/docs/source/api/orbit/omni.isaac.orbit.controllers.rst b/docs/source/api/lab/omni.isaac.lab.controllers.rst similarity index 80% rename from docs/source/api/orbit/omni.isaac.orbit.controllers.rst rename to docs/source/api/lab/omni.isaac.lab.controllers.rst index 897e4815ac..d56efdd05a 100644 --- a/docs/source/api/orbit/omni.isaac.orbit.controllers.rst +++ b/docs/source/api/lab/omni.isaac.lab.controllers.rst @@ -1,7 +1,7 @@ -orbit.controllers -================= +omni.isaac.lab.controllers +========================== -.. automodule:: omni.isaac.orbit.controllers +.. automodule:: omni.isaac.lab.controllers .. rubric:: Classes diff --git a/docs/source/api/orbit/omni.isaac.orbit.devices.rst b/docs/source/api/lab/omni.isaac.lab.devices.rst similarity index 90% rename from docs/source/api/orbit/omni.isaac.orbit.devices.rst rename to docs/source/api/lab/omni.isaac.lab.devices.rst index 700fe71628..876787ca36 100644 --- a/docs/source/api/orbit/omni.isaac.orbit.devices.rst +++ b/docs/source/api/lab/omni.isaac.lab.devices.rst @@ -1,7 +1,7 @@ -orbit.devices -============= +omni.isaac.lab.devices +====================== -.. automodule:: omni.isaac.orbit.devices +.. automodule:: omni.isaac.lab.devices .. rubric:: Classes diff --git a/docs/source/api/lab/omni.isaac.lab.envs.mdp.rst b/docs/source/api/lab/omni.isaac.lab.envs.mdp.rst new file mode 100644 index 0000000000..0a24a84c85 --- /dev/null +++ b/docs/source/api/lab/omni.isaac.lab.envs.mdp.rst @@ -0,0 +1,54 @@ +omni.isaac.lab.envs.mdp +======================= + +.. automodule:: omni.isaac.lab.envs.mdp + +Observations +------------ + +.. automodule:: omni.isaac.lab.envs.mdp.observations + :members: + +Actions +------- + +.. automodule:: omni.isaac.lab.envs.mdp.actions + +.. automodule:: omni.isaac.lab.envs.mdp.actions.actions_cfg + :members: + :show-inheritance: + :exclude-members: __init__, class_type + +Events +------ + +.. automodule:: omni.isaac.lab.envs.mdp.events + :members: + +Commands +-------- + +.. automodule:: omni.isaac.lab.envs.mdp.commands + +.. automodule:: omni.isaac.lab.envs.mdp.commands.commands_cfg + :members: + :show-inheritance: + :exclude-members: __init__, class_type + +Rewards +------- + +.. automodule:: omni.isaac.lab.envs.mdp.rewards + :members: + +Terminations +------------ + +.. automodule:: omni.isaac.lab.envs.mdp.terminations + :members: + +Curriculum +---------- + +.. automodule:: omni.isaac.lab.envs.mdp.curriculums + :members: diff --git a/docs/source/api/orbit/omni.isaac.orbit.envs.rst b/docs/source/api/lab/omni.isaac.lab.envs.rst similarity index 89% rename from docs/source/api/orbit/omni.isaac.orbit.envs.rst rename to docs/source/api/lab/omni.isaac.lab.envs.rst index 17b4c9affa..f211e07b13 100644 --- a/docs/source/api/orbit/omni.isaac.orbit.envs.rst +++ b/docs/source/api/lab/omni.isaac.lab.envs.rst @@ -1,7 +1,7 @@ -orbit.envs -========== +omni.isaac.lab.envs +=================== -.. automodule:: omni.isaac.orbit.envs +.. automodule:: omni.isaac.lab.envs .. rubric:: Submodules diff --git a/docs/source/api/orbit/omni.isaac.orbit.envs.ui.rst b/docs/source/api/lab/omni.isaac.lab.envs.ui.rst similarity index 83% rename from docs/source/api/orbit/omni.isaac.orbit.envs.ui.rst rename to docs/source/api/lab/omni.isaac.lab.envs.ui.rst index daa824ae5f..4fcb81df0f 100644 --- a/docs/source/api/orbit/omni.isaac.orbit.envs.ui.rst +++ b/docs/source/api/lab/omni.isaac.lab.envs.ui.rst @@ -1,7 +1,7 @@ -orbit.envs.ui -============= +omni.isaac.lab.envs.ui +====================== -.. automodule:: omni.isaac.orbit.envs.ui +.. automodule:: omni.isaac.lab.envs.ui .. rubric:: Classes diff --git a/docs/source/api/orbit/omni.isaac.orbit.managers.rst b/docs/source/api/lab/omni.isaac.lab.managers.rst similarity index 96% rename from docs/source/api/orbit/omni.isaac.orbit.managers.rst rename to docs/source/api/lab/omni.isaac.lab.managers.rst index 308a1237be..d7ab8c5b22 100644 --- a/docs/source/api/orbit/omni.isaac.orbit.managers.rst +++ b/docs/source/api/lab/omni.isaac.lab.managers.rst @@ -1,7 +1,7 @@ -orbit.managers -============== +omni.isaac.lab.managers +======================= -.. automodule:: omni.isaac.orbit.managers +.. automodule:: omni.isaac.lab.managers .. rubric:: Classes diff --git a/docs/source/api/orbit/omni.isaac.orbit.markers.rst b/docs/source/api/lab/omni.isaac.lab.markers.rst similarity index 78% rename from docs/source/api/orbit/omni.isaac.orbit.markers.rst rename to docs/source/api/lab/omni.isaac.lab.markers.rst index f1b33c17ac..f6a23e773d 100644 --- a/docs/source/api/orbit/omni.isaac.orbit.markers.rst +++ b/docs/source/api/lab/omni.isaac.lab.markers.rst @@ -1,7 +1,7 @@ -orbit.markers -============= +omni.isaac.lab.markers +====================== -.. automodule:: omni.isaac.orbit.markers +.. automodule:: omni.isaac.lab.markers .. rubric:: Classes diff --git a/docs/source/api/orbit/omni.isaac.orbit.scene.rst b/docs/source/api/lab/omni.isaac.lab.scene.rst similarity index 78% rename from docs/source/api/orbit/omni.isaac.orbit.scene.rst rename to docs/source/api/lab/omni.isaac.lab.scene.rst index fb6aca9c9b..5a9bba3a33 100644 --- a/docs/source/api/orbit/omni.isaac.orbit.scene.rst +++ b/docs/source/api/lab/omni.isaac.lab.scene.rst @@ -1,7 +1,7 @@ -orbit.scene -=========== +omni.isaac.lab.scene +==================== -.. automodule:: omni.isaac.orbit.scene +.. automodule:: omni.isaac.lab.scene .. rubric:: Classes diff --git a/docs/source/api/orbit/omni.isaac.orbit.sensors.patterns.rst b/docs/source/api/lab/omni.isaac.lab.sensors.patterns.rst similarity index 69% rename from docs/source/api/orbit/omni.isaac.orbit.sensors.patterns.rst rename to docs/source/api/lab/omni.isaac.lab.sensors.patterns.rst index a3aa9bd9f7..e2eb9b04e5 100644 --- a/docs/source/api/orbit/omni.isaac.orbit.sensors.patterns.rst +++ b/docs/source/api/lab/omni.isaac.lab.sensors.patterns.rst @@ -1,7 +1,7 @@ -orbit.sensors.patterns -====================== +omni.isaac.lab.sensors.patterns +=============================== -.. automodule:: omni.isaac.orbit.sensors.patterns +.. automodule:: omni.isaac.lab.sensors.patterns .. rubric:: Classes @@ -23,7 +23,7 @@ Pattern Base Grid Pattern ------------ -.. autofunction:: omni.isaac.orbit.sensors.patterns.grid_pattern +.. autofunction:: omni.isaac.lab.sensors.patterns.grid_pattern .. autoclass:: GridPatternCfg :members: @@ -33,7 +33,7 @@ Grid Pattern Pinhole Camera Pattern ---------------------- -.. autofunction:: omni.isaac.orbit.sensors.patterns.pinhole_camera_pattern +.. autofunction:: omni.isaac.lab.sensors.patterns.pinhole_camera_pattern .. autoclass:: PinholeCameraPatternCfg :members: @@ -43,7 +43,7 @@ Pinhole Camera Pattern RS-Bpearl Pattern ----------------- -.. autofunction:: omni.isaac.orbit.sensors.patterns.bpearl_pattern +.. autofunction:: omni.isaac.lab.sensors.patterns.bpearl_pattern .. autoclass:: BpearlPatternCfg :members: diff --git a/docs/source/api/orbit/omni.isaac.orbit.sensors.rst b/docs/source/api/lab/omni.isaac.lab.sensors.rst similarity index 96% rename from docs/source/api/orbit/omni.isaac.orbit.sensors.rst rename to docs/source/api/lab/omni.isaac.lab.sensors.rst index ef23dceb09..f75956242a 100644 --- a/docs/source/api/orbit/omni.isaac.orbit.sensors.rst +++ b/docs/source/api/lab/omni.isaac.lab.sensors.rst @@ -1,7 +1,7 @@ -orbit.sensors -============= +omni.isaac.lab.sensors +====================== -.. automodule:: omni.isaac.orbit.sensors +.. automodule:: omni.isaac.lab.sensors .. rubric:: Submodules diff --git a/docs/source/api/orbit/omni.isaac.orbit.sim.converters.rst b/docs/source/api/lab/omni.isaac.lab.sim.converters.rst similarity index 88% rename from docs/source/api/orbit/omni.isaac.orbit.sim.converters.rst rename to docs/source/api/lab/omni.isaac.lab.sim.converters.rst index d12c77076a..1b5ee45c08 100644 --- a/docs/source/api/orbit/omni.isaac.orbit.sim.converters.rst +++ b/docs/source/api/lab/omni.isaac.lab.sim.converters.rst @@ -1,7 +1,7 @@ -orbit.sim.converters -==================== +omni.isaac.lab.sim.converters +============================= -.. automodule:: omni.isaac.orbit.sim.converters +.. automodule:: omni.isaac.lab.sim.converters .. rubric:: Classes diff --git a/docs/source/api/orbit/omni.isaac.orbit.sim.rst b/docs/source/api/lab/omni.isaac.lab.sim.rst similarity index 87% rename from docs/source/api/orbit/omni.isaac.orbit.sim.rst rename to docs/source/api/lab/omni.isaac.lab.sim.rst index 6866f0c753..4e37e33b4a 100644 --- a/docs/source/api/orbit/omni.isaac.orbit.sim.rst +++ b/docs/source/api/lab/omni.isaac.lab.sim.rst @@ -1,7 +1,7 @@ -orbit.sim -========= +omni.isaac.lab.sim +================== -.. automodule:: omni.isaac.orbit.sim +.. automodule:: omni.isaac.lab.sim .. rubric:: Submodules @@ -54,6 +54,6 @@ Simulation Context Builder Utilities --------- -.. automodule:: omni.isaac.orbit.sim.utils +.. automodule:: omni.isaac.lab.sim.utils :members: :show-inheritance: diff --git a/docs/source/api/orbit/omni.isaac.orbit.sim.schemas.rst b/docs/source/api/lab/omni.isaac.lab.sim.schemas.rst similarity index 94% rename from docs/source/api/orbit/omni.isaac.orbit.sim.schemas.rst rename to docs/source/api/lab/omni.isaac.lab.sim.schemas.rst index 318cd98598..14fb6f7e63 100644 --- a/docs/source/api/orbit/omni.isaac.orbit.sim.schemas.rst +++ b/docs/source/api/lab/omni.isaac.lab.sim.schemas.rst @@ -1,7 +1,7 @@ -orbit.sim.schemas -================= +omni.isaac.lab.sim.schemas +========================== -.. automodule:: omni.isaac.orbit.sim.schemas +.. automodule:: omni.isaac.lab.sim.schemas .. rubric:: Classes diff --git a/docs/source/api/orbit/omni.isaac.orbit.sim.spawners.rst b/docs/source/api/lab/omni.isaac.lab.sim.spawners.rst similarity index 90% rename from docs/source/api/orbit/omni.isaac.orbit.sim.spawners.rst rename to docs/source/api/lab/omni.isaac.lab.sim.spawners.rst index b5c3cb26c5..11ccd65640 100644 --- a/docs/source/api/orbit/omni.isaac.orbit.sim.spawners.rst +++ b/docs/source/api/lab/omni.isaac.lab.sim.spawners.rst @@ -1,7 +1,7 @@ -orbit.sim.spawners -================== +omni.isaac.lab.sim.spawners +=========================== -.. automodule:: omni.isaac.orbit.sim.spawners +.. automodule:: omni.isaac.lab.sim.spawners .. rubric:: Submodules @@ -35,7 +35,7 @@ Spawners Shapes ------ -.. automodule:: omni.isaac.orbit.sim.spawners.shapes +.. automodule:: omni.isaac.lab.sim.spawners.shapes .. rubric:: Classes @@ -91,7 +91,7 @@ Shapes Lights ------ -.. automodule:: omni.isaac.orbit.sim.spawners.lights +.. automodule:: omni.isaac.lab.sim.spawners.lights .. rubric:: Classes @@ -133,7 +133,7 @@ Lights Sensors ------- -.. automodule:: omni.isaac.orbit.sim.spawners.sensors +.. automodule:: omni.isaac.lab.sim.spawners.sensors .. rubric:: Classes @@ -155,7 +155,7 @@ Sensors From Files ---------- -.. automodule:: omni.isaac.orbit.sim.spawners.from_files +.. automodule:: omni.isaac.lab.sim.spawners.from_files .. rubric:: Classes @@ -186,7 +186,7 @@ From Files Materials --------- -.. automodule:: omni.isaac.orbit.sim.spawners.materials +.. automodule:: omni.isaac.lab.sim.spawners.materials .. rubric:: Classes diff --git a/docs/source/api/lab/omni.isaac.lab.terrains.rst b/docs/source/api/lab/omni.isaac.lab.terrains.rst new file mode 100644 index 0000000000..3d11fa1f1b --- /dev/null +++ b/docs/source/api/lab/omni.isaac.lab.terrains.rst @@ -0,0 +1,261 @@ +omni.isaac.lab.terrains +======================= + +.. automodule:: omni.isaac.lab.terrains + + .. rubric:: Classes + + .. autosummary:: + + TerrainImporter + TerrainImporterCfg + TerrainGenerator + TerrainGeneratorCfg + SubTerrainBaseCfg + + +Terrain importer +---------------- + +.. autoclass:: TerrainImporter + :members: + :show-inheritance: + +.. autoclass:: TerrainImporterCfg + :members: + :exclude-members: __init__, class_type + +Terrain generator +----------------- + +.. autoclass:: TerrainGenerator + :members: + +.. autoclass:: TerrainGeneratorCfg + :members: + :exclude-members: __init__ + +.. autoclass:: SubTerrainBaseCfg + :members: + :exclude-members: __init__ + +Height fields +------------- + +.. automodule:: omni.isaac.lab.terrains.height_field + +All sub-terrains must inherit from the :class:`HfTerrainBaseCfg` class which contains the common +parameters for all terrains generated from height fields. + +.. autoclass:: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg + :members: + :show-inheritance: + :exclude-members: __init__, function + +Random Uniform Terrain +^^^^^^^^^^^^^^^^^^^^^^ + +.. autofunction:: omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain + +.. autoclass:: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg + :members: + :show-inheritance: + :exclude-members: __init__, function + +Pyramid Sloped Terrain +^^^^^^^^^^^^^^^^^^^^^^ + +.. autofunction:: omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain + +.. autoclass:: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg + :members: + :show-inheritance: + :exclude-members: __init__, function + +.. autoclass:: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg + :members: + :show-inheritance: + :exclude-members: __init__, function + +Pyramid Stairs Terrain +^^^^^^^^^^^^^^^^^^^^^^ + +.. autofunction:: omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain + +.. autoclass:: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg + :members: + :show-inheritance: + :exclude-members: __init__, function + +.. autoclass:: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg + :members: + :show-inheritance: + :exclude-members: __init__, function + +Discrete Obstacles Terrain +^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. autofunction:: omni.isaac.lab.terrains.height_field.hf_terrains.discrete_obstacles_terrain + +.. autoclass:: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg + :members: + :show-inheritance: + :exclude-members: __init__, function + +Wave Terrain +^^^^^^^^^^^^ + +.. autofunction:: omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain + +.. autoclass:: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg + :members: + :show-inheritance: + :exclude-members: __init__, function + +Stepping Stones Terrain +^^^^^^^^^^^^^^^^^^^^^^^ + +.. autofunction:: omni.isaac.lab.terrains.height_field.hf_terrains.stepping_stones_terrain + +.. autoclass:: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg + :members: + :show-inheritance: + :exclude-members: __init__, function + +Trimesh terrains +---------------- + +.. automodule:: omni.isaac.lab.terrains.trimesh + + +Flat terrain +^^^^^^^^^^^^ + +.. autofunction:: omni.isaac.lab.terrains.trimesh.mesh_terrains.flat_terrain + +.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg + :members: + :show-inheritance: + :exclude-members: __init__, function + +Pyramid terrain +^^^^^^^^^^^^^^^ + +.. autofunction:: omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain + +.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg + :members: + :show-inheritance: + :exclude-members: __init__, function + +Inverted pyramid terrain +^^^^^^^^^^^^^^^^^^^^^^^^ + +.. autofunction:: omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain + +.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg + :members: + :show-inheritance: + :exclude-members: __init__, function + +Random grid terrain +^^^^^^^^^^^^^^^^^^^ + +.. autofunction:: omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain + +.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg + :members: + :show-inheritance: + :exclude-members: __init__, function + +Rails terrain +^^^^^^^^^^^^^ + +.. autofunction:: omni.isaac.lab.terrains.trimesh.mesh_terrains.rails_terrain + +.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg + :members: + :show-inheritance: + :exclude-members: __init__, function + +Pit terrain +^^^^^^^^^^^ + +.. autofunction:: omni.isaac.lab.terrains.trimesh.mesh_terrains.pit_terrain + +.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg + :members: + :show-inheritance: + :exclude-members: __init__, function + +Box terrain +^^^^^^^^^^^^^ + +.. autofunction:: omni.isaac.lab.terrains.trimesh.mesh_terrains.box_terrain + +.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg + :members: + :show-inheritance: + :exclude-members: __init__, function + +Gap terrain +^^^^^^^^^^^ + +.. autofunction:: omni.isaac.lab.terrains.trimesh.mesh_terrains.gap_terrain + +.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg + :members: + :show-inheritance: + :exclude-members: __init__, function + +Floating ring terrain +^^^^^^^^^^^^^^^^^^^^^ + +.. autofunction:: omni.isaac.lab.terrains.trimesh.mesh_terrains.floating_ring_terrain + +.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg + :members: + :show-inheritance: + :exclude-members: __init__, function + +Star terrain +^^^^^^^^^^^^ + +.. autofunction:: omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain + +.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg + :members: + :show-inheritance: + :exclude-members: __init__, function + +Repeated Objects Terrain +^^^^^^^^^^^^^^^^^^^^^^^^ + +.. autofunction:: omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain + +.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg + :members: + :show-inheritance: + :exclude-members: __init__, function + +.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg + :members: + :show-inheritance: + :exclude-members: __init__, function + +.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg + :members: + :show-inheritance: + :exclude-members: __init__, function + +.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg + :members: + :show-inheritance: + :exclude-members: __init__, function + +Utilities +--------- + +.. automodule:: omni.isaac.lab.terrains.utils + :members: + :undoc-members: diff --git a/docs/source/api/orbit/omni.isaac.orbit.utils.rst b/docs/source/api/lab/omni.isaac.lab.utils.rst similarity index 67% rename from docs/source/api/orbit/omni.isaac.orbit.utils.rst rename to docs/source/api/lab/omni.isaac.lab.utils.rst index 1fa059ff98..a12d6d961c 100644 --- a/docs/source/api/orbit/omni.isaac.orbit.utils.rst +++ b/docs/source/api/lab/omni.isaac.lab.utils.rst @@ -1,7 +1,7 @@ -orbit.utils -=========== +omni.isaac.lab.utils +==================== -.. automodule:: omni.isaac.orbit.utils +.. automodule:: omni.isaac.lab.utils .. Rubric:: Submodules @@ -26,14 +26,14 @@ Configuration class ~~~~~~~~~~~~~~~~~~~ -.. automodule:: omni.isaac.orbit.utils.configclass +.. automodule:: omni.isaac.lab.utils.configclass :members: :show-inheritance: IO operations ~~~~~~~~~~~~~ -.. automodule:: omni.isaac.orbit.utils.io +.. automodule:: omni.isaac.lab.utils.io :members: :imported-members: :show-inheritance: @@ -41,28 +41,28 @@ IO operations Array operations ~~~~~~~~~~~~~~~~ -.. automodule:: omni.isaac.orbit.utils.array +.. automodule:: omni.isaac.lab.utils.array :members: :show-inheritance: Asset operations ~~~~~~~~~~~~~~~~ -.. automodule:: omni.isaac.orbit.utils.assets +.. automodule:: omni.isaac.lab.utils.assets :members: :show-inheritance: Dictionary operations ~~~~~~~~~~~~~~~~~~~~~ -.. automodule:: omni.isaac.orbit.utils.dict +.. automodule:: omni.isaac.lab.utils.dict :members: :show-inheritance: Math operations ~~~~~~~~~~~~~~~ -.. automodule:: omni.isaac.orbit.utils.math +.. automodule:: omni.isaac.lab.utils.math :members: :inherited-members: :show-inheritance: @@ -70,7 +70,7 @@ Math operations Noise operations ~~~~~~~~~~~~~~~~ -.. automodule:: omni.isaac.orbit.utils.noise +.. automodule:: omni.isaac.lab.utils.noise :members: :imported-members: :inherited-members: @@ -80,21 +80,21 @@ Noise operations String operations ~~~~~~~~~~~~~~~~~ -.. automodule:: omni.isaac.orbit.utils.string +.. automodule:: omni.isaac.lab.utils.string :members: :show-inheritance: Timer operations ~~~~~~~~~~~~~~~~ -.. automodule:: omni.isaac.orbit.utils.timer +.. automodule:: omni.isaac.lab.utils.timer :members: :show-inheritance: Warp operations ~~~~~~~~~~~~~~~ -.. automodule:: omni.isaac.orbit.utils.warp +.. automodule:: omni.isaac.lab.utils.warp :members: :imported-members: :show-inheritance: diff --git a/docs/source/api/orbit_tasks/omni.isaac.orbit_tasks.utils.data_collector.rst b/docs/source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.rst similarity index 58% rename from docs/source/api/orbit_tasks/omni.isaac.orbit_tasks.utils.data_collector.rst rename to docs/source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.rst index 9de72ffd54..b29b1446b0 100644 --- a/docs/source/api/orbit_tasks/omni.isaac.orbit_tasks.utils.data_collector.rst +++ b/docs/source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.rst @@ -1,7 +1,7 @@ -orbit\_tasks.utils.data\_collector -================================== +omni.isaac.lab_tasks.utils.data_collector +========================================= -.. automodule:: omni.isaac.orbit_tasks.utils.data_collector +.. automodule:: omni.isaac.lab_tasks.utils.data_collector .. Rubric:: Classes diff --git a/docs/source/api/orbit_tasks/omni.isaac.orbit_tasks.utils.rst b/docs/source/api/lab_tasks/omni.isaac.lab_tasks.utils.rst similarity index 54% rename from docs/source/api/orbit_tasks/omni.isaac.orbit_tasks.utils.rst rename to docs/source/api/lab_tasks/omni.isaac.lab_tasks.utils.rst index 8174920cf7..644bcaa439 100644 --- a/docs/source/api/orbit_tasks/omni.isaac.orbit_tasks.utils.rst +++ b/docs/source/api/lab_tasks/omni.isaac.lab_tasks.utils.rst @@ -1,7 +1,7 @@ -orbit\_tasks.utils -================== +omni.isaac.lab_tasks.utils +========================== -.. automodule:: omni.isaac.orbit_tasks.utils +.. automodule:: omni.isaac.lab_tasks.utils :members: :imported-members: diff --git a/docs/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.rst b/docs/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.rst new file mode 100644 index 0000000000..e70975375d --- /dev/null +++ b/docs/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.rst @@ -0,0 +1,33 @@ +omni.isaac.lab_tasks.utils.wrappers +=================================== + +.. automodule:: omni.isaac.lab_tasks.utils.wrappers + +RL-Games Wrapper +---------------- + +.. automodule:: omni.isaac.lab_tasks.utils.wrappers.rl_games + :members: + :show-inheritance: + +RSL-RL Wrapper +-------------- + +.. automodule:: omni.isaac.lab_tasks.utils.wrappers.rsl_rl + :members: + :imported-members: + :show-inheritance: + +SKRL Wrapper +------------ + +.. automodule:: omni.isaac.lab_tasks.utils.wrappers.skrl + :members: + :show-inheritance: + +Stable-Baselines3 Wrapper +------------------------- + +.. automodule:: omni.isaac.lab_tasks.utils.wrappers.sb3 + :members: + :show-inheritance: diff --git a/docs/source/api/orbit/omni.isaac.orbit.envs.mdp.rst b/docs/source/api/orbit/omni.isaac.orbit.envs.mdp.rst deleted file mode 100644 index 864fdf6262..0000000000 --- a/docs/source/api/orbit/omni.isaac.orbit.envs.mdp.rst +++ /dev/null @@ -1,54 +0,0 @@ -orbit.envs.mdp -============== - -.. automodule:: omni.isaac.orbit.envs.mdp - -Observations ------------- - -.. automodule:: omni.isaac.orbit.envs.mdp.observations - :members: - -Actions -------- - -.. automodule:: omni.isaac.orbit.envs.mdp.actions - -.. automodule:: omni.isaac.orbit.envs.mdp.actions.actions_cfg - :members: - :show-inheritance: - :exclude-members: __init__, class_type - -Events ------- - -.. automodule:: omni.isaac.orbit.envs.mdp.events - :members: - -Commands --------- - -.. automodule:: omni.isaac.orbit.envs.mdp.commands - -.. automodule:: omni.isaac.orbit.envs.mdp.commands.commands_cfg - :members: - :show-inheritance: - :exclude-members: __init__, class_type - -Rewards -------- - -.. automodule:: omni.isaac.orbit.envs.mdp.rewards - :members: - -Terminations ------------- - -.. automodule:: omni.isaac.orbit.envs.mdp.terminations - :members: - -Curriculum ----------- - -.. automodule:: omni.isaac.orbit.envs.mdp.curriculums - :members: diff --git a/docs/source/api/orbit/omni.isaac.orbit.terrains.rst b/docs/source/api/orbit/omni.isaac.orbit.terrains.rst deleted file mode 100644 index 77bf3d81db..0000000000 --- a/docs/source/api/orbit/omni.isaac.orbit.terrains.rst +++ /dev/null @@ -1,261 +0,0 @@ -orbit.terrains -============== - -.. automodule:: omni.isaac.orbit.terrains - - .. rubric:: Classes - - .. autosummary:: - - TerrainImporter - TerrainImporterCfg - TerrainGenerator - TerrainGeneratorCfg - SubTerrainBaseCfg - - -Terrain importer ----------------- - -.. autoclass:: TerrainImporter - :members: - :show-inheritance: - -.. autoclass:: TerrainImporterCfg - :members: - :exclude-members: __init__, class_type - -Terrain generator ------------------ - -.. autoclass:: TerrainGenerator - :members: - -.. autoclass:: TerrainGeneratorCfg - :members: - :exclude-members: __init__ - -.. autoclass:: SubTerrainBaseCfg - :members: - :exclude-members: __init__ - -Height fields -------------- - -.. automodule:: omni.isaac.orbit.terrains.height_field - -All sub-terrains must inherit from the :class:`HfTerrainBaseCfg` class which contains the common -parameters for all terrains generated from height fields. - -.. autoclass:: omni.isaac.orbit.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg - :members: - :show-inheritance: - :exclude-members: __init__, function - -Random Uniform Terrain -^^^^^^^^^^^^^^^^^^^^^^ - -.. autofunction:: omni.isaac.orbit.terrains.height_field.hf_terrains.random_uniform_terrain - -.. autoclass:: omni.isaac.orbit.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg - :members: - :show-inheritance: - :exclude-members: __init__, function - -Pyramid Sloped Terrain -^^^^^^^^^^^^^^^^^^^^^^ - -.. autofunction:: omni.isaac.orbit.terrains.height_field.hf_terrains.pyramid_sloped_terrain - -.. autoclass:: omni.isaac.orbit.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg - :members: - :show-inheritance: - :exclude-members: __init__, function - -.. autoclass:: omni.isaac.orbit.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg - :members: - :show-inheritance: - :exclude-members: __init__, function - -Pyramid Stairs Terrain -^^^^^^^^^^^^^^^^^^^^^^ - -.. autofunction:: omni.isaac.orbit.terrains.height_field.hf_terrains.pyramid_stairs_terrain - -.. autoclass:: omni.isaac.orbit.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg - :members: - :show-inheritance: - :exclude-members: __init__, function - -.. autoclass:: omni.isaac.orbit.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg - :members: - :show-inheritance: - :exclude-members: __init__, function - -Discrete Obstacles Terrain -^^^^^^^^^^^^^^^^^^^^^^^^^^ - -.. autofunction:: omni.isaac.orbit.terrains.height_field.hf_terrains.discrete_obstacles_terrain - -.. autoclass:: omni.isaac.orbit.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg - :members: - :show-inheritance: - :exclude-members: __init__, function - -Wave Terrain -^^^^^^^^^^^^ - -.. autofunction:: omni.isaac.orbit.terrains.height_field.hf_terrains.wave_terrain - -.. autoclass:: omni.isaac.orbit.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg - :members: - :show-inheritance: - :exclude-members: __init__, function - -Stepping Stones Terrain -^^^^^^^^^^^^^^^^^^^^^^^ - -.. autofunction:: omni.isaac.orbit.terrains.height_field.hf_terrains.stepping_stones_terrain - -.. autoclass:: omni.isaac.orbit.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg - :members: - :show-inheritance: - :exclude-members: __init__, function - -Trimesh terrains ----------------- - -.. automodule:: omni.isaac.orbit.terrains.trimesh - - -Flat terrain -^^^^^^^^^^^^ - -.. autofunction:: omni.isaac.orbit.terrains.trimesh.mesh_terrains.flat_terrain - -.. autoclass:: omni.isaac.orbit.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg - :members: - :show-inheritance: - :exclude-members: __init__, function - -Pyramid terrain -^^^^^^^^^^^^^^^ - -.. autofunction:: omni.isaac.orbit.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain - -.. autoclass:: omni.isaac.orbit.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg - :members: - :show-inheritance: - :exclude-members: __init__, function - -Inverted pyramid terrain -^^^^^^^^^^^^^^^^^^^^^^^^ - -.. autofunction:: omni.isaac.orbit.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain - -.. autoclass:: omni.isaac.orbit.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg - :members: - :show-inheritance: - :exclude-members: __init__, function - -Random grid terrain -^^^^^^^^^^^^^^^^^^^ - -.. autofunction:: omni.isaac.orbit.terrains.trimesh.mesh_terrains.random_grid_terrain - -.. autoclass:: omni.isaac.orbit.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg - :members: - :show-inheritance: - :exclude-members: __init__, function - -Rails terrain -^^^^^^^^^^^^^ - -.. autofunction:: omni.isaac.orbit.terrains.trimesh.mesh_terrains.rails_terrain - -.. autoclass:: omni.isaac.orbit.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg - :members: - :show-inheritance: - :exclude-members: __init__, function - -Pit terrain -^^^^^^^^^^^ - -.. autofunction:: omni.isaac.orbit.terrains.trimesh.mesh_terrains.pit_terrain - -.. autoclass:: omni.isaac.orbit.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg - :members: - :show-inheritance: - :exclude-members: __init__, function - -Box terrain -^^^^^^^^^^^^^ - -.. autofunction:: omni.isaac.orbit.terrains.trimesh.mesh_terrains.box_terrain - -.. autoclass:: omni.isaac.orbit.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg - :members: - :show-inheritance: - :exclude-members: __init__, function - -Gap terrain -^^^^^^^^^^^ - -.. autofunction:: omni.isaac.orbit.terrains.trimesh.mesh_terrains.gap_terrain - -.. autoclass:: omni.isaac.orbit.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg - :members: - :show-inheritance: - :exclude-members: __init__, function - -Floating ring terrain -^^^^^^^^^^^^^^^^^^^^^ - -.. autofunction:: omni.isaac.orbit.terrains.trimesh.mesh_terrains.floating_ring_terrain - -.. autoclass:: omni.isaac.orbit.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg - :members: - :show-inheritance: - :exclude-members: __init__, function - -Star terrain -^^^^^^^^^^^^ - -.. autofunction:: omni.isaac.orbit.terrains.trimesh.mesh_terrains.star_terrain - -.. autoclass:: omni.isaac.orbit.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg - :members: - :show-inheritance: - :exclude-members: __init__, function - -Repeated Objects Terrain -^^^^^^^^^^^^^^^^^^^^^^^^ - -.. autofunction:: omni.isaac.orbit.terrains.trimesh.mesh_terrains.repeated_objects_terrain - -.. autoclass:: omni.isaac.orbit.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg - :members: - :show-inheritance: - :exclude-members: __init__, function - -.. autoclass:: omni.isaac.orbit.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg - :members: - :show-inheritance: - :exclude-members: __init__, function - -.. autoclass:: omni.isaac.orbit.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg - :members: - :show-inheritance: - :exclude-members: __init__, function - -.. autoclass:: omni.isaac.orbit.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg - :members: - :show-inheritance: - :exclude-members: __init__, function - -Utilities ---------- - -.. automodule:: omni.isaac.orbit.terrains.utils - :members: - :undoc-members: diff --git a/docs/source/api/orbit_tasks/omni.isaac.orbit_tasks.utils.wrappers.rst b/docs/source/api/orbit_tasks/omni.isaac.orbit_tasks.utils.wrappers.rst deleted file mode 100644 index 529bf29921..0000000000 --- a/docs/source/api/orbit_tasks/omni.isaac.orbit_tasks.utils.wrappers.rst +++ /dev/null @@ -1,33 +0,0 @@ -orbit\_tasks.utils.wrappers -=========================== - -.. automodule:: omni.isaac.orbit_tasks.utils.wrappers - -RL-Games Wrapper ----------------- - -.. automodule:: omni.isaac.orbit_tasks.utils.wrappers.rl_games - :members: - :show-inheritance: - -RSL-RL Wrapper --------------- - -.. automodule:: omni.isaac.orbit_tasks.utils.wrappers.rsl_rl - :members: - :imported-members: - :show-inheritance: - -SKRL Wrapper ------------- - -.. automodule:: omni.isaac.orbit_tasks.utils.wrappers.skrl - :members: - :show-inheritance: - -Stable-Baselines3 Wrapper -------------------------- - -.. automodule:: omni.isaac.orbit_tasks.utils.wrappers.sb3 - :members: - :show-inheritance: diff --git a/docs/source/deployment/cluster.rst b/docs/source/deployment/cluster.rst index 6e6ad44b62..f76d288432 100644 --- a/docs/source/deployment/cluster.rst +++ b/docs/source/deployment/cluster.rst @@ -5,14 +5,14 @@ Cluster Guide ============= Clusters are a great way to speed up training and evaluation of learning algorithms. -While the Orbit Docker image can be used to run jobs on a cluster, many clusters only +While the Isaac Lab Docker image can be used to run jobs on a cluster, many clusters only support singularity images. This is because `singularity`_ is designed for ease-of-use on shared multi-user systems and high performance computing (HPC) environments. It does not require root privileges to run containers and can be used to run user-defined containers. Singularity is compatible with all Docker images. In this section, we describe how to -convert the Orbit Docker image into a singularity image and use it to submit jobs to a cluster. +convert the Isaac Lab Docker image into a singularity image and use it to submit jobs to a cluster. .. attention:: @@ -65,9 +65,9 @@ The following describes the parameters that need to be configured: has to end on ``docker-isaac-sim``. This directory will be copied to the compute node and mounted into the singularity container. It should increase the speed of starting the simulation. -- ``CLUSTER_ORBIT_DIR``: - The directory on the cluster where the orbit code is stored. This directory has to - end on ``orbit``. This directory will be copied to the compute node and mounted into +- ``CLUSTER_ISAACLAB_DIR``: + The directory on the cluster where the Isaac Lab code is stored. This directory has to + end on ``isaaclab``. This directory will be copied to the compute node and mounted into the singularity container. When a job is submitted, the latest local changes will be copied to the cluster. - ``CLUSTER_LOGIN``: @@ -77,7 +77,7 @@ The following describes the parameters that need to be configured: The path on the cluster where the singularity image will be stored. The image will be copied to the compute node but not uploaded again to the cluster when a job is submitted. - ``CLUSTER_PYTHON_EXECUTABLE``: - The path within orbit to the Python executable that should be executed in the submitted job. + The path within Isaac Lab to the Python executable that should be executed in the submitted job. Exporting to singularity image ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -146,8 +146,8 @@ To submit a job on the cluster, the following command can be used: ./docker/container.sh job [profile] "argument1" "argument2" ... This command will copy the latest changes in your code to the cluster and submit a job. Please ensure that -your Python executable's output is stored under ``orbit/logs`` as this directory will be copied again -from the compute node to ``CLUSTER_ORBIT_DIR``. +your Python executable's output is stored under ``isaaclab/logs`` as this directory will be copied again +from the compute node to ``CLUSTER_ISAACLAB_DIR``. ``[profile]`` is an optional argument that specifies which singularity image corresponding to the container profile will be used. If no profile is specified, the default profile ``base`` will be used. The profile has be defined @@ -161,13 +161,13 @@ ANYmal rough terrain locomotion training can be executed with the following comm ./docker/container.sh job --task Isaac-Velocity-Rough-Anymal-C-v0 --headless --video --offscreen_render -The above will, in addition, also render videos of the training progress and store them under ``orbit/logs`` directory. +The above will, in addition, also render videos of the training progress and store them under ``isaaclab/logs`` directory. .. note:: The ``./docker/container.sh job`` command will copy the latest changes in your code to the cluster. However, it will not delete any files that have been deleted locally. These files will still exist on the cluster - which can lead to issues. In this case, we recommend removing the ``CLUSTER_ORBIT_DIR`` directory on + which can lead to issues. In this case, we recommend removing the ``CLUSTER_ISAACLAB_DIR`` directory on the cluster and re-run the command. diff --git a/docs/source/deployment/docker.rst b/docs/source/deployment/docker.rst index 7e8fb40f9c..c573321d0a 100644 --- a/docs/source/deployment/docker.rst +++ b/docs/source/deployment/docker.rst @@ -65,16 +65,16 @@ Obtaining the Isaac Sim Container Directory Organization ---------------------- -The root of the Orbit repository contains the ``docker`` directory that has various files and scripts -needed to run Orbit inside a Docker container. A subset of these are summarized below: +The root of the Isaac Lab repository contains the ``docker`` directory that has various files and scripts +needed to run Isaac Lab inside a Docker container. A subset of these are summarized below: -* ``Dockerfile.base``: Defines the orbit image by overlaying Orbit dependencies onto the Isaac Sim Docker image. - ``Dockerfiles`` which end with something else, (i.e. ``Dockerfile.ros2``) build an `image_extension <#orbit-image-extensions>`_. -* ``docker-compose.yaml``: Creates mounts to allow direct editing of Orbit code from the host machine that runs +* ``Dockerfile.base``: Defines the isaaclab image by overlaying Isaac Lab dependencies onto the Isaac Sim Docker image. + ``Dockerfiles`` which end with something else, (i.e. ``Dockerfile.ros2``) build an `image_extension <#isaac-lab-image-extensions>`_. +* ``docker-compose.yaml``: Creates mounts to allow direct editing of Isaac Lab code from the host machine that runs the container. It also creates several named volumes such as ``isaac-cache-kit`` to store frequently re-used resources compiled by Isaac Sim, such as shaders, and to retain logs, data, and documents. * ``base.env``: Stores environment variables required for the ``base`` build process and the container itself. ``.env`` - files which end with something else (i.e. ``.env.ros2``) define these for `image_extension <#orbit-image-extensions>`_. + files which end with something else (i.e. ``.env.ros2``) define these for `image_extension <#isaac-lab-image-extensions>`_. * ``container.sh``: A script that wraps the ``docker compose`` command to build the image and run the container. Running the Container @@ -83,24 +83,24 @@ Running the Container .. note:: The docker container copies all the files from the repository into the container at the - location ``/workspace/orbit`` at build time. This means that any changes made to the files in the container would not + location ``/workspace/isaaclab`` at build time. This means that any changes made to the files in the container would not normally be reflected in the repository after the image has been built, i.e. after ``./container.sh start`` is run. - For a faster development cycle, we mount the following directories in the Orbit repository into the container + For a faster development cycle, we mount the following directories in the Isaac Lab repository into the container so that you can edit their files from the host machine: - * ``source``: This is the directory that contains the Orbit source code. - * ``docs``: This is the directory that contains the source code for Orbit documentation. This is overlaid except + * ``source``: This is the directory that contains the Isaac Lab source code. + * ``docs``: This is the directory that contains the source code for Isaac Lab documentation. This is overlaid except for the ``_build`` subdirectory where build artifacts are stored. -The script ``container.sh`` wraps around three basic ``docker compose`` commands. Each can accept an `image_extension argument <#orbit-image-extensions>`_, +The script ``container.sh`` wraps around three basic ``docker compose`` commands. Each can accept an `image_extension argument <#isaac-lab-image-extensions>`_, or else they will default to image_extension ``base``: 1. ``start``: This builds the image and brings up the container in detached mode (i.e. in the background). -2. ``enter``: This begins a new bash process in an existing orbit container, and which can be exited +2. ``enter``: This begins a new bash process in an existing isaaclab container, and which can be exited without bringing down the container. -3. ``copy``: This copies the ``logs``, ``data_storage`` and ``docs/_build`` artifacts, from the ``orbit-logs``, ``orbit-data`` and ``orbit-docs`` +3. ``copy``: This copies the ``logs``, ``data_storage`` and ``docs/_build`` artifacts, from the ``isaac-lab-logs``, ``isaac-lab-data`` and ``isaac-lab-docs`` volumes respectively, to the ``docker/artifacts`` directory. These artifacts persist between docker container instances and are shared between image extensions. 4. ``stop``: This brings down the container and removes it. @@ -120,8 +120,8 @@ To copy files from the base container to the host machine, you can use the follo .. code:: bash - # Copy the file /workspace/orbit/logs to the current directory - docker cp orbit-base:/workspace/orbit/logs . + # Copy the file /workspace/isaaclab/logs to the current directory + docker cp isaac-lab-base:/workspace/isaaclab/logs . The script ``container.sh`` provides a wrapper around this command to copy the ``logs`` , ``data_storage`` and ``docs/_build`` directories to the ``docker/artifacts`` directory. This is useful for copying the logs, data and documentation: @@ -160,9 +160,9 @@ These are summarized below: * ``isaac-carb-logs``: This volume is used to store logs generated by carb. (`/isaac-sim/kit/logs/Kit/Isaac-Sim` in container) * ``isaac-data``: This volume is used to store data generated by Omniverse. (`/root/.local/share/ov/data` in container) * ``isaac-docs``: This volume is used to store documents generated by Omniverse. (`/root/Documents` in container) -* ``orbit-docs``: This volume is used to store documentation of Orbit when built inside the container. (`/workspace/orbit/docs/_build` in container) -* ``orbit-logs``: This volume is used to store logs generated by Orbit workflows when run inside the container. (`/workspace/orbit/logs` in container) -* ``orbit-data``: This volume is used to store whatever data users may want to preserve between container runs. (`/workspace/orbit/data_storage` in container) +* ``isaac-lab-docs``: This volume is used to store documentation of Isaac Lab when built inside the container. (`/workspace/isaaclab/docs/_build` in container) +* ``isaac-lab-logs``: This volume is used to store logs generated by Isaac Lab workflows when run inside the container. (`/workspace/isaaclab/logs` in container) +* ``isaac-lab-data``: This volume is used to store whatever data users may want to preserve between container runs. (`/workspace/isaaclab/data_storage` in container) To view the contents of these volumes, you can use the following command: @@ -175,13 +175,13 @@ To view the contents of these volumes, you can use the following command: -Orbit Image Extensions ----------------------- +Isaac Lab Image Extensions +-------------------------- The produced image depends upon the arguments passed to ``./container.sh start`` and ``./container.sh stop``. These commands accept an ``image_extension`` as an additional argument. If no argument is passed, then these commands default to ``base``. Currently, the only valid ``image_extension`` arguments are (``base``, ``ros2``). -Only one ``image_extension`` can be passed at a time, and the produced container will be named ``orbit``. +Only one ``image_extension`` can be passed at a time, and the produced container will be named ``isaaclab``. .. code:: bash @@ -218,7 +218,7 @@ If you see the following error when building the container: .. code:: text - ⠋ Container orbit Creating 0.0s + ⠋ Container isaaclab Creating 0.0s Error response from daemon: invalid mount config for type "bind": bind source path does not exist: ${HOME}/.Xauthority This means that the ``.Xauthority`` file is not present in the home directory of the host machine. @@ -234,7 +234,7 @@ A similar error but requires a different fix: .. code:: text - ⠋ Container orbit Creating 0.0s + ⠋ Container isaaclab Creating 0.0s Error response from daemon: invalid mount config for type "bind": bind source path does not exist: /tmp/.X11-unix This means that the folder/files are either not present or not accessible on the host machine. diff --git a/docs/source/deployment/index.rst b/docs/source/deployment/index.rst index 7d01593742..c8e07ef9e2 100644 --- a/docs/source/deployment/index.rst +++ b/docs/source/deployment/index.rst @@ -6,12 +6,12 @@ be used to run applications. They are useful for ensuring that an application ca that has Docker installed, regardless of the host machine's operating system or installed libraries. We include a Dockerfile and docker-compose.yaml file that can be used to build a Docker image that -contains Orbit and all of its dependencies. This image can then be used to run Orbit in a container. +contains Isaac Lab and all of its dependencies. This image can then be used to run Isaac Lab in a container. The Dockerfile is based on the Isaac Sim image provided by NVIDIA, which includes the Omniverse -application launcher and the Isaac Sim application. The Dockerfile installs Orbit and its dependencies +application launcher and the Isaac Sim application. The Dockerfile installs Isaac Lab and its dependencies on top of this image. -The following guides provide instructions for building the Docker image and running Orbit in a +The following guides provide instructions for building the Docker image and running Isaac Lab in a container. .. toctree:: diff --git a/docs/source/deployment/run_docker_example.rst b/docs/source/deployment/run_docker_example.rst index 007ee72ddd..b38b5b3226 100644 --- a/docs/source/deployment/run_docker_example.rst +++ b/docs/source/deployment/run_docker_example.rst @@ -1,11 +1,11 @@ Running an example with Docker ============================== -From the root of the ``orbit`` repository, the ``docker`` directory contains all the Docker relevant files. These include the three files +From the root of the ``Isaac Lab`` repository, the ``docker`` directory contains all the Docker relevant files. These include the three files (**Dockerfile**, **docker-compose.yaml**, **.env**) which are used by Docker, and an additional script that we use to interface with them, **container.sh**. -In this tutorial, we will learn how to use the Orbit Docker container for development. For a detailed description of the Docker setup, +In this tutorial, we will learn how to use the Isaac Lab Docker container for development. For a detailed description of the Docker setup, including installation and obtaining access to an Isaac Sim image, please reference the :ref:`deployment-docker`. For a description of Docker in general, please refer to `their official documentation `_. @@ -13,7 +13,7 @@ of Docker in general, please refer to `their official documentation `_ sub-package. + `omni.isaac.lab.actuators <../api/lab.actuators.html>`_ sub-package. diff --git a/docs/source/features/environments.rst b/docs/source/features/environments.rst index 2f857df958..f744f080c4 100644 --- a/docs/source/features/environments.rst +++ b/docs/source/features/environments.rst @@ -1,16 +1,16 @@ Environments ============ -The following lists comprises of all the RL tasks implementations that are available in Orbit. +The following lists comprises of all the RL tasks implementations that are available in Isaac Lab. While we try to keep this list up-to-date, you can always get the latest list of environments by running the following command: .. code-block:: bash - ./orbit.sh -p source/standalone/environments/list_envs.py + ./isaaclab.sh -p source/standalone/environments/list_envs.py We are actively working on adding more environments to the list. If you have any environments that -you would like to add to Orbit, please feel free to open a pull request! +you would like to add to Isaac Lab, please feel free to open a pull request! Classic ------- @@ -35,9 +35,9 @@ Classic environments that are based on IsaacGymEnvs implementation of MuJoCo-sty .. |ant| image:: ../_static/tasks/classic/ant.jpg .. |cartpole| image:: ../_static/tasks/classic/cartpole.jpg -.. |humanoid-link| replace:: `Isaac-Humanoid-v0 `__ -.. |ant-link| replace:: `Isaac-Ant-v0 `__ -.. |cartpole-link| replace:: `Isaac-Cartpole-v0 `__ +.. |humanoid-link| replace:: `Isaac-Humanoid-v0 `__ +.. |ant-link| replace:: `Isaac-Ant-v0 `__ +.. |cartpole-link| replace:: `Isaac-Cartpole-v0 `__ Manipulation @@ -75,13 +75,13 @@ for the reach environment: .. |cabi-franka| image:: ../_static/tasks/manipulation/franka_open_drawer.jpg .. |cube-allegro| image:: ../_static/tasks/manipulation/allegro_cube.jpg -.. |reach-franka-link| replace:: `Isaac-Reach-Franka-v0 `__ -.. |reach-ur10-link| replace:: `Isaac-Reach-UR10-v0 `__ -.. |lift-cube-link| replace:: `Isaac-Lift-Cube-Franka-v0 `__ -.. |lift-cube-ik-abs-link| replace:: `Isaac-Lift-Cube-Franka-IK-Abs-v0 `__ -.. |lift-cube-ik-rel-link| replace:: `Isaac-Lift-Cube-Franka-IK-Rel-v0 `__ -.. |cabi-franka-link| replace:: `Isaac-Open-Drawer-Franka-v0 `__ -.. |cube-allegro-link| replace:: `Isaac-Repose-Cube-Allegro-v0 `__ +.. |reach-franka-link| replace:: `Isaac-Reach-Franka-v0 `__ +.. |reach-ur10-link| replace:: `Isaac-Reach-UR10-v0 `__ +.. |lift-cube-link| replace:: `Isaac-Lift-Cube-Franka-v0 `__ +.. |lift-cube-ik-abs-link| replace:: `Isaac-Lift-Cube-Franka-IK-Abs-v0 `__ +.. |lift-cube-ik-rel-link| replace:: `Isaac-Lift-Cube-Franka-IK-Rel-v0 `__ +.. |cabi-franka-link| replace:: `Isaac-Open-Drawer-Franka-v0 `__ +.. |cube-allegro-link| replace:: `Isaac-Repose-Cube-Allegro-v0 `__ Locomotion ---------- @@ -119,23 +119,23 @@ Environments based on legged locomotion tasks. | |velocity-rough-unitree-go2| | |velocity-rough-unitree-go2-link| | Track a velocity command on rough terrain with the Unitree Go2 robot | +------------------------------+----------------------------------------------+-------------------------------------------------------------------------+ -.. |velocity-flat-anymal-b-link| replace:: `Isaac-Velocity-Flat-Anymal-B-v0 `__ -.. |velocity-rough-anymal-b-link| replace:: `Isaac-Velocity-Rough-Anymal-B-v0 `__ +.. |velocity-flat-anymal-b-link| replace:: `Isaac-Velocity-Flat-Anymal-B-v0 `__ +.. |velocity-rough-anymal-b-link| replace:: `Isaac-Velocity-Rough-Anymal-B-v0 `__ -.. |velocity-flat-anymal-c-link| replace:: `Isaac-Velocity-Flat-Anymal-C-v0 `__ -.. |velocity-rough-anymal-c-link| replace:: `Isaac-Velocity-Rough-Anymal-C-v0 `__ +.. |velocity-flat-anymal-c-link| replace:: `Isaac-Velocity-Flat-Anymal-C-v0 `__ +.. |velocity-rough-anymal-c-link| replace:: `Isaac-Velocity-Rough-Anymal-C-v0 `__ -.. |velocity-flat-anymal-d-link| replace:: `Isaac-Velocity-Flat-Anymal-D-v0 `__ -.. |velocity-rough-anymal-d-link| replace:: `Isaac-Velocity-Rough-Anymal-D-v0 `__ +.. |velocity-flat-anymal-d-link| replace:: `Isaac-Velocity-Flat-Anymal-D-v0 `__ +.. |velocity-rough-anymal-d-link| replace:: `Isaac-Velocity-Rough-Anymal-D-v0 `__ -.. |velocity-flat-unitree-a1-link| replace:: `Isaac-Velocity-Flat-Unitree-A1-v0 `__ -.. |velocity-rough-unitree-a1-link| replace:: `Isaac-Velocity-Rough-Unitree-A1-v0 `__ +.. |velocity-flat-unitree-a1-link| replace:: `Isaac-Velocity-Flat-Unitree-A1-v0 `__ +.. |velocity-rough-unitree-a1-link| replace:: `Isaac-Velocity-Rough-Unitree-A1-v0 `__ -.. |velocity-flat-unitree-go1-link| replace:: `Isaac-Velocity-Flat-Unitree-Go1-v0 `__ -.. |velocity-rough-unitree-go1-link| replace:: `Isaac-Velocity-Rough-Unitree-Go1-v0 `__ +.. |velocity-flat-unitree-go1-link| replace:: `Isaac-Velocity-Flat-Unitree-Go1-v0 `__ +.. |velocity-rough-unitree-go1-link| replace:: `Isaac-Velocity-Rough-Unitree-Go1-v0 `__ -.. |velocity-flat-unitree-go2-link| replace:: `Isaac-Velocity-Flat-Unitree-Go2-v0 `__ -.. |velocity-rough-unitree-go2-link| replace:: `Isaac-Velocity-Rough-Unitree-Go2-v0 `__ +.. |velocity-flat-unitree-go2-link| replace:: `Isaac-Velocity-Flat-Unitree-Go2-v0 `__ +.. |velocity-rough-unitree-go2-link| replace:: `Isaac-Velocity-Rough-Unitree-Go2-v0 `__ .. |velocity-flat-anymal-b| image:: ../_static/tasks/locomotion/anymal_b_flat.jpg diff --git a/docs/source/how-to/add_own_library.rst b/docs/source/how-to/add_own_library.rst index 24dcf013c3..3aa145376d 100644 --- a/docs/source/how-to/add_own_library.rst +++ b/docs/source/how-to/add_own_library.rst @@ -1,21 +1,21 @@ Adding your own learning library ================================ -Orbit comes pre-integrated with a number of libraries (such as RSL-RL , RL-Games, Stable Baselines, etc.). -However, you may want to integrate your own library with Orbit or use a different version of the libraries than -the one installed by Orbit. This is possible as long as the library is available as Python package that supports +Isaac Lab comes pre-integrated with a number of libraries (such as RSL-RL , RL-Games, Stable Baselines, etc.). +However, you may want to integrate your own library with Isaac Lab or use a different version of the libraries than +the one installed by Isaac Lab. This is possible as long as the library is available as Python package that supports the Python version used by the underlying simulator. For instance, if you are using Isaac Sim 2023.1.1, you need to ensure that the library is available for Python 3.10. Using a different version of a library -------------------------------------- -If you want to use a different version of a library than the one installed by Orbit, you can install the library +If you want to use a different version of a library than the one installed by Isaac Lab, you can install the library by building it from source or using a different version of the library available on PyPI. For instance, if you want to use your own modified version of the `rsl-rl`_ library, you can follow these steps: -1. Follow the instructions for installing Orbit. This will install the default version of the ``rsl-rl`` library. +1. Follow the instructions for installing Isaac Lab. This will install the default version of the ``rsl-rl`` library. 2. Clone the ``rsl-rl`` library from the GitHub repository: .. code-block:: bash @@ -27,19 +27,19 @@ For instance, if you want to use your own modified version of the `rsl-rl`_ libr .. code-block:: bash - # Assuming you are in the root directory of the Orbit repository - cd orbit + # Assuming you are in the root directory of the Isaac Lab repository + cd IsaacLab # Note: If you are using a virtual environment, make sure to activate it before running the following command - ./orbit.sh -p -m pip install -e /path/to/rsl_rl + ./isaaclab.sh -p -m pip install -e /path/to/rsl_rl -In this case, the ``rsl-rl`` library will be installed in the Python environment used by Orbit. You can now use the +In this case, the ``rsl-rl`` library will be installed in the Python environment used by Isaac Lab. You can now use the ``rsl-rl`` library in your experiments. To check the library version and other details, you can use the following command: .. code-block:: bash - ./orbit.sh -p -m pip show rsl-rl + ./isaaclab.sh -p -m pip show rsl-rl This should now show the location of the ``rsl-rl`` library as the directory where you cloned the library. For instance, if you cloned the library to ``/home/user/git/rsl_rl``, the output of the above command should be: @@ -61,19 +61,19 @@ For instance, if you cloned the library to ``/home/user/git/rsl_rl``, the output Integrating a new library ------------------------- -Adding a new library to Orbit is similar to using a different version of a library. You can install the library +Adding a new library to Isaac Lab is similar to using a different version of a library. You can install the library in your Python environment and use it in your experiments. However, if you want to integrate the library with -Orbit, you can will first need to make a wrapper for the library, as explained in +Isaac Lab, you can will first need to make a wrapper for the library, as explained in :ref:`how-to-env-wrappers`. -The following steps can be followed to integrate a new library with Orbit: +The following steps can be followed to integrate a new library with Isaac Lab: -1. Add your library as an extra-dependency in the ``setup.py`` for the extension ``omni.isaac.orbit_tasks``. - This will ensure that the library is installed when you install Orbit or it will complain if the library is not +1. Add your library as an extra-dependency in the ``setup.py`` for the extension ``omni.isaac.lab_tasks``. + This will ensure that the library is installed when you install Isaac Lab or it will complain if the library is not installed or available. -2. Install your library in the Python environment used by Orbit. You can do this by following the steps mentioned +2. Install your library in the Python environment used by Isaac Lab. You can do this by following the steps mentioned in the previous section. -3. Create a wrapper for the library. You can check the module :mod:`omni.isaac.orbit_tasks.utils.wrappers` +3. Create a wrapper for the library. You can check the module :mod:`omni.isaac.lab_tasks.utils.wrappers` for examples of wrappers for different libraries. You can create a new wrapper for your library and add it to the module. You can also create a new module for the wrapper if you prefer. 4. Create workflow scripts for your library to train and evaluate agents. You can check the existing workflow scripts @@ -84,8 +84,8 @@ Optionally, you can also add some tests and documentation for the wrapper. This works as expected and can guide users on how to use the wrapper. * Add some tests to ensure that the wrapper works as expected and remains compatible with the library. - These tests can be added to the ``source/extensions/omni.isaac.orbit_tasks/test/wrappers`` directory. + These tests can be added to the ``source/extensions/omni.isaac.lab_tasks/test/wrappers`` directory. * Add some documentation for the wrapper. You can add the API documentation to the - ``docs/source/api/orbit_tasks/omni.isaac.orbit_tasks.utils.wrappers.rst`` file. + ``docs/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.rst`` file. .. _rsl-rl: https://github.com/leggedrobotics/rsl_rl diff --git a/docs/source/how-to/draw_markers.rst b/docs/source/how-to/draw_markers.rst index ffe58c1b00..80f872d253 100644 --- a/docs/source/how-to/draw_markers.rst +++ b/docs/source/how-to/draw_markers.rst @@ -1,7 +1,7 @@ Creating Visualization Markers ============================== -.. currentmodule:: omni.isaac.orbit +.. currentmodule:: omni.isaac.lab Visualization markers are useful to debug the state of the environment. They can be used to visualize the frames, commands, and other information in the simulation. @@ -10,7 +10,7 @@ While Isaac Sim provides its own :mod:`omni.isaac.debug_draw` extension, it is l points, lines and splines. For cases, where you need to render more complex shapes, you can use the :class:`markers.VisualizationMarkers` class. -This guide is accompanied by a sample script ``markers.py`` in the ``orbit/source/standalone/demos`` directory. +This guide is accompanied by a sample script ``markers.py`` in the ``IsaacLab/source/standalone/demos`` directory. .. dropdown:: Code for markers.py :icon: code @@ -66,7 +66,7 @@ To run the accompanying script, execute the following command: .. code-block:: bash - ./orbit.sh -p source/standalone/demos/markers.py + ./isaaclab.sh -p source/standalone/demos/markers.py The simulation should start, and you can observe the different types of markers arranged in a grid pattern. The markers will rotating around their respective axes. Additionally every few rotations, they will diff --git a/docs/source/how-to/import_new_asset.rst b/docs/source/how-to/import_new_asset.rst index dd86c8fdb6..65d1f711d7 100644 --- a/docs/source/how-to/import_new_asset.rst +++ b/docs/source/how-to/import_new_asset.rst @@ -1,7 +1,7 @@ Importing a New Asset ===================== -.. currentmodule:: omni.isaac.orbit +.. currentmodule:: omni.isaac.lab NVIDIA Omniverse relies on the Universal Scene Description (USD) file format to import and export assets. USD is an open source file format developed by Pixar @@ -87,17 +87,17 @@ The following shows the steps to clone the repository and run the converter: git clone git@github.com:isaac-orbit/anymal_d_simple_description.git # go to top of the repository - cd /path/to/orbit + cd IsaacLab # run the converter - ./orbit.sh -p source/standalone/tools/convert_urdf.py \ + ./isaaclab.sh -p source/standalone/tools/convert_urdf.py \ ~/git/anymal_d_simple_description/urdf/anymal.urdf \ - source/extensions/omni.isaac.orbit_assets/data/Robots/ANYbotics/anymal_d.usd \ + source/extensions/omni.isaac.lab_assets/data/Robots/ANYbotics/anymal_d.usd \ --merge-joints \ --make-instanceable Executing the above script will create two USD files inside the -``source/extensions/omni.isaac.orbit_assets/data/Robots/ANYbotics/`` directory: +``source/extensions/omni.isaac.lab_assets/data/Robots/ANYbotics/`` directory: * ``anymal_d.usd`` - This is the main asset file. It contains all the non-mesh data. * ``Props/instanceable_assets.usd`` - This is the mesh data file. @@ -148,17 +148,17 @@ the steps to clone the repository and run the converter: git clone git@github.com:NVIDIA-Omniverse/IsaacGymEnvs.git # go to top of the repository - cd /path/to/orbit + cd IsaacLab # run the converter - ./orbit.sh -p source/standalone/tools/convert_mesh.py \ + ./isaaclab.sh -p source/standalone/tools/convert_mesh.py \ ~/git/IsaacGymEnvs/assets/trifinger/objects/meshes/cube_multicolor.obj \ - source/extensions/omni.isaac.orbit_assets/data/Props/CubeMultiColor/cube_multicolor.usd \ + source/extensions/omni.isaac.lab_assets/data/Props/CubeMultiColor/cube_multicolor.usd \ --make-instanceable \ --collision-approximation convexDecomposition \ --mass 1.0 Similar to the URDF converter, executing the above script will create two USD files inside the -``source/extensions/omni.isaac.orbit_assets/data/Props/CubeMultiColor/`` directory. Additionally, +``source/extensions/omni.isaac.lab_assets/data/Props/CubeMultiColor/`` directory. Additionally, if you press play on the opened window, you should see the asset fall down under the influence of gravity. diff --git a/docs/source/how-to/index.rst b/docs/source/how-to/index.rst index 001d9e1f71..599a3a3b14 100644 --- a/docs/source/how-to/index.rst +++ b/docs/source/how-to/index.rst @@ -1,14 +1,14 @@ How-to Guides ============= -This section includes guides that help you use Orbit. These are intended for users who +This section includes guides that help you use Isaac Lab. These are intended for users who have already worked through the tutorials and are looking for more information on how to -use Orbit. If you are new to Orbit, we recommend you start with the tutorials. +use Isaac Lab. If you are new to Isaac Lab, we recommend you start with the tutorials. .. note:: This section is a work in progress. If you have a question that is not answered here, - please open an issue on our `GitHub page `_. + please open an issue on our `GitHub page `_. .. toctree:: :maxdepth: 1 diff --git a/docs/source/how-to/make_fixed_prim.rst b/docs/source/how-to/make_fixed_prim.rst index 3d6999ac93..1847c4805b 100644 --- a/docs/source/how-to/make_fixed_prim.rst +++ b/docs/source/how-to/make_fixed_prim.rst @@ -1,7 +1,7 @@ Making a physics prim fixed in the simulation ============================================= -.. currentmodule:: omni.isaac.orbit +.. currentmodule:: omni.isaac.lab When a USD prim has physics schemas applied on it, it is affected by physics simulation. This means that the prim can move, rotate, and collide with other prims in the simulation world. @@ -21,7 +21,7 @@ For instance, to spawn a cone static in the simulation world, the following code .. code-block:: python - import omni.isaac.orbit.sim as sim_utils + import omni.isaac.lab.sim as sim_utils cone_spawn_cfg = sim_utils.ConeCfg( radius=0.15, @@ -46,7 +46,7 @@ the following code can be used: .. code-block:: python - import omni.isaac.orbit.sim as sim_utils + import omni.isaac.lab.sim as sim_utils cone_spawn_cfg = sim_utils.ConeCfg( radius=0.15, @@ -77,11 +77,11 @@ For instance, to spawn an ANYmal robot and make it static in the simulation worl .. code-block:: python - import omni.isaac.orbit.sim as sim_utils - from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR + import omni.isaac.lab.sim as sim_utils + from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR anymal_spawn_cfg = sim_utils.UsdFileCfg( - usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd", + usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd", activate_contact_sensors=True, rigid_props=sim_utils.RigidBodyPropertiesCfg( disable_gravity=False, diff --git a/docs/source/how-to/master_omniverse.rst b/docs/source/how-to/master_omniverse.rst index 9e42237e08..cdeb78e817 100644 --- a/docs/source/how-to/master_omniverse.rst +++ b/docs/source/how-to/master_omniverse.rst @@ -13,7 +13,7 @@ There are three main components (relevant to robotics) in Omniverse: GPUs for real-time physically-based rendering Of these, the first two require a deeper understanding to start working -with Omniverse and its constituent applications (Isaac Sim and Orbit). +with Omniverse and its constituent applications (Isaac Sim and Isaac Lab). The main things to learn: @@ -88,7 +88,7 @@ Thus, to script in Omniverse, you need to understand the USD APIs. .. note:: - While Isaac Sim and Orbit try to "relieve" users from understanding + While Isaac Sim and Isaac Lab try to "relieve" users from understanding the core USD concepts and APIs, understanding these basics still help a lot once you start diving inside the codebase and modifying it for your own application. diff --git a/docs/source/how-to/record_animation.rst b/docs/source/how-to/record_animation.rst index ad2c14e9e5..9801bf2b4a 100644 --- a/docs/source/how-to/record_animation.rst +++ b/docs/source/how-to/record_animation.rst @@ -1,7 +1,7 @@ Recording Animations of Simulations =================================== -.. currentmodule:: omni.isaac.orbit +.. currentmodule:: omni.isaac.lab Omniverse includes tools to record animations of physics simulations. The `Stage Recorder`_ extension listens to all the motion and USD property changes within a USD stage and records them to a USD file. @@ -18,8 +18,8 @@ to play back the animation. play back the animation of a USD prim, you need to disable the physics simulation on the prim. -In Orbit, we directly use the `Stage Recorder`_ extension to record the animation of the physics simulation. -This is available as a feature in the :class:`~omni.isaac.orbit.envs.ui.BaseEnvWindow` class. +In Isaac Lab, we directly use the `Stage Recorder`_ extension to record the animation of the physics simulation. +This is available as a feature in the :class:`~omni.isaac.lab.envs.ui.BaseEnvWindow` class. However, to record the animation of a simulation, you need to disable `Fabric`_ to allow reading and writing all the changes (such as motion and USD properties) to the USD stage. @@ -27,13 +27,13 @@ all the changes (such as motion and USD properties) to the USD stage. Stage Recorder Settings ~~~~~~~~~~~~~~~~~~~~~~~ -Orbit integration of the `Stage Recorder`_ extension assumes certain default settings. If you want to change the +Isaac Lab integration of the `Stage Recorder`_ extension assumes certain default settings. If you want to change the settings, you can directly use the `Stage Recorder`_ extension in the Omniverse Create application. .. dropdown:: Settings used in base_env_window.py :icon: code - .. literalinclude:: ../../../source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/ui/base_env_window.py + .. literalinclude:: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/base_env_window.py :language: python :linenos: :pyobject: BaseEnvWindow._toggle_recording_animation_fn @@ -47,10 +47,10 @@ Here we run the state-machine example and record the animation of the simulation .. code-block:: bash - ./orbit.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 --cpu --disable_fabric -On running the script, the Orbit UI window opens with the button "Record Animation" in the toolbar. +On running the script, the Isaac Lab UI window opens with the button "Record Animation" in the toolbar. Clicking this button starts recording the animation of the simulation. On clicking the button again, the recording stops. The recorded animation and the original stage (with all physics disabled) are saved to the ``recordings`` folder in the current working directory. The files are stored in the ``usd`` format: @@ -64,7 +64,7 @@ application and play the animation. .. code-block:: bash - ./orbit.sh -s # Opens Isaac Sim application through _isaac_sim/isaac-sim.sh + ./isaaclab.sh -s # Opens Isaac Sim application through _isaac_sim/isaac-sim.sh On a new stage, add the ``Stage.usd`` as a sublayer and then add the ``TimeSample_tk001.usd`` as a sublayer. You can do this by dragging and dropping the files from the file explorer to the stage. Please check out diff --git a/docs/source/how-to/save_camera_output.rst b/docs/source/how-to/save_camera_output.rst index 594ea5121f..f5753f2236 100644 --- a/docs/source/how-to/save_camera_output.rst +++ b/docs/source/how-to/save_camera_output.rst @@ -4,9 +4,9 @@ Saving rendered images and 3D re-projection =========================================== -.. currentmodule:: omni.isaac.orbit +.. currentmodule:: omni.isaac.lab -This guide accompanied with the ``run_usd_camera.py`` script in the ``orbit/source/standalone/tutorials/04_sensors`` +This guide accompanied with the ``run_usd_camera.py`` script in the ``IsaacLab/source/standalone/tutorials/04_sensors`` directory. .. dropdown:: Code for run_usd_camera.py @@ -55,7 +55,7 @@ PyTorch operations which allows faster computation. .. code-block:: python - from omni.isaac.orbit.utils.math import transform_points, unproject_depth + from omni.isaac.lab.utils.math import transform_points, unproject_depth # Pointcloud in world frame points_3d_cam = unproject_depth( @@ -64,7 +64,7 @@ PyTorch operations which allows faster computation. points_3d_world = transform_points(points_3d_cam, camera.data.pos_w, camera.data.quat_w_ros) -Alternately, we can use the :meth:`omni.isaac.orbit.sensors.camera.utils.create_pointcloud_from_depth` function +Alternately, we can use the :meth:`omni.isaac.lab.sensors.camera.utils.create_pointcloud_from_depth` function to create a point cloud from the depth image and transform it to the world frame. .. literalinclude:: ../../../source/standalone/tutorials/04_sensors/run_usd_camera.py @@ -89,14 +89,14 @@ To run the accompanying script, execute the following command: .. code-block:: bash # Usage with saving and drawing - ./orbit.sh -p source/standalone/tutorials/04_sensors/run_usd_camera.py --save --draw + ./isaaclab.sh -p source/standalone/tutorials/04_sensors/run_usd_camera.py --save --draw # Usage with saving only in headless mode - ./orbit.sh -p source/standalone/tutorials/04_sensors/run_usd_camera.py --save --headless --offscreen_render + ./isaaclab.sh -p source/standalone/tutorials/04_sensors/run_usd_camera.py --save --headless --offscreen_render The simulation should start, and you can observe different objects falling down. An output folder will be created -in the ``orbit/source/standalone/tutorials/04_sensors`` directory, where the images will be saved. Additionally, +in the ``IsaacLab/source/standalone/tutorials/04_sensors`` directory, where the images will be saved. Additionally, you should see the point cloud in the 3D space drawn on the viewport. To stop the simulation, close the window, press the ``STOP`` button in the UI, or use ``Ctrl+C`` in the terminal. diff --git a/docs/source/how-to/wrap_rl_env.rst b/docs/source/how-to/wrap_rl_env.rst index 641fa53606..5f56af9b1b 100644 --- a/docs/source/how-to/wrap_rl_env.rst +++ b/docs/source/how-to/wrap_rl_env.rst @@ -4,7 +4,7 @@ Wrapping environments ===================== -.. currentmodule:: omni.isaac.orbit +.. currentmodule:: omni.isaac.lab Environment wrappers are a way to modify the behavior of an environment without modifying the environment itself. This can be used to apply functions to modify observations or rewards, record videos, enforce time limits, etc. @@ -22,7 +22,7 @@ For example, here is how you would wrap an environment to enforce that reset is """Launch Isaac Sim Simulator first.""" - from omni.isaac.orbit.app import AppLauncher + from omni.isaac.lab.app import AppLauncher # launch omniverse app in headless mode app_launcher = AppLauncher(headless=True) @@ -32,8 +32,8 @@ For example, here is how you would wrap an environment to enforce that reset is import gymnasium as gym - import omni.isaac.orbit_tasks # noqa: F401 - from omni.isaac.orbit_tasks.utils import load_cfg_from_registry + import omni.isaac.lab_tasks # noqa: F401 + from omni.isaac.lab_tasks.utils import load_cfg_from_registry # create base environment cfg = load_cfg_from_registry("Isaac-Reach-Franka-v0", "env_cfg_entry_point") @@ -77,7 +77,7 @@ The camera's pose and image resolution can be configured through the .. dropdown:: Default parameters of the ViewerCfg class: :icon: code - .. literalinclude:: ../../../source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/base_env_cfg.py + .. literalinclude:: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/base_env_cfg.py :language: python :pyobject: ViewerCfg @@ -94,7 +94,7 @@ for 200 steps, and saves it in the ``videos`` folder at a step interval of 1500 """Launch Isaac Sim Simulator first.""" - from omni.isaac.orbit.app import AppLauncher + from omni.isaac.lab.app import AppLauncher # launch omniverse app in headless mode with off-screen rendering app_launcher = AppLauncher(headless=True, offscreen_render=True) @@ -135,7 +135,7 @@ As an example of how to use the RL task environment with Stable-Baselines3: .. code:: python - from omni.isaac.orbit_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper + from omni.isaac.lab_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper # create isaac-env instance env = gym.make(task_name, cfg=env_cfg) @@ -153,8 +153,8 @@ As an example of how to use the RL task environment with Stable-Baselines3: Adding new wrappers ------------------- -All new wrappers should be added to the :mod:`omni.isaac.orbit_tasks.utils.wrappers` module. -They should check that the underlying environment is an instance of :class:`omni.isaac.orbit.envs.RLTaskEnv` +All new wrappers should be added to the :mod:`omni.isaac.lab_tasks.utils.wrappers` module. +They should check that the underlying environment is an instance of :class:`omni.isaac.lab.envs.RLTaskEnv` before applying the wrapper. This can be done by using the :func:`unwrapped` property. We include a set of wrappers in this module that can be used as a reference to implement your own wrappers. diff --git a/docs/source/how-to/write_articulation_cfg.rst b/docs/source/how-to/write_articulation_cfg.rst index 1c982a3a7b..3f59fbf6ff 100644 --- a/docs/source/how-to/write_articulation_cfg.rst +++ b/docs/source/how-to/write_articulation_cfg.rst @@ -4,11 +4,11 @@ Writing an Asset Configuration ============================== -.. currentmodule:: omni.isaac.orbit +.. currentmodule:: omni.isaac.lab This guide walks through the process of creating an :class:`~assets.ArticulationCfg`. The :class:`~assets.ArticulationCfg` is a configuration object that defines the -properties of an :class:`~assets.Articulation` in Orbit. +properties of an :class:`~assets.Articulation` in Isaac Lab. .. note:: @@ -22,7 +22,7 @@ is free to move along a rail, and the pole is free to rotate about the cart. .. dropdown:: Code for Cartpole configuration :icon: code - .. literalinclude:: ../../../source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/cartpole.py + .. literalinclude:: ../../../source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/cartpole.py :language: python :linenos: @@ -44,7 +44,7 @@ This configuration object takes in the following parameters: The last two parameters are optional. If not specified, they are kept at their default values in the USD file. -.. literalinclude:: ../../../source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/cartpole.py +.. literalinclude:: ../../../source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/cartpole.py :language: python :lines: 15-31 :dedent: @@ -72,7 +72,7 @@ initial state of the root of the articulation and the initial state of all its j example, we will spawn the Cartpole at the origin of the XY plane at a Z height of 2.0 meters. Meanwhile, the joint positions and velocities are set to 0.0. -.. literalinclude:: ../../../source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/cartpole.py +.. literalinclude:: ../../../source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/cartpole.py :language: python :lines: 32-34 :dedent: @@ -94,7 +94,7 @@ to combine them into a single actuator model. .. dropdown:: Actuator model configuration with separate actuator models :icon: code - .. literalinclude:: ../../../source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/cartpole.py + .. literalinclude:: ../../../source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/cartpole.py :language: python :lines: 35-45 :dedent: diff --git a/docs/source/refs/changelog.rst b/docs/source/refs/changelog.rst index 17fa8c533b..0538e7c43c 100644 --- a/docs/source/refs/changelog.rst +++ b/docs/source/refs/changelog.rst @@ -5,34 +5,34 @@ All notable changes to this project are documented in this file. The format is b `Keep a Changelog `__ and this project adheres to `Semantic Versioning `__. For a broader information about the changes in the framework, please refer to the -`release notes `__. +`release notes `__. Each extension has its own changelog. The changelog for each extension is located in the ``docs`` directory of the extension. The changelog for each extension is also included in this changelog to make it easier to find the changelog for a specific extension. -omni.isaac.orbit ------------------ +omni.isaac.lab +-------------- -Extension containing the core framework of Orbit. +Extension containing the core framework of Isaac Lab. -.. include:: ../../../source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst +.. include:: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst :start-line: 3 -omni.isaac.orbit_assets ------------------------- +omni.isaac.lab_assets +--------------------- -Extension for configurations of various assets and sensors for Orbit. +Extension for configurations of various assets and sensors for Isaac Lab. -.. include:: ../../../source/extensions/omni.isaac.orbit_assets/docs/CHANGELOG.rst +.. include:: ../../../source/extensions/omni.isaac.lab_assets/docs/CHANGELOG.rst :start-line: 3 -omni.isaac.orbit_tasks ----------------------- +omni.isaac.lab_tasks +-------------------- -Extension containing the environments built using Orbit. +Extension containing the environments built using Isaac Lab. -.. include:: ../../../source/extensions/omni.isaac.orbit_tasks/docs/CHANGELOG.rst +.. include:: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst :start-line: 3 diff --git a/docs/source/refs/contributing.rst b/docs/source/refs/contributing.rst index e1bf5c2d3a..4fff39f8d2 100644 --- a/docs/source/refs/contributing.rst +++ b/docs/source/refs/contributing.rst @@ -4,9 +4,9 @@ Contribution Guidelines 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: Please report any bugs you find in the `issue tracker `__. -* Feature requests: Please suggest new features you would like to see in the `discussions `__. -* Code contributions: Please submit a `pull request `__. +* Bug reports: Please report any bugs you find in the `issue tracker `__. +* Feature requests: Please suggest new features you would like to see in the `discussions `__. +* Code contributions: Please submit a `pull request `__. * Bug fixes * New features @@ -16,28 +16,28 @@ and useful for everyone. These may happen in forms of: .. attention:: - We prefer GitHub `discussions `_ for discussing ideas, + We prefer GitHub `discussions `_ for discussing ideas, asking questions, conversations and requests for new features. Please use the - `issue tracker `_ only to track executable pieces of work + `issue tracker `_ only to track executable pieces of work with a definite scope and a clear deliverable. These can be fixing bugs, new features, or general updates. Contributing Code ----------------- -We use `GitHub `__ for code hosting. Please +We use `GitHub `__ for code hosting. Please follow the following steps to contribute code: -1. Create an issue in the `issue tracker `__ to discuss +1. Create an issue in the `issue tracker `__ to discuss the changes or additions you would like to make. This helps us to avoid duplicate work and to make sure that the changes are aligned with the roadmap of the project. 2. Fork the repository. 3. Create a new branch for your changes. 4. Make your changes and commit them. 5. Push your changes to your fork. -6. Submit a pull request to the `main branch `__. +6. Submit a pull request to the `main branch `__. 7. Ensure all the checks on the pull request template are performed. After sending a pull request, the maintainers will review your code and provide feedback. @@ -116,13 +116,13 @@ following command in the terminal: .. code:: bash - ./orbit.sh --format # or "./orbit.sh -f" + ./isaaclab.sh --format # or "./isaaclab.sh -f" Contributing Documentation -------------------------- Contributing to the documentation is as easy as contributing to the codebase. All the source files -for the documentation are located in the ``orbit/docs`` directory. The documentation is written in +for the documentation are located in the ``IsaacLab/docs`` directory. The documentation is written in `reStructuredText `__ format. We use `Sphinx `__ with the @@ -143,7 +143,7 @@ builds the documentation using the ``docs/Makefile``: .. code:: bash - ./orbit.sh --docs # or "./orbit.sh -d" + ./isaaclab.sh --docs # or "./isaaclab.sh -d" The documentation is generated in the ``docs/_build`` directory. To view the documentation, open the ``index.html`` file in the ``html`` directory. This can be done by running the following command @@ -163,7 +163,7 @@ To do a clean build, run the following command in the terminal: .. code:: bash - rm -rf docs/_build && ./orbit.sh --docs + rm -rf docs/_build && ./isaaclab.sh --docs Contributing assets diff --git a/docs/source/refs/issues.rst b/docs/source/refs/issues.rst index bdb2fc46aa..1ea785b0aa 100644 --- a/docs/source/refs/issues.rst +++ b/docs/source/refs/issues.rst @@ -58,7 +58,7 @@ For more information, please refer to the `PhysX Determinism documentation`_. Blank initial frames from the camera ------------------------------------ -When using the :class:`omni.isaac.orbit.sensors.Camera` sensor in standalone scripts, the first few frames +When using the :class:`omni.isaac.lab.sensors.Camera` sensor in standalone scripts, the first few frames may be blank. This is a known issue with the simulator where it needs a few steps to load the material textures properly and fill up the render targets. @@ -67,7 +67,7 @@ its pose: .. code-block:: python - from omni.isaac.orbit.sim import SimulationContext + from omni.isaac.lab.sim import SimulationContext sim = SimulationContext.instance() diff --git a/docs/source/refs/license.rst b/docs/source/refs/license.rst index e0749478a3..7c9b908f64 100644 --- a/docs/source/refs/license.rst +++ b/docs/source/refs/license.rst @@ -10,13 +10,13 @@ The license files for all its dependencies and included assets are available in `documentation `_. -Orbit framework is open-sourced under the +The Isaac Lab framework is open-sourced under the `BSD-3-Clause license `_. .. code-block:: text - 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 diff --git a/docs/source/refs/troubleshooting.rst b/docs/source/refs/troubleshooting.rst index 0f364d7281..09830e8812 100644 --- a/docs/source/refs/troubleshooting.rst +++ b/docs/source/refs/troubleshooting.rst @@ -22,7 +22,7 @@ you run the standalone script. The log file location is printed at the start of .. code:: bash - [INFO] Using python from: /home/${USER}/git/orbit/_isaac_sim/python.sh + [INFO] Using python from: /home/${USER}/git/IsaacLab/_isaac_sim/python.sh ... Passing the following args to the base kit application: [] Loading user config located at: '.../data/Kit/Isaac-Sim/2023.1/user.config.json' @@ -94,20 +94,20 @@ exceeds the size of the buffers, the simulation will fail with an error such as parameter to 3072, otherwise the simulation will miss interactions In this case, you need to increase the size of the buffers passed to the -:class:`~omni.isaac.orbit.sim.SimulationContext` class. The size of the buffers can be increased by setting -the :attr:`~omni.isaac.orbit.sim.PhysxCfg.gpu_found_lost_pairs_capacity` parameter in the -:class:`~omni.isaac.orbit.sim.PhysxCfg` class. For example, to increase the size of the buffers to +:class:`~omni.isaac.lab.sim.SimulationContext` class. The size of the buffers can be increased by setting +the :attr:`~omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_pairs_capacity` parameter in the +:class:`~omni.isaac.lab.sim.PhysxCfg` class. For example, to increase the size of the buffers to 4096, you can use the following code: .. code:: python - import omni.isaac.orbit.sim as sim_utils + import omni.isaac.lab.sim as sim_utils sim_cfg = sim_utils.SimulationConfig() sim_cfg.physx.gpu_found_lost_pairs_capacity = 4096 sim = SimulationContext(sim_params=sim_cfg) -Please see the documentation for :class:`~omni.isaac.orbit.sim.SimulationCfg` for more details +Please see the documentation for :class:`~omni.isaac.lab.sim.SimulationCfg` for more details on the parameters that can be used to configure the simulation. @@ -205,25 +205,25 @@ simulation application. These typically look like the following: TypeError: expected Tensor as element 1 in argument 0, but got int Exception ignored in: ._Registry.__del__ at 0x7f94ac097f80> Traceback (most recent call last): - File "../orbit/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 103, in __del__ - File "../orbit/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 98, in destroy + File "../IsaacLab/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 103, in __del__ + File "../IsaacLab/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 98, in destroy TypeError: 'NoneType' object is not callable Exception ignored in: ._Registry.__del__ at 0x7f94ac097f80> Traceback (most recent call last): - File "../orbit/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 103, in __del__ - File "../orbit/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 98, in destroy + File "../IsaacLab/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 103, in __del__ + File "../IsaacLab/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 98, in destroy TypeError: 'NoneType' object is not callable Exception ignored in: Traceback (most recent call last): - File "../orbit/_isaac_sim/kit/kernel/py/omni/kit/app/_impl/__init__.py", line 114, in __del__ + File "../IsaacLab/_isaac_sim/kit/kernel/py/omni/kit/app/_impl/__init__.py", line 114, in __del__ AttributeError: 'NoneType' object has no attribute 'get_settings' Exception ignored in: Traceback (most recent call last): - File "../orbit/_isaac_sim/extscache/omni.kit.viewport.menubar.lighting-104.0.7/omni/kit/viewport/menubar/lighting/actions.py", line 345, in __del__ - File "../orbit/_isaac_sim/extscache/omni.kit.viewport.menubar.lighting-104.0.7/omni/kit/viewport/menubar/lighting/actions.py", line 350, in destroy + File "../IsaacLab/_isaac_sim/extscache/omni.kit.viewport.menubar.lighting-104.0.7/omni/kit/viewport/menubar/lighting/actions.py", line 345, in __del__ + File "../IsaacLab/_isaac_sim/extscache/omni.kit.viewport.menubar.lighting-104.0.7/omni/kit/viewport/menubar/lighting/actions.py", line 350, in destroy TypeError: 'NoneType' object is not callable 2022-12-02 15:41:54 [18,514ms] [Warning] [carb.audio.context] 1 contexts were leaked - ../orbit/_isaac_sim/python.sh: line 41: 414372 Segmentation fault (core dumped) $python_exe "$@" $args + ../IsaacLab/_isaac_sim/python.sh: line 41: 414372 Segmentation fault (core dumped) $python_exe "$@" $args There was an error running python This is a known error with running standalone scripts with the Isaac Sim diff --git a/docs/source/setup/developer.rst b/docs/source/setup/developer.rst index 51a9538296..21d28a442e 100644 --- a/docs/source/setup/developer.rst +++ b/docs/source/setup/developer.rst @@ -11,7 +11,7 @@ using VSCode. Setting up Visual Studio Code ----------------------------- -The ``orbit`` repository includes the VSCode settings to easily allow setting +The ``Isaac Lab`` repository includes the VSCode settings to easily allow setting up your development environment. These are included in the ``.vscode`` directory and include the following files: @@ -30,7 +30,7 @@ and include the following files: To setup the IDE, please follow these instructions: -1. Open the ``orbit`` directory on Visual Studio Code IDE +1. Open the ``IsaacLab`` directory on Visual Studio Code IDE 2. Run VSCode `Tasks `__, by pressing ``Ctrl+Shift+P``, selecting ``Tasks: Run Task`` and running the ``setup_python_env`` in the drop down menu. @@ -78,22 +78,22 @@ refer to the `VSCode documentation `__. These are described in the following sections. @@ -117,7 +117,7 @@ standalone applications. A folder is recognized as an extension if it contains an ``extension.toml`` file in the ``config`` directory. More information on extensions can be found in the `Omniverse documentation `__. -Orbit in itself provides extensions for robot learning. These are written into the +Isaac Lab in itself provides extensions for robot learning. These are written into the ``source/extensions`` directory. Each extension is written as a python package and follows the following structure: @@ -194,16 +194,16 @@ Extension Dependency Management Certain extensions may have dependencies which need to be installed before the extension can be run. While Python dependencies can be expressed via the ``INSTALL_REQUIRES`` array in ``setup.py``, we need a separate installation pipeline to handle non-Python dependencies. We have therefore created -an additional setup procedure, ``./orbit.sh --install-deps {dep_type}``, which scans the ``extension.toml`` -file of the directories under ``/orbit/source/extensions`` for ``apt`` and ``rosdep`` dependencies. +an additional setup procedure, ``./isaaclab.sh --install-deps {dep_type}``, which scans the ``extension.toml`` +file of the directories under ``source/extensions`` for ``apt`` and ``rosdep`` dependencies. This example ``extension.toml`` has both ``apt_deps`` and ``ros_ws`` specified, so both -``apt`` and ``rosdep`` packages will be installed if ``./orbit.sh --install-deps all`` +``apt`` and ``rosdep`` packages will be installed if ``./isaaclab.sh --install-deps all`` is passed: .. code-block:: toml - [orbit_settings] + [isaaclab_settings] apt_deps = ["example_package"] ros_ws = "path/from/extension_root/to/ros_ws" @@ -224,15 +224,15 @@ enabled that load the python module and run the python application. While this i workflow, it is not always possible to use this workflow. For example, for robot learning, it is essential to have complete control over simulation stepping and all the other functionalities instead of asynchronously waiting for the simulator to step. In such cases, it is necessary to -write a standalone application that launches the simulator using :class:`~omni.isaac.orbit.app.AppLauncher` -and allows complete control over the simulation through the :class:`~omni.isaac.orbit.sim.SimulationContext` +write a standalone application that launches the simulator using :class:`~omni.isaac.lab.app.AppLauncher` +and allows complete control over the simulation through the :class:`~omni.isaac.lab.sim.SimulationContext` class. .. code:: python """Launch Isaac Sim Simulator first.""" - from omni.isaac.orbit.app import AppLauncher + from omni.isaac.lab.app import AppLauncher # launch omniverse app app_launcher = AppLauncher(headless=False) @@ -241,7 +241,7 @@ class. """Rest everything follows.""" - from omni.isaac.orbit.sim import SimulationContext + from omni.isaac.lab.sim import SimulationContext if __name__ == "__main__": # get simulation context @@ -258,10 +258,10 @@ class. The ``source/standalone`` directory contains various standalone applications designed using the extensions -provided by ``orbit``. These applications are written in python and are structured as follows: +provided by ``Isaac Lab``. These applications are written in python and are structured as follows: -* **demos**: Contains various demo applications that showcase the core framework ``omni.isaac.orbit``. -* **environments**: Contains applications for running environments defined in ``omni.isaac.orbit_tasks`` with different agents. +* **demos**: Contains various demo applications that showcase the core framework ``omni.isaac.lab``. +* **environments**: Contains applications for running environments defined in ``omni.isaac.lab_tasks`` with different agents. These include a random policy, zero-action policy, teleoperation or scripted state machines. * **tools**: Contains applications for using the tools provided by the framework. These include converting assets, generating datasets, etc. diff --git a/docs/source/setup/faq.rst b/docs/source/setup/faq.rst index 7e1f734253..207701db9e 100644 --- a/docs/source/setup/faq.rst +++ b/docs/source/setup/faq.rst @@ -1,8 +1,8 @@ Frequently Asked Questions ========================== -Where does Orbit fit in the Isaac ecosystem? --------------------------------------------- +Where does Isaac Lab fit in the Isaac ecosystem? +------------------------------------------------ Over the years, NVIDIA has developed a number of tools for robotics and AI. These tools leverage the power of GPUs to accelerate the simulation both in terms of speed and realism. They show great @@ -36,9 +36,9 @@ With the release of above two tools, NVIDIA also released an open-sourced set of These environments have been designed to display the capabilities of the underlying simulators and provide a starting point to understand what is possible with the simulators for robot learning. These environments can be used for benchmarking but are not designed for developing and testing custom environments and algorithms. -This is where Orbit comes in. +This is where Isaac Lab comes in. -Orbit :cite:`mittal2023orbit` is built on top of Isaac Sim to provide a unified and flexible framework +Isaac Lab :cite:`mittal2023orbit` is built on top of Isaac Sim to provide a unified and flexible framework for robot learning that exploits latest simulation technologies. It is designed to be modular and extensible, and aims to simplify common workflows in robotics research (such as RL, learning from demonstrations, and motion planning). While it includes some pre-built environments, sensors, and tasks, its main goal is to @@ -48,23 +48,8 @@ of new features that pertain to robot learning research. For example, including simulation, procedural terrain generation, and support to collect data from human demonstrations. -Where does the name come from? ------------------------------- - -"Orbit" suggests a sense of movement circling around a central point. For us, this symbolizes bringing -together the different components and paradigms centered around robot learning, and making a unified -ecosystem for it. - -The name further connotes modularity and flexibility. Similar to planets in a solar system at different speeds -and positions, the framework is designed to not be rigid or inflexible. Rather, it aims to provide the users -the ability to adjust and move around the different components to suit their needs. - -Finally, the name "orbit" also suggests a sense of exploration and discovery. We hope that the framework will -provide a platform for researchers to explore and discover new ideas and paradigms in robot learning. - - -Why should I use Orbit? ------------------------ +Why should I use Isaac Lab? +--------------------------- Since Isaac Sim remains closed-sourced, it is difficult for users to contribute to the simulator and build a common framework for research. On its current path, we see the community using the simulator will simply @@ -72,18 +57,18 @@ develop their own frameworks that will result in scattered efforts with a lot of This has happened in the past with other simulators, and we believe that it is not the best way to move forward as a community. -Orbit provides an open-sourced platform for the community to drive progress with consolidated efforts +Isaac Lab provides an open-sourced platform for the community to drive progress with consolidated efforts toward designing benchmarks and robot learning systems as a joint initiative. This allows us to reuse existing components and algorithms, and to build on top of each other's work. Doing so not only saves time and effort, but also allows us to focus on the more important aspects of research. Our hope with -Orbit is that it becomes the de-facto platform for robot learning research and an environment *zoo* +Isaac Lab is that it becomes the de-facto platform for robot learning research and an environment *zoo* that leverages Isaac Sim. As the framework matures, we foresee it benefitting hugely from the latest simulation developments (as part of internal developments at NVIDIA and collaborating partners) and research in robotics. -We are already working with labs in universities and research institutions to integrate their work into Orbit +We are already working with labs in universities and research institutions to integrate their work into Isaac Lab and hope that others in the community will join us too in this effort. If you are interested in contributing -to Orbit, please reach out to us at `email `_. +to Isaac Lab, please reach out to us. .. _PhysX: https://developer.nvidia.com/physx-sdk diff --git a/docs/source/setup/installation.rst b/docs/source/setup/installation.rst index ca9f426774..2d840a4c51 100644 --- a/docs/source/setup/installation.rst +++ b/docs/source/setup/installation.rst @@ -37,7 +37,7 @@ To check the minimum system requirements,refer to the documentation `here `__. .. note:: - We have tested Orbit with Isaac Sim 2023.1.1 release on Ubuntu + We have tested Isaac Lab with Isaac Sim 2023.1.1 release on Ubuntu 20.04LTS with NVIDIA driver 525.147. Configuring the environment variables @@ -117,55 +117,55 @@ and the `forums `__. -Installing Orbit ----------------- +Installing Isaac Lab +-------------------- Organizing the workspace ~~~~~~~~~~~~~~~~~~~~~~~~ .. note:: - We recommend making a `fork `_ of the ``orbit`` repository to contribute + We recommend making a `fork `_ of the ``Isaac Lab`` repository to contribute to the project. This is not mandatory to use the framework. If you - make a fork, please replace ``NVIDIA-Omniverse`` with your username + make a fork, please replace ``isaac-sim`` with your username in the following instructions. If you are not familiar with git, we recommend following the `git tutorial `__. -- Clone the ``orbit`` repository into your workspace: +- Clone the ``Isaac Lab`` repository into your workspace: .. code:: bash # Option 1: With SSH - git clone git@github.com:NVIDIA-Omniverse/orbit.git + git clone git@github.com:isaac-sim/IsaacLab.git # Option 2: With HTTPS - git clone https://github.com/NVIDIA-Omniverse/orbit.git + git clone https://github.com/isaac-sim/IsaacLab.git - Set up a symbolic link between the installed Isaac Sim root folder - and ``_isaac_sim`` in the ``orbit``` directory. This makes it convenient + and ``_isaac_sim`` in the ``IsaacLab``` directory. This makes it convenient to index the python modules and look for extensions shipped with Isaac Sim. .. code:: bash # enter the cloned repository - cd orbit + cd IsaacLab # create a symbolic link ln -s ${ISAACSIM_PATH} _isaac_sim -We provide a helper executable `orbit.sh `_ that provides +We provide a helper executable `isaaclab.sh `_ that provides utilities to manage extensions: .. code:: text - ./orbit.sh --help + ./isaaclab.sh --help - usage: orbit.sh [-h] [-i] [-e] [-f] [-p] [-s] [-t] [-o] [-v] [-d] [-c] -- Utility to manage Orbit. + usage: isaaclab.sh [-h] [-i] [-e] [-f] [-p] [-s] [-t] [-o] [-v] [-d] [-c] -- Utility to manage Isaac Lab. optional arguments: -h, --help Display the help content. - -i, --install Install the extensions inside Orbit. + -i, --install Install the extensions inside Isaac Lab. -e, --extra [LIB] Install learning frameworks (rl_games, rsl_rl, sb3) as extra dependencies. Default is 'all'. -f, --format Run pre-commit to format the code and check lints. -p, --python Run the python executable provided by Isaac Sim or virtual environment (if active). @@ -174,7 +174,7 @@ utilities to manage extensions: -o, --docker Run the docker container helper script (docker/container.sh). -v, --vscode Generate the VSCode settings file from template. -d, --docs Build the documentation from source using sphinx. - -c, --conda [NAME] Create the conda environment for Orbit. Default name is 'orbit'. + -c, --conda [NAME] Create the conda environment for Isaac Lab. Default name is 'isaaclab'. Setting up the environment ~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -182,8 +182,8 @@ Setting up the environment .. attention:: This step is optional. If you are using the bundled python with Isaac Sim, you can skip this step. -The executable ``orbit.sh`` automatically fetches the python bundled with Isaac -Sim, using ``./orbit.sh -p`` command (unless inside a virtual environment). This executable +The executable ``isaaclab.sh`` automatically fetches the python bundled with Isaac +Sim, using ``./isaaclab.sh -p`` command (unless inside a virtual environment). This executable behaves like a python executable, and can be used to run any python script or module with the simulator. For more information, please refer to the `documentation `__. @@ -195,22 +195,22 @@ use the following command: .. code:: bash - # Option 1: Default name for conda environment is 'orbit' - ./orbit.sh --conda # or "./orbit.sh -c" + # Option 1: Default name for conda environment is 'isaaclab' + ./isaaclab.sh --conda # or "./isaaclab.sh -c" # Option 2: Custom name for conda environment - ./orbit.sh --conda my_env # or "./orbit.sh -c my_env" + ./isaaclab.sh --conda my_env # or "./isaaclab.sh -c my_env" If you are using ``conda`` to create a virtual environment, make sure to activate the environment before running any scripts. For example: .. code:: bash - conda activate orbit # or "conda activate my_env" + conda activate isaaclab # or "conda activate my_env" -Once you are in the virtual environment, you do not need to use ``./orbit.sh -p`` +Once you are in the virtual environment, you do not need to use ``./isaaclab.sh -p`` to run python scripts. You can use the default python executable in your environment by running ``python`` or ``python3``. However, for the rest of the documentation, -we will assume that you are using ``./orbit.sh -p`` to run python scripts. This command +we will assume that you are using ``./isaaclab.sh -p`` to run python scripts. This command is equivalent to running ``python`` or ``python3`` in your virtual environment. Building extensions @@ -230,7 +230,7 @@ To build all the extensions, run the following commands: .. code:: bash - ./orbit.sh --install # or "./orbit.sh -i" + ./isaaclab.sh --install # or "./isaaclab.sh -i" - For installing all other dependencies (such as learning frameworks), execute: @@ -238,10 +238,10 @@ To build all the extensions, run the following commands: .. code:: bash # Option 1: Install all dependencies - ./orbit.sh --extra # or "./orbit.sh -e" + ./isaaclab.sh --extra # or "./isaaclab.sh -e" # Option 2: Install only a subset of dependencies # note: valid options are 'rl_games', 'rsl_rl', 'sb3', 'robomimic', 'all' - ./orbit.sh --extra rsl_rl # or "./orbit.sh -e rsl_r" + ./isaaclab.sh --extra rsl_rl # or "./isaaclab.sh -e rsl_r" Verifying the installation @@ -252,9 +252,9 @@ top of the repository: .. code:: bash - # Option 1: Using the orbit.sh executable + # Option 1: Using the isaaclab.sh executable # note: this works for both the bundled python and the virtual environment - ./orbit.sh -p source/standalone/tutorials/00_sim/create_empty.py + ./isaaclab.sh -p source/standalone/tutorials/00_sim/create_empty.py # Option 2: Using python in your virtual environment python source/standalone/tutorials/00_sim/create_empty.py diff --git a/docs/source/setup/sample.rst b/docs/source/setup/sample.rst index 4743c92d13..6b255b396b 100644 --- a/docs/source/setup/sample.rst +++ b/docs/source/setup/sample.rst @@ -4,7 +4,7 @@ Running Existing Scripts Showroom -------- -The main core interface extension in Orbit ``omni.isaac.orbit`` provides +The main core interface extension in Isaac Lab ``omni.isaac.lab`` provides the main modules for actuators, objects, robots and sensors. We provide a list of demo scripts and tutorials. These showcase how to use the provided interfaces within a code in a minimal way. @@ -15,37 +15,37 @@ A few quick showroom scripts to run and checkout: .. code:: bash - ./orbit.sh -p source/standalone/demos/quadrupeds.py + ./isaaclab.sh -p source/standalone/demos/quadrupeds.py - Spawn different arms and apply random joint position commands: .. code:: bash - ./orbit.sh -p source/standalone/demos/arms.py + ./isaaclab.sh -p source/standalone/demos/arms.py - Spawn different hands and command them to open and close: .. code:: bash - ./orbit.sh -p source/standalone/demos/hands.py + ./isaaclab.sh -p source/standalone/demos/hands.py - Spawn procedurally generated terrains with different configurations: .. code:: bash - ./orbit.sh -p source/standalone/demos/procedural_terrain.py + ./isaaclab.sh -p source/standalone/demos/procedural_terrain.py - Spawn multiple markers that are useful for visualizations: .. code:: bash - ./orbit.sh -p source/standalone/demos/markers.py + ./isaaclab.sh -p source/standalone/demos/markers.py Workflows --------- -With Orbit, we also provide a suite of benchmark environments included -in the ``omni.isaac.orbit_tasks`` extension. We use the OpenAI Gym registry +With Isaac Lab, we also provide a suite of benchmark environments included +in the ``omni.isaac.lab_tasks`` extension. We use the OpenAI Gym registry to register these environments. For each environment, we provide a default configuration file that defines the scene, observations, rewards and action spaces. @@ -53,7 +53,7 @@ The list of environments available registered with OpenAI Gym can be found by ru .. code:: bash - ./orbit.sh -p source/standalone/environments/list_envs.py + ./isaaclab.sh -p source/standalone/environments/list_envs.py Basic agents @@ -66,13 +66,13 @@ useful to ensure that the environments are configured correctly. .. code:: bash - ./orbit.sh -p source/standalone/environments/zero_agent.py --task Isaac-Cartpole-v0 --num_envs 32 + ./isaaclab.sh -p source/standalone/environments/zero_agent.py --task Isaac-Cartpole-v0 --num_envs 32 - Random-action agent on the Cart-pole example: .. code:: bash - ./orbit.sh -p source/standalone/environments/random_agent.py --task Isaac-Cartpole-v0 --num_envs 32 + ./isaaclab.sh -p source/standalone/environments/random_agent.py --task Isaac-Cartpole-v0 --num_envs 32 State machine @@ -85,7 +85,7 @@ allows efficient execution for large number of environments using CUDA kernels. .. code:: bash - ./orbit.sh -p source/standalone/environments/state_machine/lift_cube_sm.py --num_envs 32 + ./isaaclab.sh -p source/standalone/environments/state_machine/lift_cube_sm.py --num_envs 32 Teleoperation @@ -100,7 +100,7 @@ To play inverse kinematics (IK) control with a keyboard device: .. code:: bash - ./orbit.sh -p source/standalone/environments/teleoperation/teleop_se3_agent.py --task Isaac-Lift-Cube-Franka-IK-Rel-v0 --num_envs 1 --device keyboard + ./isaaclab.sh -p source/standalone/environments/teleoperation/teleop_se3_agent.py --task Isaac-Lift-Cube-Franka-IK-Rel-v0 --num_envs 1 --device keyboard The script prints the teleoperation events configured. For keyboard, these are as follows: @@ -133,31 +133,31 @@ format. .. code:: bash # step a: collect data with keyboard - ./orbit.sh -p source/standalone/workflows/robomimic/collect_demonstrations.py --task Isaac-Lift-Cube-Franka-IK-Rel-v0 --num_envs 1 --num_demos 10 --device keyboard + ./isaaclab.sh -p source/standalone/workflows/robomimic/collect_demonstrations.py --task Isaac-Lift-Cube-Franka-IK-Rel-v0 --num_envs 1 --num_demos 10 --device keyboard # step b: inspect the collected dataset - ./orbit.sh -p source/standalone/workflows/robomimic/tools/inspect_demonstrations.py logs/robomimic/Isaac-Lift-Cube-Franka-IK-Rel-v0/hdf_dataset.hdf5 + ./isaaclab.sh -p source/standalone/workflows/robomimic/tools/inspect_demonstrations.py logs/robomimic/Isaac-Lift-Cube-Franka-IK-Rel-v0/hdf_dataset.hdf5 2. Split the dataset into train and validation set: .. code:: bash # install python module (for robomimic) - ./orbit.sh -e robomimic + ./isaaclab.sh -e robomimic # split data - ./orbit.sh -p source/standalone//workflows/robomimic/tools/split_train_val.py logs/robomimic/Isaac-Lift-Cube-Franka-IK-Rel-v0/hdf_dataset.hdf5 --ratio 0.2 + ./isaaclab.sh -p source/standalone//workflows/robomimic/tools/split_train_val.py logs/robomimic/Isaac-Lift-Cube-Franka-IK-Rel-v0/hdf_dataset.hdf5 --ratio 0.2 3. Train a BC agent for ``Isaac-Lift-Cube-Franka-IK-Rel-v0`` with `Robomimic `__: .. code:: bash - ./orbit.sh -p source/standalone/workflows/robomimic/train.py --task Isaac-Lift-Cube-Franka-IK-Rel-v0 --algo bc --dataset logs/robomimic/Isaac-Lift-Cube-Franka-IK-Rel-v0/hdf_dataset.hdf5 + ./isaaclab.sh -p source/standalone/workflows/robomimic/train.py --task Isaac-Lift-Cube-Franka-IK-Rel-v0 --algo bc --dataset logs/robomimic/Isaac-Lift-Cube-Franka-IK-Rel-v0/hdf_dataset.hdf5 4. Play the learned model to visualize results: .. code:: bash - ./orbit.sh -p source/standalone//workflows/robomimic/play.py --task Isaac-Lift-Cube-Franka-IK-Rel-v0 --checkpoint /PATH/TO/model.pth + ./isaaclab.sh -p source/standalone//workflows/robomimic/play.py --task Isaac-Lift-Cube-Franka-IK-Rel-v0 --checkpoint /PATH/TO/model.pth Reinforcement Learning ~~~~~~~~~~~~~~~~~~~~~~ @@ -172,12 +172,12 @@ from the environments into the respective libraries function argument and return .. code:: bash # install python module (for stable-baselines3) - ./orbit.sh -e sb3 + ./isaaclab.sh -e sb3 # run script for training # note: we enable cpu flag since SB3 doesn't optimize for GPU anyway - ./orbit.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --headless --cpu + ./isaaclab.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --headless --cpu # run script for playing with 32 environments - ./orbit.sh -p source/standalone/workflows/sb3/play.py --task Isaac-Cartpole-v0 --num_envs 32 --checkpoint /PATH/TO/model.zip + ./isaaclab.sh -p source/standalone/workflows/sb3/play.py --task Isaac-Cartpole-v0 --num_envs 32 --checkpoint /PATH/TO/model.zip - Training an agent with `SKRL `__ on ``Isaac-Reach-Franka-v0``: @@ -185,11 +185,11 @@ from the environments into the respective libraries function argument and return .. code:: bash # install python module (for skrl) - ./orbit.sh -e skrl + ./isaaclab.sh -e skrl # run script for training - ./orbit.sh -p source/standalone/workflows/skrl/train.py --task Isaac-Reach-Franka-v0 --headless + ./isaaclab.sh -p source/standalone/workflows/skrl/train.py --task Isaac-Reach-Franka-v0 --headless # run script for playing with 32 environments - ./orbit.sh -p source/standalone/workflows/skrl/play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --checkpoint /PATH/TO/model.pt + ./isaaclab.sh -p source/standalone/workflows/skrl/play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --checkpoint /PATH/TO/model.pt - Training an agent with `RL-Games `__ on ``Isaac-Ant-v0``: @@ -197,11 +197,11 @@ from the environments into the respective libraries function argument and return .. code:: bash # install python module (for rl-games) - ./orbit.sh -e rl_games + ./isaaclab.sh -e rl_games # run script for training - ./orbit.sh -p source/standalone/workflows/rl_games/train.py --task Isaac-Ant-v0 --headless + ./isaaclab.sh -p source/standalone/workflows/rl_games/train.py --task Isaac-Ant-v0 --headless # run script for playing with 32 environments - ./orbit.sh -p source/standalone/workflows/rl_games/play.py --task Isaac-Ant-v0 --num_envs 32 --checkpoint /PATH/TO/model.pth + ./isaaclab.sh -p source/standalone/workflows/rl_games/play.py --task Isaac-Ant-v0 --num_envs 32 --checkpoint /PATH/TO/model.pth - Training an agent with `RSL-RL `__ on ``Isaac-Reach-Franka-v0``: @@ -209,11 +209,11 @@ from the environments into the respective libraries function argument and return .. code:: bash # install python module (for rsl-rl) - ./orbit.sh -e rsl_rl + ./isaaclab.sh -e rsl_rl # run script for training - ./orbit.sh -p source/standalone/workflows/rsl_rl/train.py --task Isaac-Reach-Franka-v0 --headless + ./isaaclab.sh -p source/standalone/workflows/rsl_rl/train.py --task Isaac-Reach-Franka-v0 --headless # run script for playing with 32 environments - ./orbit.sh -p source/standalone/workflows/rsl_rl/play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --checkpoint /PATH/TO/model.pth + ./isaaclab.sh -p source/standalone/workflows/rsl_rl/play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --checkpoint /PATH/TO/model.pth All the scripts above log the training progress to `Tensorboard`_ in the ``logs`` directory in the root of the repository. The logs directory follows the pattern ``logs///``, where ```` @@ -225,6 +225,6 @@ To view the logs, run: .. code:: bash # execute from the root directory of the repository - ./orbit.sh -p -m tensorboard.main --logdir=logs + ./isaaclab.sh -p -m tensorboard.main --logdir=logs .. _Tensorboard: https://www.tensorflow.org/tensorboard diff --git a/docs/source/setup/template.rst b/docs/source/setup/template.rst index 1526957c98..f746484707 100644 --- a/docs/source/setup/template.rst +++ b/docs/source/setup/template.rst @@ -1,15 +1,15 @@ Building your Own Project ========================= -Traditionally, building new projects that utilize Orbit's features required creating your own -extensions within the Orbit repository. However, this approach can obscure project visibility and -complicate updates from one version of Orbit to another. To circumvent these challenges, we now -provide a pre-configured and customizable `extension template `_ +Traditionally, building new projects that utilize Isaac Lab's features required creating your own +extensions within the Isaac Lab repository. However, this approach can obscure project visibility and +complicate updates from one version of Isaac Lab to another. To circumvent these challenges, we now +provide a pre-configured and customizable `extension template `_ for creating projects in an isolated environment. This template serves three distinct use cases: -* **Project Template**: Provides essential access to Isaac Sim and Orbit's features, making it ideal for projects +* **Project Template**: Provides essential access to Isaac Sim and Isaac Lab's features, making it ideal for projects that require a standalone environment. * **Python Package**: Facilitates integration with Isaac Sim's native or virtual Python environment, allowing for the creation of Python packages that can be shared and reused across multiple projects. @@ -19,7 +19,7 @@ This template serves three distinct use cases: We recommend using the extension template for new projects, as it provides a more streamlined and efficient workflow. Additionally it ensures that your project remains up-to-date with the latest - features and improvements in Orbit. + features and improvements in Isaac Lab. -To get started, please follow the instructions in the `extension template repository `_. +To get started, please follow the instructions in the `extension template repository `_. diff --git a/docs/source/tutorials/00_sim/create_empty.rst b/docs/source/tutorials/00_sim/create_empty.rst index 058216aeb0..f290f02987 100644 --- a/docs/source/tutorials/00_sim/create_empty.rst +++ b/docs/source/tutorials/00_sim/create_empty.rst @@ -1,10 +1,10 @@ Creating an empty scene ======================= -.. currentmodule:: omni.isaac.orbit +.. currentmodule:: omni.isaac.lab This tutorial shows how to launch and control Isaac Sim simulator from a standalone Python script. It sets up an -empty scene in Orbit and introduces the two main classes used in the framework, :class:`app.AppLauncher` and +empty scene in Isaac Lab and introduces the two main classes used in the framework, :class:`app.AppLauncher` and :class:`sim.SimulationContext`. Please review `Isaac Sim Interface`_ and `Isaac Sim Workflows`_ prior to beginning this tutorial to get @@ -14,7 +14,7 @@ an initial understanding of working with the simulator. The Code ~~~~~~~~ -The tutorial corresponds to the ``create_empty.py`` script in the ``orbit/source/standalone/tutorials/00_sim`` directory. +The tutorial corresponds to the ``create_empty.py`` script in the ``source/standalone/tutorials/00_sim`` directory. .. dropdown:: Code for create_empty.py :icon: code @@ -56,12 +56,12 @@ Importing python modules Once the simulation app is running, it is possible to import different Python modules from Isaac Sim and other libraries. Here we import the following module: -* :mod:`omni.isaac.orbit.sim`: A sub-package in Orbit for all the core simulator-related operations. +* :mod:`omni.isaac.lab.sim`: A sub-package in Isaac Lab for all the core simulator-related operations. .. literalinclude:: ../../../../source/standalone/tutorials/00_sim/create_empty.py :language: python - :start-at: from omni.isaac.orbit.sim import SimulationCfg, SimulationContext - :end-at: from omni.isaac.orbit.sim import SimulationCfg, SimulationContext + :start-at: from omni.isaac.lab.sim import SimulationCfg, SimulationContext + :end-at: from omni.isaac.lab.sim import SimulationCfg, SimulationContext Configuring the simulation context @@ -72,7 +72,7 @@ pausing and stepping the simulator. All these operations are handled through the context**. It takes care of various timeline events and also configures the `physics scene`_ for simulation. -In Orbit, the :class:`sim.SimulationContext` class inherits from Isaac Sim's +In Isaac Lab, the :class:`sim.SimulationContext` class inherits from Isaac Sim's :class:`omni.isaac.core.simulation_context.SimulationContext` to allow configuring the simulation through Python's ``dataclass`` object and handle certain intricacies of the simulation stepping. @@ -139,7 +139,7 @@ Now that we have gone through the code, let's run the script and see the result: .. code-block:: bash - ./orbit.sh -p source/standalone/tutorials/00_sim/create_empty.py + ./isaaclab.sh -p source/standalone/tutorials/00_sim/create_empty.py The simulation should be playing, and the stage should be rendering. To stop the simulation, @@ -151,7 +151,7 @@ following: .. code-block:: bash - ./orbit.sh -p source/standalone/tutorials/00_sim/create_empty.py --headless + ./isaaclab.sh -p source/standalone/tutorials/00_sim/create_empty.py --headless Now that we have a basic understanding of how to run a simulation, let's move on to the diff --git a/docs/source/tutorials/00_sim/index.rst b/docs/source/tutorials/00_sim/index.rst index b7dcb7ef42..02e09493e9 100644 --- a/docs/source/tutorials/00_sim/index.rst +++ b/docs/source/tutorials/00_sim/index.rst @@ -2,8 +2,8 @@ Setting up a Simple Simulation ============================== These tutorials show you how to launch the simulation with different settings and spawn objects in the -simulated scene. They cover the following APIs: :class:`~omni.isaac.orbit.app.AppLauncher`, -:class:`~omni.isaac.orbit.sim.SimulationContext`, and :class:`~omni.isaac.orbit.sim.spawners`. +simulated scene. They cover the following APIs: :class:`~omni.isaac.lab.app.AppLauncher`, +:class:`~omni.isaac.lab.sim.SimulationContext`, and :class:`~omni.isaac.lab.sim.spawners`. .. toctree:: :maxdepth: 1 diff --git a/docs/source/tutorials/00_sim/launch_app.rst b/docs/source/tutorials/00_sim/launch_app.rst index 4d5d787e30..e9c4ad1f07 100644 --- a/docs/source/tutorials/00_sim/launch_app.rst +++ b/docs/source/tutorials/00_sim/launch_app.rst @@ -1,7 +1,7 @@ Deep-dive into AppLauncher ========================== -.. currentmodule:: omni.isaac.orbit +.. currentmodule:: omni.isaac.lab In this tutorial, we will dive into the :class:`app.AppLauncher` class to configure the simulator using CLI arguments and environment variables (envars). Particularly, we will demonstrate how to use @@ -23,7 +23,7 @@ The Code -------- The tutorial corresponds to the ``launch_app.py`` script in the -``orbit/source/standalone/tutorials/00_sim`` directory. +``source/standalone/tutorials/00_sim`` directory. .. dropdown:: Code for launch_app.py :icon: code @@ -70,7 +70,7 @@ custom arguments and those from :class:`~app.AppLauncher`. .. code-block:: console - ./orbit.sh -p source/standalone/tutorials/00_sim/launch_app.py --help + ./isaaclab.sh -p source/standalone/tutorials/00_sim/launch_app.py --help [INFO] Using python from: /isaac-sim/python.sh [INFO][AppLauncher]: The argument 'width' will be used to configure the SimulationApp. @@ -97,7 +97,7 @@ custom arguments and those from :class:`~app.AppLauncher`. * If an empty string is provided, the experience file is determined based on the headless flag. * If a relative path is provided, it is resolved relative to the `apps` folder in Isaac Sim and - Orbit (in that order). + Isaac Lab (in that order). This readout details the ``--size``, ``--height``, and ``--width`` arguments defined in the script directly, as well as the :class:`~app.AppLauncher` arguments. @@ -113,7 +113,7 @@ Using environment variables ^^^^^^^^^^^^^^^^^^^^^^^^^^^ As noted in the help message, the :class:`~app.AppLauncher` arguments (``--livestream``, ``--headless``) -have corresponding environment variables (envar) as well. These are detailed in :mod:`omni.isaac.orbit.app` +have corresponding environment variables (envar) as well. These are detailed in :mod:`omni.isaac.lab.app` documentation. Providing any of these arguments through CLI is equivalent to running the script in a shell environment where the corresponding envar is set. @@ -124,7 +124,7 @@ as we will demonstrate later in this tutorial. These arguments can be used with any script that starts the simulation using :class:`~app.AppLauncher`, with one exception, ``--offscreen_render``. This setting sets the rendering pipeline to use the -offscreen renderer. However, this setting is only compatible with the :class:`omni.isaac.orbit.sim.SimulationContext`. +offscreen renderer. However, this setting is only compatible with the :class:`omni.isaac.lab.sim.SimulationContext`. It will not work with Isaac Sim's :class:`omni.isaac.core.simulation_context.SimulationContext` class. For more information on this flag, please see the :class:`~app.AppLauncher` API documentation. @@ -136,7 +136,7 @@ We will now run the example script: .. code-block:: console - LIVESTREAM=1 ./orbit.sh -p source/standalone/tutorials/00_sim/launch_app.py --size 0.5 + LIVESTREAM=1 ./isaaclab.sh -p source/standalone/tutorials/00_sim/launch_app.py --size 0.5 This will spawn a 0.5m\ :sup:`3` volume cuboid in the simulation. No GUI will appear, equivalent to if we had passed the ``--headless`` flag because headlessness is implied by our ``LIVESTREAM`` @@ -150,7 +150,7 @@ Now, let's look at how :class:`~app.AppLauncher` handles conflicting commands: .. code-block:: console export LIVESTREAM=0 - ./orbit.sh -p source/standalone/tutorials/00_sim/launch_app.py --size 0.5 --livestream 1 + ./isaaclab.sh -p source/standalone/tutorials/00_sim/launch_app.py --size 0.5 --livestream 1 This will cause the same behavior as in the previous run, because although we have set ``LIVESTREAM=0`` in our envars, CLI args such as ``--livestream`` take precedence in determining behavior. The process can @@ -162,7 +162,7 @@ Finally, we will examine passing arguments to :class:`~omni.isaac.kit.Simulation .. code-block:: console export LIVESTREAM=1 - ./orbit.sh -p source/standalone/tutorials/00_sim/launch_app.py --size 0.5 --width 1920 --height 1080 + ./isaaclab.sh -p source/standalone/tutorials/00_sim/launch_app.py --size 0.5 --width 1920 --height 1080 This will cause the same behavior as before, but now the viewport will be rendered at 1920x1080p resolution. This can be useful when we want to gather high-resolution video, or we can specify a lower resolution if we diff --git a/docs/source/tutorials/00_sim/spawn_prims.rst b/docs/source/tutorials/00_sim/spawn_prims.rst index 444ca93529..2c8128ddcf 100644 --- a/docs/source/tutorials/00_sim/spawn_prims.rst +++ b/docs/source/tutorials/00_sim/spawn_prims.rst @@ -4,9 +4,9 @@ Spawning prims into the scene ============================= -.. currentmodule:: omni.isaac.orbit +.. currentmodule:: omni.isaac.lab -This tutorial explores how to spawn various objects (or prims) into the scene in Orbit from Python. +This tutorial explores how to spawn various objects (or prims) into the scene in Isaac Lab from Python. It builds upon the previous tutorial on running the simulator from a standalone script and demonstrates how to spawn a ground plane, lights, primitive shapes, and meshes from USD files. @@ -14,7 +14,7 @@ demonstrates how to spawn a ground plane, lights, primitive shapes, and meshes f The Code ~~~~~~~~ -The tutorial corresponds to the ``spawn_prims.py`` script in the ``orbit/source/standalone/tutorials/00_sim`` directory. +The tutorial corresponds to the ``spawn_prims.py`` script in the ``source/standalone/tutorials/00_sim`` directory. Let's take a look at the Python script: .. dropdown:: Code for spawn_prims.py @@ -46,7 +46,7 @@ A collection of these prims, with their attributes and relationships, is called as a container for all prims in a scene. When we say we are designing a scene, we are actually designing a USD stage. While working with direct USD APIs provides a lot of flexibility, it can be cumbersome to learn and use. To make it -easier to design scenes, Orbit builds on top of the USD APIs to provide a configuration-drive interface to spawn prims +easier to design scenes, Isaac Lab builds on top of the USD APIs to provide a configuration-drive interface to spawn prims into a scene. These are included in the :mod:`sim.spawners` module. When spawning prims into the scene, each prim requires a configuration class instance that defines the prim's attributes @@ -69,7 +69,7 @@ At a high-level, this is how it works: In this tutorial, we demonstrate the spawning of various different prims into the scene. For more -information on the available spawners, please refer to the :mod:`sim.spawners` module in Orbit. +information on the available spawners, please refer to the :mod:`sim.spawners` module in Isaac Lab. .. attention:: @@ -162,15 +162,15 @@ Similar to the tutorial before, to run the script, execute the following command .. code-block:: bash - ./orbit.sh -p source/standalone/tutorials/00_sim/spawn_prims.py + ./isaaclab.sh -p source/standalone/tutorials/00_sim/spawn_prims.py Once the simulation starts, you should see a window with a ground plane, a light, some cones, and a table. The green cone, which has rigid body physics enabled, should fall and collide with the table and the ground plane. The other cones are visual elements and should not move. To stop the simulation, you can close the window, or press ``Ctrl+C`` in the terminal. -This tutorial provided a foundation for spawning various prims into the scene in Orbit. Although simple, it -demonstrates the basic concepts of scene designing in Orbit and how to use the spawners. In the coming tutorials, +This tutorial provided a foundation for spawning various prims into the scene in Isaac Lab. Although simple, it +demonstrates the basic concepts of scene designing in Isaac Lab and how to use the spawners. In the coming tutorials, we will now look at how to interact with the scene and the simulation. diff --git a/docs/source/tutorials/01_assets/index.rst b/docs/source/tutorials/01_assets/index.rst index 71ecd786cf..4fd5ec69d0 100644 --- a/docs/source/tutorials/01_assets/index.rst +++ b/docs/source/tutorials/01_assets/index.rst @@ -2,9 +2,9 @@ Interacting with Assets ======================= Having spawned objects in the scene, these tutorials show you how to create physics handles for these -objects and interact with them. These revolve around the :class:`~omni.isaac.orbit.assets.AssetBase` -class and its derivatives such as :class:`~omni.isaac.orbit.assets.RigidObject` and -:class:`~omni.isaac.orbit.assets.Articulation`. +objects and interact with them. These revolve around the :class:`~omni.isaac.lab.assets.AssetBase` +class and its derivatives such as :class:`~omni.isaac.lab.assets.RigidObject` and +:class:`~omni.isaac.lab.assets.Articulation`. .. toctree:: :maxdepth: 1 diff --git a/docs/source/tutorials/01_assets/run_articulation.rst b/docs/source/tutorials/01_assets/run_articulation.rst index e5bd505d39..1d1423d270 100644 --- a/docs/source/tutorials/01_assets/run_articulation.rst +++ b/docs/source/tutorials/01_assets/run_articulation.rst @@ -3,7 +3,7 @@ Interacting with an articulation ================================ -.. currentmodule:: omni.isaac.orbit +.. currentmodule:: omni.isaac.lab This tutorial shows how to interact with an articulated robot in the simulation. It is a continuation of the @@ -15,7 +15,7 @@ robot. The Code ~~~~~~~~ -The tutorial corresponds to the ``run_articulation.py`` script in the ``orbit/source/standalone/tutorials/01_assets`` +The tutorial corresponds to the ``run_articulation.py`` script in the ``source/standalone/tutorials/01_assets`` directory. .. dropdown:: Code for run_articulation.py @@ -118,7 +118,7 @@ To run the code and see the results, let's run the script from the terminal: .. code-block:: bash - ./orbit.sh -p source/standalone/tutorials/01_assets/run_articulation.py + ./isaaclab.sh -p source/standalone/tutorials/01_assets/run_articulation.py This command should open a stage with a ground plane, lights, and two cart-poles that are moving around randomly. @@ -130,12 +130,12 @@ of an articulation (its root and joint state) and how to apply commands to it. W buffers to read the latest state from the simulation. In addition to this tutorial, we also provide a few other scripts that spawn different robots.These are included -in the ``orbit/source/standalone/demos`` directory. You can run these scripts as: +in the ``source/standalone/demos`` directory. You can run these scripts as: .. code-block:: bash # Spawn many different single-arm manipulators - ./orbit.sh -p source/standalone/demos/arms.py + ./isaaclab.sh -p source/standalone/demos/arms.py # Spawn many different quadrupeds - ./orbit.sh -p source/standalone/demos/quadrupeds.py + ./isaaclab.sh -p source/standalone/demos/quadrupeds.py diff --git a/docs/source/tutorials/01_assets/run_rigid_object.rst b/docs/source/tutorials/01_assets/run_rigid_object.rst index 5926e4f49f..ea80c58c36 100644 --- a/docs/source/tutorials/01_assets/run_rigid_object.rst +++ b/docs/source/tutorials/01_assets/run_rigid_object.rst @@ -4,16 +4,16 @@ Interacting with a rigid object =============================== -.. currentmodule:: omni.isaac.orbit +.. currentmodule:: omni.isaac.lab In the previous tutorials, we learned the essential workings of the standalone script and how to spawn different objects (or *prims*) into the simulation. This tutorial shows how to create and interact -with a rigid object. For this, we will use the :class:`assets.RigidObject` class provided in Orbit. +with a rigid object. For this, we will use the :class:`assets.RigidObject` class provided in Isaac Lab. The Code ~~~~~~~~ -The tutorial corresponds to the ``run_rigid_object.py`` script in the ``orbit/source/standalone/tutorials/01_assets`` directory. +The tutorial corresponds to the ``run_rigid_object.py`` script in the ``source/standalone/tutorials/01_assets`` directory. .. dropdown:: Code for run_rigid_object.py :icon: code @@ -135,7 +135,7 @@ Now that we have gone through the code, let's run the script and see the result: .. code-block:: bash - ./orbit.sh -p source/standalone/tutorials/01_assets/run_rigid_object.py + ./isaaclab.sh -p source/standalone/tutorials/01_assets/run_rigid_object.py This should open a stage with a ground plane, lights, and several green cones. The cones must be dropping from diff --git a/docs/source/tutorials/02_scene/create_scene.rst b/docs/source/tutorials/02_scene/create_scene.rst index bcda43e6e1..e621e9d834 100644 --- a/docs/source/tutorials/02_scene/create_scene.rst +++ b/docs/source/tutorials/02_scene/create_scene.rst @@ -3,7 +3,7 @@ Using the Interactive Scene =========================== -.. currentmodule:: omni.isaac.orbit +.. currentmodule:: omni.isaac.lab So far in the tutorials, we manually spawned assets into the simulation and created object instances to interact with them. However, as the complexity of the scene @@ -33,7 +33,7 @@ The Code ~~~~~~~~ This tutorial corresponds to the ``create_scene.py`` script within -``orbit/source/standalone/tutorials/02_scene``. +``source/standalone/tutorials/02_scene``. .. dropdown:: Code for create_scene.py :icon: code @@ -147,7 +147,7 @@ the ``--num_envs`` argument to the script. .. code-block:: bash - ./orbit.sh -p source/standalone/tutorials/02_scene/create_scene.py --num_envs 32 + ./isaaclab.sh -p source/standalone/tutorials/02_scene/create_scene.py --num_envs 32 This should open a stage with 32 cartpoles swinging around randomly. You can use the mouse to rotate the camera and the arrow keys to move around the scene. @@ -157,5 +157,5 @@ scene with multiple assets. We also saw how to use the ``num_envs`` argument to clone the scene for multiple environments. There are many more example usages of the :class:`scene.InteractiveSceneCfg` in the tasks found -under the ``omni.isaac.orbit_tasks`` extension. Please check out the source code to see +under the ``omni.isaac.lab_tasks`` extension. Please check out the source code to see how they are used for more complex scenes. diff --git a/docs/source/tutorials/02_scene/index.rst b/docs/source/tutorials/02_scene/index.rst index d321b2bb13..d7851b6c42 100644 --- a/docs/source/tutorials/02_scene/index.rst +++ b/docs/source/tutorials/02_scene/index.rst @@ -2,7 +2,7 @@ Creating a Scene ================ With the basic concepts of the framework covered, the tutorials move to a more intuitive scene -interface that uses the :class:`~omni.isaac.orbit.scene.InteractiveScene` class. This class +interface that uses the :class:`~omni.isaac.lab.scene.InteractiveScene` class. This class provides a higher level abstraction for creating scenes easily. .. toctree:: diff --git a/docs/source/tutorials/03_envs/create_base_env.rst b/docs/source/tutorials/03_envs/create_base_env.rst index 4503860933..8a8c61e863 100644 --- a/docs/source/tutorials/03_envs/create_base_env.rst +++ b/docs/source/tutorials/03_envs/create_base_env.rst @@ -4,11 +4,11 @@ Creating a Base Environment =========================== -.. currentmodule:: omni.isaac.orbit +.. currentmodule:: omni.isaac.lab Environments bring together different aspects of the simulation such as the scene, observations and actions spaces, reset events etc. to create a -coherent interface for various applications. In Orbit, environments are +coherent interface for various applications. In Isaac Lab, environments are implemented as :class:`envs.BaseEnv` and :class:`envs.RLTaskEnv` classes. The two classes are very similar, but :class:`envs.RLTaskEnv` is useful for reinforcement learning tasks and contains rewards, terminations, curriculum @@ -24,7 +24,7 @@ in creating a new :class:`envs.BaseEnv` environment. The Code ~~~~~~~~ -The tutorial corresponds to the ``create_cartpole_base_env`` script in the ``orbit/source/standalone/tutorials/03_envs`` +The tutorial corresponds to the ``create_cartpole_base_env`` script in the ``source/standalone/tutorials/03_envs`` directory. .. dropdown:: Code for create_cartpole_base_env.py @@ -86,7 +86,7 @@ Defining observations While the scene defines the state of the environment, the observations define the states that are observable by the agent. These observations are used by the agent to make decisions -on what actions to take. In Orbit, the observations are computed by the +on what actions to take. In Isaac Lab, the observations are computed by the :class:`managers.ObservationManager` class. Similar to the action manager, the observation manager can comprise of multiple observation terms. @@ -96,7 +96,7 @@ two observation groups -- one for the low level controller and the other for the controller. It is assumed that all the observation terms in a group have the same dimensions. For this tutorial, we will only define one observation group named ``"policy"``. While not completely -prescriptive, this group is a necessary requirement for various wrappers in Orbit. +prescriptive, this group is a necessary requirement for various wrappers in Isaac Lab. We define a group by inheriting from the :class:`managers.ObservationGroupCfg` class. This class collects different observation terms and help define common properties for the group, such as enabling noise corruption or concatenating the observations into a single tensor. @@ -127,7 +127,7 @@ class that performs the event. Additionally, it expects the **mode** of the event. The mode specifies when the event term should be applied. It is possible to specify your own mode. For this, you'll need to adapt the :class:`~envs.BaseEnv` class. -However, out of the box, Orbit provides three commonly used modes: +However, out of the box, Isaac Lab provides three commonly used modes: * ``"startup"`` - Event that takes place only once at environment startup. * ``"reset"`` - Event that occurs on environment termination and reset. @@ -189,28 +189,28 @@ To run the base environment made in this tutorial, you can use the following com .. code-block:: bash - ./orbit.sh -p source/standalone/tutorials/03_envs/create_cartpole_base_env.py --num_envs 32 + ./isaaclab.sh -p source/standalone/tutorials/03_envs/create_cartpole_base_env.py --num_envs 32 This should open a stage with a ground plane, light source, and cartpoles. The simulation should be playing with random actions on the cartpole. Additionally, it opens a UI window on the bottom -right corner of the screen named ``"Orbit"``. This window contains different UI elements that +right corner of the screen named ``"Isaac Lab"``. This window contains different UI elements that can be used for debugging and visualization. To stop the simulation, you can either close the window, or press ``Ctrl+C`` in the terminal where you started the simulation. In this tutorial, we learned about the different managers that help define a base environment. We -include more examples of defining the base environment in the ``orbit/source/standalone/tutorials/03_envs`` +include more examples of defining the base environment in the ``source/standalone/tutorials/03_envs`` directory. For completeness, they can be run using the following commands: .. code-block:: bash # Floating cube environment with custom action term for PD control - ./orbit.sh -p source/standalone/tutorials/03_envs/create_cube_base_env.py --num_envs 32 + ./isaaclab.sh -p source/standalone/tutorials/03_envs/create_cube_base_env.py --num_envs 32 # Quadrupedal locomotion environment with a policy that interacts with the environment - ./orbit.sh -p source/standalone/tutorials/03_envs/create_quadruped_base_env.py --num_envs 32 + ./isaaclab.sh -p source/standalone/tutorials/03_envs/create_quadruped_base_env.py --num_envs 32 In the following tutorial, we will look at the :class:`envs.RLTaskEnv` class and how to use it diff --git a/docs/source/tutorials/03_envs/create_rl_env.rst b/docs/source/tutorials/03_envs/create_rl_env.rst index fc54376072..3f5d120037 100644 --- a/docs/source/tutorials/03_envs/create_rl_env.rst +++ b/docs/source/tutorials/03_envs/create_rl_env.rst @@ -4,7 +4,7 @@ Creating an RL Environment ========================== -.. currentmodule:: omni.isaac.orbit +.. currentmodule:: omni.isaac.lab Having learnt how to create a base environment in :ref:`tutorial-create-base-env`, we will now look at how to create a task environment for reinforcement learning. @@ -16,7 +16,7 @@ serves as the learning objective for the agent. For instance, in a navigation ta reach a goal location. To this end, we use the :class:`envs.RLTaskEnv` class which extends the base environment to include a task specification. -Similar to other components in Orbit, instead of directly modifying the base class :class:`RLTaskEnv`, we +Similar to other components in Isaac Lab, instead of directly modifying the base class :class:`RLTaskEnv`, we encourage users to simply implement a configuration :class:`RLTaskEnvCfg` for their task environment. This practice allows us to separate the task specification from the environment implementation, making it easier to reuse components of the same environment for different tasks. @@ -29,18 +29,18 @@ curriculum and commands. The Code ~~~~~~~~ -For this tutorial, we use the cartpole environment defined in ``omni.isaac.orbit_tasks.classic.cartpole`` module. +For this tutorial, we use the cartpole environment defined in ``omni.isaac.lab_tasks.classic.cartpole`` module. .. dropdown:: Code for cartpole_env_cfg.py :icon: code - .. literalinclude:: ../../../../source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/cartpole_env_cfg.py + .. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/cartpole_env_cfg.py :language: python :emphasize-lines: 63-68, 124-149, 152-162, 165-169, 187-192 :linenos: The script for running the environment ``run_cartpole_rl_env.py`` is present in the -``orbit/source/standalone/tutorials/03_envs`` directory. The script is similar to the +``source/standalone/tutorials/03_envs`` directory. The script is similar to the ``cartpole_base_env.py`` script in the previous tutorial, except that it uses the :class:`envs.RLTaskEnv` instead of the :class:`envs.BaseEnv`. @@ -60,10 +60,10 @@ We already went through parts of the above in the :ref:`tutorial-create-base-env about how to specify the scene, observations, actions and events. Thus, in this tutorial, we will focus only on the RL components of the environment. -In Orbit, we provide various implementations of different terms in the :mod:`envs.mdp` module. We will use +In Isaac Lab, we provide various implementations of different terms in the :mod:`envs.mdp` module. We will use some of these terms in this tutorial, but users are free to define their own terms as well. These are usually placed in their task-specific sub-package -(for instance, in :mod:`omni.isaac.orbit_tasks.classic.cartpole.mdp`). +(for instance, in :mod:`omni.isaac.lab_tasks.classic.cartpole.mdp`). Defining rewards @@ -83,7 +83,7 @@ For the cartpole task, we will use the following reward terms: * **Cart Velocity Reward**: Encourage the agent to keep the cart velocity as small as possible. * **Pole Velocity Reward**: Encourage the agent to keep the pole velocity as small as possible. -.. literalinclude:: ../../../../source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/cartpole_env_cfg.py +.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/cartpole_env_cfg.py :language: python :pyobject: RewardsCfg @@ -106,7 +106,7 @@ The flag :attr:`managers.TerminationsCfg.time_out` specifies whether the term is or terminated term. These are used to indicate the two types of terminations as described in `Gymnasium's documentation `_. -.. literalinclude:: ../../../../source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/cartpole_env_cfg.py +.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/cartpole_env_cfg.py :language: python :pyobject: TerminationsCfg @@ -121,7 +121,7 @@ For this simple task, we do not use any commands. This is specified by using a c :class:`envs.mdp.NullCommandCfg` configuration. However, you can see an example of command definitions in the locomotion or manipulation tasks. -.. literalinclude:: ../../../../source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/cartpole_env_cfg.py +.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/cartpole_env_cfg.py :language: python :pyobject: CommandsCfg @@ -129,14 +129,14 @@ Defining curriculum ------------------- Often times when training a learning agent, it helps to start with a simple task and gradually increase the -tasks's difficulty as the agent training progresses. This is the idea behind curriculum learning. In Orbit, +tasks's difficulty as the agent training progresses. This is the idea behind curriculum learning. In Isaac Lab, we provide a :class:`managers.CurriculumManager` class that can be used to define a curriculum for your environment. In this tutorial we don't implement a curriculum for simplicity, but you can see an example of a curriculum definition in the other locomotion or manipulation tasks. We use a simple pass-through curriculum to define a curriculum manager that does not modify the environment. -.. literalinclude:: ../../../../source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/cartpole_env_cfg.py +.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/cartpole_env_cfg.py :language: python :pyobject: CurriculumCfg @@ -147,7 +147,7 @@ With all the above components defined, we can now create the :class:`RLTaskEnvCf cartpole environment. This is similar to the :class:`BaseEnvCfg` defined in :ref:`tutorial-create-base-env`, only with the added RL components explained in the above sections. -.. literalinclude:: ../../../../source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/cartpole_env_cfg.py +.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/cartpole_env_cfg.py :language: python :pyobject: CartpoleEnvCfg @@ -172,7 +172,7 @@ Similar to the previous tutorial, we can run the environment by executing the `` .. code-block:: bash - ./orbit.sh -p source/standalone/tutorials/03_envs/run_cartpole_rl_env.py --num_envs 32 + ./isaaclab.sh -p source/standalone/tutorials/03_envs/run_cartpole_rl_env.py --num_envs 32 This should open a similar simulation as in the previous tutorial. However, this time, the environment diff --git a/docs/source/tutorials/03_envs/index.rst b/docs/source/tutorials/03_envs/index.rst index 7ef39aec48..de28430144 100644 --- a/docs/source/tutorials/03_envs/index.rst +++ b/docs/source/tutorials/03_envs/index.rst @@ -1,8 +1,8 @@ Designing an Environment ======================== -The following tutorials introduce the concept of environments: :class:`~omni.isaac.orbit.envs.BaseEnv` -and its derivative :class:`~omni.isaac.orbit.envs.RLTaskEnv`. These environments bring-in together +The following tutorials introduce the concept of environments: :class:`~omni.isaac.lab.envs.BaseEnv` +and its derivative :class:`~omni.isaac.lab.envs.RLTaskEnv`. These environments bring-in together different aspects of the framework to create a simulation environment for agent interaction. .. toctree:: diff --git a/docs/source/tutorials/03_envs/register_rl_env_gym.rst b/docs/source/tutorials/03_envs/register_rl_env_gym.rst index 7076dfb482..675e066043 100644 --- a/docs/source/tutorials/03_envs/register_rl_env_gym.rst +++ b/docs/source/tutorials/03_envs/register_rl_env_gym.rst @@ -1,7 +1,7 @@ Registering an Environment ========================== -.. currentmodule:: omni.isaac.orbit +.. currentmodule:: omni.isaac.lab In the previous tutorial, we learned how to create a custom cartpole environment. We manually created an instance of the environment by importing the environment class and its configuration @@ -32,7 +32,7 @@ the :meth:`gymnasium.make` function. The Code ~~~~~~~~ -The tutorial corresponds to the ``random_agent.py`` script in the ``orbit/source/standalone/environments`` directory. +The tutorial corresponds to the ``random_agent.py`` script in the ``source/standalone/environments`` directory. .. dropdown:: Code for random_agent.py :icon: code @@ -58,9 +58,9 @@ Using the gym registry To register an environment, we use the :meth:`gymnasium.register` method. This method takes in the environment name, the entry point to the environment class, and the entry point to the environment configuration class. For the cartpole environment, the following shows the registration -call in the ``omni.isaac.orbit_tasks.classic.cartpole`` sub-package: +call in the ``omni.isaac.lab_tasks.classic.cartpole`` sub-package: -.. literalinclude:: ../../../../source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/__init__.py +.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/__init__.py :language: python :lines: 10- :emphasize-lines: 11, 12, 15 @@ -75,11 +75,11 @@ and difficult to read. The ``entry_point`` argument is the entry point to the environment class. The entry point is a string of the form ``:``. In the case of the cartpole environment, the entry point is -``omni.isaac.orbit.envs:RLTaskEnv``. The entry point is used to import the environment class +``omni.isaac.lab.envs:RLTaskEnv``. The entry point is used to import the environment class when creating the environment instance. The ``env_cfg_entry_point`` argument specifies the default configuration for the environment. The default -configuration is loaded using the :meth:`omni.isaac.orbit_tasks.utils.parse_env_cfg` function. +configuration is loaded using the :meth:`omni.isaac.lab_tasks.utils.parse_env_cfg` function. It is then passed to the :meth:`gymnasium.make` function to create the environment instance. The configuration entry point can be both a YAML file or a python configuration class. @@ -91,14 +91,14 @@ The configuration entry point can be both a YAML file or a python configuration Creating the environment ------------------------ -To inform the ``gym`` registry with all the environments provided by the ``omni.isaac.orbit_tasks`` +To inform the ``gym`` registry with all the environments provided by the ``omni.isaac.lab_tasks`` extension, we must import the module at the start of the script. This will execute the ``__init__.py`` file which iterates over all the sub-packages and registers their respective environments. .. literalinclude:: ../../../../source/standalone/environments/random_agent.py :language: python - :start-at: import omni.isaac.orbit_tasks # noqa: F401 - :end-at: import omni.isaac.orbit_tasks # noqa: F401 + :start-at: import omni.isaac.lab_tasks # noqa: F401 + :end-at: import omni.isaac.lab_tasks # noqa: F401 In this tutorial, the task name is read from the command line. The task name is used to parse the default configuration as well as to create the environment instance. In addition, other @@ -120,7 +120,7 @@ Now that we have gone through the code, let's run the script and see the result: .. code-block:: bash - ./orbit.sh -p source/standalone/environments/random_agent.py --task Isaac-Cartpole-v0 --num_envs 32 + ./isaaclab.sh -p source/standalone/environments/random_agent.py --task Isaac-Cartpole-v0 --num_envs 32 This should open a stage with everything similar to the previous :ref:`tutorial-create-rl-env` tutorial. @@ -130,7 +130,7 @@ In addition, you can also change the simulation device from GPU to CPU by adding .. code-block:: bash - ./orbit.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 --cpu With the ``--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. diff --git a/docs/source/tutorials/03_envs/run_rl_training.rst b/docs/source/tutorials/03_envs/run_rl_training.rst index 2f20c8514c..e73b1c6630 100644 --- a/docs/source/tutorials/03_envs/run_rl_training.rst +++ b/docs/source/tutorials/03_envs/run_rl_training.rst @@ -1,7 +1,7 @@ Training with an RL Agent ========================= -.. currentmodule:: omni.isaac.orbit +.. currentmodule:: omni.isaac.lab In the previous tutorials, we covered how to define an RL task environment, register it into the ``gym`` registry, and interact with it using a random agent. We now move @@ -18,7 +18,7 @@ For example, `Stable-Baselines3`_ expects the environment to conform to its `RSL-RL`_ and `RL-Games`_ expect a different interface. Since there is no one-size-fits-all solution, we do not base the :class:`envs.RLTaskEnv` on any particular learning library. Instead, we implement wrappers to convert the environment into the expected interface. -These are specified in the :mod:`omni.isaac.orbit_tasks.utils.wrappers` module. +These are specified in the :mod:`omni.isaac.lab_tasks.utils.wrappers` module. In this tutorial, we will use `Stable-Baselines3`_ to train an RL agent to solve the cartpole balancing task. @@ -33,7 +33,7 @@ The Code -------- For this tutorial, we use the training script from `Stable-Baselines3`_ workflow in the -``orbit/source/standalone/workflows/sb3`` directory. +``source/standalone/workflows/sb3`` directory. .. dropdown:: Code for train.py :icon: code @@ -46,7 +46,7 @@ For this tutorial, we use the training script from `Stable-Baselines3`_ workflow The Code Explained ------------------ -.. currentmodule:: omni.isaac.orbit_tasks.utils +.. currentmodule:: omni.isaac.lab_tasks.utils Most of the code above is boilerplate code to create logging directories, saving the parsed configurations, and setting up different Stable-Baselines3 components. For this tutorial, the important part is creating @@ -86,7 +86,7 @@ up the training process since only physics simulation step is performed. .. code-block:: bash - ./orbit.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --num_envs 64 --headless + ./isaaclab.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --num_envs 64 --headless Headless execution with off-screen render @@ -99,7 +99,7 @@ agent's behavior during training. .. code-block:: bash - ./orbit.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --num_envs 64 --headless --offscreen_render --video + ./isaaclab.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --num_envs 64 --headless --offscreen_render --video The videos are saved to the ``logs/sb3/Isaac-Cartpole-v0//videos`` directory. You can open these videos using any video player. @@ -107,7 +107,7 @@ using any video player. Interactive execution """"""""""""""""""""" -.. currentmodule:: omni.isaac.orbit +.. currentmodule:: omni.isaac.lab While the above two methods are useful for training the agent, they don't allow you to interact with the simulation to see what is happening. In this case, you can ignore the ``--headless`` flag and run the @@ -115,11 +115,11 @@ training script as follows: .. code-block:: bash - ./orbit.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --num_envs 64 + ./isaaclab.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --num_envs 64 This will open the Isaac Sim window and you can see the agent training in the environment. However, this will slow down the training process since the simulation is rendered on the screen. As a workaround, you -can switch between different render modes in the ``"Orbit"`` window that is docked on the bottom-right +can switch between different render modes in the ``"Isaac Lab"`` window that is docked on the bottom-right corner of the screen. To learn more about these render modes, please check the :class:`sim.SimulationContext.RenderMode` class. @@ -131,7 +131,7 @@ On a separate terminal, you can monitor the training progress by executing the f .. code:: bash # execute from the root directory of the repository - ./orbit.sh -p -m tensorboard.main --logdir logs/sb3/Isaac-Cartpole-v0 + ./isaaclab.sh -p -m tensorboard.main --logdir logs/sb3/Isaac-Cartpole-v0 Playing the trained agent ~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -141,7 +141,7 @@ Once the training is complete, you can visualize the trained agent by executing .. code:: bash # execute from the root directory of the repository - ./orbit.sh -p source/standalone/workflows/sb3/play.py --task Isaac-Cartpole-v0 --num_envs 32 --use_last_checkpoint + ./isaaclab.sh -p source/standalone/workflows/sb3/play.py --task Isaac-Cartpole-v0 --num_envs 32 --use_last_checkpoint The above command will load the latest checkpoint from the ``logs/sb3/Isaac-Cartpole-v0`` directory. You can also specify a specific checkpoint by passing the ``--checkpoint`` flag. diff --git a/docs/source/tutorials/04_sensors/add_sensors_on_robot.rst b/docs/source/tutorials/04_sensors/add_sensors_on_robot.rst index 6afcfd920e..3cd7178abf 100644 --- a/docs/source/tutorials/04_sensors/add_sensors_on_robot.rst +++ b/docs/source/tutorials/04_sensors/add_sensors_on_robot.rst @@ -3,7 +3,7 @@ Adding sensors on a robot ========================= -.. currentmodule:: omni.isaac.orbit +.. currentmodule:: omni.isaac.lab While the asset classes allow us to create and simulate the physical embodiment of the robot, @@ -30,7 +30,7 @@ The Code ~~~~~~~~ The tutorial corresponds to the ``add_sensors_on_robot.py`` script in the -``orbit/source/standalone/tutorials/04_sensors`` directory. +``source/standalone/tutorials/04_sensors`` directory. .. dropdown:: Code for add_sensors_on_robot.py :icon: code @@ -173,7 +173,7 @@ Now that we have gone through the code, let's run the script and see the result: .. code-block:: bash - ./orbit.sh -p source/standalone/tutorials/04_sensors/add_sensors_on_robot.py --num_envs 2 + ./isaaclab.sh -p source/standalone/tutorials/04_sensors/add_sensors_on_robot.py --num_envs 2 This command should open a stage with a ground plane, lights, and two quadrupedal robots. @@ -192,13 +192,13 @@ following commands: .. code-block:: bash # Frame Transformer - ./orbit.sh -p source/standalone/tutorials/04_sensors/run_frame_transformer.py + ./isaaclab.sh -p source/standalone/tutorials/04_sensors/run_frame_transformer.py # Ray Caster - ./orbit.sh -p source/standalone/tutorials/04_sensors/run_ray_caster.py + ./isaaclab.sh -p source/standalone/tutorials/04_sensors/run_ray_caster.py # Ray Caster Camera - ./orbit.sh -p source/standalone/tutorials/04_sensors/run_ray_caster_camera.py + ./isaaclab.sh -p source/standalone/tutorials/04_sensors/run_ray_caster_camera.py # USD Camera - ./orbit.sh -p source/standalone/tutorials/04_sensors/run_usd_camera.py + ./isaaclab.sh -p source/standalone/tutorials/04_sensors/run_usd_camera.py diff --git a/docs/source/tutorials/04_sensors/index.rst b/docs/source/tutorials/04_sensors/index.rst index ea6cdbe850..8c506f5dec 100644 --- a/docs/source/tutorials/04_sensors/index.rst +++ b/docs/source/tutorials/04_sensors/index.rst @@ -2,8 +2,8 @@ Integrating Sensors =================== The following tutorial shows you how to integrate sensors into the simulation environment. The -tutorials introduce the :class:`~omni.isaac.orbit.sensors.SensorBase` class and its derivatives -such as :class:`~omni.isaac.orbit.sensors.Camera` and :class:`~omni.isaac.orbit.sensors.RayCaster`. +tutorials introduce the :class:`~omni.isaac.lab.sensors.SensorBase` class and its derivatives +such as :class:`~omni.isaac.lab.sensors.Camera` and :class:`~omni.isaac.lab.sensors.RayCaster`. .. toctree:: :maxdepth: 1 diff --git a/docs/source/tutorials/05_controllers/run_diff_ik.rst b/docs/source/tutorials/05_controllers/run_diff_ik.rst index 9faf4ba456..7aee394e2e 100644 --- a/docs/source/tutorials/05_controllers/run_diff_ik.rst +++ b/docs/source/tutorials/05_controllers/run_diff_ik.rst @@ -1,7 +1,7 @@ Using a task-space controller ============================= -.. currentmodule:: omni.isaac.orbit +.. currentmodule:: omni.isaac.lab In the previous tutorials, we have joint-space controllers to control the robot. However, in many cases, it is more intuitive to control the robot using a task-space controller. For example, if we @@ -17,7 +17,7 @@ The Code ~~~~~~~~ The tutorial corresponds to the ``run_diff_ik.py`` script in the -``orbit/source/standalone/tutorials/05_controllers`` directory. +``source/standalone/tutorials/05_controllers`` directory. .. dropdown:: Code for run_diff_ik.py @@ -144,7 +144,7 @@ Now that we have gone through the code, let's run the script and see the result: .. code-block:: bash - ./orbit.sh -p source/standalone/tutorials/05_controllers/run_diff_ik.py --robot franka_panda --num_envs 128 + ./isaaclab.sh -p source/standalone/tutorials/05_controllers/run_diff_ik.py --robot franka_panda --num_envs 128 The script will start a simulation with 128 robots. The robots will be controlled using the IK controller. The current and desired end-effector poses should be displayed using frame markers. When the robot reaches diff --git a/docs/source/tutorials/index.rst b/docs/source/tutorials/index.rst index ce2f6291b2..34f445f712 100644 --- a/docs/source/tutorials/index.rst +++ b/docs/source/tutorials/index.rst @@ -1,9 +1,9 @@ Tutorials ========= -Welcome to the Orbit tutorials! These tutorials provide a step-by-step guide to help you understand +Welcome to the Isaac Lab tutorials! These tutorials provide a step-by-step guide to help you understand and use various features of the framework. All the tutorials are written as Python scripts. You can -find the source code for each tutorial in the ``source/standalone/tutorials`` directory of the Orbit +find the source code for each tutorial in the ``source/standalone/tutorials`` directory of the Isaac Lab repository. .. note:: diff --git a/orbit.sh b/isaaclab.sh similarity index 83% rename from orbit.sh rename to isaaclab.sh index 70505456c7..dc9b95781c 100755 --- a/orbit.sh +++ b/isaaclab.sh @@ -1,6 +1,6 @@ #!/usr/bin/env bash -# 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 @@ -16,7 +16,7 @@ set -e tabs 4 # get source directory -export ORBIT_PATH="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )" +export ISAACLAB_PATH="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )" #== # Helper functions @@ -32,7 +32,7 @@ extract_python_exe() { build_path=${ISAACSIM_PATH} else # Use TeamCity build - build_path=${ORBIT_PATH}/_isaac_sim + build_path=${ISAACLAB_PATH}/_isaac_sim fi # check if using conda if ! [[ -z "${CONDA_PREFIX}" ]]; then @@ -61,7 +61,7 @@ extract_isaacsim_exe() { build_path=${ISAACSIM_PATH} else # Use TeamCity build - build_path=${ORBIT_PATH}/_isaac_sim + build_path=${ISAACLAB_PATH}/_isaac_sim fi # python executable to use local isaacsim_exe=${build_path}/isaac-sim.sh @@ -75,7 +75,7 @@ extract_isaacsim_exe() { } # check if input directory is a python extension and install the module -install_orbit_extension() { +install_isaaclab_extension() { # retrieve the python executable python_exe=$(extract_python_exe) # if the directory contains setup.py then install the python module @@ -92,10 +92,10 @@ install_extension_deps() { cmd="$2" python_exe=$(extract_python_exe) echo -e "\t Installing deps for module: $1" - ${python_exe} ${ORBIT_PATH}/tools/install_deps.py ${cmd} $1 + ${python_exe} ${ISAACLAB_PATH}/tools/install_deps.py ${cmd} $1 } -# setup anaconda environment for orbit +# setup anaconda environment for Isaac Lab setup_conda_env() { # get environment name from input local env_name=$1 @@ -113,7 +113,7 @@ setup_conda_env() { build_path=${ISAACSIM_PATH} else # Use TeamCity build - build_path=${ORBIT_PATH}/_isaac_sim + build_path=${ISAACLAB_PATH}/_isaac_sim fi # check if the environment exists if { conda env list | grep -w ${env_name}; } >/dev/null 2>&1; then @@ -131,32 +131,32 @@ setup_conda_env() { # activate the environment source $(conda info --base)/etc/profile.d/conda.sh conda activate ${env_name} - # setup directories to load isaac-sim variables + # setup directories to load Isaac Sim variables mkdir -p ${CONDA_PREFIX}/etc/conda/activate.d mkdir -p ${CONDA_PREFIX}/etc/conda/deactivate.d # add variables to environment during activation - local isaacsim_setup_conda_env_script=${ORBIT_PATH}/_isaac_sim/setup_conda_env.sh + local isaacsim_setup_conda_env_script=${ISAACLAB_PATH}/_isaac_sim/setup_conda_env.sh printf '%s\n' '#!/usr/bin/env bash' '' \ - '# for isaac-sim' \ + '# for Isaac Sim' \ 'source '${isaacsim_setup_conda_env_script}'' \ '' \ - '# for orbit' \ - 'export ORBIT_PATH='${ORBIT_PATH}'' \ - 'alias orbit='${ORBIT_PATH}'/orbit.sh' \ + '# for Isaac Lab' \ + 'export ISAACLAB_PATH='${ISAACLAB_PATH}'' \ + 'alias isaaclab='${ISAACLAB_PATH}'/isaaclab.sh' \ '' \ '# show icon if not runninng headless' \ 'export RESOURCE_NAME="IsaacSim"' \ '' > ${CONDA_PREFIX}/etc/conda/activate.d/setenv.sh # reactivate the environment to load the variables - # needed because deactivate complains about orbit alias since it otherwise doesn't exist + # needed because deactivate complains about Isaac Lab alias since it otherwise doesn't exist conda activate ${env_name} # remove variables from environment during deactivation printf '%s\n' '#!/usr/bin/env bash' '' \ - '# for orbit' \ - 'unalias orbit &>/dev/null' \ - 'unset ORBIT_PATH' \ + '# for Isaac Lab' \ + 'unalias isaaclab &>/dev/null' \ + 'unset ISAACLAB_PATH' \ '' \ - '# for isaac-sim' \ + '# for Isaac Sim' \ 'unset CARB_APP_PATH' \ 'unset EXP_PATH' \ 'unset ISAAC_PATH' \ @@ -172,12 +172,12 @@ setup_conda_env() { # deactivate the environment conda deactivate # add information to the user about alias - echo -e "[INFO] Added 'orbit' alias to conda environment for 'orbit.sh' script." + echo -e "[INFO] Added 'isaaclab' alias to conda environment for 'isaaclab.sh' script." echo -e "[INFO] Created conda environment named '${env_name}'.\n" echo -e "\t\t1. To activate the environment, run: conda activate ${env_name}" - echo -e "\t\t2. To install orbit extensions, run: orbit -i" - echo -e "\t\t3. To install learning-related dependencies, run: orbit -e" - echo -e "\t\t4. To perform formatting, run: orbit -f" + echo -e "\t\t2. To install Isaac Lab extensions, run: isaaclab -i" + echo -e "\t\t3. To install learning-related dependencies, run: isaaclab -e" + echo -e "\t\t4. To perform formatting, run: isaaclab -f" echo -e "\t\t5. To deactivate the environment, run: conda deactivate" echo -e "\n" } @@ -188,7 +188,7 @@ update_vscode_settings() { # retrieve the python executable python_exe=$(extract_python_exe) # path to setup_vscode.py - setup_vscode_script="${ORBIT_PATH}/.vscode/tools/setup_vscode.py" + setup_vscode_script="${ISAACLAB_PATH}/.vscode/tools/setup_vscode.py" # check if the file exists before attempting to run it if [ -f "${setup_vscode_script}" ]; then ${python_exe} "${setup_vscode_script}" @@ -199,10 +199,10 @@ update_vscode_settings() { # print the usage description print_help () { - echo -e "\nusage: $(basename "$0") [-h] [-i] [-e] [-f] [-p] [-s] [-t] [-o] [-v] [-d] [-c] -- Utility to manage Orbit." + echo -e "\nusage: $(basename "$0") [-h] [-i] [-e] [-f] [-p] [-s] [-t] [-o] [-v] [-d] [-c] -- Utility to manage Isaac Lab." echo -e "\noptional arguments:" echo -e "\t-h, --help Display the help content." - echo -e "\t-i, --install Install the extensions inside Orbit." + echo -e "\t-i, --install Install the extensions inside Isaac Lab." echo -e "\t-e, --extra [LIB] Install learning frameworks (rl_games, rsl_rl, sb3) as extra dependencies. Default is 'all'." echo -e "\t--install-deps [dep_type] Install dependencies for extensions (apt, rosdep, all) from each extension.toml. Default is 'all'." echo -e "\t-f, --format Run pre-commit to format the code and check lints." @@ -212,7 +212,7 @@ print_help () { echo -e "\t-o, --docker Run the docker container helper script (docker/container.sh)." echo -e "\t-v, --vscode Generate the VSCode settings file from template." echo -e "\t-d, --docs Build the documentation from source using sphinx." - echo -e "\t-c, --conda [NAME] Create the conda environment for Orbit. Default name is 'orbit'." + echo -e "\t-c, --conda [NAME] Create the conda environment for Isaac Lab. Default name is 'isaaclab'." echo -e "\n" >&2 } @@ -233,16 +233,16 @@ while [[ $# -gt 0 ]]; do # read the key case "$1" in -i|--install) - # install the python packages in omni_isaac_orbit/source directory - echo "[INFO] Installing extensions inside orbit repository..." + # install the python packages in IsaacLab/source directory + echo "[INFO] Installing extensions inside the Isaac Lab repository..." # recursively look into directories and install them # this does not check dependencies between extensions export -f extract_python_exe - export -f install_orbit_extension + export -f install_isaaclab_extension # source directory - find -L "${ORBIT_PATH}/source/extensions" -mindepth 1 -maxdepth 1 -type d -exec bash -c 'install_orbit_extension "{}"' \; + find -L "${ISAACLAB_PATH}/source/extensions" -mindepth 1 -maxdepth 1 -type d -exec bash -c 'install_isaaclab_extension "{}"' \; # unset local variables - unset install_orbit_extension + unset install_isaaclab_extension # setup vscode settings update_vscode_settings shift # past argument @@ -261,7 +261,7 @@ while [[ $# -gt 0 ]]; do shift # past argument fi # install the rl-frameworks specified - ${python_exe} -m pip install -e ${ORBIT_PATH}/source/extensions/omni.isaac.orbit_tasks["${framework_name}"] + ${python_exe} -m pip install -e ${ISAACLAB_PATH}/source/extensions/omni.isaac.lab_tasks["${framework_name}"] shift # past argument ;; --install-deps) @@ -272,14 +272,14 @@ while [[ $# -gt 0 ]]; do dep_type=$2 shift # past argument fi - echo "[INFO] Installing ${dep_type} dependencies for extensions inside orbit repository..." + echo "[INFO] Installing ${dep_type} dependencies for extensions inside the Isaac Lab repository..." # recursively look into directories and install # all extension dependencies export -f extract_python_exe export -f install_extension_deps # check if dep_type is installed, if not "all" if [ "$dep_type" = "all" ] || command -v "$dep_type" &>/dev/null; then - find -L "${ORBIT_PATH}/source/extensions" -mindepth 1 -maxdepth 1 -type d -print0 | xargs -0 -I {} bash -c 'install_extension_deps "$1" "$2"' _ {} "${dep_type}" + find -L "${ISAACLAB_PATH}/source/extensions" -mindepth 1 -maxdepth 1 -type d -print0 | xargs -0 -I {} bash -c 'install_extension_deps "$1" "$2"' _ {} "${dep_type}" else echo "[ERROR] Not installing ${dep_type} deps, ${dep_type} not a known command" exit 1 @@ -291,14 +291,14 @@ while [[ $# -gt 0 ]]; do -c|--conda) # use default name if not provided if [ -z "$2" ]; then - echo "[INFO] Using default conda environment name: orbit" - conda_env_name="orbit" + echo "[INFO] Using default conda environment name: isaaclab" + conda_env_name="isaaclab" else echo "[INFO] Using conda environment name: $2" conda_env_name=$2 shift # past argument fi - # setup the conda environment for orbit + # setup the conda environment for Isaac Lab setup_conda_env ${conda_env_name} shift # past argument ;; @@ -316,9 +316,9 @@ while [[ $# -gt 0 ]]; do echo "[INFO] Installing pre-commit..." pip install pre-commit fi - # always execute inside the Orbit directory + # always execute inside the Isaac Lab directory echo "[INFO] Formatting the repository..." - cd ${ORBIT_PATH} + cd ${ISAACLAB_PATH} pre-commit run --all-files cd - > /dev/null # set the python path back to the original value @@ -343,7 +343,7 @@ while [[ $# -gt 0 ]]; do isaacsim_exe=$(extract_isaacsim_exe) echo "[INFO] Running isaac-sim from: ${isaacsim_exe}" shift # past argument - ${isaacsim_exe} --ext-folder ${ORBIT_PATH}/source/extensions $@ + ${isaacsim_exe} --ext-folder ${ISAACLAB_PATH}/source/extensions $@ # exit neatly break ;; @@ -351,13 +351,13 @@ while [[ $# -gt 0 ]]; do # run the python provided by isaacsim python_exe=$(extract_python_exe) shift # past argument - ${python_exe} ${ORBIT_PATH}/tools/run_all_tests.py $@ + ${python_exe} ${ISAACLAB_PATH}/tools/run_all_tests.py $@ # exit neatly break ;; -o|--docker) # run the docker container helper script - docker_script=${ORBIT_PATH}/docker/container.sh + docker_script=${ISAACLAB_PATH}/docker/container.sh echo "[INFO] Running docker utility script from: ${docker_script}" shift # past argument bash ${docker_script} $@ @@ -377,7 +377,7 @@ while [[ $# -gt 0 ]]; do # retrieve the python executable python_exe=$(extract_python_exe) # install pip packages - cd ${ORBIT_PATH}/docs + cd ${ISAACLAB_PATH}/docs ${python_exe} -m pip install -r requirements.txt > /dev/null # build the documentation ${python_exe} -m sphinx -b html -d _build/doctrees . _build/html diff --git a/pyproject.toml b/pyproject.toml index b734fac591..905110f05c 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -48,10 +48,10 @@ known_third_party = [ "carb", ] # Imports from this repository -known_first_party = "omni.isaac.orbit" -known_assets_firstparty = "omni.isaac.orbit_assets" +known_first_party = "omni.isaac.lab" +known_assets_firstparty = "omni.isaac.lab_assets" known_extra_firstparty = [ - "omni.isaac.orbit_tasks" + "omni.isaac.lab_tasks" ] # Imports from the local folder known_local_folder = "config" @@ -90,4 +90,4 @@ quiet-level = 0 # the world list should always have words in lower case ignore-words-list = "haa,slq,collapsable" # todo: this is hack to deal with incorrect spelling of "Environment" in the Isaac Sim grid world asset -exclude-file = "source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/from_files/from_files.py" +exclude-file = "source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py" diff --git a/source/apps/orbit.python.headless.kit b/source/apps/isaaclab.python.headless.kit similarity index 98% rename from source/apps/orbit.python.headless.kit rename to source/apps/isaaclab.python.headless.kit index 1fbbc03e7e..cca93cae37 100644 --- a/source/apps/orbit.python.headless.kit +++ b/source/apps/isaaclab.python.headless.kit @@ -8,7 +8,7 @@ description = "A minimal app for running standalone scripts headlessly." version = "2023.1.1" # That makes it browsable in UI with "experience" filter -keywords = ["experience", "app", "orbit", "python", "headless"] +keywords = ["experience", "app", "isaaclab", "python", "headless"] ################# # Basic Kit App # @@ -221,7 +221,7 @@ folders = [ "${exe-path}/../extscache", # isaac cache extensions "${exe-path}/../extsPhysics", # isaac physics extensions, "${app}", # needed to find other app files - "${app}/../extensions", # needed to find extensions in orbit + "${app}/../extensions", # needed to find extensions in Isaac Lab ] [settings.ngx] diff --git a/source/apps/orbit.python.headless.multicam.kit b/source/apps/isaaclab.python.headless.multicam.kit similarity index 94% rename from source/apps/orbit.python.headless.multicam.kit rename to source/apps/isaaclab.python.headless.multicam.kit index 8e09b35089..9eae93543a 100644 --- a/source/apps/orbit.python.headless.multicam.kit +++ b/source/apps/isaaclab.python.headless.multicam.kit @@ -12,11 +12,11 @@ description = "A minimal app for running standalone scripts with efficient camer version = "2023.1.1" # That makes it browsable in UI with "experience" filter -keywords = ["experience", "app", "orbit", "python", "camera", "minimal"] +keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"] [dependencies] -# Orbit minimal app -"orbit.python.headless" = {} +# Isaac Lab minimal app +"isaaclab.python.headless" = {} # PhysX "omni.kit.property.physx" = {} @@ -101,7 +101,7 @@ folders = [ "${exe-path}/../extscache", # isaac cache extensions "${exe-path}/../extsPhysics", # isaac physics extensions, "${app}", # needed to find other app files - "${app}/../extensions", # needed to find extensions in orbit + "${app}/../extensions", # needed to find extensions in Isaac Lab ] # Isaac Sim Extensions diff --git a/source/apps/orbit.python.kit b/source/apps/isaaclab.python.kit similarity index 99% rename from source/apps/orbit.python.kit rename to source/apps/isaaclab.python.kit index b0beffb41a..697ffadd3a 100644 --- a/source/apps/orbit.python.kit +++ b/source/apps/isaaclab.python.kit @@ -8,7 +8,7 @@ description = "A trimmed down app for use with python standalone scripts." version = "2023.1.1" # That makes it browsable in UI with "experience" filter -keywords = ["experience", "app", "orbit", "python"] +keywords = ["experience", "app", "isaaclab", "python"] ################# # Basic Kit App # @@ -364,7 +364,7 @@ folders = [ "${exe-path}/../extscache", # isaac cache extensions "${exe-path}/../extsPhysics", # isaac physics extensions, "${app}", # needed to find other app files - "${app}/../extensions", # needed to find extensions in orbit + "${app}/../extensions", # needed to find extensions in Isaac Lab ] [settings.crashreporter.data] diff --git a/source/extensions/omni.isaac.orbit/config/extension.toml b/source/extensions/omni.isaac.lab/config/extension.toml similarity index 74% rename from source/extensions/omni.isaac.orbit/config/extension.toml rename to source/extensions/omni.isaac.lab/config/extension.toml index e58b8a9f89..c83446ccb9 100644 --- a/source/extensions/omni.isaac.orbit/config/extension.toml +++ b/source/extensions/omni.isaac.lab/config/extension.toml @@ -4,10 +4,10 @@ version = "0.16.5" # Description -title = "ORBIT framework for Robot Learning" +title = "Isaac Lab framework for Robot Learning" description="Extension providing main framework interfaces and abstractions for robot learning." readme = "docs/README.md" -repository = "https://github.com/NVIDIA-Omniverse/Orbit" +repository = "https://github.com/isaac-sim/IsaacLab" category = "robotics" keywords = ["kit", "robotics", "learning", "ai"] @@ -16,4 +16,4 @@ keywords = ["kit", "robotics", "learning", "ai"] "omni.replicator.core" = {} [[python.module]] -name = "omni.isaac.orbit" +name = "omni.isaac.lab" diff --git a/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst similarity index 70% rename from source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst rename to source/extensions/omni.isaac.lab/docs/CHANGELOG.rst index 09145797f6..82e6702537 100644 --- a/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst +++ b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst @@ -7,9 +7,9 @@ Changelog Fixed ^^^^^ -* Fixed :class:`omni.isaac.orbit.sensor.ContactSensor` not loading correctly in extension mode. - Earlier, the :attr:`omni.isaac.orbit.sensor.ContactSensor.body_physx_view` was not initialized when - :meth:`omni.isaac.orbit.sensor.ContactSensor._debug_vis_callback` is called which references it. +* Fixed :class:`omni.isaac.lab.sensor.ContactSensor` not loading correctly in extension mode. + Earlier, the :attr:`omni.isaac.lab.sensor.ContactSensor.body_physx_view` was not initialized when + :meth:`omni.isaac.lab.sensor.ContactSensor._debug_vis_callback` is called which references it. 0.16.4 (2024-05-15) @@ -19,7 +19,7 @@ Fixed ^^^^^ * Fixed compound classes being directly assigned in ``default_factory`` generator method - :meth:`omni.isaac.orbit.utils.configclass._return_f`, which resulted in shared references such that modifications to + :meth:`omni.isaac.lab.utils.configclass._return_f`, which resulted in shared references such that modifications to compound objects were reflected across all instances generated from the same ``default_factory`` method. @@ -29,7 +29,7 @@ Fixed Added ^^^^^ -* Added ``variants`` attribute to the :class:`omni.isaac.orbit.sim.from_files.UsdFileCfg` class to select USD +* Added ``variants`` attribute to the :class:`omni.isaac.lab.sim.from_files.UsdFileCfg` class to select USD variants when loading assets from USD files. @@ -39,7 +39,7 @@ Added Fixed ^^^^^ -* Fixed parsing of filter prim path expressions in the :class:`omni.isaac.orbit.sensors.ContactSensor` class. +* Fixed parsing of filter prim path expressions in the :class:`omni.isaac.lab.sensors.ContactSensor` class. Earlier, the filter prim paths given to the physics view was not being parsed since they were specified as regex expressions instead of glob expressions. @@ -50,7 +50,7 @@ Fixed Added ^^^^^ -* Added attribute :attr:`omni.isaac.orbit.sim.ArticulationRootPropertiesCfg.fix_root_link` to fix the root link +* Added attribute :attr:`omni.isaac.lab.sim.ArticulationRootPropertiesCfg.fix_root_link` to fix the root link of an articulation to the world frame. @@ -60,7 +60,7 @@ Added Added ^^^^^ -* Added the function :meth:`omni.isaac.orbit.utils.math.quat_unique` to standardize quaternion representations, +* Added the function :meth:`omni.isaac.lab.utils.math.quat_unique` to standardize quaternion representations, i.e. always have a non-negative real part. * Added events terms for randomizing mass by scale, simulation joint properties (stiffness, damping, armature, and friction) @@ -70,10 +70,10 @@ Fixed * Added clamping of joint positions and velocities in event terms for resetting joints. The simulation does not throw an error if the set values are out of their range. Hence, users are expected to clamp them before setting. -* Fixed :class:`omni.isaac.orbit.envs.mdp.EMAJointPositionToLimitsActionCfg` to smoothen the actions +* Fixed :class:`omni.isaac.lab.envs.mdp.EMAJointPositionToLimitsActionCfg` to smoothen the actions at environment frequency instead of simulation frequency. -* Renamed the following functions in :meth:`omni.isaac.orbit.envs.mdp` to avoid confusions: +* Renamed the following functions in :meth:`omni.isaac.lab.envs.mdp` to avoid confusions: * Observation: :meth:`joint_pos_norm` -> :meth:`joint_pos_limit_normalized` * Action: :class:`ExponentialMovingAverageJointPositionAction` -> :class:`EMAJointPositionToLimitsAction` @@ -87,8 +87,8 @@ Fixed Deprecated ^^^^^^^^^^ -* Deprecated the function :meth:`omni.isaac.orbit.envs.mdp.add_body_mass` in favor of - :meth:`omni.isaac.orbit.envs.mdp.randomize_rigid_body_mass`. This supports randomizing the mass based on different +* Deprecated the function :meth:`omni.isaac.lab.envs.mdp.add_body_mass` in favor of + :meth:`omni.isaac.lab.envs.mdp.randomize_rigid_body_mass`. This supports randomizing the mass based on different operations (add, scale, or set) and sampling distributions. @@ -98,7 +98,7 @@ Deprecated Changed ^^^^^^^ -* Replaced calls to the ``check_file_path`` function in the :mod:`omni.isaac.orbit.sim.spawners.from_files` +* Replaced calls to the ``check_file_path`` function in the :mod:`omni.isaac.lab.sim.spawners.from_files` with the USD stage resolve identifier function. This helps speed up the loading of assets from file paths by avoiding Nucleus server calls. @@ -109,14 +109,14 @@ Changed Added ^^^^^ -* Added the :meth:`omni.isaac.orbit.sim.SimulationContext.has_rtx_sensors` method to check if any +* Added the :meth:`omni.isaac.lab.sim.SimulationContext.has_rtx_sensors` method to check if any RTX-related sensors such as cameras have been created in the simulation. This is useful to determine if simulation requires RTX rendering during step or not. Fixed ^^^^^ -* Fixed the rendering of RTX-related sensors such as cameras inside the :class:`omni.isaac.orbit.envs.RLTaskEnv` class. +* Fixed the rendering of RTX-related sensors such as cameras inside the :class:`omni.isaac.lab.envs.RLTaskEnv` class. Earlier the rendering did not happen inside the step function, which caused the sensor data to be empty. @@ -127,7 +127,7 @@ Fixed ^^^^^ * Fixed sharing of the same memory address between returned tensors from observation terms - in the :class:`omni.isaac.orbit.managers.ObservationManager` class. Earlier, the returned + in the :class:`omni.isaac.lab.managers.ObservationManager` class. Earlier, the returned tensors could map to the same memory address, causing issues when the tensors were modified during scaling, clipping or other operations. @@ -138,7 +138,7 @@ Fixed Fixed ^^^^^ -* Fixed assignment of individual termination terms inside the :class:`omni.isaac.orbit.managers.TerminationManager` +* Fixed assignment of individual termination terms inside the :class:`omni.isaac.lab.managers.TerminationManager` class. Earlier, the terms were being assigned their values through an OR operation which resulted in incorrect values. This regression was introduced in version 0.15.1. @@ -150,7 +150,7 @@ Added ^^^^^ * Added option to define ordering of points for the mesh-grid generation in the - :func:`omni.isaac.orbit.sensors.ray_caster.patterns.grid_pattern`. This parameter defaults to 'xy' + :func:`omni.isaac.lab.sensors.ray_caster.patterns.grid_pattern`. This parameter defaults to 'xy' for backward compatibility. @@ -161,9 +161,9 @@ Added ^^^^^ * Adds option to return indices/data in the specified query keys order in - :class:`omni.isaac.orbit.managers.SceneEntityCfg` class, and the respective - :func:`omni.isaac.orbit.utils.string.resolve_matching_names_values` and - :func:`omni.isaac.orbit.utils.string.resolve_matching_names` functions. + :class:`omni.isaac.lab.managers.SceneEntityCfg` class, and the respective + :func:`omni.isaac.lab.utils.string.resolve_matching_names_values` and + :func:`omni.isaac.lab.utils.string.resolve_matching_names` functions. 0.15.6 (2024-03-28) @@ -172,15 +172,15 @@ Added Added ^^^^^ -* Extended the :class:`omni.isaac.orbit.app.AppLauncher` class to support the loading of experience files +* Extended the :class:`omni.isaac.lab.app.AppLauncher` class to support the loading of experience files from the command line. This allows users to load a specific experience file when running the application (such as for multi-camera rendering or headless mode). Changed ^^^^^^^ -* Changed default loading of experience files in the :class:`omni.isaac.orbit.app.AppLauncher` class from the ones - provided by Isaac Sim to the ones provided in Orbit's ``source/apps`` directory. +* Changed default loading of experience files in the :class:`omni.isaac.lab.app.AppLauncher` class from the ones + provided by Isaac Sim to the ones provided in Isaac Lab's ``source/apps`` directory. 0.15.5 (2024-03-23) @@ -189,7 +189,7 @@ Changed Fixed ^^^^^ -* Fixed the env origins in :meth:`_compute_env_origins_grid` of :class:`omni.isaac.orbit.terrain.TerrainImporter` +* Fixed the env origins in :meth:`_compute_env_origins_grid` of :class:`omni.isaac.lab.terrain.TerrainImporter` to match that obtained from the Isaac Sim :class:`omni.isaac.cloner.GridCloner` class. Added @@ -205,7 +205,7 @@ Added Fixed ^^^^^ -* Fixed the :class:`omni.isaac.orbit.envs.mdp.actions.NonHolonomicActionCfg` class to use +* Fixed the :class:`omni.isaac.lab.envs.mdp.actions.NonHolonomicActionCfg` class to use the correct variable when applying actions. @@ -215,14 +215,14 @@ Fixed Added ^^^^^ -* Added unit test to check that :class:`omni.isaac.orbit.scene.InteractiveScene` entity data is not shared between separate instances. +* Added unit test to check that :class:`omni.isaac.lab.scene.InteractiveScene` entity data is not shared between separate instances. Fixed ^^^^^ -* Moved class variables in :class:`omni.isaac.orbit.scene.InteractiveScene` to correctly be assigned as +* Moved class variables in :class:`omni.isaac.lab.scene.InteractiveScene` to correctly be assigned as instance variables. -* Removed custom ``__del__`` magic method from :class:`omni.isaac.orbit.scene.InteractiveScene`. +* Removed custom ``__del__`` magic method from :class:`omni.isaac.lab.scene.InteractiveScene`. 0.15.2 (2024-03-21) @@ -232,7 +232,7 @@ Fixed ^^^^^ * Added resolving of relative paths for the main asset USD file when using the - :class:`omni.isaac.orbit.sim.converters.UrdfConverter` class. This is to ensure that the material paths are + :class:`omni.isaac.lab.sim.converters.UrdfConverter` class. This is to ensure that the material paths are resolved correctly when the main asset file is moved to a different location. @@ -242,8 +242,8 @@ Fixed Fixed ^^^^^ -* Fixed the imitation learning workflow example script, updating Orbit and Robomimic API calls. -* Removed the resetting of :attr:`_term_dones` in the :meth:`omni.isaac.orbit.managers.TerminationManager.reset`. +* Fixed the imitation learning workflow example script, updating Isaac Lab and Robomimic API calls. +* Removed the resetting of :attr:`_term_dones` in the :meth:`omni.isaac.lab.managers.TerminationManager.reset`. Previously, the environment cleared out all the terms. However, it impaired reading the specific term's values externally. @@ -253,9 +253,9 @@ Fixed Deprecated ^^^^^^^^^^ -* Renamed :class:`omni.isaac.orbit.managers.RandomizationManager` to :class:`omni.isaac.orbit.managers.EventManager` +* Renamed :class:`omni.isaac.lab.managers.RandomizationManager` to :class:`omni.isaac.lab.managers.EventManager` class for clarification as the manager takes care of events such as reset in addition to pure randomizations. -* Renamed :class:`omni.isaac.orbit.managers.RandomizationTermCfg` to :class:`omni.isaac.orbit.managers.EventTermCfg` +* Renamed :class:`omni.isaac.lab.managers.RandomizationTermCfg` to :class:`omni.isaac.lab.managers.EventTermCfg` for consistency with the class name change. @@ -276,7 +276,7 @@ Added Fixed ^^^^^ -* Fixed the ordering of body names used in the :class:`omni.isaac.orbit.assets.Articulation` class. Earlier, +* Fixed the ordering of body names used in the :class:`omni.isaac.lab.assets.Articulation` class. Earlier, the body names were not following the same ordering as the bodies in the articulation. This led to issues when using the body names to access data related to the links from the articulation view (such as Jacobians, mass matrices, etc.). @@ -284,8 +284,8 @@ Fixed Removed ^^^^^^^ -* Removed the attribute :attr:`body_physx_view` from the :class:`omni.isaac.orbit.assets.RigidObject` - and :class:`omni.isaac.orbit.assets.Articulation` classes. These were causing confusions when used +* Removed the attribute :attr:`body_physx_view` from the :class:`omni.isaac.lab.assets.RigidObject` + and :class:`omni.isaac.lab.assets.Articulation` classes. These were causing confusions when used with articulation view since the body names were not following the same ordering. @@ -295,7 +295,7 @@ Removed Removed ^^^^^^^ -* Removed the :mod:`omni.isaac.orbit.compat` module. This module was used to provide compatibility +* Removed the :mod:`omni.isaac.lab.compat` module. This module was used to provide compatibility with older versions of Isaac Sim. It is no longer needed since we have most of the functionality absorbed into the main classes. @@ -306,32 +306,32 @@ Removed Added ^^^^^ -* Added support for the following data types inside the :class:`omni.isaac.orbit.sensors.Camera` class: +* Added support for the following data types inside the :class:`omni.isaac.lab.sensors.Camera` class: ``instance_segmentation_fast`` and ``instance_id_segmentation_fast``. These are GPU-supported annotations and are faster than the regular annotations. Fixed ^^^^^ -* Fixed handling of semantic filtering inside the :class:`omni.isaac.orbit.sensors.Camera` class. Earlier, +* Fixed handling of semantic filtering inside the :class:`omni.isaac.lab.sensors.Camera` class. Earlier, the annotator was given ``semanticTypes`` as an argument. However, with Isaac Sim 2023.1, the annotator does not accept this argument. Instead the mapping needs to be set to the synthetic data interface directly. * Fixed the return shape of colored images for segmentation data types inside the - :class:`omni.isaac.orbit.sensors.Camera` class. Earlier, the images were always returned as ``int32``. Now, + :class:`omni.isaac.lab.sensors.Camera` class. Earlier, the images were always returned as ``int32``. Now, they are casted to ``uint8`` 4-channel array before returning if colorization is enabled for the annotation type. Removed ^^^^^^^ * Dropped support for ``instance_segmentation`` and ``instance_id_segmentation`` annotations in the - :class:`omni.isaac.orbit.sensors.Camera` class. Their "fast" counterparts should be used instead. -* Renamed the argument :attr:`omni.isaac.orbit.sensors.CameraCfg.semantic_types` to - :attr:`omni.isaac.orbit.sensors.CameraCfg.semantic_filter`. This is more aligned with Replicator's terminology + :class:`omni.isaac.lab.sensors.Camera` class. Their "fast" counterparts should be used instead. +* Renamed the argument :attr:`omni.isaac.lab.sensors.CameraCfg.semantic_types` to + :attr:`omni.isaac.lab.sensors.CameraCfg.semantic_filter`. This is more aligned with Replicator's terminology for semantic filter predicates. -* Replaced the argument :attr:`omni.isaac.orbit.sensors.CameraCfg.colorize` with separate colorized - arguments for each annotation type (:attr:`~omni.isaac.orbit.sensors.CameraCfg.colorize_instance_segmentation`, - :attr:`~omni.isaac.orbit.sensors.CameraCfg.colorize_instance_id_segmentation`, and - :attr:`~omni.isaac.orbit.sensors.CameraCfg.colorize_semantic_segmentation`). +* Replaced the argument :attr:`omni.isaac.lab.sensors.CameraCfg.colorize` with separate colorized + arguments for each annotation type (:attr:`~omni.isaac.lab.sensors.CameraCfg.colorize_instance_segmentation`, + :attr:`~omni.isaac.lab.sensors.CameraCfg.colorize_instance_id_segmentation`, and + :attr:`~omni.isaac.lab.sensors.CameraCfg.colorize_semantic_segmentation`). 0.12.4 (2024-03-11) @@ -353,7 +353,7 @@ Fixed Fixed ^^^^^ -* Added signal handler to the :class:`omni.isaac.orbit.app.AppLauncher` class to catch the ``SIGINT`` signal +* Added signal handler to the :class:`omni.isaac.lab.app.AppLauncher` class to catch the ``SIGINT`` signal and close the application gracefully. This is to prevent the application from crashing when the user presses ``Ctrl+C`` to close the application. @@ -392,7 +392,7 @@ Added ^^^^^ * Added functionality to sample flat patches on a generated terrain. This can be configured using - :attr:`omni.isaac.orbit.terrains.SubTerrainBaseCfg.flat_patch_sampling` attribute. + :attr:`omni.isaac.lab.terrains.SubTerrainBaseCfg.flat_patch_sampling` attribute. * Added a randomization function for setting terrain-aware root state. Through this, an asset can be reset to a randomly sampled flat patches. @@ -406,7 +406,7 @@ Fixed Changed ^^^^^^^ -* Added the attribute :attr:`omni.isaac.orbit.envs.mdp.commands.UniformVelocityCommandCfg.heading_control_stiffness` +* Added the attribute :attr:`omni.isaac.lab.envs.mdp.commands.UniformVelocityCommandCfg.heading_control_stiffness` to control the stiffness of the heading control term in the velocity command term. Earlier, this was hard-coded to 0.5 inside the term. @@ -414,7 +414,7 @@ Removed ^^^^^^^ * Removed the function :meth:`sample_new_targets` in the terrain importer. Instead the attribute - :attr:`omni.isaac.orbit.terrains.TerrainImporter.flat_patches` should be used to sample new targets. + :attr:`omni.isaac.lab.terrains.TerrainImporter.flat_patches` should be used to sample new targets. 0.11.3 (2024-03-04) @@ -423,7 +423,7 @@ Removed Fixed ^^^^^ -* Corrects the functions :func:`omni.isaac.orbit.utils.math.axis_angle_from_quat` and :func:`omni.isaac.orbit.utils.math.quat_error_magnitude` +* Corrects the functions :func:`omni.isaac.lab.utils.math.axis_angle_from_quat` and :func:`omni.isaac.lab.utils.math.quat_error_magnitude` to accept tensors of the form (..., 4) instead of (N, 4). This brings us in line with our documentation and also upgrades one of our functions to handle higher dimensions. @@ -445,7 +445,7 @@ Added ^^^^^ * Replaced the default values for ``joint_ids`` and ``body_ids`` from ``None`` to ``slice(None)`` - in the :class:`omni.isaac.orbit.managers.SceneEntityCfg`. + in the :class:`omni.isaac.lab.managers.SceneEntityCfg`. * Adapted rewards and observations terms so that the users can query a subset of joints and bodies. @@ -455,7 +455,7 @@ Added Removed ^^^^^^^ -* Dropped support for Isaac Sim<=2022.2. As part of this, removed the components of :class:`omni.isaac.orbit.app.AppLauncher` +* Dropped support for Isaac Sim<=2022.2. As part of this, removed the components of :class:`omni.isaac.lab.app.AppLauncher` which handled ROS extension loading. We no longer need them in Isaac Sim>=2023.1 to control the load order to avoid crashes. * Upgraded Dockerfile to use ISAACSIM_VERSION=2023.1.1 by default. @@ -488,7 +488,7 @@ Added Added ^^^^^ -* Added a viewport camera controller class to the :class:`omni.isaac.orbit.envs.BaseEnv`. This is useful +* Added a viewport camera controller class to the :class:`omni.isaac.lab.envs.BaseEnv`. This is useful for applications where the user wants to render the viewport from different perspectives even when the simulation is running in headless mode. @@ -499,7 +499,7 @@ Added Fixed ^^^^^ -* Ensures that all path arguments in :mod:`omni.isaac.orbit.sim.utils` are cast to ``str``. Previously, +* Ensures that all path arguments in :mod:`omni.isaac.lab.sim.utils` are cast to ``str``. Previously, we had handled path types as strings without casting. @@ -509,9 +509,9 @@ Fixed Added ^^^^^ -* Added tracking of contact time in the :class:`omni.isaac.orbit.sensors.ContactSensor` class. Previously, +* Added tracking of contact time in the :class:`omni.isaac.lab.sensors.ContactSensor` class. Previously, only the air time was being tracked. -* Added contact force threshold, :attr:`omni.isaac.orbit.sensors.ContactSensorCfg.force_threshold`, to detect +* Added contact force threshold, :attr:`omni.isaac.lab.sensors.ContactSensorCfg.force_threshold`, to detect when the contact sensor is in contact. Previously, this was set to hard-coded 1.0 in the sensor class. @@ -521,7 +521,7 @@ Added Fixed ^^^^^ -* Fixes the order of size arguments in :meth:`omni.isaac.orbit.terrains.height_field.random_uniform_terrain`. Previously, the function would crash if the size along x and y were not the same. +* Fixes the order of size arguments in :meth:`omni.isaac.lab.terrains.height_field.random_uniform_terrain`. Previously, the function would crash if the size along x and y were not the same. 0.10.22 (2024-02-14) @@ -530,7 +530,7 @@ Fixed Fixed ^^^^^ -* Fixed "divide by zero" bug in :class:`~omni.isaac.orbit.sim.SimulationContext` when setting gravity vector. +* Fixed "divide by zero" bug in :class:`~omni.isaac.lab.sim.SimulationContext` when setting gravity vector. Now, it is correctly disabled when the gravity vector is set to zero. @@ -551,7 +551,7 @@ Fixed Added ^^^^^ -* Adds :attr:`omni.isaac.orbit.sim.PhysxCfg.enable_enhanced_determinism` to enable improved +* Adds :attr:`omni.isaac.lab.sim.PhysxCfg.enable_enhanced_determinism` to enable improved determinism from PhysX. Please note this comes at the expense of performance. @@ -582,7 +582,7 @@ Fixed ^^^^^^ * Fixed carb setting ``/app/livestream/enabled`` to be set as False unless live-streaming is specified - by :class:`omni.isaac.orbit.app.AppLauncher` settings. This fixes the logic of :meth:`SimulationContext.render`, + by :class:`omni.isaac.lab.app.AppLauncher` settings. This fixes the logic of :meth:`SimulationContext.render`, which depended on the config in previous versions of Isaac defaulting to false for this setting. @@ -612,7 +612,7 @@ Fixed Fixed ^^^^^ -* Fixed the tensor shape of :attr:`omni.isaac.orbit.sensors.ContactSensorData.force_matrix_w`. Earlier, the reshaping +* Fixed the tensor shape of :attr:`omni.isaac.lab.sensors.ContactSensorData.force_matrix_w`. Earlier, the reshaping led to a mismatch with the data obtained from PhysX. @@ -631,14 +631,14 @@ Fixed Fixed ^^^^^ -* Fixed indexing of source and target frames in the :class:`omni.isaac.orbit.sensors.FrameTransformer` class. +* Fixed indexing of source and target frames in the :class:`omni.isaac.lab.sensors.FrameTransformer` class. Earlier, it always assumed that the source frame body is at index 0. Now, it uses the body index of the source frame to compute the transformation. Deprecated ^^^^^^^^^^ -* Renamed quantities in the :class:`omni.isaac.orbit.sensors.FrameTransformerData` class to be more +* Renamed quantities in the :class:`omni.isaac.lab.sensors.FrameTransformerData` class to be more consistent with the terminology used in the asset classes. The following quantities are deprecated: * ``target_rot_w`` -> ``target_quat_w`` @@ -652,9 +652,9 @@ Deprecated Fixed ^^^^^ -* Fixed attribute error raised when calling the :class:`omni.isaac.orbit.envs.mdp.TerrainBasedPositionCommand` +* Fixed attribute error raised when calling the :class:`omni.isaac.lab.envs.mdp.TerrainBasedPositionCommand` command term. -* Added a dummy function in :class:`omni.isaac.orbit.terrain.TerrainImporter` that returns environment +* Added a dummy function in :class:`omni.isaac.lab.terrain.TerrainImporter` that returns environment origins as terrain-aware sampled targets. This function should be implemented by child classes based on the terrain type. @@ -665,8 +665,8 @@ Fixed Fixed ^^^^^ -* Fixed reliance on non-existent ``Viewport`` in :class:`omni.isaac.orbit.sim.SimulationContext` when loading livestreaming - by ensuring that the extension ``omni.kit.viewport.window`` is enabled in :class:`omni.isaac.orbit.app.AppLauncher` when +* Fixed reliance on non-existent ``Viewport`` in :class:`omni.isaac.lab.sim.SimulationContext` when loading livestreaming + by ensuring that the extension ``omni.kit.viewport.window`` is enabled in :class:`omni.isaac.lab.app.AppLauncher` when livestreaming is enabled @@ -686,7 +686,7 @@ Fixed Fixed ^^^^^ -* Fixed the :class:`omni.isaac.orbit.envs.mdp.actions.DifferentialInverseKinematicsAction` class +* Fixed the :class:`omni.isaac.lab.envs.mdp.actions.DifferentialInverseKinematicsAction` class to account for the offset pose of the end-effector. @@ -715,7 +715,7 @@ Fixed ^^^^^ * Fixed hiding of debug markers from secondary images when using the - :class:`omni.isaac.orbit.markers.VisualizationMarkers` class. Earlier, the properties were applied on + :class:`omni.isaac.lab.markers.VisualizationMarkers` class. Earlier, the properties were applied on the XForm prim instead of the Mesh prim. @@ -728,7 +728,7 @@ Fixed * Fixed test ``check_base_env_anymal_locomotion.py``, which previously called :func:`torch.jit.load` with the path to a policy (which would work for a local file), rather than calling - :func:`omni.isaac.orbit.utils.assets.read_file` on the path to get the file itself. + :func:`omni.isaac.lab.utils.assets.read_file` on the path to get the file itself. 0.10.4 (2023-12-14) @@ -747,7 +747,7 @@ Fixed Added ^^^^^ -* Added the attribute :attr:`omni.isaac.orbit.actuators.ActuatorNetMLPCfg.input_order` +* Added the attribute :attr:`omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_order` to specify the order of the input tensors to the MLP network. Fixed @@ -755,7 +755,7 @@ Fixed * Fixed computation of metrics for the velocity command term. Earlier, the norm was being computed over the entire batch instead of the last dimension. -* Fixed the clipping inside the :class:`omni.isaac.orbit.actuators.DCMotor` class. Earlier, it was +* Fixed the clipping inside the :class:`omni.isaac.lab.actuators.DCMotor` class. Earlier, it was not able to handle the case when configured saturation limit was set to None. @@ -765,7 +765,7 @@ Fixed Fixed ^^^^^ -* Added a check in the simulation stop callback in the :class:`omni.isaac.orbit.sim.SimulationContext` class +* Added a check in the simulation stop callback in the :class:`omni.isaac.lab.sim.SimulationContext` class to not render when an exception is raised. The while loop in the callback was preventing the application from closing when an exception was raised. @@ -776,7 +776,7 @@ Fixed Added ^^^^^ -* Added command manager class with terms defined by :class:`omni.isaac.orbit.managers.CommandTerm`. This +* Added command manager class with terms defined by :class:`omni.isaac.lab.managers.CommandTerm`. This allow for multiple types of command generators to be used in the same environment. @@ -793,9 +793,9 @@ Changed Added ^^^^^ -* Added faster implementation of USD stage traversal methods inside the :class:`omni.isaac.orbit.sim.utils` module. -* Added properties :attr:`omni.isaac.orbit.assets.AssetBase.num_instances` and - :attr:`omni.isaac.orbit.sensor.SensorBase.num_instances` to obtain the number of instances of the asset +* Added faster implementation of USD stage traversal methods inside the :class:`omni.isaac.lab.sim.utils` module. +* Added properties :attr:`omni.isaac.lab.assets.AssetBase.num_instances` and + :attr:`omni.isaac.lab.sensor.SensorBase.num_instances` to obtain the number of instances of the asset or sensor in the simulation respectively. Removed @@ -812,7 +812,7 @@ Removed Fixed ^^^^^ -* Fixed the Nucleus directory path in the :attr:`omni.isaac.orbit.utils.assets.NVIDIA_NUCLEUS_DIR`. +* Fixed the Nucleus directory path in the :attr:`omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR`. Earlier, it was referring to the ``NVIDIA/Assets`` directory instead of ``NVIDIA``. @@ -822,14 +822,14 @@ Fixed Fixed ^^^^^ -* Fixed pose computation in the :class:`omni.isaac.orbit.sensors.Camera` class to obtain them from XFormPrimView +* Fixed pose computation in the :class:`omni.isaac.lab.sensors.Camera` class to obtain them from XFormPrimView instead of using ``UsdGeomCamera.ComputeLocalToWorldTransform`` method. The latter is not updated correctly during GPU simulation. -* Fixed initialization of the annotator info in the class :class:`omni.isaac.orbit.sensors.Camera`. Previously +* Fixed initialization of the annotator info in the class :class:`omni.isaac.lab.sensors.Camera`. Previously all dicts had the same memory address which caused all annotators to have the same info. -* Fixed the conversion of ``uint32`` warp arrays inside the :meth:`omni.isaac.orbit.utils.array.convert_to_torch` +* Fixed the conversion of ``uint32`` warp arrays inside the :meth:`omni.isaac.lab.utils.array.convert_to_torch` method. PyTorch does not support this type, so it is converted to ``int32`` before converting to PyTorch tensor. -* Added render call inside :meth:`omni.isaac.orbit.sim.SimulationContext.reset` to initialize Replicator +* Added render call inside :meth:`omni.isaac.lab.sim.SimulationContext.reset` to initialize Replicator buffers when the simulation is reset. @@ -839,7 +839,7 @@ Fixed Changed ^^^^^^^ -* Changed the behavior of passing :obj:`None` to the :class:`omni.isaac.orbit.actuators.ActuatorBaseCfg` +* Changed the behavior of passing :obj:`None` to the :class:`omni.isaac.lab.actuators.ActuatorBaseCfg` class. Earlier, they were resolved to fixed default values. Now, they imply that the values are loaded from the USD joint drive configuration. @@ -855,14 +855,14 @@ Added Changed ^^^^^^^ -* Changed the warning print in :meth:`omni.isaac.orbit.sim.utils.apply_nested` method +* Changed the warning print in :meth:`omni.isaac.lab.sim.utils.apply_nested` method to be more descriptive. Earlier, it was printing a warning for every instanced prim. Now, it only prints a warning if it could not apply the attribute to any of the prims. Added ^^^^^ -* Added the method :meth:`omni.isaac.orbit.utils.assets.retrieve_file_path` to +* Added the method :meth:`omni.isaac.lab.utils.assets.retrieve_file_path` to obtain the absolute path of a file on the Nucleus server or locally. Fixed @@ -870,7 +870,7 @@ Fixed * Fixed hiding of STOP button in the :class:`AppLauncher` class when running the simulation in headless mode. -* Fixed a bug with :meth:`omni.isaac.orbit.sim.utils.clone` failing when the input prim path +* Fixed a bug with :meth:`omni.isaac.lab.sim.utils.clone` failing when the input prim path had no parent (example: "/Table"). @@ -880,7 +880,7 @@ Fixed Changed ^^^^^^^ -* Changed the :meth:`omni.isaac.orbit.sensor.SensorBase.update` method to always recompute the buffers if +* Changed the :meth:`omni.isaac.lab.sensor.SensorBase.update` method to always recompute the buffers if the sensor is in visualization mode. Added @@ -904,7 +904,7 @@ Added Removed ^^^^^^^ -* Removed :attr:`omni.isaac.orbit.sim.SimulationCfg.shutdown_app_on_stop`. The simulation is always rendering +* Removed :attr:`omni.isaac.lab.sim.SimulationCfg.shutdown_app_on_stop`. The simulation is always rendering if it is stopped from the UI. The user needs to close the window or press ``Ctrl+C`` to close the simulation. @@ -914,7 +914,7 @@ Removed Added ^^^^^ -* Added an interface class, :class:`omni.isaac.orbit.managers.ManagerTermBase`, to serve as the parent class +* Added an interface class, :class:`omni.isaac.lab.managers.ManagerTermBase`, to serve as the parent class for term implementations that are functional classes. * Adapted all managers to support terms that are classes and not just functions clearer. This allows the user to create more complex terms that require additional state information. @@ -926,7 +926,7 @@ Added Fixed ^^^^^ -* Fixed initialization of drift in the :class:`omni.isaac.orbit.sensors.RayCasterCamera` class. +* Fixed initialization of drift in the :class:`omni.isaac.lab.sensors.RayCasterCamera` class. 0.9.47 (2023-11-24) @@ -935,8 +935,8 @@ Fixed Fixed ^^^^^ -* Automated identification of the root prim in the :class:`omni.isaac.orbit.assets.RigidObject` and - :class:`omni.isaac.orbit.assets.Articulation` classes. Earlier, the root prim was hard-coded to +* Automated identification of the root prim in the :class:`omni.isaac.lab.assets.RigidObject` and + :class:`omni.isaac.lab.assets.Articulation` classes. Earlier, the root prim was hard-coded to the spawn prim path. Now, the class searches for the root prim under the spawn prim path. @@ -958,7 +958,7 @@ Fixed Added ^^^^^ -* Added :class:`omni.isaac.orbit.command_generators.UniformPoseCommandGenerator` to generate +* Added :class:`omni.isaac.lab.command_generators.UniformPoseCommandGenerator` to generate poses in the asset's root frame by uniformly sampling from a given range. @@ -968,7 +968,7 @@ Added Added ^^^^^ -* Added methods :meth:`reset` and :meth:`step` to the :class:`omni.isaac.orbit.envs.BaseEnv`. This unifies +* Added methods :meth:`reset` and :meth:`step` to the :class:`omni.isaac.lab.envs.BaseEnv`. This unifies the environment interface for simple standalone applications with the class. @@ -978,8 +978,8 @@ Added Fixed ^^^^^ -* Replaced subscription of physics play and stop events in the :class:`omni.isaac.orbit.assets.AssetBase` and - :class:`omni.isaac.orbit.sensors.SensorBase` classes with subscription to time-line play and stop events. +* Replaced subscription of physics play and stop events in the :class:`omni.isaac.lab.assets.AssetBase` and + :class:`omni.isaac.lab.sensors.SensorBase` classes with subscription to time-line play and stop events. This is to prevent issues in cases where physics first needs to perform mesh cooking and handles are not available immediately. For instance, with deformable meshes. @@ -1038,14 +1038,14 @@ Fixed Changed ^^^^^^^ -* Upgraded the :class:`omni.isaac.orbit.envs.RLTaskEnv` class to support Gym 0.29.0 environment definition. +* Upgraded the :class:`omni.isaac.lab.envs.RLTaskEnv` class to support Gym 0.29.0 environment definition. Added ^^^^^ * Added computation of ``time_outs`` and ``terminated`` signals inside the termination manager. These follow the definition mentioned in `Gym 0.29.0 `_. -* Added proper handling of observation and action spaces in the :class:`omni.isaac.orbit.envs.RLTaskEnv` class. +* Added proper handling of observation and action spaces in the :class:`omni.isaac.lab.envs.RLTaskEnv` class. These now follow closely to how Gym VecEnv handles the spaces. @@ -1055,7 +1055,7 @@ Added Fixed ^^^^^ -* Fixed broken visualization in :mod:`omni.isaac.orbit.sensors.FrameTramsformer` class by overwriting the +* Fixed broken visualization in :mod:`omni.isaac.lab.sensors.FrameTramsformer` class by overwriting the correct ``_debug_vis_callback`` function. * Moved the visualization marker configurations of sensors to their respective sensor configuration classes. This allows users to set these configurations from the configuration object itself. @@ -1067,8 +1067,8 @@ Fixed Fixed ^^^^^ -* Added explicit deleting of different managers in the :class:`omni.isaac.orbit.envs.BaseEnv` and - :class:`omni.isaac.orbit.envs.RLTaskEnv` classes. This is required since deleting the managers +* Added explicit deleting of different managers in the :class:`omni.isaac.lab.envs.BaseEnv` and + :class:`omni.isaac.lab.envs.RLTaskEnv` classes. This is required since deleting the managers is order-sensitive (many managers need to be deleted before the scene is deleted). @@ -1079,7 +1079,7 @@ Fixed ^^^^^ * Fixed the error: ``'str' object has no attribute '__module__'`` introduced by adding the future import inside the - :mod:`omni.isaac.orbit.utils.warp.kernels` module. Warp language does not support the ``__future__`` imports. + :mod:`omni.isaac.lab.utils.warp.kernels` module. Warp language does not support the ``__future__`` imports. 0.9.34 (2023-11-02) @@ -1088,7 +1088,7 @@ Fixed Fixed ^^^^^ -* Added missing import of ``from __future__ import annotations`` in the :mod:`omni.isaac.orbit.utils.warp` +* Added missing import of ``from __future__ import annotations`` in the :mod:`omni.isaac.lab.utils.warp` module. This is needed to have a consistent behavior across Python versions. @@ -1098,7 +1098,7 @@ Fixed Fixed ^^^^^ -* Fixed the :class:`omni.isaac.orbit.command_generators.NullCommandGenerator` class. Earlier, +* Fixed the :class:`omni.isaac.lab.command_generators.NullCommandGenerator` class. Earlier, it was having a runtime error due to infinity in the resampling time range. Now, the class just overrides the parent methods to perform no operations. @@ -1109,7 +1109,7 @@ Fixed Changed ^^^^^^^ -* Renamed the :class:`omni.isaac.orbit.envs.RLEnv` class to :class:`omni.isaac.orbit.envs.RLTaskEnv` to +* Renamed the :class:`omni.isaac.lab.envs.RLEnv` class to :class:`omni.isaac.lab.envs.RLTaskEnv` to avoid confusions in terminologies between environments and tasks. @@ -1119,7 +1119,7 @@ Changed Added ^^^^^ -* Added the :class:`omni.isaac.orbit.sensors.RayCasterCamera` class, as a ray-casting based camera for +* Added the :class:`omni.isaac.lab.sensors.RayCasterCamera` class, as a ray-casting based camera for "distance_to_camera", "distance_to_image_plane" and "normals" annotations. It has the same interface and functionalities as the USD Camera while it is on average 30% faster. @@ -1142,7 +1142,7 @@ Fixed Fixed ^^^^^ -* Fixed the material path resolution inside the :class:`omni.isaac.orbit.sim.converters.UrdfConverter` class. +* Fixed the material path resolution inside the :class:`omni.isaac.lab.sim.converters.UrdfConverter` class. With Isaac Sim 2023.1, the material paths from the importer are always saved as absolute paths. This caused issues when the generated USD file was moved to a different location. The fix now resolves the material paths relative to the USD file location. @@ -1154,7 +1154,7 @@ Fixed Changed ^^^^^^^ -* Changed the way the :func:`omni.isaac.orbit.sim.spawners.from_files.spawn_ground_plane` function sets the +* Changed the way the :func:`omni.isaac.lab.sim.spawners.from_files.spawn_ground_plane` function sets the height of the ground. Earlier, it was reading the height from the configuration object. Now, it expects the desired transformation as inputs to the function. This makes it consistent with the other spawner functions. @@ -1171,10 +1171,10 @@ Changed Fixed ^^^^^ -* Fixed the selection of material prim in the :class:`omni.isaac.orbit.sim.spawners.materials.spawn_preview_surface` +* Fixed the selection of material prim in the :class:`omni.isaac.lab.sim.spawners.materials.spawn_preview_surface` method. Earlier, the created prim was being selected in the viewport which interfered with the selection of prims by the user. -* Updated :class:`omni.isaac.orbit.sim.converters.MeshConverter` to use a different stage than the default stage +* Updated :class:`omni.isaac.lab.sim.converters.MeshConverter` to use a different stage than the default stage for the conversion. This is to avoid the issue of the stage being closed when the conversion is done. @@ -1184,7 +1184,7 @@ Fixed Added ^^^^^ -* Added the sensor implementation for :class:`omni.isaac.orbit.sensors.FrameTransformer` class. Currently, +* Added the sensor implementation for :class:`omni.isaac.lab.sensors.FrameTransformer` class. Currently, it handles obtaining the transformation between two frames in the same articulation. @@ -1194,10 +1194,10 @@ Added Added ^^^^^ -* Added the :mod:`omni.isaac.orbit.envs.ui` module to put all the UI-related classes in one place. This currently - implements the :class:`omni.isaac.orbit.envs.ui.BaseEnvWindow` and :class:`omni.isaac.orbit.envs.ui.RLEnvWindow` +* Added the :mod:`omni.isaac.lab.envs.ui` module to put all the UI-related classes in one place. This currently + implements the :class:`omni.isaac.lab.envs.ui.BaseEnvWindow` and :class:`omni.isaac.lab.envs.ui.RLEnvWindow` classes. Users can inherit from these classes to create their own UI windows. -* Added the attribute :attr:`omni.isaac.orbit.envs.BaseEnvCfg.ui_window_class_type` to specify the UI window class +* Added the attribute :attr:`omni.isaac.lab.envs.BaseEnvCfg.ui_window_class_type` to specify the UI window class to be used for the environment. This allows the user to specify their own UI window class to be used for the environment. @@ -1230,15 +1230,15 @@ Fixed Added ^^^^^ -* Added a :class:`omni.isaac.orbit.command_generators.NullCommandGenerator` class for no command environments. +* Added a :class:`omni.isaac.lab.command_generators.NullCommandGenerator` class for no command environments. This is easier to work with than having checks for :obj:`None` in the command generator. Fixed ^^^^^ -* Moved the randomization manager to the :class:`omni.isaac.orbit.envs.BaseEnv` class with the default +* Moved the randomization manager to the :class:`omni.isaac.lab.envs.BaseEnv` class with the default settings to reset the scene to the defaults specified in the configurations of assets. -* Moved command generator to the :class:`omni.isaac.orbit.envs.RlEnv` class to have all task-specification +* Moved command generator to the :class:`omni.isaac.lab.envs.RlEnv` class to have all task-specification related classes in the same place. @@ -1260,11 +1260,11 @@ Fixed Fixed ^^^^^ -* Changed naming in :class:`omni.isaac.orbit.sim.SimulationContext.RenderMode` to use ``NO_GUI_OR_RENDERING`` +* Changed naming in :class:`omni.isaac.lab.sim.SimulationContext.RenderMode` to use ``NO_GUI_OR_RENDERING`` and ``NO_RENDERING`` instead of ``HEADLESS`` for clarity. -* Changed :class:`omni.isaac.orbit.sim.SimulationContext` to be capable of handling livestreaming and +* Changed :class:`omni.isaac.lab.sim.SimulationContext` to be capable of handling livestreaming and offscreen rendering. -* Changed :class:`omni.isaac.orbit.app.AppLauncher` envvar ``VIEWPORT_RECORD`` to the more descriptive +* Changed :class:`omni.isaac.lab.app.AppLauncher` envvar ``VIEWPORT_RECORD`` to the more descriptive ``OFFSCREEN_RENDER``. @@ -1274,7 +1274,7 @@ Fixed Added ^^^^^ -* Added Gym observation and action spaces for the :class:`omni.isaac.orbit.envs.RLEnv` class. +* Added Gym observation and action spaces for the :class:`omni.isaac.lab.envs.RLEnv` class. 0.9.18 (2023-10-23) @@ -1283,16 +1283,16 @@ Added Added ^^^^^ -* Created :class:`omni.issac.orbit.sim.converters.asset_converter.AssetConverter` to serve as a base +* Created :class:`omni.issac.lab.sim.converters.asset_converter.AssetConverter` to serve as a base class for all asset converters. -* Added :class:`omni.issac.orbit.sim.converters.mesh_converter.MeshConverter` to handle loading and conversion +* Added :class:`omni.issac.lab.sim.converters.mesh_converter.MeshConverter` to handle loading and conversion of mesh files (OBJ, STL and FBX) into USD format. * Added script ``convert_mesh.py`` to ``source/tools`` to allow users to convert a mesh to USD via command line arguments. Changed ^^^^^^^ -* Renamed the submodule :mod:`omni.isaac.orbit.sim.loaders` to :mod:`omni.isaac.orbit.sim.converters` to be more +* Renamed the submodule :mod:`omni.isaac.lab.sim.loaders` to :mod:`omni.isaac.lab.sim.converters` to be more general with the functionality of the module. * Updated ``check_instanceable.py`` script to convert relative paths to absolute paths. @@ -1306,7 +1306,7 @@ Added * Added setters and getters for term configurations in the :class:`RandomizationManager`, :class:`RewardManager` and :class:`TerminationManager` classes. This allows the user to modify the term configurations after the manager has been created. -* Added the method :meth:`compute_group` to the :class:`omni.isaac.orbit.managers.ObservationManager` class to +* Added the method :meth:`compute_group` to the :class:`omni.isaac.lab.managers.ObservationManager` class to compute the observations for only a given group. * Added the curriculum term for modifying reward weights after certain environment steps. @@ -1317,7 +1317,7 @@ Added Added ^^^^^ -* Added support for keyword arguments for terms in the :class:`omni.isaac.orbit.managers.ManagerBase`. +* Added support for keyword arguments for terms in the :class:`omni.isaac.lab.managers.ManagerBase`. Fixed ^^^^^ @@ -1332,15 +1332,15 @@ Fixed Added ^^^^^ -* Added base yaw heading and body acceleration into :class:`omni.isaac.orbit.assets.RigidObjectData` class. +* Added base yaw heading and body acceleration into :class:`omni.isaac.lab.assets.RigidObjectData` class. These quantities are computed inside the :class:`RigidObject` class. Fixed ^^^^^ -* Fixed the :meth:`omni.isaac.orbit.assets.RigidObject.set_external_force_and_torque` method to correctly +* Fixed the :meth:`omni.isaac.lab.assets.RigidObject.set_external_force_and_torque` method to correctly deal with the body indices. -* Fixed a bug in the :meth:`omni.isaac.orbit.utils.math.wrap_to_pi` method to prevent self-assignment of +* Fixed a bug in the :meth:`omni.isaac.lab.utils.math.wrap_to_pi` method to prevent self-assignment of the input tensor. @@ -1350,15 +1350,15 @@ Fixed Added ^^^^^ -* Added 2-D drift (i.e. along x and y) to the :class:`omni.isaac.orbit.sensors.RayCaster` class. -* Added flags to the :class:`omni.isaac.orbit.sensors.ContactSensorCfg` to optionally obtain the +* Added 2-D drift (i.e. along x and y) to the :class:`omni.isaac.lab.sensors.RayCaster` class. +* Added flags to the :class:`omni.isaac.lab.sensors.ContactSensorCfg` to optionally obtain the sensor origin and air time information. Since these are not required by default, they are disabled by default. Fixed ^^^^^ -* Fixed the handling of contact sensor history buffer in the :class:`omni.isaac.orbit.sensors.ContactSensor` class. +* Fixed the handling of contact sensor history buffer in the :class:`omni.isaac.lab.sensors.ContactSensor` class. Earlier, the buffer was not being updated correctly. @@ -1379,7 +1379,7 @@ Fixed ^^^^^ * Fixed bugs in actuator model implementation for actuator nets. Earlier the DC motor clipping was not working. -* Fixed bug in applying actuator model in the :class:`omni.isaac.orbit.asset.Articulation` class. The new +* Fixed bug in applying actuator model in the :class:`omni.isaac.lab.asset.Articulation` class. The new implementation caches the outputs from explicit actuator model into the ``joint_pos_*_sim`` buffer to avoid feedback loops in the tensor operation. @@ -1390,7 +1390,7 @@ Fixed Added ^^^^^ -* Added the support for semantic tags into the :class:`omni.isaac.orbit.sim.spawner.SpawnerCfg` class. This allows +* Added the support for semantic tags into the :class:`omni.isaac.lab.sim.spawner.SpawnerCfg` class. This allows the user to specify the semantic tags for a prim when spawning it into the scene. It follows the same format as Omniverse Replicator. @@ -1401,14 +1401,14 @@ Added Added ^^^^^ -* Added ``--livestream`` and ``--ros`` CLI args to :class:`omni.isaac.orbit.app.AppLauncher` class. -* Added a static function :meth:`omni.isaac.orbit.app.AppLauncher.add_app_launcher_args`, which - appends the arguments needed for :class:`omni.isaac.orbit.app.AppLauncher` to the argument parser. +* Added ``--livestream`` and ``--ros`` CLI args to :class:`omni.isaac.lab.app.AppLauncher` class. +* Added a static function :meth:`omni.isaac.lab.app.AppLauncher.add_app_launcher_args`, which + appends the arguments needed for :class:`omni.isaac.lab.app.AppLauncher` to the argument parser. Changed ^^^^^^^ -* Within :class:`omni.isaac.orbit.app.AppLauncher`, removed ``REMOTE_DEPLOYMENT`` env-var processing +* Within :class:`omni.isaac.lab.app.AppLauncher`, removed ``REMOTE_DEPLOYMENT`` env-var processing in the favor of ``HEADLESS`` and ``LIVESTREAM`` env-vars. These have clearer uses and better parity with the CLI args. @@ -1419,14 +1419,14 @@ Changed Added ^^^^^ -* Added the property :attr:`omni.isaac.orbit.assets.Articulation.is_fixed_base` to the articulation class to +* Added the property :attr:`omni.isaac.lab.assets.Articulation.is_fixed_base` to the articulation class to check if the base of the articulation is fixed or floating. * Added the task-space action term corresponding to the differential inverse-kinematics controller. Fixed ^^^^^ -* Simplified the :class:`omni.isaac.orbit.controllers.DifferentialIKController` to assume that user provides the +* Simplified the :class:`omni.isaac.lab.controllers.DifferentialIKController` to assume that user provides the correct end-effector poses and Jacobians. Earlier it was doing internal frame transformations which made the code more complicated and error-prone. @@ -1448,8 +1448,8 @@ Fixed Fixed ^^^^^ -* Modified the :class:`omni.isaac.orbit.markers.VisualizationMarkers` to use the - :class:`omni.isaac.orbit.sim.spawner.SpawnerCfg` class instead of their +* Modified the :class:`omni.isaac.lab.markers.VisualizationMarkers` to use the + :class:`omni.isaac.lab.sim.spawner.SpawnerCfg` class instead of their own configuration objects. This makes it consistent with the other ways to spawn assets in the scene. Added @@ -1485,21 +1485,21 @@ Changed Added ^^^^^ -* Added :class:`omni.isaac.orbit.scene.InteractiveScene`, as the central scene unit that contains all entities +* Added :class:`omni.isaac.lab.scene.InteractiveScene`, as the central scene unit that contains all entities that are part of the simulation. These include the terrain, sensors, articulations, rigid objects etc. The scene groups the common operations of these entities and allows to access them via their unique names. -* Added :mod:`omni.isaac.orbit.envs` module that contains environment definitions that encapsulate the different +* Added :mod:`omni.isaac.lab.envs` module that contains environment definitions that encapsulate the different general (scene, action manager, observation manager) and RL-specific (reward and termination manager) managers. -* Added :class:`omni.isaac.orbit.managers.SceneEntityCfg` to handle which scene elements are required by the +* Added :class:`omni.isaac.lab.managers.SceneEntityCfg` to handle which scene elements are required by the manager's terms. This allows the manager to parse useful information from the scene elements, such as the joint and body indices, and pass them to the term. -* Added :class:`omni.isaac.orbit.sim.SimulationContext.RenderMode` to handle different rendering modes based on +* Added :class:`omni.isaac.lab.sim.SimulationContext.RenderMode` to handle different rendering modes based on what the user wants to update (viewport, cameras, or UI elements). Fixed ^^^^^ -* Fixed the :class:`omni.isaac.orbit.command_generators.CommandGeneratorBase` to register a debug visualization +* Fixed the :class:`omni.isaac.lab.command_generators.CommandGeneratorBase` to register a debug visualization callback similar to how sensors and robots handle visualization. @@ -1510,16 +1510,16 @@ Added ^^^^^ * Enabled the `faulthander `_ to catch segfaults and print - the stack trace. This is enabled by default in the :class:`omni.isaac.orbit.app.AppLauncher` class. + the stack trace. This is enabled by default in the :class:`omni.isaac.lab.app.AppLauncher` class. Fixed ^^^^^ -* Re-added the :mod:`omni.isaac.orbit.utils.kit` to the ``compat`` directory and fixed all the references to it. -* Fixed the deletion of Replicator nodes for the :class:`omni.isaac.orbit.sensors.Camera` class. Earlier, the +* Re-added the :mod:`omni.isaac.lab.utils.kit` to the ``compat`` directory and fixed all the references to it. +* Fixed the deletion of Replicator nodes for the :class:`omni.isaac.lab.sensors.Camera` class. Earlier, the Replicator nodes were not being deleted when the camera was deleted. However, this does not prevent the random crashes that happen when the camera is deleted. -* Fixed the :meth:`omni.isaac.orbit.utils.math.convert_quat` to support both numpy and torch tensors. +* Fixed the :meth:`omni.isaac.lab.utils.math.convert_quat` to support both numpy and torch tensors. Changed ^^^^^^^ @@ -1536,14 +1536,14 @@ Changed Added ^^^^^ -* Added the ability to color meshes in the :class:`omni.isaac.orbit.terrain.TerrainGenerator` class. Currently, +* Added the ability to color meshes in the :class:`omni.isaac.lab.terrain.TerrainGenerator` class. Currently, it only supports coloring the mesh randomly (``"random"``), based on the terrain height (``"height"``), and no coloring (``"none"``). Fixed ^^^^^ -* Modified the :class:`omni.isaac.orbit.terrain.TerrainImporter` class to configure visual and physics materials +* Modified the :class:`omni.isaac.lab.terrain.TerrainImporter` class to configure visual and physics materials based on the configuration object. @@ -1553,24 +1553,24 @@ Fixed Added ^^^^^ -* Introduced three different rotation conventions in the :class:`omni.isaac.orbit.sensors.Camera` class. These +* Introduced three different rotation conventions in the :class:`omni.isaac.lab.sensors.Camera` class. These conventions are: * ``opengl``: the camera is looking down the -Z axis with the +Y axis pointing up * ``ros``: the camera is looking down the +Z axis with the +Y axis pointing down * ``world``: the camera is looking along the +X axis with the -Z axis pointing down - These can be used to declare the camera offset in :class:`omni.isaac.orbit.sensors.CameraCfg.OffsetCfg` class - and in :meth:`omni.isaac.orbit.sensors.Camera.set_world_pose` method. Additionally, all conventions are - saved to :class:`omni.isaac.orbit.sensors.CameraData` class for easy access. + These can be used to declare the camera offset in :class:`omni.isaac.lab.sensors.CameraCfg.OffsetCfg` class + and in :meth:`omni.isaac.lab.sensors.Camera.set_world_pose` method. Additionally, all conventions are + saved to :class:`omni.isaac.lab.sensors.CameraData` class for easy access. Changed ^^^^^^^ -* Adapted all the sensor classes to follow a structure similar to the :class:`omni.issac.orbit.assets.AssetBase`. +* Adapted all the sensor classes to follow a structure similar to the :class:`omni.issac.lab.assets.AssetBase`. Hence, the spawning and initialization of sensors manually by the users is avoided. * Removed the :meth:`debug_vis` function since that this functionality is handled by a render callback automatically - (based on the passed configuration for the :class:`omni.isaac.orbit.sensors.SensorBaseCfg.debug_vis` flag). + (based on the passed configuration for the :class:`omni.isaac.lab.sensors.SensorBaseCfg.debug_vis` flag). 0.9.0 (2023-08-18) @@ -1582,7 +1582,7 @@ Added * Introduces a new set of asset interfaces. These interfaces simplify the spawning of assets into the scene and initializing the physics handle by putting that inside post-startup physics callbacks. With this, users no longer need to worry about the :meth:`spawn` and :meth:`initialize` calls. -* Added utility methods to :mod:`omni.isaac.orbit.utils.string` module that resolve regex expressions based +* Added utility methods to :mod:`omni.isaac.lab.utils.string` module that resolve regex expressions based on passed list of target keys. Changed @@ -1604,7 +1604,7 @@ Deprecated Added ^^^^^ -* Added other properties provided by ``PhysicsScene`` to the :class:`omni.isaac.orbit.sim.SimulationContext` +* Added other properties provided by ``PhysicsScene`` to the :class:`omni.isaac.lab.sim.SimulationContext` class to allow setting CCD, solver iterations, etc. * Added commonly used functions to the :class:`SimulationContext` class itself to avoid having additional imports from Isaac Sim when doing simple tasks such as setting camera view or retrieving the simulation settings. @@ -1612,7 +1612,7 @@ Added Fixed ^^^^^ -* Switched the notations of default buffer values in :class:`omni.isaac.orbit.sim.PhysxCfg` from multiplication +* Switched the notations of default buffer values in :class:`omni.isaac.lab.sim.PhysxCfg` from multiplication to scientific notation to avoid confusion with the values. @@ -1622,14 +1622,14 @@ Fixed Added ^^^^^ -* Adds utility functions and configuration objects in the :mod:`omni.isaac.orbit.sim.spawners` +* Adds utility functions and configuration objects in the :mod:`omni.isaac.lab.sim.spawners` to create the following prims in the scene: - * :mod:`omni.isaac.orbit.sim.spawners.from_file`: Create a prim from a USD/URDF file. - * :mod:`omni.isaac.orbit.sim.spawners.shapes`: Create USDGeom prims for shapes (box, sphere, cylinder, capsule, etc.). - * :mod:`omni.isaac.orbit.sim.spawners.materials`: Create a visual or physics material prim. - * :mod:`omni.isaac.orbit.sim.spawners.lights`: Create a USDLux prim for different types of lights. - * :mod:`omni.isaac.orbit.sim.spawners.sensors`: Create a USD prim for supported sensors. + * :mod:`omni.isaac.lab.sim.spawners.from_file`: Create a prim from a USD/URDF file. + * :mod:`omni.isaac.lab.sim.spawners.shapes`: Create USDGeom prims for shapes (box, sphere, cylinder, capsule, etc.). + * :mod:`omni.isaac.lab.sim.spawners.materials`: Create a visual or physics material prim. + * :mod:`omni.isaac.lab.sim.spawners.lights`: Create a USDLux prim for different types of lights. + * :mod:`omni.isaac.lab.sim.spawners.sensors`: Create a USD prim for supported sensors. Changed ^^^^^^^ @@ -1644,7 +1644,7 @@ Changed Added ^^^^^ -* Added methods for defining different physics-based schemas in the :mod:`omni.isaac.orbit.sim.schemas` module. +* Added methods for defining different physics-based schemas in the :mod:`omni.isaac.lab.sim.schemas` module. These methods allow creating the schema if it doesn't exist at the specified prim path and modify its properties based on the configuration object. @@ -1655,7 +1655,7 @@ Added Changed ^^^^^^^ -* Moved the :class:`omni.isaac.orbit.asset_loader.UrdfLoader` class to the :mod:`omni.isaac.orbit.sim.loaders` +* Moved the :class:`omni.isaac.lab.asset_loader.UrdfLoader` class to the :mod:`omni.isaac.lab.sim.loaders` module to make it more accessible to the user. @@ -1666,7 +1666,7 @@ Added ^^^^^ * Added configuration classes and functions for setting different physics-based schemas in the - :mod:`omni.isaac.orbit.sim.schemas` module. These allow modifying properties of the physics solver + :mod:`omni.isaac.lab.sim.schemas` module. These allow modifying properties of the physics solver on the asset using configuration objects. @@ -1677,7 +1677,7 @@ Fixed ^^^^^ * Added support for `__post_init__ `_ in - the :class:`omni.isaac.orbit.utils.configclass` decorator. + the :class:`omni.isaac.lab.utils.configclass` decorator. 0.8.6 (2023-08-03) @@ -1686,7 +1686,7 @@ Fixed Added ^^^^^ -* Added support for callable classes in the :class:`omni.isaac.orbit.managers.ManagerBase`. +* Added support for callable classes in the :class:`omni.isaac.lab.managers.ManagerBase`. 0.8.5 (2023-08-03) @@ -1695,12 +1695,12 @@ Added Fixed ^^^^^ -* Fixed the :class:`omni.isaac.orbit.markers.Visualizationmarkers` class so that the markers are not visible in camera rendering mode. +* Fixed the :class:`omni.isaac.lab.markers.Visualizationmarkers` class so that the markers are not visible in camera rendering mode. Changed ^^^^^^^ -* Simplified the creation of the point instancer in the :class:`omni.isaac.orbit.markers.Visualizationmarkers` class. It now creates a new +* Simplified the creation of the point instancer in the :class:`omni.isaac.lab.markers.Visualizationmarkers` class. It now creates a new prim at the next available prim path if a prim already exists at the given path. @@ -1710,7 +1710,7 @@ Changed Added ^^^^^ -* Added the :class:`omni.isaac.orbit.sim.SimulationContext` class to the :mod:`omni.isaac.orbit.sim` module. +* Added the :class:`omni.isaac.lab.sim.SimulationContext` class to the :mod:`omni.isaac.lab.sim` module. This class inherits from the :class:`omni.isaac.core.simulation_context.SimulationContext` class and adds the ability to create a simulation context from a configuration object. @@ -1721,8 +1721,8 @@ Added Changed ^^^^^^^ -* Moved the :class:`ActuatorBase` class to the :mod:`omni.isaac.orbit.actuators.actuator_base` module. -* Renamed the :mod:`omni.isaac.orbit.actuators.actuator` module to :mod:`omni.isaac.orbit.actuators.actuator_pd` +* Moved the :class:`ActuatorBase` class to the :mod:`omni.isaac.lab.actuators.actuator_base` module. +* Renamed the :mod:`omni.isaac.lab.actuators.actuator` module to :mod:`omni.isaac.lab.actuators.actuator_pd` to make it more explicit that it contains the PD actuator models. @@ -1732,7 +1732,7 @@ Changed Changed ^^^^^^^ -* Cleaned up the :class:`omni.isaac.orbit.terrain.TerrainImporter` class to take all the parameters from the configuration +* Cleaned up the :class:`omni.isaac.lab.terrain.TerrainImporter` class to take all the parameters from the configuration object. This makes it consistent with the other classes in the package. * Moved the configuration classes for terrain generator and terrain importer into separate files to resolve circular dependency issues. @@ -1744,13 +1744,13 @@ Changed Fixed ^^^^^ -* Added a hack into :class:`omni.isaac.orbit.app.AppLauncher` class to remove orbit packages from the path before launching +* Added a hack into :class:`omni.isaac.lab.app.AppLauncher` class to remove Isaac Lab packages from the path before launching the simulation application. This prevents the warning messages that appears when the user launches the ``SimulationApp``. Added ^^^^^ -* Enabled necessary viewport extensions in the :class:`omni.isaac.orbit.app.AppLauncher` class itself if ``VIEWPORT_ENABLED`` +* Enabled necessary viewport extensions in the :class:`omni.isaac.lab.app.AppLauncher` class itself if ``VIEWPORT_ENABLED`` flag is true. @@ -1760,15 +1760,15 @@ Added Added ^^^^^ -* Added the :class:`ActionManager` class to the :mod:`omni.isaac.orbit.managers` module to handle actions in the +* Added the :class:`ActionManager` class to the :mod:`omni.isaac.lab.managers` module to handle actions in the environment through action terms. -* Added contact force history to the :class:`omni.isaac.orbit.sensors.ContactSensor` class. The history is stored +* Added contact force history to the :class:`omni.isaac.lab.sensors.ContactSensor` class. The history is stored in the ``net_forces_w_history`` attribute of the sensor data. Changed ^^^^^^^ -* Implemented lazy update of buffers in the :class:`omni.isaac.orbit.sensors.SensorBase` class. This allows the user +* Implemented lazy update of buffers in the :class:`omni.isaac.lab.sensors.SensorBase` class. This allows the user to update the sensor data only when required, i.e. when the data is requested by the user. This helps avoid double computation of sensor data when a reset is called in the environment. @@ -1776,7 +1776,7 @@ Deprecated ^^^^^^^^^^ * Removed the support for different backends in the sensor class. We only use Pytorch as the backend now. -* Removed the concept of actuator groups. They are now handled by the :class:`omni.isaac.orbit.managers.ActionManager` +* Removed the concept of actuator groups. They are now handled by the :class:`omni.isaac.lab.managers.ActionManager` class. The actuator models are now directly handled by the robot class itself. @@ -1786,14 +1786,14 @@ Deprecated Changed ^^^^^^^ -* Changed the behavior of the :class:`omni.isaac.orbit.terrains.TerrainImporter` class. It now expects the terrain +* Changed the behavior of the :class:`omni.isaac.lab.terrains.TerrainImporter` class. It now expects the terrain type to be specified in the configuration object. This allows the user to specify everything in the configuration object and not have to do an explicit call to import a terrain. Fixed ^^^^^ -* Fixed setting of quaternion orientations inside the :class:`omni.isaac.orbit.markers.Visualizationmarkers` class. +* Fixed setting of quaternion orientations inside the :class:`omni.isaac.lab.markers.Visualizationmarkers` class. Earlier, the orientation was being set into the point instancer in the wrong order (``wxyz`` instead of ``xyzw``). @@ -1803,7 +1803,7 @@ Fixed Fixed ^^^^^ -* Fixed the issue with multiple inheritance in the :class:`omni.isaac.orbit.utils.configclass` decorator. +* Fixed the issue with multiple inheritance in the :class:`omni.isaac.lab.utils.configclass` decorator. Earlier, if the inheritance tree was more than one level deep and the lowest level configuration class was not updating its values from the middle level classes. @@ -1814,14 +1814,14 @@ Fixed Added ^^^^^ -* Added the method :meth:`replace` to the :class:`omni.isaac.orbit.utils.configclass` decorator to allow +* Added the method :meth:`replace` to the :class:`omni.isaac.lab.utils.configclass` decorator to allow creating a new configuration object with values replaced from keyword arguments. This function internally calls the `dataclasses.replace `_. Fixed ^^^^^ -* Fixed the handling of class types as member values in the :meth:`omni.isaac.orbit.utils.configclass`. Earlier it was +* Fixed the handling of class types as member values in the :meth:`omni.isaac.lab.utils.configclass`. Earlier it was throwing an error since class types were skipped in the if-else block. @@ -1832,7 +1832,7 @@ Added ^^^^^ * Added the :class:`TerminationManager`, :class:`CurriculumManager`, and :class:`RandomizationManager` classes - to the :mod:`omni.isaac.orbit.managers` module to handle termination, curriculum, and randomization respectively. + to the :mod:`omni.isaac.lab.managers` module to handle termination, curriculum, and randomization respectively. 0.7.0 (2023-07-22) @@ -1841,10 +1841,10 @@ Added Added ^^^^^ -* Created a new :mod:`omni.isaac.orbit.managers` module for all the managers related to the environment / scene. - This includes the :class:`omni.isaac.orbit.managers.ObservationManager` and :class:`omni.isaac.orbit.managers.RewardManager` - classes that were previously in the :mod:`omni.isaac.orbit.utils.mdp` module. -* Added the :class:`omni.isaac.orbit.managers.ManagerBase` class to handle the creation of managers. +* Created a new :mod:`omni.isaac.lab.managers` module for all the managers related to the environment / scene. + This includes the :class:`omni.isaac.lab.managers.ObservationManager` and :class:`omni.isaac.lab.managers.RewardManager` + classes that were previously in the :mod:`omni.isaac.lab.utils.mdp` module. +* Added the :class:`omni.isaac.lab.managers.ManagerBase` class to handle the creation of managers. * Added configuration classes for :class:`ObservationTermCfg` and :class:`RewardTermCfg` to allow easy creation of observation and reward terms. @@ -1854,8 +1854,8 @@ Changed * Changed the behavior of :class:`ObservationManager` and :class:`RewardManager` classes to accept the key ``func`` in each configuration term to be a callable. This removes the need to inherit from the base class and allows more reusability of the functions across different environments. -* Moved the old managers to the :mod:`omni.isaac.orbit.compat.utils.mdp` module. -* Modified the necessary scripts to use the :mod:`omni.isaac.orbit.compat.utils.mdp` module. +* Moved the old managers to the :mod:`omni.isaac.lab.compat.utils.mdp` module. +* Modified the necessary scripts to use the :mod:`omni.isaac.lab.compat.utils.mdp` module. 0.6.2 (2023-07-21) @@ -1864,7 +1864,7 @@ Changed Added ^^^^^ -* Added the :mod:`omni.isaac.orbit.command_generators` to generate different commands based on the desired task. +* Added the :mod:`omni.isaac.lab.command_generators` to generate different commands based on the desired task. It allows the user to generate commands for different tasks in the same environment without having to write custom code for each task. @@ -1875,12 +1875,12 @@ Added Fixed ^^^^^ -* Fixed the :meth:`omni.isaac.orbit.utils.math.quat_apply_yaw` to compute the yaw quaternion correctly. +* Fixed the :meth:`omni.isaac.lab.utils.math.quat_apply_yaw` to compute the yaw quaternion correctly. Added ^^^^^ -* Added functions to convert string and callable objects in :mod:`omni.isaac.orbit.utils.string`. +* Added functions to convert string and callable objects in :mod:`omni.isaac.lab.utils.string`. 0.6.0 (2023-07-16) @@ -1889,23 +1889,23 @@ Added Added ^^^^^ -* Added the argument :attr:`sort_keys` to the :meth:`omni.isaac.orbit.utils.io.yaml.dump_yaml` method to allow +* Added the argument :attr:`sort_keys` to the :meth:`omni.isaac.lab.utils.io.yaml.dump_yaml` method to allow enabling/disabling of sorting of keys in the output yaml file. Fixed ^^^^^ -* Fixed the ordering of terms in :mod:`omni.isaac.orbit.utils.configclass` to be consistent in the order in which +* Fixed the ordering of terms in :mod:`omni.isaac.lab.utils.configclass` to be consistent in the order in which they are defined. Previously, the ordering was done alphabetically which made it inconsistent with the order in which the parameters were defined. Changed ^^^^^^^ -* Changed the default value of the argument :attr:`sort_keys` in the :meth:`omni.isaac.orbit.utils.io.yaml.dump_yaml` +* Changed the default value of the argument :attr:`sort_keys` in the :meth:`omni.isaac.lab.utils.io.yaml.dump_yaml` method to ``False``. -* Moved the old config classes in :mod:`omni.isaac.orbit.utils.configclass` to - :mod:`omni.isaac.orbit.compat.utils.configclass` so that users can still run their old code where alphabetical +* Moved the old config classes in :mod:`omni.isaac.lab.utils.configclass` to + :mod:`omni.isaac.lab.compat.utils.configclass` so that users can still run their old code where alphabetical ordering was used. @@ -1915,17 +1915,17 @@ Changed Added ^^^^^ -* Added a generalized :class:`omni.isaac.orbit.sensors.SensorBase` class that leverages the ideas of views to +* Added a generalized :class:`omni.isaac.lab.sensors.SensorBase` class that leverages the ideas of views to handle multiple sensors in a single class. -* Added the classes :class:`omni.isaac.orbit.sensors.RayCaster`, :class:`omni.isaac.orbit.sensors.ContactSensor`, - and :class:`omni.isaac.orbit.sensors.Camera` that output a batched tensor of sensor data. +* Added the classes :class:`omni.isaac.lab.sensors.RayCaster`, :class:`omni.isaac.lab.sensors.ContactSensor`, + and :class:`omni.isaac.lab.sensors.Camera` that output a batched tensor of sensor data. Changed ^^^^^^^ * Renamed the parameter ``sensor_tick`` to ``update_freq`` to make it more intuitive. -* Moved the old sensors in :mod:`omni.isaac.orbit.sensors` to :mod:`omni.isaac.orbit.compat.sensors`. -* Modified the standalone scripts to use the :mod:`omni.isaac.orbit.compat.sensors` module. +* Moved the old sensors in :mod:`omni.isaac.lab.sensors` to :mod:`omni.isaac.lab.compat.sensors`. +* Modified the standalone scripts to use the :mod:`omni.isaac.lab.compat.sensors` module. 0.4.4 (2023-07-05) @@ -1934,15 +1934,15 @@ Changed Fixed ^^^^^ -* Fixed the :meth:`omni.isaac.orbit.terrains.trimesh.utils.make_plane` method to handle the case when the +* Fixed the :meth:`omni.isaac.lab.terrains.trimesh.utils.make_plane` method to handle the case when the plane origin does not need to be centered. -* Added the :attr:`omni.isaac.orbit.terrains.TerrainGeneratorCfg.seed` to make generation of terrains reproducible. +* Added the :attr:`omni.isaac.lab.terrains.TerrainGeneratorCfg.seed` to make generation of terrains reproducible. The default value is ``None`` which means that the seed is not set. Changed ^^^^^^^ -* Changed the saving of ``origins`` in :class:`omni.isaac.orbit.terrains.TerrainGenerator` class to be in CSV format +* Changed the saving of ``origins`` in :class:`omni.isaac.lab.terrains.TerrainGenerator` class to be in CSV format instead of NPY format. @@ -1952,15 +1952,15 @@ Changed Added ^^^^^ -* Added the :class:`omni.isaac.orbit.markers.PointInstancerMarker` class that wraps around +* Added the :class:`omni.isaac.lab.markers.PointInstancerMarker` class that wraps around `UsdGeom.PointInstancer `_ to directly work with torch and numpy arrays. Changed ^^^^^^^ -* Moved the old markers in :mod:`omni.isaac.orbit.markers` to :mod:`omni.isaac.orbit.compat.markers`. -* Modified the standalone scripts to use the :mod:`omni.isaac.orbit.compat.markers` module. +* Moved the old markers in :mod:`omni.isaac.lab.markers` to :mod:`omni.isaac.lab.compat.markers`. +* Modified the standalone scripts to use the :mod:`omni.isaac.lab.compat.markers` module. 0.4.2 (2023-06-28) @@ -1969,21 +1969,21 @@ Changed Added ^^^^^ -* Added the sub-module :mod:`omni.isaac.orbit.terrains` to allow procedural generation of terrains and supporting +* Added the sub-module :mod:`omni.isaac.lab.terrains` to allow procedural generation of terrains and supporting importing of terrains from different sources (meshes, usd files or default ground plane). 0.4.1 (2023-06-27) ~~~~~~~~~~~~~~~~~~ -* Added the :class:`omni.isaac.orbit.app.AppLauncher` class to allow controlled instantiation of +* Added the :class:`omni.isaac.lab.app.AppLauncher` class to allow controlled instantiation of the `SimulationApp `_ and extension loading for remote deployment and ROS bridges. Changed ^^^^^^^ -* Modified all standalone scripts to use the :class:`omni.isaac.orbit.app.AppLauncher` class. +* Modified all standalone scripts to use the :class:`omni.isaac.lab.app.AppLauncher` class. 0.4.0 (2023-05-27) @@ -1992,7 +1992,7 @@ Changed Added ^^^^^ -* Added a helper class :class:`omni.isaac.orbit.asset_loader.UrdfLoader` that converts a URDF file to instanceable USD +* Added a helper class :class:`omni.isaac.lab.asset_loader.UrdfLoader` that converts a URDF file to instanceable USD file based on the input configuration object. @@ -2002,7 +2002,7 @@ Added Fixed ^^^^^ -* Added safe-printing of functions while using the :meth:`omni.isaac.orbit.utils.dict.print_dict` function. +* Added safe-printing of functions while using the :meth:`omni.isaac.lab.utils.dict.print_dict` function. 0.3.1 (2023-04-23) @@ -2042,8 +2042,8 @@ Added Fixed ^^^^^ -* Fixed bugs in :meth:`axis_angle_from_quat` in the ``omni.isaac.orbit.utils.math`` to handle quaternion with negative w component. -* Fixed bugs in :meth:`subtract_frame_transforms` in the ``omni.isaac.orbit.utils.math`` by adding the missing final rotation. +* Fixed bugs in :meth:`axis_angle_from_quat` in the ``omni.isaac.lab.utils.math`` to handle quaternion with negative w component. +* Fixed bugs in :meth:`subtract_frame_transforms` in the ``omni.isaac.lab.utils.math`` by adding the missing final rotation. 0.2.7 (2023-04-07) @@ -2086,7 +2086,7 @@ Fixed Added ^^^^^ -* Added :meth:`apply_nested_physics_material` to the ``omni.isaac.orbit.utils.kit``. +* Added :meth:`apply_nested_physics_material` to the ``omni.isaac.lab.utils.kit``. * Added the :meth:`sample_cylinder` to sample points from a cylinder's surface. * Added documentation about the issue in using instanceable asset as markers. @@ -2148,7 +2148,7 @@ Added Fixed ^^^^^ -* Fixed setting of physics material on the ground plane when using :meth:`omni.isaac.orbit.utils.kit.create_ground_plane` function. +* Fixed setting of physics material on the ground plane when using :meth:`omni.isaac.lab.utils.kit.create_ground_plane` function. 0.1.0 (2023-01-17) diff --git a/source/extensions/omni.isaac.orbit/docs/README.md b/source/extensions/omni.isaac.lab/docs/README.md similarity index 83% rename from source/extensions/omni.isaac.orbit/docs/README.md rename to source/extensions/omni.isaac.lab/docs/README.md index 5ecc6e08fb..bca1b8ff40 100644 --- a/source/extensions/omni.isaac.orbit/docs/README.md +++ b/source/extensions/omni.isaac.lab/docs/README.md @@ -1,6 +1,6 @@ -# Orbit: Framework +# Isaac Lab: Framework -Orbit includes its own set of interfaces and wrappers around Isaac Sim classes. One of the main goals behind this +Isaac Lab includes its own set of interfaces and wrappers around Isaac Sim classes. One of the main goals behind this decision is to have a unified description for different systems. While isaac Sim tries to be general for a wider variety of simulation requires, our goal has been to specialize these for learning requirements. These include features such as augmenting simulators with non-ideal actuator models, managing different observation and reward diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/__init__.py similarity index 54% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/__init__.py index ae52536b0d..9e806129b9 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/__init__.py @@ -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 @@ -9,11 +9,11 @@ import toml # Conveniences to other module directories via relative paths -ORBIT_EXT_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../../")) +ISAACLAB_EXT_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../../")) """Path to the extension source directory.""" -ORBIT_METADATA = toml.load(os.path.join(ORBIT_EXT_DIR, "config", "extension.toml")) +ISAACLAB_METADATA = toml.load(os.path.join(ISAACLAB_EXT_DIR, "config", "extension.toml")) """Extension metadata dictionary parsed from the extension.toml file.""" # Configure the module-level variables -__version__ = ORBIT_METADATA["package"]["version"] +__version__ = ISAACLAB_METADATA["package"]["version"] diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/__init__.py similarity index 84% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/__init__.py index 2c99e870e0..092eac931e 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/__init__.py @@ -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 @@ -17,9 +17,9 @@ - **Physics-based**: Derives the motor models based on first-principles. - **Neural Network-based**: Learned motor models from actuator data. -Every actuator model inherits from the :class:`omni.isaac.orbit.actuators.ActuatorBase` class, +Every actuator model inherits from the :class:`omni.isaac.lab.actuators.ActuatorBase` class, which defines the common interface for all actuator models. The actuator models are handled -and called by the :class:`omni.isaac.orbit.assets.Articulation` class. +and called by the :class:`omni.isaac.lab.assets.Articulation` class. """ from .actuator_base import ActuatorBase diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/actuator_base.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/actuator_base.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py index c7520941f3..4d53fc048b 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/actuator_base.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py @@ -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 @@ -12,7 +12,7 @@ from omni.isaac.core.utils.types import ArticulationActions -import omni.isaac.orbit.utils.string as string_utils +import omni.isaac.lab.utils.string as string_utils if TYPE_CHECKING: from .actuator_cfg import ActuatorBaseCfg @@ -34,7 +34,7 @@ class ActuatorBase(ABC): for which the actuator model is applied. These names can be specified as regular expressions, which are matched against the joint names in the articulation. - To see how the class is used, check the :class:`omni.isaac.orbit.assets.Articulation` class. + To see how the class is used, check the :class:`omni.isaac.lab.assets.Articulation` class. """ computed_effort: torch.Tensor diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/actuator_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py similarity index 95% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/actuator_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py index 6d38cf98e8..103ce55cb0 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/actuator_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py @@ -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 @@ -7,7 +7,7 @@ from dataclasses import MISSING from typing import Literal -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass from . import actuator_net, actuator_pd from .actuator_base import ActuatorBase @@ -20,7 +20,7 @@ class ActuatorBaseCfg: class_type: type[ActuatorBase] = MISSING """The associated actuator class. - The class should inherit from :class:`omni.isaac.orbit.actuators.ActuatorBase`. + The class should inherit from :class:`omni.isaac.lab.actuators.ActuatorBase`. """ joint_names_expr: list[str] = MISSING diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/actuator_net.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/actuator_net.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py index da452394a8..5cf034679d 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/actuator_net.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py @@ -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 @@ -20,7 +20,7 @@ from omni.isaac.core.utils.types import ArticulationActions -from omni.isaac.orbit.utils.assets import read_file +from omni.isaac.lab.utils.assets import read_file from .actuator_pd import DCMotor diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/actuator_pd.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py similarity index 99% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/actuator_pd.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py index ba33805234..6ac00f57ff 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/actuator_pd.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/app/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/app/__init__.py similarity index 85% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/app/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/app/__init__.py index f6706ab647..2c7fd98169 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/app/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/app/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/app/app_launcher.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py similarity index 96% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/app/app_launcher.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py index 694a98f602..ffab12492d 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/app/app_launcher.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py @@ -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 @@ -157,12 +157,12 @@ def add_app_launcher_args(parser: argparse.ArgumentParser) -> None: map the same as that for the ``OFFSCREEN_RENDER`` environment variable. If False, then offscreen-render mode is determined by the ``OFFSCREEN_RENDER`` environment variable. * ``experience`` (str): The experience file to load when launching the SimulationApp. If a relative path - is provided, it is resolved relative to the ``apps`` folder in Isaac Sim and Orbit (in that order). + is provided, it is resolved relative to the ``apps`` folder in Isaac Sim and Isaac Lab (in that order). If provided as an empty string, the experience file is determined based on the headless flag: - * If headless is True, the experience file is set to ``orbit.python.headless.kit``. - * If headless is False, the experience file is set to ``orbit.python.kit``. + * If headless is True, the experience file is set to ``isaaclab.python.headless.kit``. + * If headless is False, the experience file is set to ``isaaclab.python.kit``. Args: parser: An argument parser instance to be extended with the AppLauncher specific options. @@ -234,7 +234,7 @@ def add_app_launcher_args(parser: argparse.ArgumentParser) -> None: help=( "The experience file to load when launching the SimulationApp. If an empty string is provided," " the experience file is determined based on the headless flag. If a relative path is provided," - " it is resolved relative to the `apps` folder in Isaac Sim and Orbit (in that order)." + " it is resolved relative to the `apps` folder in Isaac Sim and Isaac Lab (in that order)." ), ) @@ -438,16 +438,16 @@ def _config_resolution(self, launcher_args: dict): # If nothing is provided resolve the experience file based on the headless flag kit_app_exp_path = os.environ["EXP_PATH"] - orbit_app_exp_path = os.path.join(os.environ["ORBIT_PATH"], "source", "apps") + isaaclab_app_exp_path = os.path.join(os.environ["ISAACLAB_PATH"], "source", "apps") if self._sim_experience_file == "": # check if the headless flag is set if self._headless and not self._livestream: - self._sim_experience_file = os.path.join(orbit_app_exp_path, "orbit.python.headless.kit") + self._sim_experience_file = os.path.join(isaaclab_app_exp_path, "isaaclab.python.headless.kit") else: - self._sim_experience_file = os.path.join(orbit_app_exp_path, "orbit.python.kit") + self._sim_experience_file = os.path.join(isaaclab_app_exp_path, "isaaclab.python.kit") elif not os.path.isabs(self._sim_experience_file): option_1_app_exp_path = os.path.join(kit_app_exp_path, self._sim_experience_file) - option_2_app_exp_path = os.path.join(orbit_app_exp_path, self._sim_experience_file) + option_2_app_exp_path = os.path.join(isaaclab_app_exp_path, self._sim_experience_file) if os.path.exists(option_1_app_exp_path): self._sim_experience_file = option_1_app_exp_path elif os.path.exists(option_2_app_exp_path): @@ -455,7 +455,7 @@ def _config_resolution(self, launcher_args: dict): else: raise FileNotFoundError( f"Invalid value for input keyword argument `experience`: {self._sim_experience_file}." - "\n No such file exists in either the Kit or Orbit experience paths. Checked paths:" + "\n No such file exists in either the Kit or Isaac Lab experience paths. Checked paths:" f"\n\t [1]: {option_1_app_exp_path}" f"\n\t [2]: {option_2_app_exp_path}" ) @@ -477,17 +477,17 @@ def _create_app(self): # Initialize SimulationApp # hack sys module to make sure that the SimulationApp is initialized correctly # this is to avoid the warnings from the simulation app about not ok modules - r = re.compile(".*orbit.*") + r = re.compile(".*lab.*") found_modules = list(filter(r.match, list(sys.modules.keys()))) found_modules += ["omni.isaac.kit.app_framework"] - # remove orbit modules from sys.modules + # remove Isaac Lab modules from sys.modules hacked_modules = dict() for key in found_modules: hacked_modules[key] = sys.modules[key] del sys.modules[key] # launch simulation app self._app = SimulationApp(self._sim_app_config, experience=self._sim_experience_file) - # add orbit modules back to sys.modules + # add Isaac Lab modules back to sys.modules for key, value in hacked_modules.items(): sys.modules[key] = value @@ -529,15 +529,15 @@ def _load_extensions(self): else: carb_settings_iface.set_bool("/app/livestream/enabled", False) - # set carb setting to indicate orbit's offscreen_render pipeline should be enabled + # set carb setting to indicate Isaac Lab's offscreen_render pipeline should be enabled # this flag is used by the SimulationContext class to enable the offscreen_render pipeline # when the render() method is called. - carb_settings_iface.set_bool("/orbit/render/offscreen", self._offscreen_render) + carb_settings_iface.set_bool("/isaaclab/render/offscreen", self._offscreen_render) # set carb setting to indicate no RTX sensors are used # this flag is set to True when an RTX-rendering related sensor is created # for example: the `Camera` sensor class - carb_settings_iface.set_bool("/orbit/render/rtx_sensors", False) + carb_settings_iface.set_bool("/isaaclab/render/rtx_sensors", False) # enable extensions for off-screen rendering # Depending on the app file, some extensions might not be available in it. diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/app/runners.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/app/runners.py similarity index 88% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/app/runners.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/app/runners.py index 79ca1bb74d..a19e3d1489 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/app/runners.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/app/runners.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/__init__.py similarity index 95% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/assets/__init__.py index 7dee02799b..0b983a2f71 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/__init__.py @@ -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 @@ -14,7 +14,7 @@ :attr:`AssetBaseCfg.spawn` attribute. In case the configured :attr:`AssetBaseCfg.prim_path` is an expression, then the prim is spawned at all the matching paths. Otherwise, a single prim is spawned at the configured path. For more information on the spawn configuration, see the -:mod:`omni.isaac.orbit.sim.spawners` module. +:mod:`omni.isaac.lab.sim.spawners` module. The asset class also registers callbacks for the stage play/stop events. These are used to construct the physics handles for the asset as the physics engine is only available when the diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/articulation/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/__init__.py similarity index 80% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/articulation/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/__init__.py index 57c8bc6c0a..20f7581a68 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/articulation/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/articulation/articulation.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/articulation/articulation.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py index 2fad18b1fa..eb550dfe4e 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/articulation/articulation.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py @@ -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 @@ -19,10 +19,10 @@ from omni.isaac.core.utils.types import ArticulationActions from pxr import UsdPhysics -import omni.isaac.orbit.sim as sim_utils -import omni.isaac.orbit.utils.math as math_utils -import omni.isaac.orbit.utils.string as string_utils -from omni.isaac.orbit.actuators import ActuatorBase, ActuatorBaseCfg, ImplicitActuator +import omni.isaac.lab.sim as sim_utils +import omni.isaac.lab.utils.math as math_utils +import omni.isaac.lab.utils.string as string_utils +from omni.isaac.lab.actuators import ActuatorBase, ActuatorBaseCfg, ImplicitActuator from ..rigid_object import RigidObject from .articulation_data import ArticulationData @@ -55,7 +55,7 @@ class Articulation(RigidObject): The articulation class also provides the functionality to augment the simulation of an articulated system with custom actuator models. These models can either be explicit or implicit, as detailed in - the :mod:`omni.isaac.orbit.actuators` module. The actuator models are specified using the + the :mod:`omni.isaac.lab.actuators` module. The actuator models are specified using the :attr:`ArticulationCfg.actuators` attribute. These are then parsed and used to initialize the corresponding actuator models, when the simulation is played. @@ -232,7 +232,7 @@ def find_joints( ) -> tuple[list[int], list[str]]: """Find joints in the articulation based on the name keys. - Please see the :func:`omni.isaac.orbit.utils.string.resolve_matching_names` function for more information + Please see the :func:`omni.isaac.lab.utils.string.resolve_matching_names` function for more information on the name matching. Args: diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/articulation/articulation_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_cfg.py similarity index 88% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/articulation/articulation_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_cfg.py index 7a41da92f4..57b0958159 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/articulation/articulation_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_cfg.py @@ -1,12 +1,12 @@ -# 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 from dataclasses import MISSING -from omni.isaac.orbit.actuators import ActuatorBaseCfg -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.actuators import ActuatorBaseCfg +from omni.isaac.lab.utils import configclass from ..rigid_object import RigidObjectCfg from .articulation import Articulation diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/articulation/articulation_data.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/articulation/articulation_data.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py index 647e434e73..5eb5922adc 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/articulation/articulation_data.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/asset_base.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/asset_base.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py index a7046ab026..c9669ca257 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/asset_base.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py @@ -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 @@ -15,7 +15,7 @@ import omni.kit.app import omni.timeline -import omni.isaac.orbit.sim as sim_utils +import omni.isaac.lab.sim as sim_utils if TYPE_CHECKING: from .asset_base_cfg import AssetBaseCfg @@ -37,7 +37,7 @@ class AssetBase(ABC): is defined in the :attr:`AssetBaseCfg.spawn` attribute. In case the configured :attr:`AssetBaseCfg.prim_path` is an expression, then the prim is spawned at all the matching paths. Otherwise, a single prim is spawned at the configured path. For more information on the spawn configuration, see the - :mod:`omni.isaac.orbit.sim.spawners` module. + :mod:`omni.isaac.lab.sim.spawners` module. Unlike Isaac Sim interface, where one usually needs to call the :meth:`omni.isaac.core.prims.XFormPrimView.initialize` method to initialize the PhysX handles, the asset diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/asset_base_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py similarity index 91% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/asset_base_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py index 723cf4ab54..6bea572dcb 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/asset_base_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py @@ -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 @@ -6,8 +6,8 @@ from dataclasses import MISSING from typing import Literal -from omni.isaac.orbit.sim import SpawnerCfg -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.sim import SpawnerCfg +from omni.isaac.lab.utils import configclass from .asset_base import AssetBase @@ -42,7 +42,7 @@ class InitialStateCfg: class_type: type[AssetBase] = MISSING """The associated asset class. - The class should inherit from :class:`omni.isaac.orbit.assets.asset_base.AssetBase`. + The class should inherit from :class:`omni.isaac.lab.assets.asset_base.AssetBase`. """ prim_path: str = MISSING diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/rigid_object/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/__init__.py similarity index 79% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/rigid_object/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/__init__.py index af5856ed00..83e325fff3 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/rigid_object/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/rigid_object/rigid_object.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py similarity index 97% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/rigid_object/rigid_object.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py index d88df6d587..677d0eb679 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/rigid_object/rigid_object.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py @@ -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 @@ -14,9 +14,9 @@ import omni.physics.tensors.impl.api as physx from pxr import UsdPhysics -import omni.isaac.orbit.sim as sim_utils -import omni.isaac.orbit.utils.math as math_utils -import omni.isaac.orbit.utils.string as string_utils +import omni.isaac.lab.sim as sim_utils +import omni.isaac.lab.utils.math as math_utils +import omni.isaac.lab.utils.string as string_utils from ..asset_base import AssetBase from .rigid_object_data import RigidObjectData @@ -39,7 +39,7 @@ class RigidObject(AssetBase): .. note:: For users familiar with Isaac Sim, the PhysX view class API is not the exactly same as Isaac Sim view - class API. Similar to Orbit, Isaac Sim wraps around the PhysX view API. However, as of now (2023.1 release), + class API. Similar to Isaac Lab, Isaac Sim wraps around the PhysX view API. However, as of now (2023.1 release), we see a large difference in initializing the view classes in Isaac Sim. This is because the view classes in Isaac Sim perform additional USD-related operations which are slow and also not required. @@ -151,7 +151,7 @@ def update(self, dt: float): def find_bodies(self, name_keys: str | Sequence[str], preserve_order: bool = False) -> tuple[list[int], list[str]]: """Find bodies in the articulation based on the name keys. - Please check the :meth:`omni.isaac.orbit.utils.string_utils.resolve_matching_names` function for more + Please check the :meth:`omni.isaac.lab.utils.string_utils.resolve_matching_names` function for more information on the name matching. Args: diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/rigid_object/rigid_object_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.py similarity index 89% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/rigid_object/rigid_object_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.py index 3ae4bc8047..87d87c4bf4 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/rigid_object/rigid_object_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass from ..asset_base_cfg import AssetBaseCfg from .rigid_object import RigidObject diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/rigid_object/rigid_object_data.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/rigid_object/rigid_object_data.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py index 88eec3aa40..47fbc3c9d3 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/rigid_object/rigid_object_data.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/__init__.py similarity index 90% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/__init__.py index bd9a234ca5..e97b0ac0ab 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/config/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/config/__init__.py similarity index 51% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/config/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/config/__init__.py index 57c4f5a685..c3ee657052 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/config/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/config/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/config/data/lula_franka_gen.urdf b/source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/config/data/lula_franka_gen.urdf similarity index 100% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/config/data/lula_franka_gen.urdf rename to source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/config/data/lula_franka_gen.urdf diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/config/rmp_flow.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/config/rmp_flow.py similarity index 91% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/config/rmp_flow.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/config/rmp_flow.py index becc6d835a..c35a418cc0 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/config/rmp_flow.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/config/rmp_flow.py @@ -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 @@ -7,7 +7,7 @@ from omni.isaac.core.utils.extensions import get_extension_path_from_name -from omni.isaac.orbit.controllers.rmp_flow import RmpFlowControllerCfg +from omni.isaac.lab.controllers.rmp_flow import RmpFlowControllerCfg # Note: RMP-Flow config files for supported robots are stored in the motion_generation extension _RMP_CONFIG_DIR = os.path.join(get_extension_path_from_name("omni.isaac.motion_generation"), "motion_policy_configs") diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/differential_ik.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/differential_ik.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py index f1829ef89a..cbb32e1a7e 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/differential_ik.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py @@ -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 @@ -8,7 +8,7 @@ import torch from typing import TYPE_CHECKING -from omni.isaac.orbit.utils.math import apply_delta_pose, compute_pose_error +from omni.isaac.lab.utils.math import apply_delta_pose, compute_pose_error if TYPE_CHECKING: from .differential_ik_cfg import DifferentialIKControllerCfg diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/differential_ik_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik_cfg.py similarity index 96% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/differential_ik_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik_cfg.py index 976fb2da6c..deb770393c 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/differential_ik_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik_cfg.py @@ -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 @@ -6,7 +6,7 @@ from dataclasses import MISSING from typing import Literal -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass from .differential_ik import DifferentialIKController diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/joint_impedance.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/joint_impedance.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/joint_impedance.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/joint_impedance.py index ebbe78b396..a87749ebed 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/joint_impedance.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/joint_impedance.py @@ -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 @@ -7,7 +7,7 @@ from collections.abc import Sequence from dataclasses import MISSING -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass @configclass diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/operational_space.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/operational_space.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/operational_space.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/operational_space.py index 1db1927e16..5b57b14c5a 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/operational_space.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/operational_space.py @@ -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 @@ -7,8 +7,8 @@ from collections.abc import Sequence from dataclasses import MISSING -from omni.isaac.orbit.utils import configclass -from omni.isaac.orbit.utils.math import apply_delta_pose, compute_pose_error +from omni.isaac.lab.utils import configclass +from omni.isaac.lab.utils.math import apply_delta_pose, compute_pose_error @configclass diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/rmp_flow.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/rmp_flow.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/rmp_flow.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/rmp_flow.py index e9eb4f2ce0..25b4bfa78a 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/rmp_flow.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/rmp_flow.py @@ -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 @@ -12,7 +12,7 @@ from omni.isaac.motion_generation import ArticulationMotionPolicy from omni.isaac.motion_generation.lula.motion_policies import RmpFlow, RmpFlowSmoothed -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass @configclass diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/__init__.py similarity index 94% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/devices/__init__.py index 3edbae82ee..c81d32b081 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/device_base.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/device_base.py similarity index 95% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/device_base.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/devices/device_base.py index 71b81fa143..b518b7680c 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/device_base.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/device_base.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/gamepad/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/__init__.py similarity index 75% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/gamepad/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/__init__.py index 77c47edb9c..856d15fcf3 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/gamepad/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/gamepad/se2_gamepad.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py similarity index 99% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/gamepad/se2_gamepad.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py index 8f7d16010f..ec23ed9ed5 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/gamepad/se2_gamepad.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/gamepad/se3_gamepad.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py similarity index 99% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/gamepad/se3_gamepad.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py index 5a9a4c6dfd..a299709d73 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/gamepad/se3_gamepad.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/keyboard/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/__init__.py similarity index 76% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/keyboard/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/__init__.py index daa794357c..d11334fa8b 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/keyboard/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/keyboard/se2_keyboard.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py similarity index 99% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/keyboard/se2_keyboard.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py index 97874ce561..287a6f1725 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/keyboard/se2_keyboard.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/keyboard/se3_keyboard.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py similarity index 99% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/keyboard/se3_keyboard.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py index 0e6f5cc7eb..6985676914 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/keyboard/se3_keyboard.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/spacemouse/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/__init__.py similarity index 76% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/spacemouse/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/__init__.py index 21300a7fd8..e5fb19402b 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/spacemouse/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/spacemouse/se2_spacemouse.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/spacemouse/se2_spacemouse.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py index f0713412e7..1d7d468a4f 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/spacemouse/se2_spacemouse.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/spacemouse/se3_spacemouse.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py similarity index 99% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/spacemouse/se3_spacemouse.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py index c134b921b8..6f72fcac3a 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/spacemouse/se3_spacemouse.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/spacemouse/utils.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/utils.py similarity index 97% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/spacemouse/utils.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/utils.py index 64027b2e5a..fc6cda1b7d 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/devices/spacemouse/utils.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/utils.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/__init__.py similarity index 94% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/__init__.py index d94013df2f..3d7ff8604f 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/base_env.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/base_env.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/base_env.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/base_env.py index cc54afc93e..0493977ed6 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/base_env.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/base_env.py @@ -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 @@ -12,10 +12,10 @@ import carb import omni.isaac.core.utils.torch as torch_utils -from omni.isaac.orbit.managers import ActionManager, EventManager, ObservationManager -from omni.isaac.orbit.scene import InteractiveScene -from omni.isaac.orbit.sim import SimulationContext -from omni.isaac.orbit.utils.timer import Timer +from omni.isaac.lab.managers import ActionManager, EventManager, ObservationManager +from omni.isaac.lab.scene import InteractiveScene +from omni.isaac.lab.sim import SimulationContext +from omni.isaac.lab.utils.timer import Timer from .base_env_cfg import BaseEnvCfg from .ui import ViewportCameraController @@ -142,7 +142,7 @@ def __init__(self, cfg: BaseEnvCfg): # we need to do this here after all the managers are initialized # this is because they dictate the sensors and commands right now if self.sim.has_gui() and self.cfg.ui_window_class_type is not None: - self._window = self.cfg.ui_window_class_type(self, window_name="Orbit") + self._window = self.cfg.ui_window_class_type(self, window_name="IsaacLab") else: # if no window, then we don't need to store the window self._window = None diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/base_env_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/base_env_cfg.py similarity index 82% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/base_env_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/base_env_cfg.py index 1c3b339bff..d8ba91251d 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/base_env_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/base_env_cfg.py @@ -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 @@ -12,11 +12,11 @@ from dataclasses import MISSING from typing import Literal -import omni.isaac.orbit.envs.mdp as mdp -from omni.isaac.orbit.managers import EventTermCfg as EventTerm -from omni.isaac.orbit.scene import InteractiveSceneCfg -from omni.isaac.orbit.sim import SimulationCfg -from omni.isaac.orbit.utils import configclass +import omni.isaac.lab.envs.mdp as mdp +from omni.isaac.lab.managers import EventTermCfg as EventTerm +from omni.isaac.lab.scene import InteractiveSceneCfg +from omni.isaac.lab.sim import SimulationCfg +from omni.isaac.lab.utils import configclass from .ui import BaseEnvWindow @@ -93,7 +93,7 @@ class BaseEnvCfg: Note: If you want to make your own UI window, you can create a class that inherits from - from :class:`omni.isaac.orbit.envs.ui.base_env_window.BaseEnvWindow`. Then, you can set + from :class:`omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow`. Then, you can set this attribute to your class type. """ @@ -109,25 +109,25 @@ class BaseEnvCfg: scene: InteractiveSceneCfg = MISSING """Scene settings. - Please refer to the :class:`omni.isaac.orbit.scene.InteractiveSceneCfg` class for more details. + Please refer to the :class:`omni.isaac.lab.scene.InteractiveSceneCfg` class for more details. """ observations: object = MISSING """Observation space settings. - Please refer to the :class:`omni.isaac.orbit.managers.ObservationManager` class for more details. + Please refer to the :class:`omni.isaac.lab.managers.ObservationManager` class for more details. """ actions: object = MISSING """Action space settings. - Please refer to the :class:`omni.isaac.orbit.managers.ActionManager` class for more details. + Please refer to the :class:`omni.isaac.lab.managers.ActionManager` class for more details. """ events: object = DefaultEventManagerCfg() """Event settings. Defaults to the basic configuration that resets the scene to its default state. - Please refer to the :class:`omni.isaac.orbit.managers.EventManager` class for more details. + Please refer to the :class:`omni.isaac.lab.managers.EventManager` class for more details. """ randomization: object | None = None diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/__init__.py similarity index 93% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/__init__.py index ea259a5900..f46bf684b6 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/__init__.py similarity index 83% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/__init__.py index 52eccc4017..25ee037000 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/actions_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py similarity index 96% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/actions_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py index 0b316bd451..79f7f6c880 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/actions_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py @@ -1,13 +1,13 @@ -# 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 from dataclasses import MISSING -from omni.isaac.orbit.controllers import DifferentialIKControllerCfg -from omni.isaac.orbit.managers.action_manager import ActionTerm, ActionTermCfg -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.controllers import DifferentialIKControllerCfg +from omni.isaac.lab.managers.action_manager import ActionTerm, ActionTermCfg +from omni.isaac.lab.utils import configclass from . import binary_joint_actions, joint_actions, joint_actions_to_limits, non_holonomic_actions, task_space_actions diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/binary_joint_actions.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/binary_joint_actions.py similarity index 94% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/binary_joint_actions.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/binary_joint_actions.py index ba6077da5d..4e24d365e2 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/binary_joint_actions.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/binary_joint_actions.py @@ -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 @@ -10,12 +10,12 @@ import carb -import omni.isaac.orbit.utils.string as string_utils -from omni.isaac.orbit.assets.articulation import Articulation -from omni.isaac.orbit.managers.action_manager import ActionTerm +import omni.isaac.lab.utils.string as string_utils +from omni.isaac.lab.assets.articulation import Articulation +from omni.isaac.lab.managers.action_manager import ActionTerm if TYPE_CHECKING: - from omni.isaac.orbit.envs import BaseEnv + from omni.isaac.lab.envs import BaseEnv from . import actions_cfg diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/joint_actions.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions.py similarity index 96% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/joint_actions.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions.py index 12444628b3..a3a9d12440 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/joint_actions.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions.py @@ -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 @@ -10,12 +10,12 @@ import carb -import omni.isaac.orbit.utils.string as string_utils -from omni.isaac.orbit.assets.articulation import Articulation -from omni.isaac.orbit.managers.action_manager import ActionTerm +import omni.isaac.lab.utils.string as string_utils +from omni.isaac.lab.assets.articulation import Articulation +from omni.isaac.lab.managers.action_manager import ActionTerm if TYPE_CHECKING: - from omni.isaac.orbit.envs import BaseEnv + from omni.isaac.lab.envs import BaseEnv from . import actions_cfg diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/joint_actions_to_limits.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions_to_limits.py similarity index 96% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/joint_actions_to_limits.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions_to_limits.py index a9577d595e..4baaebc1a7 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/joint_actions_to_limits.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions_to_limits.py @@ -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 @@ -11,13 +11,13 @@ import carb -import omni.isaac.orbit.utils.math as math_utils -import omni.isaac.orbit.utils.string as string_utils -from omni.isaac.orbit.assets.articulation import Articulation -from omni.isaac.orbit.managers.action_manager import ActionTerm +import omni.isaac.lab.utils.math as math_utils +import omni.isaac.lab.utils.string as string_utils +from omni.isaac.lab.assets.articulation import Articulation +from omni.isaac.lab.managers.action_manager import ActionTerm if TYPE_CHECKING: - from omni.isaac.orbit.envs import BaseEnv + from omni.isaac.lab.envs import BaseEnv from . import actions_cfg diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/non_holonomic_actions.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/non_holonomic_actions.py similarity index 95% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/non_holonomic_actions.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/non_holonomic_actions.py index 061554185f..542adc4161 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/non_holonomic_actions.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/non_holonomic_actions.py @@ -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 @@ -10,12 +10,12 @@ import carb -from omni.isaac.orbit.assets.articulation import Articulation -from omni.isaac.orbit.managers.action_manager import ActionTerm -from omni.isaac.orbit.utils.math import euler_xyz_from_quat +from omni.isaac.lab.assets.articulation import Articulation +from omni.isaac.lab.managers.action_manager import ActionTerm +from omni.isaac.lab.utils.math import euler_xyz_from_quat if TYPE_CHECKING: - from omni.isaac.orbit.envs import BaseEnv + from omni.isaac.lab.envs import BaseEnv from . import actions_cfg diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/task_space_actions.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/task_space_actions.py similarity index 95% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/task_space_actions.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/task_space_actions.py index 30f0a10420..10c227a65a 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/actions/task_space_actions.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/task_space_actions.py @@ -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 @@ -10,13 +10,13 @@ import carb -import omni.isaac.orbit.utils.math as math_utils -from omni.isaac.orbit.assets.articulation import Articulation -from omni.isaac.orbit.controllers.differential_ik import DifferentialIKController -from omni.isaac.orbit.managers.action_manager import ActionTerm +import omni.isaac.lab.utils.math as math_utils +from omni.isaac.lab.assets.articulation import Articulation +from omni.isaac.lab.controllers.differential_ik import DifferentialIKController +from omni.isaac.lab.managers.action_manager import ActionTerm if TYPE_CHECKING: - from omni.isaac.orbit.envs import BaseEnv + from omni.isaac.lab.envs import BaseEnv from . import actions_cfg diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/__init__.py similarity index 90% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/__init__.py index de3a2f69fc..f6b6c42f1c 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/commands_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py similarity index 97% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/commands_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py index 5d27917266..f4a8e16a0c 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/commands_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py @@ -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 @@ -6,8 +6,8 @@ import math from dataclasses import MISSING -from omni.isaac.orbit.managers import CommandTermCfg -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.managers import CommandTermCfg +from omni.isaac.lab.utils import configclass from .null_command import NullCommand from .pose_2d_command import TerrainBasedPose2dCommand, UniformPose2dCommand diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/null_command.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/null_command.py similarity index 93% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/null_command.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/null_command.py index ca2c941147..b587561d0d 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/null_command.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/null_command.py @@ -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 @@ -10,7 +10,7 @@ from collections.abc import Sequence from typing import TYPE_CHECKING -from omni.isaac.orbit.managers import CommandTerm +from omni.isaac.lab.managers import CommandTerm if TYPE_CHECKING: from .commands_cfg import NullCommandCfg diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/pose_2d_command.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/pose_2d_command.py similarity index 94% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/pose_2d_command.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/pose_2d_command.py index 4ddf43d472..df9f3bd83f 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/pose_2d_command.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/pose_2d_command.py @@ -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 @@ -11,15 +11,15 @@ from collections.abc import Sequence from typing import TYPE_CHECKING -from omni.isaac.orbit.assets import Articulation -from omni.isaac.orbit.managers import CommandTerm -from omni.isaac.orbit.markers import VisualizationMarkers -from omni.isaac.orbit.markers.config import GREEN_ARROW_X_MARKER_CFG -from omni.isaac.orbit.terrains import TerrainImporter -from omni.isaac.orbit.utils.math import quat_from_euler_xyz, quat_rotate_inverse, wrap_to_pi, yaw_quat +from omni.isaac.lab.assets import Articulation +from omni.isaac.lab.managers import CommandTerm +from omni.isaac.lab.markers import VisualizationMarkers +from omni.isaac.lab.markers.config import GREEN_ARROW_X_MARKER_CFG +from omni.isaac.lab.terrains import TerrainImporter +from omni.isaac.lab.utils.math import quat_from_euler_xyz, quat_rotate_inverse, wrap_to_pi, yaw_quat if TYPE_CHECKING: - from omni.isaac.orbit.envs import BaseEnv + from omni.isaac.lab.envs import BaseEnv from .commands_cfg import TerrainBasedPose2dCommandCfg, UniformPose2dCommandCfg diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/pose_command.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/pose_command.py similarity index 93% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/pose_command.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/pose_command.py index 2be26370f7..e997f84a66 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/pose_command.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/pose_command.py @@ -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 @@ -11,14 +11,14 @@ from collections.abc import Sequence from typing import TYPE_CHECKING -from omni.isaac.orbit.assets import Articulation -from omni.isaac.orbit.managers import CommandTerm -from omni.isaac.orbit.markers import VisualizationMarkers -from omni.isaac.orbit.markers.config import FRAME_MARKER_CFG -from omni.isaac.orbit.utils.math import combine_frame_transforms, compute_pose_error, quat_from_euler_xyz, quat_unique +from omni.isaac.lab.assets import Articulation +from omni.isaac.lab.managers import CommandTerm +from omni.isaac.lab.markers import VisualizationMarkers +from omni.isaac.lab.markers.config import FRAME_MARKER_CFG +from omni.isaac.lab.utils.math import combine_frame_transforms, compute_pose_error, quat_from_euler_xyz, quat_unique if TYPE_CHECKING: - from omni.isaac.orbit.envs import BaseEnv + from omni.isaac.lab.envs import BaseEnv from .commands_cfg import UniformPoseCommandCfg diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/velocity_command.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/velocity_command.py similarity index 96% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/velocity_command.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/velocity_command.py index 29f88901d7..28552fa6c9 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/velocity_command.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/velocity_command.py @@ -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 @@ -11,14 +11,14 @@ from collections.abc import Sequence from typing import TYPE_CHECKING -import omni.isaac.orbit.utils.math as math_utils -from omni.isaac.orbit.assets import Articulation -from omni.isaac.orbit.managers import CommandTerm -from omni.isaac.orbit.markers import VisualizationMarkers -from omni.isaac.orbit.markers.config import BLUE_ARROW_X_MARKER_CFG, GREEN_ARROW_X_MARKER_CFG +import omni.isaac.lab.utils.math as math_utils +from omni.isaac.lab.assets import Articulation +from omni.isaac.lab.managers import CommandTerm +from omni.isaac.lab.markers import VisualizationMarkers +from omni.isaac.lab.markers.config import BLUE_ARROW_X_MARKER_CFG, GREEN_ARROW_X_MARKER_CFG if TYPE_CHECKING: - from omni.isaac.orbit.envs import BaseEnv + from omni.isaac.lab.envs import BaseEnv from .commands_cfg import NormalVelocityCommandCfg, UniformVelocityCommandCfg diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/curriculums.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/curriculums.py similarity index 83% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/curriculums.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/curriculums.py index 5f76214fb9..adbb2063f3 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/curriculums.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/curriculums.py @@ -1,11 +1,11 @@ -# 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 """Common functions that can be used to create curriculum for the learning environment. -The functions can be passed to the :class:`omni.isaac.orbit.managers.CurriculumTermCfg` object to enable +The functions can be passed to the :class:`omni.isaac.lab.managers.CurriculumTermCfg` object to enable the curriculum introduced by the function. """ @@ -15,7 +15,7 @@ from typing import TYPE_CHECKING if TYPE_CHECKING: - from omni.isaac.orbit.envs import RLTaskEnv + from omni.isaac.lab.envs import RLTaskEnv def modify_reward_weight(env: RLTaskEnv, env_ids: Sequence[int], term_name: str, weight: float, num_steps: int): diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/events.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/events.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py index 7481023874..3551daf974 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/events.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py @@ -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 @@ -8,7 +8,7 @@ Events include anything related to altering the simulation state. This includes changing the physics materials, applying external forces, and resetting the state of the asset. -The functions can be passed to the :class:`omni.isaac.orbit.managers.EventTermCfg` object to enable +The functions can be passed to the :class:`omni.isaac.lab.managers.EventTermCfg` object to enable the event introduced by the function. """ @@ -20,14 +20,14 @@ import carb -import omni.isaac.orbit.utils.math as math_utils -from omni.isaac.orbit.actuators import ImplicitActuator -from omni.isaac.orbit.assets import Articulation, RigidObject -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.terrains import TerrainImporter +import omni.isaac.lab.utils.math as math_utils +from omni.isaac.lab.actuators import ImplicitActuator +from omni.isaac.lab.assets import Articulation, RigidObject +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.terrains import TerrainImporter if TYPE_CHECKING: - from omni.isaac.orbit.envs import BaseEnv + from omni.isaac.lab.envs import BaseEnv def randomize_rigid_body_material( diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/observations.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py similarity index 94% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/observations.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py index 3b77e77eb4..4573e14f87 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/observations.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py @@ -1,11 +1,11 @@ -# 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 """Common functions that can be used to create observation terms. -The functions can be passed to the :class:`omni.isaac.orbit.managers.ObservationTermCfg` object to enable +The functions can be passed to the :class:`omni.isaac.lab.managers.ObservationTermCfg` object to enable the observation introduced by the function. """ @@ -14,13 +14,13 @@ import torch from typing import TYPE_CHECKING -import omni.isaac.orbit.utils.math as math_utils -from omni.isaac.orbit.assets import Articulation, RigidObject -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.sensors import RayCaster +import omni.isaac.lab.utils.math as math_utils +from omni.isaac.lab.assets import Articulation, RigidObject +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.sensors import RayCaster if TYPE_CHECKING: - from omni.isaac.orbit.envs import BaseEnv, RLTaskEnv + from omni.isaac.lab.envs import BaseEnv, RLTaskEnv """ Root state. diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/rewards.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py similarity index 95% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/rewards.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py index 8d27ee6405..b5474eed0d 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/rewards.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py @@ -1,11 +1,11 @@ -# 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 """Common functions that can be used to enable reward functions. -The functions can be passed to the :class:`omni.isaac.orbit.managers.RewardTermCfg` object to include +The functions can be passed to the :class:`omni.isaac.lab.managers.RewardTermCfg` object to include the reward introduced by the function. """ @@ -14,14 +14,14 @@ import torch from typing import TYPE_CHECKING -from omni.isaac.orbit.assets import Articulation, RigidObject -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.managers.manager_base import ManagerTermBase -from omni.isaac.orbit.managers.manager_term_cfg import RewardTermCfg -from omni.isaac.orbit.sensors import ContactSensor +from omni.isaac.lab.assets import Articulation, RigidObject +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.managers.manager_base import ManagerTermBase +from omni.isaac.lab.managers.manager_term_cfg import RewardTermCfg +from omni.isaac.lab.sensors import ContactSensor if TYPE_CHECKING: - from omni.isaac.orbit.envs import RLTaskEnv + from omni.isaac.lab.envs import RLTaskEnv """ General. diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/terminations.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py similarity index 93% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/terminations.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py index dbeeedc749..ae123b7893 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/terminations.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py @@ -1,11 +1,11 @@ -# 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 """Common functions that can be used to activate certain terminations. -The functions can be passed to the :class:`omni.isaac.orbit.managers.TerminationTermCfg` object to enable +The functions can be passed to the :class:`omni.isaac.lab.managers.TerminationTermCfg` object to enable the termination introduced by the function. """ @@ -14,13 +14,13 @@ import torch from typing import TYPE_CHECKING -from omni.isaac.orbit.assets import Articulation, RigidObject -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.sensors import ContactSensor +from omni.isaac.lab.assets import Articulation, RigidObject +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.sensors import ContactSensor if TYPE_CHECKING: - from omni.isaac.orbit.envs import RLTaskEnv - from omni.isaac.orbit.managers.command_manager import CommandTerm + from omni.isaac.lab.envs import RLTaskEnv + from omni.isaac.lab.managers.command_manager import CommandTerm """ MDP terminations. diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_task_env.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/rl_task_env.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_task_env.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/rl_task_env.py index 7594d2b5ef..3663cd12b2 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_task_env.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/rl_task_env.py @@ -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 @@ -15,7 +15,7 @@ from omni.isaac.version import get_version -from omni.isaac.orbit.managers import CommandManager, CurriculumManager, RewardManager, TerminationManager +from omni.isaac.lab.managers import CommandManager, CurriculumManager, RewardManager, TerminationManager from .base_env import BaseEnv, VecEnvObs from .rl_task_env_cfg import RLTaskEnvCfg diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_task_env_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/rl_task_env_cfg.py similarity index 82% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_task_env_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/rl_task_env_cfg.py index d0500e278c..3fca6c7957 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_task_env_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/rl_task_env_cfg.py @@ -1,11 +1,11 @@ -# 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 from dataclasses import MISSING -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass from .base_env_cfg import BaseEnvCfg from .ui import RLTaskEnvWindow @@ -58,23 +58,23 @@ class RLTaskEnvCfg(BaseEnvCfg): rewards: object = MISSING """Reward settings. - Please refer to the :class:`omni.isaac.orbit.managers.RewardManager` class for more details. + Please refer to the :class:`omni.isaac.lab.managers.RewardManager` class for more details. """ terminations: object = MISSING """Termination settings. - Please refer to the :class:`omni.isaac.orbit.managers.TerminationManager` class for more details. + Please refer to the :class:`omni.isaac.lab.managers.TerminationManager` class for more details. """ curriculum: object = MISSING """Curriculum settings. - Please refer to the :class:`omni.isaac.orbit.managers.CurriculumManager` class for more details. + Please refer to the :class:`omni.isaac.lab.managers.CurriculumManager` class for more details. """ commands: object = MISSING """Command settings. - Please refer to the :class:`omni.isaac.orbit.managers.CommandManager` class for more details. + Please refer to the :class:`omni.isaac.lab.managers.CommandManager` class for more details. """ diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/ui/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/__init__.py similarity index 90% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/ui/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/__init__.py index 79bc2676ef..a987ba15ca 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/ui/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/ui/base_env_window.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/base_env_window.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/ui/base_env_window.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/base_env_window.py index 84d14d2365..26216aca39 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/ui/base_env_window.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/base_env_window.py @@ -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 @@ -40,12 +40,12 @@ class BaseEnvWindow: """ - def __init__(self, env: BaseEnv, window_name: str = "Orbit"): + def __init__(self, env: BaseEnv, window_name: str = "IsaacLab"): """Initialize the window. Args: env: The environment object. - window_name: The name of the window. Defaults to "Orbit". + window_name: The name of the window. Defaults to "IsaacLab". """ # store inputs self.env = env diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/ui/rl_task_env_window.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/rl_task_env_window.py similarity index 83% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/ui/rl_task_env_window.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/rl_task_env_window.py index 4a0de3fa4e..0e1cafc012 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/ui/rl_task_env_window.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/rl_task_env_window.py @@ -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 @@ -20,12 +20,12 @@ class RLTaskEnvWindow(BaseEnvWindow): This includes visualization of the command manager. """ - def __init__(self, env: RLTaskEnv, window_name: str = "Orbit"): + def __init__(self, env: RLTaskEnv, window_name: str = "IsaacLab"): """Initialize the window. Args: env: The environment object. - window_name: The name of the window. Defaults to "Orbit". + window_name: The name of the window. Defaults to "IsaacLab". """ # initialize base window super().__init__(env, window_name) diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/ui/viewport_camera_controller.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/ui/viewport_camera_controller.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py index 9af77f8a90..3f776ebba3 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/ui/viewport_camera_controller.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py @@ -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 @@ -16,7 +16,7 @@ import omni.timeline if TYPE_CHECKING: - from omni.isaac.orbit.envs import BaseEnv, ViewerCfg + from omni.isaac.lab.envs import BaseEnv, ViewerCfg class ViewportCameraController: diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/__init__.py similarity index 94% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/managers/__init__.py index 84b6df178a..ff67be2a5a 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/action_manager.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/action_manager.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py index 8d627a89b5..d9ab610540 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/action_manager.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py @@ -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 @@ -13,13 +13,13 @@ from prettytable import PrettyTable from typing import TYPE_CHECKING -from omni.isaac.orbit.assets import AssetBase +from omni.isaac.lab.assets import AssetBase from .manager_base import ManagerBase, ManagerTermBase from .manager_term_cfg import ActionTermCfg if TYPE_CHECKING: - from omni.isaac.orbit.envs import BaseEnv + from omni.isaac.lab.envs import BaseEnv class ActionTerm(ManagerTermBase): diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/command_manager.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py similarity index 99% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/command_manager.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py index 622200deae..82310bf3e0 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/command_manager.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py @@ -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 @@ -21,7 +21,7 @@ from .manager_term_cfg import CommandTermCfg if TYPE_CHECKING: - from omni.isaac.orbit.envs import RLTaskEnv + from omni.isaac.lab.envs import RLTaskEnv class CommandTerm(ManagerTermBase): diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/curriculum_manager.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/curriculum_manager.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py index 7aad4d9ab4..79d190cd5e 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/curriculum_manager.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py @@ -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 @@ -16,7 +16,7 @@ from .manager_term_cfg import CurriculumTermCfg if TYPE_CHECKING: - from omni.isaac.orbit.envs import RLTaskEnv + from omni.isaac.lab.envs import RLTaskEnv class CurriculumManager(ManagerBase): diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/event_manager.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py similarity index 99% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/event_manager.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py index 97224ce8eb..a712d6a39d 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/event_manager.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py @@ -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 @@ -19,7 +19,7 @@ from .manager_term_cfg import EventTermCfg if TYPE_CHECKING: - from omni.isaac.orbit.envs import RLTaskEnv + from omni.isaac.lab.envs import RLTaskEnv class EventManager(ManagerBase): diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/manager_base.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py similarity index 95% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/manager_base.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py index 018d6a8775..dcda346d1a 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/manager_base.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py @@ -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 @@ -13,14 +13,14 @@ import carb -import omni.isaac.orbit.utils.string as string_utils -from omni.isaac.orbit.utils import string_to_callable +import omni.isaac.lab.utils.string as string_utils +from omni.isaac.lab.utils import string_to_callable from .manager_term_cfg import ManagerTermBaseCfg from .scene_entity_cfg import SceneEntityCfg if TYPE_CHECKING: - from omni.isaac.orbit.envs import BaseEnv + from omni.isaac.lab.envs import BaseEnv class ManagerTermBase(ABC): @@ -37,8 +37,8 @@ class should also have a corresponding configuration class that defines the conf .. code-block:: python - from omni.isaac.orbit.utils import configclass - from omni.isaac.orbit.utils.mdp import ManagerBase, ManagerTermBaseCfg + from omni.isaac.lab.utils import configclass + from omni.isaac.lab.utils.mdp import ManagerBase, ManagerTermBaseCfg @configclass class MyManagerCfg: @@ -172,7 +172,7 @@ def find_terms(self, name_keys: str | Sequence[str]) -> list[str]: specified as regular expressions or a list of regular expressions. The search is performed on the active terms in the manager. - Please check the :meth:`omni.isaac.orbit.utils.string_utils.resolve_matching_names` function for more + Please check the :meth:`omni.isaac.lab.utils.string_utils.resolve_matching_names` function for more information on the name matching. Args: diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/manager_term_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py similarity index 95% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/manager_term_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py index 1d850e4913..41eef7d73e 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/manager_term_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py @@ -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 @@ -13,8 +13,8 @@ from dataclasses import MISSING from typing import TYPE_CHECKING, Any -from omni.isaac.orbit.utils import configclass -from omni.isaac.orbit.utils.noise import NoiseCfg +from omni.isaac.lab.utils import configclass +from omni.isaac.lab.utils.noise import NoiseCfg from .scene_entity_cfg import SceneEntityCfg @@ -63,7 +63,7 @@ class ActionTermCfg: class_type: type[ActionTerm] = MISSING """The associated action term class. - The class should inherit from :class:`omni.isaac.orbit.managers.action_manager.ActionTerm`. + The class should inherit from :class:`omni.isaac.lab.managers.action_manager.ActionTerm`. """ asset_name: str = MISSING @@ -86,7 +86,7 @@ class CommandTermCfg: class_type: type[CommandTerm] = MISSING """The associated command term class to use. - The class should inherit from :class:`omni.isaac.orbit.managers.command_manager.CommandTerm`. + The class should inherit from :class:`omni.isaac.lab.managers.command_manager.CommandTerm`. """ resampling_time_range: tuple[float, float] = MISSING diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/observation_manager.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py similarity index 99% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/observation_manager.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py index ecd6f9e2b7..1ba5907ee6 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/observation_manager.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py @@ -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 @@ -16,7 +16,7 @@ from .manager_term_cfg import ObservationGroupCfg, ObservationTermCfg if TYPE_CHECKING: - from omni.isaac.orbit.envs import BaseEnv + from omni.isaac.lab.envs import BaseEnv class ObservationManager(ManagerBase): diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/reward_manager.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/reward_manager.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py index ab5613fc0f..22e85f3419 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/reward_manager.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py @@ -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 @@ -16,7 +16,7 @@ from .manager_term_cfg import RewardTermCfg if TYPE_CHECKING: - from omni.isaac.orbit.envs import RLTaskEnv + from omni.isaac.lab.envs import RLTaskEnv class RewardManager(ManagerBase): diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/scene_entity_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py similarity index 96% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/scene_entity_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py index 56dfb14838..54a6faefb6 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/scene_entity_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py @@ -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 @@ -7,9 +7,9 @@ from dataclasses import MISSING -from omni.isaac.orbit.assets import Articulation, RigidObject -from omni.isaac.orbit.scene import InteractiveScene -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.assets import Articulation, RigidObject +from omni.isaac.lab.scene import InteractiveScene +from omni.isaac.lab.utils import configclass @configclass @@ -67,7 +67,7 @@ class for more details. If False, the ordering of the indices are sorted in ascending order (i.e. the ordering in the entity's joints or bodies). Otherwise, the indices are preserved in the order of the specified joint and body names. - For more details, see the :meth:`omni.isaac.orbit.utils.string.resolve_matching_names` function. + For more details, see the :meth:`omni.isaac.lab.utils.string.resolve_matching_names` function. .. note:: This attribute is only used when :attr:`joint_names` or :attr:`body_names` are specified. diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/termination_manager.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/termination_manager.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py index 0f9cd31596..b6a3730f06 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/termination_manager.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py @@ -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 @@ -16,7 +16,7 @@ from .manager_term_cfg import TerminationTermCfg if TYPE_CHECKING: - from omni.isaac.orbit.envs import RLTaskEnv + from omni.isaac.lab.envs import RLTaskEnv class TerminationManager(ManagerBase): diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/markers/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/markers/__init__.py similarity index 93% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/markers/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/markers/__init__.py index bc290ee37d..b7251caa64 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/markers/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/markers/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/markers/config/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/markers/config/__init__.py similarity index 93% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/markers/config/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/markers/config/__init__.py index 8b4d365223..2a2a8b9d67 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/markers/config/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/markers/config/__init__.py @@ -1,11 +1,11 @@ -# 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 -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.markers.visualization_markers import VisualizationMarkersCfg -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.markers.visualization_markers import VisualizationMarkersCfg +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR ## # Sensors. diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/markers/visualization_markers.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py similarity index 97% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/markers/visualization_markers.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py index 8217fbd77c..f3bf85d498 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/markers/visualization_markers.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py @@ -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 @@ -28,10 +28,10 @@ import omni.physx.scripts.utils as physx_utils from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics, Vt -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.sim.spawners import SpawnerCfg -from omni.isaac.orbit.utils.configclass import configclass -from omni.isaac.orbit.utils.math import convert_quat +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.sim.spawners import SpawnerCfg +from omni.isaac.lab.utils.configclass import configclass +from omni.isaac.lab.utils.math import convert_quat @configclass @@ -80,8 +80,8 @@ class VisualizationMarkers: .. code-block:: python - import omni.isaac.orbit.sim as sim_utils - from omni.isaac.orbit.markers import VisualizationMarkersCfg, VisualizationMarkers + import omni.isaac.lab.sim as sim_utils + from omni.isaac.lab.markers import VisualizationMarkersCfg, VisualizationMarkers # Create the markers configuration # This creates two marker prototypes, "marker1" and "marker2" which are spheres with a radius of 1.0. diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/scene/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/__init__.py similarity index 92% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/scene/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/scene/__init__.py index c4b33e20bf..adb7fce8c7 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/scene/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/__init__.py @@ -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 @@ -22,7 +22,7 @@ The interactive scene can be passed around to different modules in the framework to perform different tasks. For instance, computing the observations based on the state of the scene, or randomizing the scene, or applying actions to the scene. All these are handled by different "managers" in the framework. Please refer to the -:mod:`omni.isaac.orbit.managers` sub-package for more details. +:mod:`omni.isaac.lab.managers` sub-package for more details. """ from .interactive_scene import InteractiveScene diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/scene/interactive_scene.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py similarity index 95% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/scene/interactive_scene.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py index 700a484590..1ee3adcb1c 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/scene/interactive_scene.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py @@ -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 @@ -14,10 +14,10 @@ from omni.isaac.core.prims import XFormPrimView from pxr import PhysxSchema -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import Articulation, ArticulationCfg, AssetBaseCfg, RigidObject, RigidObjectCfg -from omni.isaac.orbit.sensors import ContactSensorCfg, FrameTransformerCfg, SensorBase, SensorBaseCfg -from omni.isaac.orbit.terrains import TerrainImporter, TerrainImporterCfg +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import Articulation, ArticulationCfg, AssetBaseCfg, RigidObject, RigidObjectCfg +from omni.isaac.lab.sensors import ContactSensorCfg, FrameTransformerCfg, SensorBase, SensorBaseCfg +from omni.isaac.lab.terrains import TerrainImporter, TerrainImporterCfg from .interactive_scene_cfg import InteractiveSceneCfg @@ -34,10 +34,10 @@ class InteractiveScene: .. code-block:: python - from omni.isaac.orbit.scene import InteractiveSceneCfg - from omni.isaac.orbit.utils import configclass + from omni.isaac.lab.scene import InteractiveSceneCfg + from omni.isaac.lab.utils import configclass - from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG + from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG @configclass class MySceneCfg(InteractiveSceneCfg): @@ -48,7 +48,7 @@ class MySceneCfg(InteractiveSceneCfg): .. code-block:: python - from omni.isaac.orbit.scene import InteractiveScene + from omni.isaac.lab.scene import InteractiveScene # create 128 environments scene = InteractiveScene(cfg=MySceneCfg(num_envs=128)) @@ -63,7 +63,7 @@ class MySceneCfg(InteractiveSceneCfg): resetting the internal buffers, writing the buffers to the simulation and updating the buffers from the simulation. The scene does not perform any task specific to the entity. For example, it does not apply actions to the robot or compute observations from the robot. These tasks are handled by different - modules called "managers" in the framework. Please refer to the :mod:`omni.isaac.orbit.managers` sub-package + modules called "managers" in the framework. Please refer to the :mod:`omni.isaac.lab.managers` sub-package for more details. """ diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/scene/interactive_scene_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene_cfg.py similarity index 85% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/scene/interactive_scene_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene_cfg.py index c19d67ae64..4a7281bc7c 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/scene/interactive_scene_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene_cfg.py @@ -1,11 +1,11 @@ -# 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 from dataclasses import MISSING -from omni.isaac.orbit.utils.configclass import configclass +from omni.isaac.lab.utils.configclass import configclass @configclass @@ -25,13 +25,13 @@ class InteractiveSceneCfg: .. code-block:: python - import omni.isaac.orbit.sim as sim_utils - from omni.isaac.orbit.assets import AssetBaseCfg - from omni.isaac.orbit.scene import InteractiveSceneCfg - from omni.isaac.orbit.sensors.ray_caster import GridPatternCfg, RayCasterCfg - from omni.isaac.orbit.utils import configclass + import omni.isaac.lab.sim as sim_utils + from omni.isaac.lab.assets import AssetBaseCfg + from omni.isaac.lab.scene import InteractiveSceneCfg + from omni.isaac.lab.sensors.ray_caster import GridPatternCfg, RayCasterCfg + from omni.isaac.lab.utils import configclass - from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG + from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG @configclass class MySceneCfg(InteractiveSceneCfg): diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/__init__.py similarity index 97% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/__init__.py index 50112acdc0..7ec74d5047 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/__init__.py similarity index 81% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/__init__.py index 9fbe82eedf..56c52bd060 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/camera.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/camera.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py index f9cd0932bf..b0da0c814e 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/camera.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py @@ -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 @@ -19,10 +19,10 @@ from omni.isaac.core.prims import XFormPrimView from pxr import UsdGeom -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.utils import to_camel_case -from omni.isaac.orbit.utils.array import convert_to_torch -from omni.isaac.orbit.utils.math import quat_from_matrix +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.utils import to_camel_case +from omni.isaac.lab.utils.array import convert_to_torch +from omni.isaac.lab.utils.math import quat_from_matrix from ..sensor_base import SensorBase from .camera_data import CameraData @@ -109,7 +109,7 @@ def __init__(self, cfg: CameraCfg): # toggle rendering of rtx sensors as True # this flag is read by SimulationContext to determine if rtx sensors should be rendered carb_settings_iface = carb.settings.get_settings() - carb_settings_iface.set_bool("/orbit/render/rtx_sensors", True) + carb_settings_iface.set_bool("/isaaclab/render/rtx_sensors", True) # spawn the asset if self.cfg.spawn is not None: @@ -277,7 +277,7 @@ def set_world_poses( - :obj:`"ros"` - forward axis: +Z - up axis -Y - Offset is applied in the ROS convention - :obj:`"world"` - forward axis: +X - up axis +Z - Offset is applied in the World Frame convention - See :meth:`omni.isaac.orbit.sensors.camera.utils.convert_orientation_convention` for more details + See :meth:`omni.isaac.lab.sensors.camera.utils.convert_orientation_convention` for more details on the conventions. Args: diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/camera_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py similarity index 96% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/camera_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py index 7a557e789d..ca8367224f 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/camera_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py @@ -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 @@ -6,8 +6,8 @@ from dataclasses import MISSING from typing import Literal -from omni.isaac.orbit.sim import FisheyeCameraCfg, PinholeCameraCfg -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.sim import FisheyeCameraCfg, PinholeCameraCfg +from omni.isaac.lab.utils import configclass from ..sensor_base_cfg import SensorBaseCfg from .camera import Camera diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/camera_data.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py similarity index 97% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/camera_data.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py index c771b140df..d5f25f9e60 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/camera_data.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/utils.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/utils.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/utils.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/utils.py index 0d7c4c7957..be28904b9d 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/utils.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/utils.py @@ -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 @@ -19,8 +19,8 @@ import warp as wp from pxr import UsdGeom -import omni.isaac.orbit.utils.math as math_utils -from omni.isaac.orbit.utils.array import TensorData, convert_to_torch +import omni.isaac.lab.utils.math as math_utils +from omni.isaac.lab.utils.array import TensorData, convert_to_torch """ Depth <-> Pointcloud conversions. diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/__init__.py similarity index 83% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/__init__.py index 258f3644a8..bab636bfe2 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/contact_sensor.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/contact_sensor.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py index 64d0276231..afac39996d 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/contact_sensor.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py @@ -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 @@ -15,10 +15,10 @@ import omni.physics.tensors.impl.api as physx from pxr import PhysxSchema -import omni.isaac.orbit.sim as sim_utils -import omni.isaac.orbit.utils.string as string_utils -from omni.isaac.orbit.markers import VisualizationMarkers -from omni.isaac.orbit.utils.math import convert_quat +import omni.isaac.lab.sim as sim_utils +import omni.isaac.lab.utils.string as string_utils +from omni.isaac.lab.markers import VisualizationMarkers +from omni.isaac.lab.utils.math import convert_quat from ..sensor_base import SensorBase from .contact_sensor_data import ContactSensorData @@ -34,7 +34,7 @@ class ContactSensor(SensorBase): It relies on the `PhysX ContactReporter`_ API to be activated on the rigid bodies. To enable the contact reporter on a rigid body, please make sure to enable the - :attr:`omni.isaac.orbit.sim.spawner.RigidObjectSpawnerCfg.activate_contact_sensors` on your + :attr:`omni.isaac.lab.sim.spawner.RigidObjectSpawnerCfg.activate_contact_sensors` on your asset spawner configuration. This will enable the contact reporter on all the rigid bodies in the asset. diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/contact_sensor_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.py similarity index 89% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/contact_sensor_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.py index fce43b586c..e5759807b7 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/contact_sensor_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.py @@ -1,11 +1,11 @@ -# 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 -from omni.isaac.orbit.markers import VisualizationMarkersCfg -from omni.isaac.orbit.markers.config import CONTACT_SENSOR_MARKER_CFG -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.markers import VisualizationMarkersCfg +from omni.isaac.lab.markers.config import CONTACT_SENSOR_MARKER_CFG +from omni.isaac.lab.utils import configclass from ..sensor_base_cfg import SensorBaseCfg from .contact_sensor import ContactSensor diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/contact_sensor_data.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/contact_sensor_data.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.py index f71c5d3894..d50652206e 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/contact_sensor_data.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/frame_transformer/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/__init__.py similarity index 82% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/frame_transformer/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/__init__.py index b21c37cbe3..035f163456 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/frame_transformer/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/frame_transformer/frame_transformer.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/frame_transformer/frame_transformer.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py index cd1999e9c1..320007cabd 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/frame_transformer/frame_transformer.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py @@ -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 @@ -13,9 +13,9 @@ import omni.physics.tensors.impl.api as physx from pxr import UsdPhysics -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.markers import VisualizationMarkers -from omni.isaac.orbit.utils.math import ( +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.markers import VisualizationMarkers +from omni.isaac.lab.utils.math import ( combine_frame_transforms, convert_quat, is_identity_pose, diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/frame_transformer/frame_transformer_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py similarity index 91% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/frame_transformer/frame_transformer_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py index 02566fffd5..ef225bb1fc 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/frame_transformer/frame_transformer_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py @@ -1,12 +1,12 @@ -# 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 from dataclasses import MISSING -from omni.isaac.orbit.markers.config import FRAME_MARKER_CFG, VisualizationMarkersCfg -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.markers.config import FRAME_MARKER_CFG, VisualizationMarkersCfg +from omni.isaac.lab.utils import configclass from ..sensor_base_cfg import SensorBaseCfg from .frame_transformer import FrameTransformer diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/frame_transformer/frame_transformer_data.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/frame_transformer/frame_transformer_data.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py index 84975a4e30..288ebdcf35 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/frame_transformer/frame_transformer_data.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/__init__.py similarity index 85% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/__init__.py index bcddd9373d..b40cf62dff 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/patterns/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/__init__.py similarity index 83% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/patterns/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/__init__.py index 8b1dd746c9..56d3c8a084 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/patterns/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/patterns/patterns.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/patterns/patterns.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py index e6e6544d06..eab3c95fcd 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/patterns/patterns.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/patterns/patterns_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py similarity index 97% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/patterns/patterns_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py index 92c84ba9ac..cafca4fbf9 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/patterns/patterns_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py @@ -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 @@ -12,7 +12,7 @@ from dataclasses import MISSING from typing import Literal -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass from . import patterns diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py similarity index 97% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py index 02e0a8a232..d4ad21b004 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py @@ -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 @@ -17,11 +17,11 @@ from omni.isaac.core.prims import XFormPrimView from pxr import UsdGeom, UsdPhysics -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.markers import VisualizationMarkers -from omni.isaac.orbit.terrains.trimesh.utils import make_plane -from omni.isaac.orbit.utils.math import convert_quat, quat_apply, quat_apply_yaw -from omni.isaac.orbit.utils.warp import convert_to_warp_mesh, raycast_mesh +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.markers import VisualizationMarkers +from omni.isaac.lab.terrains.trimesh.utils import make_plane +from omni.isaac.lab.utils.math import convert_quat, quat_apply, quat_apply_yaw +from omni.isaac.lab.utils.warp import convert_to_warp_mesh, raycast_mesh from ..sensor_base import SensorBase from .ray_caster_data import RayCasterData diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster_camera.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py similarity index 96% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster_camera.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py index 44745e3b7d..d2ca810ac3 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster_camera.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py @@ -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 @@ -13,10 +13,10 @@ import omni.physics.tensors.impl.api as physx from omni.isaac.core.prims import XFormPrimView -import omni.isaac.orbit.utils.math as math_utils -from omni.isaac.orbit.sensors.camera import CameraData -from omni.isaac.orbit.sensors.camera.utils import convert_orientation_convention, create_rotation_matrix_from_view -from omni.isaac.orbit.utils.warp import raycast_mesh +import omni.isaac.lab.utils.math as math_utils +from omni.isaac.lab.sensors.camera import CameraData +from omni.isaac.lab.sensors.camera.utils import convert_orientation_convention, create_rotation_matrix_from_view +from omni.isaac.lab.utils.warp import raycast_mesh from .ray_caster import RayCaster @@ -29,7 +29,7 @@ class RayCasterCamera(RayCaster): The ray-caster camera uses a set of rays to get the distances to meshes in the scene. The rays are defined in the sensor's local coordinate frame. The sensor has the same interface as the - :class:`omni.isaac.orbit.sensors.Camera` that implements the camera class through USD camera prims. + :class:`omni.isaac.lab.sensors.Camera` that implements the camera class through USD camera prims. However, this class provides a faster image generation. The sensor converts meshes from the list of primitive paths provided in the configuration to Warp meshes. The camera then ray-casts against these Warp meshes only. @@ -170,7 +170,7 @@ def set_world_poses( - :obj:`"ros"` - forward axis: +Z - up axis -Y - Offset is applied in the ROS convention - :obj:`"world"` - forward axis: +X - up axis +Z - Offset is applied in the World Frame convention - See :meth:`omni.isaac.orbit.sensors.camera.utils.convert_orientation_convention` for more details + See :meth:`omni.isaac.lab.sensors.camera.utils.convert_orientation_convention` for more details on the conventions. Args: @@ -313,7 +313,7 @@ def _check_supported_data_types(self, cfg: RayCasterCameraCfg): f"RayCasterCamera class does not support the following sensor types: {common_elements}." "\n\tThis is because these sensor types cannot be obtained in a fast way using ''warp''." "\n\tHint: If you need to work with these sensor types, we recommend using the USD camera" - " interface from the omni.isaac.orbit.sensors.camera module." + " interface from the omni.isaac.lab.sensors.camera module." ) def _create_buffers(self): diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster_camera_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.py similarity index 94% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster_camera_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.py index b331b30423..a622f9ca4f 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster_camera_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.py @@ -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 @@ -7,7 +7,7 @@ from typing import Literal -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass from .ray_caster_camera import RayCasterCamera from .ray_caster_cfg import RayCasterCfg diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py similarity index 90% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py index 1591e2fa39..3537193df2 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py @@ -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 @@ -8,9 +8,9 @@ from dataclasses import MISSING -from omni.isaac.orbit.markers import VisualizationMarkersCfg -from omni.isaac.orbit.markers.config import RAY_CASTER_MARKER_CFG -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.markers import VisualizationMarkersCfg +from omni.isaac.lab.markers.config import RAY_CASTER_MARKER_CFG +from omni.isaac.lab.utils import configclass from ..sensor_base_cfg import SensorBaseCfg from .patterns.patterns_cfg import PatternBaseCfg diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster_data.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_data.py similarity index 92% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster_data.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_data.py index 5fd8ebc788..0e7530b1ae 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster_data.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_data.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/sensor_base.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/sensor_base.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py index d7cf01871c..ea7479c3c6 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/sensor_base.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py @@ -1,11 +1,11 @@ -# 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 """Base class for sensors. -This class defines an interface for sensors similar to how the :class:`omni.isaac.orbit.assets.AssetBase` class works. +This class defines an interface for sensors similar to how the :class:`omni.isaac.lab.assets.AssetBase` class works. Each sensor class should inherit from this class and implement the abstract methods. """ @@ -21,7 +21,7 @@ import omni.kit.app import omni.timeline -import omni.isaac.orbit.sim as sim_utils +import omni.isaac.lab.sim as sim_utils if TYPE_CHECKING: from .sensor_base_cfg import SensorBaseCfg diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/sensor_base_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base_cfg.py similarity index 84% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/sensor_base_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base_cfg.py index 5354930254..ca50ef5ca3 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/sensor_base_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base_cfg.py @@ -1,11 +1,11 @@ -# 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 from dataclasses import MISSING -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass from .sensor_base import SensorBase @@ -17,7 +17,7 @@ class SensorBaseCfg: class_type: type[SensorBase] = MISSING """The associated sensor class. - The class should inherit from :class:`omni.isaac.orbit.sensors.sensor_base.SensorBase`. + The class should inherit from :class:`omni.isaac.lab.sensors.sensor_base.SensorBase`. """ prim_path: str = MISSING diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/__init__.py similarity index 91% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/__init__.py index 463e208e83..b722e083ea 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/__init__.py @@ -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 @@ -22,7 +22,7 @@ .. code-block:: python - import omni.isaac.orbit.sim as sim_utils + import omni.isaac.lab.sim as sim_utils """ diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/__init__.py similarity index 93% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/__init__.py index be86ab5743..f6f0e04c1c 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/asset_converter_base.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py similarity index 92% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/asset_converter_base.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py index b2f315a23b..34523f5396 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/asset_converter_base.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py @@ -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 @@ -11,9 +11,9 @@ import random from datetime import datetime -from omni.isaac.orbit.sim.converters.asset_converter_base_cfg import AssetConverterBaseCfg -from omni.isaac.orbit.utils.assets import check_file_path -from omni.isaac.orbit.utils.io import dump_yaml +from omni.isaac.lab.sim.converters.asset_converter_base_cfg import AssetConverterBaseCfg +from omni.isaac.lab.utils.assets import check_file_path +from omni.isaac.lab.utils.io import dump_yaml class AssetConverterBase(abc.ABC): @@ -34,7 +34,7 @@ class AssetConverterBase(abc.ABC): can be set to True. When no output directory is defined, lazy conversion is deactivated and the generated USD file is - stored in folder ``/tmp/Orbit/usd_{date}_{time}_{random}``, where the parameters in braces are generated + stored in folder ``/tmp/IsaacLab/usd_{date}_{time}_{random}``, where the parameters in braces are generated at runtime. The random identifiers help avoid a race condition where two simultaneously triggered conversions try to use the same directory for reading/writing the generated files. @@ -62,9 +62,9 @@ def __init__(self, cfg: AssetConverterBaseCfg): # resolve USD directory name if cfg.usd_dir is None: - # a folder in "/tmp/Orbit" by the name: usd_{date}_{time}_{random} + # a folder in "/tmp/IsaacLab" by the name: usd_{date}_{time}_{random} time_tag = datetime.now().strftime("%Y%m%d_%H%M%S") - self._usd_dir = f"/tmp/Orbit/usd_{time_tag}_{random.randrange(10000)}" + self._usd_dir = f"/tmp/IsaacLab/usd_{time_tag}_{random.randrange(10000)}" else: self._usd_dir = cfg.usd_dir diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/asset_converter_base_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base_cfg.py similarity index 89% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/asset_converter_base_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base_cfg.py index 86afbee4c6..ad02306d42 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/asset_converter_base_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base_cfg.py @@ -1,11 +1,11 @@ -# 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 from dataclasses import MISSING -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass @configclass @@ -18,7 +18,7 @@ class AssetConverterBaseCfg: usd_dir: str | None = None """The output directory path to store the generated USD file. Defaults to None. - If None, it is resolved as ``/tmp/Orbit/usd_{date}_{time}_{random}``, where + If None, it is resolved as ``/tmp/IsaacLab/usd_{date}_{time}_{random}``, where the parameters in braces are runtime generated. """ diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/mesh_converter.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py similarity index 95% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/mesh_converter.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py index 5ad2e91974..b86f313868 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/mesh_converter.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py @@ -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 @@ -12,10 +12,10 @@ from omni.isaac.core.utils.extensions import enable_extension from pxr import Gf, Usd, UsdGeom, UsdPhysics, UsdUtils -from omni.isaac.orbit.sim.converters.asset_converter_base import AssetConverterBase -from omni.isaac.orbit.sim.converters.mesh_converter_cfg import MeshConverterCfg -from omni.isaac.orbit.sim.schemas import schemas -from omni.isaac.orbit.sim.utils import export_prim_to_file +from omni.isaac.lab.sim.converters.asset_converter_base import AssetConverterBase +from omni.isaac.lab.sim.converters.mesh_converter_cfg import MeshConverterCfg +from omni.isaac.lab.sim.schemas import schemas +from omni.isaac.lab.sim.utils import export_prim_to_file class MeshConverter(AssetConverterBase): @@ -42,7 +42,7 @@ class MeshConverter(AssetConverterBase): .. caution:: When converting STL files, Z-up convention is assumed, even though this is not the default for many CAD export programs. Asset orientation convention can either be modified directly in the CAD program's export - process or an offset can be added within the config in Orbit. + process or an offset can be added within the config in Isaac Lab. """ @@ -146,7 +146,7 @@ def _convert_asset(self, cfg: MeshConverterCfg): # Apply collider properties to mesh if cfg.collision_props is not None: # -- Collision approximation to mesh - # TODO: https://github.com/isaac-orbit/orbit/issues/163 Move this to a new Schema + # TODO: https://github.com/isaac-sim/IsaacLab/issues/163 Move this to a new Schema mesh_collision_api = UsdPhysics.MeshCollisionAPI.Apply(child_mesh_prim) mesh_collision_api.GetApproximationAttr().Set(cfg.collision_approximation) # -- Collider properties such as offset, scale, etc. diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/mesh_converter_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter_cfg.py similarity index 81% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/mesh_converter_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter_cfg.py index f6ce03acfd..2466048447 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/mesh_converter_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter_cfg.py @@ -1,11 +1,11 @@ -# 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 -from omni.isaac.orbit.sim.converters.asset_converter_base_cfg import AssetConverterBaseCfg -from omni.isaac.orbit.sim.schemas import schemas_cfg -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.sim.converters.asset_converter_base_cfg import AssetConverterBaseCfg +from omni.isaac.lab.sim.schemas import schemas_cfg +from omni.isaac.lab.utils import configclass @configclass diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/urdf_converter.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py similarity index 99% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/urdf_converter.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py index 9623976877..96e8163a38 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/urdf_converter.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/urdf_converter_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py similarity index 91% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/urdf_converter_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py index 02e08153e8..89f8940abf 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/urdf_converter_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py @@ -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 @@ -6,8 +6,8 @@ from dataclasses import MISSING from typing import Literal -from omni.isaac.orbit.sim.converters.asset_converter_base_cfg import AssetConverterBaseCfg -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.sim.converters.asset_converter_base_cfg import AssetConverterBaseCfg +from omni.isaac.lab.utils import configclass @configclass diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/schemas/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/__init__.py similarity index 97% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/schemas/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/__init__.py index 7e620e7f66..ac78398ed0 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/schemas/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/schemas/schemas.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py similarity index 99% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/schemas/schemas.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py index 726631ab30..cf007d879a 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/schemas/schemas.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py @@ -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 @@ -538,7 +538,7 @@ def modify_joint_drive_properties( .. caution:: We highly recommend modifying joint properties of articulations through the functionalities in the - :mod:`omni.isaac.orbit.actuators` module. The methods here are for setting simulation low-level + :mod:`omni.isaac.lab.actuators` module. The methods here are for setting simulation low-level properties only. .. _UsdPhysics.DriveAPI: https://openusd.org/dev/api/class_usd_physics_drive_a_p_i.html diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/schemas/schemas_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/schemas/schemas_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py index e8fcf1400a..d64465c9b4 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/schemas/schemas_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py @@ -1,11 +1,11 @@ -# 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 from typing import Literal -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass @configclass diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/simulation_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/simulation_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py index d8d331508d..5d4d903f6a 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/simulation_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py @@ -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 @@ -11,7 +11,7 @@ from typing import Literal -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass from .spawners.materials import RigidBodyMaterialCfg diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/simulation_context.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/simulation_context.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py index 096a313258..9c9c224d4f 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/simulation_context.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py @@ -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 @@ -32,7 +32,7 @@ class SimulationContext(_SimulationContext): The simulation context helps control various simulation aspects. This includes: * configure the simulator with different settings such as the physics time-step, the number of physics substeps, - and the physics solver parameters (for more information, see :class:`omni.isaac.orbit.sim.SimulationCfg`) + and the physics solver parameters (for more information, see :class:`omni.isaac.lab.sim.SimulationCfg`) * playing, pausing, stepping and stopping the simulation * adding and removing callbacks to different simulation events such as physics stepping, rendering, etc. @@ -140,10 +140,10 @@ def __init__(self, cfg: SimulationCfg | None = None): self._local_gui = carb_settings_iface.get("/app/window/enabled") # read flag for whether livestreaming GUI is enabled self._livestream_gui = carb_settings_iface.get("/app/livestream/enabled") - # read flag for whether the orbit viewport capture pipeline will be used, + # read flag for whether the Isaac Lab viewport capture pipeline will be used, # casting None to False if the flag doesn't exist # this flag is set from the AppLauncher class - self._offscreen_render = bool(carb_settings_iface.get("/orbit/render/offscreen")) + self._offscreen_render = bool(carb_settings_iface.get("/isaaclab/render/offscreen")) # flag for whether any GUI will be rendered (local, livestreamed or viewport) self._has_gui = self._local_gui or self._livestream_gui @@ -236,9 +236,9 @@ def has_gui(self) -> bool: def has_rtx_sensors(self) -> bool: """Returns whether the simulation has any RTX-rendering related sensors. - This function returns the value of the simulation parameter ``"/orbit/render/rtx_sensors"``. + This function returns the value of the simulation parameter ``"/isaaclab/render/rtx_sensors"``. The parameter is set to True when instances of RTX-related sensors (cameras or LiDARs) are - created using Orbit's sensor classes. + created using Isaac Lab's sensor classes. True if the simulation has RTX sensors (such as USD Cameras or LiDARs). @@ -246,7 +246,7 @@ def has_rtx_sensors(self) -> bool: .. _NVIDIA RTX documentation: https://www.nvidia.com/design-visualization/solutions/rendering/ """ - return self._settings.get_as_bool("/orbit/render/rtx_sensors") + return self._settings.get_as_bool("/isaaclab/render/rtx_sensors") def is_fabric_enabled(self) -> bool: """Returns whether the fabric interface is enabled. @@ -647,7 +647,7 @@ def build_simulation_context( gravity_enabled: Whether to enable gravity in the simulation. Defaults to True. device: Device to run the simulation on. Defaults to "cuda:0". dt: Time step for the simulation: Defaults to 0.01. - sim_cfg: :class:`omni.isaac.orbit.sim.SimulationCfg` to use for the simulation. Defaults to None. + sim_cfg: :class:`omni.isaac.lab.sim.SimulationCfg` to use for the simulation. Defaults to None. add_ground_plane: Whether to add a ground plane to the simulation. Defaults to False. add_lighting: Whether to add a dome light to the simulation. Defaults to False. auto_add_lighting: Whether to automatically add a dome light to the simulation if the simulation has a GUI. diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/__init__.py similarity index 77% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/__init__.py index 432ee6d5ed..1e55a749c9 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/__init__.py @@ -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 @@ -15,11 +15,11 @@ .. code-block:: python - import omni.isaac.orbit.sim as sim_utils - from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR + import omni.isaac.lab.sim as sim_utils + from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR # spawn from USD file - cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd") + cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd") prim_path = "/World/myAsset" # spawn using the function from the module @@ -29,11 +29,11 @@ .. code-block:: python - import omni.isaac.orbit.sim as sim_utils - from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR + import omni.isaac.lab.sim as sim_utils + from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR # spawn from USD file - cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd") + cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd") prim_path = "/World/myAsset" # use the `func` reference in the config class @@ -44,7 +44,7 @@ class and the function call in a single line of code. Depending on the type of prim, the spawning-functions can also deal with the creation of prims over multiple prim path. These need to be provided as a regex prim path expressions, which are -resolved based on the parent prim paths using the :meth:`omni.isaac.orbit.sim.utils.clone` function decorator. +resolved based on the parent prim paths using the :meth:`omni.isaac.lab.sim.utils.clone` function decorator. For example: * ``/World/Table_[1,2]/Robot`` will create the prims ``/World/Table_1/Robot`` and ``/World/Table_2/Robot`` diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/from_files/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/__init__.py similarity index 89% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/from_files/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/__init__.py index b030942034..4aabd245ba 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/from_files/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/from_files/from_files.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/from_files/from_files.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py index 0bda99b287..1f9bbe3b74 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/from_files/from_files.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py @@ -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 @@ -13,8 +13,8 @@ import omni.kit.commands from pxr import Gf, Sdf, Usd -from omni.isaac.orbit.sim import converters, schemas -from omni.isaac.orbit.sim.utils import bind_physics_material, bind_visual_material, clone, select_usd_variants +from omni.isaac.lab.sim import converters, schemas +from omni.isaac.lab.sim.utils import bind_physics_material, bind_visual_material, clone, select_usd_variants if TYPE_CHECKING: from . import from_files_cfg diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/from_files/from_files_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py similarity index 90% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/from_files/from_files_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py index 16e9b37672..e6d38d20ff 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/from_files/from_files_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py @@ -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 @@ -8,11 +8,11 @@ from collections.abc import Callable from dataclasses import MISSING -from omni.isaac.orbit.sim import converters, schemas -from omni.isaac.orbit.sim.spawners import materials -from omni.isaac.orbit.sim.spawners.spawner_cfg import RigidObjectSpawnerCfg, SpawnerCfg -from omni.isaac.orbit.utils import configclass -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR +from omni.isaac.lab.sim import converters, schemas +from omni.isaac.lab.sim.spawners import materials +from omni.isaac.lab.sim.spawners.spawner_cfg import RigidObjectSpawnerCfg, SpawnerCfg +from omni.isaac.lab.utils import configclass +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR from . import from_files @@ -73,7 +73,7 @@ class UsdFileCfg(FileCfg): """Variants to select from in the input USD file. Defaults to None, in which case no variants are applied. This can either be a configclass object, in which case each attribute is used as a variant set name and its specified value, - or a dictionary mapping between the two. Please check the :meth:`~omni.isaac.orbit.sim.utils.select_usd_variants` function + or a dictionary mapping between the two. Please check the :meth:`~omni.isaac.lab.sim.utils.select_usd_variants` function for more information. """ diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/lights/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/__init__.py similarity index 89% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/lights/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/__init__.py index 3d45f36725..ec2f039ffa 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/lights/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/lights/lights.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights.py similarity index 95% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/lights/lights.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights.py index e77c537d51..77d7ebb987 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/lights/lights.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights.py @@ -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 @@ -10,7 +10,7 @@ import omni.isaac.core.utils.prims as prim_utils from pxr import Usd, UsdLux -from omni.isaac.orbit.sim.utils import clone, safe_set_attribute_on_usd_prim +from omni.isaac.lab.sim.utils import clone, safe_set_attribute_on_usd_prim if TYPE_CHECKING: from . import lights_cfg diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/lights/lights_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py similarity index 97% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/lights/lights_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py index fac21e2d08..9f4cd47a33 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/lights/lights_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py @@ -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 @@ -7,8 +7,8 @@ from dataclasses import MISSING from typing import Literal -from omni.isaac.orbit.sim.spawners.spawner_cfg import SpawnerCfg -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.sim.spawners.spawner_cfg import SpawnerCfg +from omni.isaac.lab.utils import configclass from . import lights diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/materials/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/__init__.py similarity index 96% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/materials/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/__init__.py index 4e05e0d51a..ef1bba5f6c 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/materials/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/__init__.py @@ -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 @@ -33,7 +33,7 @@ import omni.isaac.core.utils.prims as prim_utils - import omni.isaac.orbit.sim as sim_utils + import omni.isaac.lab.sim as sim_utils # create a visual material visual_material_cfg = sim_utils.GlassMdlCfg(glass_ior=1.0, thin_walled=True) diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/materials/physics_materials.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials.py similarity index 95% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/materials/physics_materials.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials.py index 4ed69d7787..a766c3bf59 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/materials/physics_materials.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials.py @@ -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 @@ -11,7 +11,7 @@ import omni.isaac.core.utils.stage as stage_utils from pxr import PhysxSchema, Usd, UsdPhysics, UsdShade -from omni.isaac.orbit.sim.utils import clone, safe_set_attribute_on_usd_schema +from omni.isaac.lab.sim.utils import clone, safe_set_attribute_on_usd_schema if TYPE_CHECKING: from . import physics_materials_cfg diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/materials/physics_materials_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py similarity index 96% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/materials/physics_materials_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py index 15e2c9b5ca..92dbdf10a4 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/materials/physics_materials_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py @@ -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 @@ -7,7 +7,7 @@ from dataclasses import MISSING from typing import Literal -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass from . import physics_materials diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/materials/visual_materials.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py similarity index 96% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/materials/visual_materials.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py index 137b8f38af..e3077bf062 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/materials/visual_materials.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py @@ -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 @@ -11,8 +11,8 @@ import omni.kit.commands from pxr import Usd -from omni.isaac.orbit.sim.utils import clone, safe_set_attribute_on_usd_prim -from omni.isaac.orbit.utils.assets import NVIDIA_NUCLEUS_DIR +from omni.isaac.lab.sim.utils import clone, safe_set_attribute_on_usd_prim +from omni.isaac.lab.utils.assets import NVIDIA_NUCLEUS_DIR if TYPE_CHECKING: from . import visual_materials_cfg diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/materials/visual_materials_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py similarity index 96% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/materials/visual_materials_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py index 1339c61216..a2b4ca80dc 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/materials/visual_materials_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py @@ -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 @@ -6,7 +6,7 @@ from collections.abc import Callable from dataclasses import MISSING -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass from . import visual_materials @@ -60,7 +60,7 @@ class MdlFileCfg(VisualMaterialCfg): To use these materials, you can set the path of the material in the nucleus directory using the ``{NVIDIA_NUCLEUS_DIR}`` variable. This is internally resolved to the path of the NVIDIA Nucleus directory on the host machine through the attribute - :attr:`omni.isaac.orbit.utils.assets.NVIDIA_NUCLEUS_DIR`. + :attr:`omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR`. For example, to use the "Aluminum_Anodized" material, you can set the path to: ``{NVIDIA_NUCLEUS_DIR}/Materials/Base/Metals/Aluminum_Anodized.mdl``. diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/sensors/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/__init__.py similarity index 85% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/sensors/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/__init__.py index bca3d9d161..97e8000699 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/sensors/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/sensors/sensors.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors.py similarity index 97% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/sensors/sensors.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors.py index bb7f3b4ac5..bb5ee163e0 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/sensors/sensors.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors.py @@ -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 @@ -11,8 +11,8 @@ import omni.kit.commands from pxr import Sdf, Usd -from omni.isaac.orbit.sim.utils import clone -from omni.isaac.orbit.utils import to_camel_case +from omni.isaac.lab.sim.utils import clone +from omni.isaac.lab.utils import to_camel_case if TYPE_CHECKING: from . import sensors_cfg diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/sensors/sensors_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py similarity index 96% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/sensors/sensors_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py index 04300d7c06..c3662d7169 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/sensors/sensors_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py @@ -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 @@ -6,8 +6,8 @@ from collections.abc import Callable from typing import Literal -from omni.isaac.orbit.sim.spawners.spawner_cfg import SpawnerCfg -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.sim.spawners.spawner_cfg import SpawnerCfg +from omni.isaac.lab.utils import configclass from . import sensors diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/shapes/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/__init__.py similarity index 90% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/shapes/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/__init__.py index ea3dc9d2f6..9391aefb8a 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/shapes/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/shapes/shapes.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/shapes/shapes.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py index 498210e991..6097f2869c 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/shapes/shapes.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py @@ -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 @@ -10,8 +10,8 @@ import omni.isaac.core.utils.prims as prim_utils from pxr import Usd -from omni.isaac.orbit.sim import schemas -from omni.isaac.orbit.sim.utils import bind_physics_material, bind_visual_material, clone +from omni.isaac.lab.sim import schemas +from omni.isaac.lab.sim.utils import bind_physics_material, bind_visual_material, clone if TYPE_CHECKING: from . import shapes_cfg diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/shapes/shapes_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py similarity index 92% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/shapes/shapes_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py index edd0fde7b9..b2b006bebf 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/shapes/shapes_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py @@ -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 @@ -7,9 +7,9 @@ from dataclasses import MISSING from typing import Literal -from omni.isaac.orbit.sim.spawners import materials -from omni.isaac.orbit.sim.spawners.spawner_cfg import RigidObjectSpawnerCfg -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.sim.spawners import materials +from omni.isaac.lab.sim.spawners.spawner_cfg import RigidObjectSpawnerCfg +from omni.isaac.lab.utils import configclass from . import shapes diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/spawner_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py similarity index 93% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/spawner_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py index 9919bf3721..33c4e1d646 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/spawner_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py @@ -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 @@ -10,8 +10,8 @@ from pxr import Usd -from omni.isaac.orbit.sim import schemas -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.sim import schemas +from omni.isaac.lab.utils import configclass @configclass @@ -22,7 +22,7 @@ class SpawnerCfg: prim path to spawn the asset at, the configuration instance and transformation, and returns the prim path of the spawned asset. - The function is typically decorated with :func:`omni.isaac.orbit.sim.spawner.utils.clone` decorator + The function is typically decorated with :func:`omni.isaac.lab.sim.spawner.utils.clone` decorator that checks if input prim path is a regex expression and spawns the asset at all matching prims. For this, the decorator uses the Cloner API from Isaac Sim and handles the :attr:`copy_from_source` parameter. diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/utils.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py similarity index 99% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/utils.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py index 44931fe78e..d7a06de866 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/utils.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py @@ -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 @@ -19,7 +19,7 @@ from omni.isaac.cloner import Cloner from pxr import PhysxSchema, Sdf, Semantics, Usd, UsdGeom, UsdPhysics, UsdShade -from omni.isaac.orbit.utils.string import to_camel_case +from omni.isaac.lab.utils.string import to_camel_case from . import schemas diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/__init__.py similarity index 93% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/__init__.py index d66ee927e6..f881f2680c 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/__init__.py @@ -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 @@ -15,7 +15,7 @@ terrain mesh into a dictionary called :obj:`TerrainImporter.warp_meshes` that later can be used for ray-casting. The following functions are available for importing terrains: - * :meth:`TerrainImporter.import_ground_plane`: spawn a grid plane which is default in isaacsim/orbit. + * :meth:`TerrainImporter.import_ground_plane`: spawn a grid plane which is default in isaacsim/isaaclab. * :meth:`TerrainImporter.import_mesh`: spawn a prim from a ``trimesh`` object. * :meth:`TerrainImporter.import_usd`: spawn a prim as reference to input USD file. diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/config/rough.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/config/rough.py similarity index 93% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/config/rough.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/config/rough.py index 57e23add76..a2b086ce83 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/config/rough.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/config/rough.py @@ -1,11 +1,11 @@ -# 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 """Configuration for custom terrains.""" -import omni.isaac.orbit.terrains as terrain_gen +import omni.isaac.lab.terrains as terrain_gen from ..terrain_generator_cfg import TerrainGeneratorCfg diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/height_field/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/__init__.py similarity index 96% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/height_field/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/__init__.py index 8cc2e59e59..c78abfeb98 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/height_field/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/height_field/hf_terrains.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py similarity index 99% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/height_field/hf_terrains.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py index d164aa0bf9..b640589248 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/height_field/hf_terrains.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/height_field/hf_terrains_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/height_field/hf_terrains_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py index 81b9176a20..c7b7029ed0 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/height_field/hf_terrains_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py @@ -1,11 +1,11 @@ -# 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 from dataclasses import MISSING -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass from ..terrain_generator_cfg import SubTerrainBaseCfg from . import hf_terrains diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/height_field/utils.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/utils.py similarity index 99% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/height_field/utils.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/utils.py index 06bdb5e941..7210898afe 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/height_field/utils.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/utils.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/terrain_generator.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/terrain_generator.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py index e3567aea20..b3a45b4943 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/terrain_generator.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py @@ -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 @@ -10,10 +10,10 @@ import carb -from omni.isaac.orbit.utils.dict import dict_to_md5_hash -from omni.isaac.orbit.utils.io import dump_yaml -from omni.isaac.orbit.utils.timer import Timer -from omni.isaac.orbit.utils.warp import convert_to_warp_mesh +from omni.isaac.lab.utils.dict import dict_to_md5_hash +from omni.isaac.lab.utils.io import dump_yaml +from omni.isaac.lab.utils.timer import Timer +from omni.isaac.lab.utils.warp import convert_to_warp_mesh from .height_field import HfTerrainBaseCfg from .terrain_generator_cfg import FlatPatchSamplingCfg, SubTerrainBaseCfg, TerrainGeneratorCfg diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/terrain_generator_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py similarity index 94% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/terrain_generator_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py index 428932f973..fb59f7c59f 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/terrain_generator_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py @@ -1,11 +1,11 @@ -# 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 """ Configuration classes defining the different terrains available. Each configuration class must -inherit from ``omni.isaac.orbit.terrains.terrains_cfg.TerrainConfig`` and define the following attributes: +inherit from ``omni.isaac.lab.terrains.terrains_cfg.TerrainConfig`` and define the following attributes: - ``name``: Name of the terrain. This is used for the prim name in the USD stage. - ``function``: Function to generate the terrain. This function must take as input the terrain difficulty @@ -20,7 +20,7 @@ from dataclasses import MISSING from typing import Literal -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass @configclass @@ -30,7 +30,7 @@ class FlatPatchSamplingCfg: For a given sub-terrain, this configuration specifies how to sample flat patches on the terrain. The sampled flat patches can be used for spawning robots, targets, etc. - Please check the function :meth:`~omni.isaac.orbit.terrains.utils.find_flat_patches` for more details. + Please check the function :meth:`~omni.isaac.lab.terrains.utils.find_flat_patches` for more details. """ num_patches: int = MISSING @@ -178,5 +178,5 @@ class TerrainGeneratorCfg: use_cache: bool = False """Whether to load the terrain from cache if it exists. Defaults to True.""" - cache_dir: str = "/tmp/orbit/terrains" - """The directory where the terrain cache is stored. Defaults to "/tmp/orbit/terrains".""" + cache_dir: str = "/tmp/isaaclab/terrains" + """The directory where the terrain cache is stored. Defaults to "/tmp/isaaclab/terrains".""" diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/terrain_importer.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/terrain_importer.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py index 402f816878..2dbdcbf9e9 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/terrain_importer.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py @@ -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 @@ -13,10 +13,10 @@ import warp from pxr import UsdGeom -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.markers import VisualizationMarkers -from omni.isaac.orbit.markers.config import FRAME_MARKER_CFG -from omni.isaac.orbit.utils.warp import convert_to_warp_mesh +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.markers import VisualizationMarkers +from omni.isaac.lab.markers.config import FRAME_MARKER_CFG +from omni.isaac.lab.utils.warp import convert_to_warp_mesh from .terrain_generator import TerrainGenerator from .trimesh.utils import make_plane diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/terrain_importer_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py similarity index 92% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/terrain_importer_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py index 22754e5467..d6aca9419e 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/terrain_importer_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py @@ -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 @@ -8,8 +8,8 @@ from dataclasses import MISSING from typing import TYPE_CHECKING, Literal -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.utils import configclass +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.utils import configclass from .terrain_importer import TerrainImporter @@ -24,7 +24,7 @@ class TerrainImporterCfg: class_type: type = TerrainImporter """The class to use for the terrain importer. - Defaults to :class:`omni.isaac.orbit.terrains.terrain_importer.TerrainImporter`. + Defaults to :class:`omni.isaac.lab.terrains.terrain_importer.TerrainImporter`. """ collision_group: int = -1 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/trimesh/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/__init__.py similarity index 93% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/trimesh/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/__init__.py index d1dd8c6b06..34d4f591d4 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/trimesh/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/trimesh/mesh_terrains.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py similarity index 99% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/trimesh/mesh_terrains.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py index 26f8b9f9e4..e5493ccee9 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/trimesh/mesh_terrains.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/trimesh/mesh_terrains_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py similarity index 97% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/trimesh/mesh_terrains_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py index ea6b3d968a..77912a7f00 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/trimesh/mesh_terrains_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py @@ -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 @@ -6,9 +6,9 @@ from dataclasses import MISSING from typing import Literal -import omni.isaac.orbit.terrains.trimesh.mesh_terrains as mesh_terrains -import omni.isaac.orbit.terrains.trimesh.utils as mesh_utils_terrains -from omni.isaac.orbit.utils import configclass +import omni.isaac.lab.terrains.trimesh.mesh_terrains as mesh_terrains +import omni.isaac.lab.terrains.trimesh.utils as mesh_utils_terrains +from omni.isaac.lab.utils import configclass from ..terrain_generator_cfg import SubTerrainBaseCfg diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/trimesh/utils.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/utils.py similarity index 99% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/trimesh/utils.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/utils.py index 8ab027f8c3..a8eb33e474 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/trimesh/utils.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/utils.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/utils.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/utils.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py index 70f31f5612..a888cee3bb 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/utils.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py @@ -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 @@ -12,7 +12,7 @@ import warp as wp -from omni.isaac.orbit.utils.warp import raycast_mesh +from omni.isaac.lab.utils.warp import raycast_mesh def color_meshes_by_height(meshes: list[trimesh.Trimesh], **kwargs) -> trimesh.Trimesh: @@ -82,7 +82,7 @@ def create_prim_from_mesh(prim_path: str, mesh: trimesh.Trimesh, **kwargs): import omni.isaac.core.utils.prims as prim_utils from pxr import UsdGeom - import omni.isaac.orbit.sim as sim_utils + import omni.isaac.lab.sim as sim_utils # create parent prim prim_utils.create_prim(prim_path, "Xform") diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/__init__.py similarity index 81% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/utils/__init__.py index 030231ee9a..d298ffa5bf 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/array.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/array.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/array.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/utils/array.py index a97ed79b13..f372e0b002 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/array.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/array.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/assets.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py similarity index 96% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/assets.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py index 9f1c1efdd4..3ff0795fdf 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/assets.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py @@ -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 @@ -51,8 +51,8 @@ ISAAC_NUCLEUS_DIR = f"{NUCLEUS_ASSET_ROOT_DIR}/Isaac" """Path to the ``Isaac`` directory on the NVIDIA Nucleus Server.""" -ISAAC_ORBIT_NUCLEUS_DIR = f"{ISAAC_NUCLEUS_DIR}/Samples/Orbit" -"""Path to the ``Isaac/Samples/Orbit`` directory on the NVIDIA Nucleus Server.""" +ISAACLAB_NUCLEUS_DIR = f"{ISAAC_NUCLEUS_DIR}/IsaacLab" +"""Path to the ``Isaac/IsaacLab`` directory on the NVIDIA Nucleus Server.""" def check_file_path(path: str) -> Literal[0, 1, 2]: diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/configclass.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/configclass.py similarity index 99% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/configclass.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/utils/configclass.py index 23f37d5649..588c2cfdb5 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/configclass.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/configclass.py @@ -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 @@ -46,7 +46,7 @@ def configclass(cls, **kwargs): from dataclasses import MISSING - from omni.isaac.orbit.utils.configclass import configclass + from omni.isaac.lab.utils.configclass import configclass @configclass diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/dict.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py similarity index 99% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/dict.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py index 4e62bb1372..ba0cb9c777 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/dict.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/io/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py similarity index 75% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/io/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py index de11bb7219..07d739cd7a 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/io/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/io/pkl.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/pkl.py similarity index 95% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/io/pkl.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/pkl.py index 762a73e818..73762cc787 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/io/pkl.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/pkl.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/io/yaml.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/yaml.py similarity index 93% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/io/yaml.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/yaml.py index a0b6ec36bc..8fa25d8538 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/io/yaml.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/yaml.py @@ -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 @@ -8,7 +8,7 @@ import os import yaml -from omni.isaac.orbit.utils import class_to_dict +from omni.isaac.lab.utils import class_to_dict def load_yaml(filename: str) -> dict: diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/math.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py similarity index 99% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/math.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py index e97440d413..ff6ca3babf 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/math.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/noise/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py similarity index 85% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/noise/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py index c13c8dac22..5baf998590 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/noise/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py @@ -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 @@ -13,7 +13,7 @@ .. code-block:: python import torch - from omni.isaac.orbit.utils.noise import AdditiveGaussianNoiseCfg + from omni.isaac.lab.utils.noise import AdditiveGaussianNoiseCfg # create a random tensor my_tensor = torch.rand(128, 128, device="cuda") diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/noise/noise_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py similarity index 92% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/noise/noise_cfg.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py index 437bb5a84d..f9e34947ee 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/noise/noise_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py @@ -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 @@ -9,7 +9,7 @@ from collections.abc import Callable from dataclasses import MISSING -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass from . import noise_model diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/noise/noise_model.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py similarity index 93% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/noise/noise_model.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py index 43be75c629..22ed561f47 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/noise/noise_model.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/string.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py similarity index 99% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/string.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py index 6e876955b8..b4066c54d9 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/string.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/timer.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py similarity index 95% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/timer.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py index b8c5bd96c0..9a731067a5 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/timer.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py @@ -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 @@ -34,7 +34,7 @@ class Timer(ContextDecorator): import time - from omni.isaac.orbit.utils.timer import Timer + from omni.isaac.lab.utils.timer import Timer timer = Timer() timer.start() @@ -51,7 +51,7 @@ class Timer(ContextDecorator): import time - from omni.isaac.orbit.utils.timer import Timer + from omni.isaac.lab.utils.timer import Timer with Timer() as timer: time.sleep(1) diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/warp/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py similarity index 73% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/warp/__init__.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py index b368cfe5f1..97f81310ef 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/warp/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/warp/kernels.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/kernels.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/warp/kernels.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/kernels.py index 2b822e616d..abb678828d 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/warp/kernels.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/kernels.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/warp/ops.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/ops.py similarity index 98% rename from source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/warp/ops.py rename to source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/ops.py index de96b8953b..2aca585139 100644 --- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/warp/ops.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/ops.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit/setup.py b/source/extensions/omni.isaac.lab/setup.py similarity index 80% rename from source/extensions/omni.isaac.orbit/setup.py rename to source/extensions/omni.isaac.lab/setup.py index 47c1c14e33..d5732566da 100644 --- a/source/extensions/omni.isaac.orbit/setup.py +++ b/source/extensions/omni.isaac.lab/setup.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 -"""Installation script for the 'omni.isaac.orbit' python package.""" +"""Installation script for the 'omni.isaac.lab' python package.""" import os import toml @@ -33,10 +33,9 @@ # Installation operation setup( - name="omni-isaac-orbit", - author="ORBIT Project Developers", - maintainer="Mayank Mittal", - maintainer_email="mittalma@ethz.ch", + name="omni-isaac-lab", + author="Isaac Lab Project Developers", + maintainer="Isaac Lab Project Developers", url=EXTENSION_TOML_DATA["package"]["repository"], version=EXTENSION_TOML_DATA["package"]["version"], description=EXTENSION_TOML_DATA["package"]["description"], @@ -45,7 +44,7 @@ include_package_data=True, python_requires=">=3.10", install_requires=INSTALL_REQUIRES, - packages=["omni.isaac.orbit"], + packages=["omni.isaac.lab"], classifiers=[ "Natural Language :: English", "Programming Language :: Python :: 3.10", diff --git a/source/extensions/omni.isaac.orbit/test/app/test_argparser_launch.py b/source/extensions/omni.isaac.lab/test/app/test_argparser_launch.py similarity index 92% rename from source/extensions/omni.isaac.orbit/test/app/test_argparser_launch.py rename to source/extensions/omni.isaac.lab/test/app/test_argparser_launch.py index 2641695ea9..c3c4f37a15 100644 --- a/source/extensions/omni.isaac.orbit/test/app/test_argparser_launch.py +++ b/source/extensions/omni.isaac.lab/test/app/test_argparser_launch.py @@ -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 @@ -7,7 +7,7 @@ import unittest from unittest import mock -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests class TestAppLauncher(unittest.TestCase): diff --git a/source/extensions/omni.isaac.orbit/test/app/test_env_var_launch.py b/source/extensions/omni.isaac.lab/test/app/test_env_var_launch.py similarity index 89% rename from source/extensions/omni.isaac.orbit/test/app/test_env_var_launch.py rename to source/extensions/omni.isaac.lab/test/app/test_env_var_launch.py index 28396a8288..a58d3a4e27 100644 --- a/source/extensions/omni.isaac.orbit/test/app/test_env_var_launch.py +++ b/source/extensions/omni.isaac.lab/test/app/test_env_var_launch.py @@ -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 @@ -6,7 +6,7 @@ import os import unittest -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests class TestAppLauncher(unittest.TestCase): diff --git a/source/extensions/omni.isaac.orbit/test/app/test_kwarg_launch.py b/source/extensions/omni.isaac.lab/test/app/test_kwarg_launch.py similarity index 88% rename from source/extensions/omni.isaac.orbit/test/app/test_kwarg_launch.py rename to source/extensions/omni.isaac.lab/test/app/test_kwarg_launch.py index 4af7e5c38f..f46abd5aa4 100644 --- a/source/extensions/omni.isaac.orbit/test/app/test_kwarg_launch.py +++ b/source/extensions/omni.isaac.lab/test/app/test_kwarg_launch.py @@ -1,11 +1,11 @@ -# 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 import unittest -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests class TestAppLauncher(unittest.TestCase): diff --git a/source/extensions/omni.isaac.orbit/test/assets/check_external_force.py b/source/extensions/omni.isaac.lab/test/assets/check_external_force.py similarity index 87% rename from source/extensions/omni.isaac.orbit/test/assets/check_external_force.py rename to source/extensions/omni.isaac.lab/test/assets/check_external_force.py index 6cae42a860..ef94da4975 100644 --- a/source/extensions/omni.isaac.orbit/test/assets/check_external_force.py +++ b/source/extensions/omni.isaac.lab/test/assets/check_external_force.py @@ -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 @@ -9,9 +9,9 @@ .. code-block:: bash # Usage to apply force on base - ./orbit.sh -p source/extensions/omni.isaac.orbit/test/assets/check_external_force.py --body base --force 1000 + ./isaaclab.sh -p source/extensions/omni.isaac.lab/test/assets/check_external_force.py --body base --force 1000 # Usage to apply force on legs - ./orbit.sh -p source/extensions/omni.isaac.orbit/test/assets/check_external_force.py --body .*_SHANK --force 100 + ./isaaclab.sh -p source/extensions/omni.isaac.lab/test/assets/check_external_force.py --body .*_SHANK --force 100 """ """Launch Isaac Sim Simulator first.""" @@ -19,7 +19,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="This script demonstrates how to external force on a legged robot.") @@ -38,14 +38,14 @@ import torch -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import Articulation -from omni.isaac.orbit.sim import SimulationContext +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import Articulation +from omni.isaac.lab.sim import SimulationContext ## # Pre-defined configs ## -from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG # isort:skip +from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG # isort:skip def main(): diff --git a/source/extensions/omni.isaac.orbit/test/assets/check_fixed_base_assets.py b/source/extensions/omni.isaac.lab/test/assets/check_fixed_base_assets.py similarity index 93% rename from source/extensions/omni.isaac.orbit/test/assets/check_fixed_base_assets.py rename to source/extensions/omni.isaac.lab/test/assets/check_fixed_base_assets.py index 2964f30462..634bcaf18e 100644 --- a/source/extensions/omni.isaac.orbit/test/assets/check_fixed_base_assets.py +++ b/source/extensions/omni.isaac.lab/test/assets/check_fixed_base_assets.py @@ -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 @@ -9,7 +9,7 @@ .. code-block:: bash # Usage - ./orbit.sh -p source/extensions/omni.isaac.orbit/test/assets/check_fixed_base_assets.py + ./isaaclab.sh -p source/extensions/omni.isaac.lab/test/assets/check_fixed_base_assets.py """ @@ -17,7 +17,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="This script checks the fixed-base API for different robots.") @@ -37,13 +37,13 @@ import omni.isaac.core.utils.prims as prim_utils -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import Articulation +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import Articulation ## # Pre-defined configs ## -from omni.isaac.orbit_assets import ANYMAL_C_CFG, FRANKA_PANDA_CFG # isort:skip +from omni.isaac.lab_assets import ANYMAL_C_CFG, FRANKA_PANDA_CFG # isort:skip def define_origins(num_origins: int, spacing: float) -> list[list[float]]: diff --git a/source/extensions/omni.isaac.orbit/test/assets/check_ridgeback_franka.py b/source/extensions/omni.isaac.lab/test/assets/check_ridgeback_franka.py similarity index 92% rename from source/extensions/omni.isaac.orbit/test/assets/check_ridgeback_franka.py rename to source/extensions/omni.isaac.lab/test/assets/check_ridgeback_franka.py index 4f142d6bf8..a0d1535363 100644 --- a/source/extensions/omni.isaac.orbit/test/assets/check_ridgeback_franka.py +++ b/source/extensions/omni.isaac.lab/test/assets/check_ridgeback_franka.py @@ -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 @@ -9,7 +9,7 @@ .. code-block:: bash # Usage - ./orbit.sh -p source/extensions/omni.isaac.orbit/test/assets/check_ridgeback_franka.py + ./isaaclab.sh -p source/extensions/omni.isaac.lab/test/assets/check_ridgeback_franka.py """ @@ -17,7 +17,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser( @@ -36,13 +36,13 @@ import torch -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import Articulation +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import Articulation ## # Pre-defined configs ## -from omni.isaac.orbit_assets.ridgeback_franka import RIDGEBACK_FRANKA_PANDA_CFG # isort:skip +from omni.isaac.lab_assets.ridgeback_franka import RIDGEBACK_FRANKA_PANDA_CFG # isort:skip def design_scene(): diff --git a/source/extensions/omni.isaac.orbit/test/assets/test_articulation.py b/source/extensions/omni.isaac.lab/test/assets/test_articulation.py similarity index 98% rename from source/extensions/omni.isaac.orbit/test/assets/test_articulation.py rename to source/extensions/omni.isaac.lab/test/assets/test_articulation.py index 666dd9d04c..b9757bc36e 100644 --- a/source/extensions/omni.isaac.orbit/test/assets/test_articulation.py +++ b/source/extensions/omni.isaac.lab/test/assets/test_articulation.py @@ -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 @@ -8,7 +8,7 @@ """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app app_launcher = AppLauncher(headless=True) @@ -22,16 +22,16 @@ import omni.isaac.core.utils.stage as stage_utils -import omni.isaac.orbit.sim as sim_utils -import omni.isaac.orbit.utils.string as string_utils -from omni.isaac.orbit.actuators import ImplicitActuatorCfg -from omni.isaac.orbit.assets import Articulation, ArticulationCfg -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR +import omni.isaac.lab.sim as sim_utils +import omni.isaac.lab.utils.string as string_utils +from omni.isaac.lab.actuators import ImplicitActuatorCfg +from omni.isaac.lab.assets import Articulation, ArticulationCfg +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR ## # Pre-defined configs ## -from omni.isaac.orbit_assets import ANYMAL_C_CFG, FRANKA_PANDA_CFG, SHADOW_HAND_CFG # isort:skip +from omni.isaac.lab_assets import ANYMAL_C_CFG, FRANKA_PANDA_CFG, SHADOW_HAND_CFG # isort:skip class TestArticulation(unittest.TestCase): diff --git a/source/extensions/omni.isaac.orbit/test/assets/test_rigid_object.py b/source/extensions/omni.isaac.lab/test/assets/test_rigid_object.py similarity index 98% rename from source/extensions/omni.isaac.orbit/test/assets/test_rigid_object.py rename to source/extensions/omni.isaac.lab/test/assets/test_rigid_object.py index 8b1611c54c..0b4d3b9c37 100644 --- a/source/extensions/omni.isaac.orbit/test/assets/test_rigid_object.py +++ b/source/extensions/omni.isaac.lab/test/assets/test_rigid_object.py @@ -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 @@ -9,7 +9,7 @@ """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # Can set this to False to see the GUI for debugging # This will also add lights to the scene @@ -27,12 +27,12 @@ import omni.isaac.core.utils.prims as prim_utils -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import RigidObject, RigidObjectCfg -from omni.isaac.orbit.sim import build_simulation_context -from omni.isaac.orbit.sim.spawners import materials -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR -from omni.isaac.orbit.utils.math import default_orientation, random_orientation +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import RigidObject, RigidObjectCfg +from omni.isaac.lab.sim import build_simulation_context +from omni.isaac.lab.sim.spawners import materials +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR +from omni.isaac.lab.utils.math import default_orientation, random_orientation def generate_cubes_scene( diff --git a/source/extensions/omni.isaac.orbit/test/controllers/test_differential_ik.py b/source/extensions/omni.isaac.lab/test/controllers/test_differential_ik.py similarity index 94% rename from source/extensions/omni.isaac.orbit/test/controllers/test_differential_ik.py rename to source/extensions/omni.isaac.lab/test/controllers/test_differential_ik.py index 17873af907..4d5877aaa1 100644 --- a/source/extensions/omni.isaac.orbit/test/controllers/test_differential_ik.py +++ b/source/extensions/omni.isaac.lab/test/controllers/test_differential_ik.py @@ -1,11 +1,11 @@ -# 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 """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app simulation_app = AppLauncher(headless=True).app @@ -19,15 +19,15 @@ import omni.isaac.core.utils.stage as stage_utils from omni.isaac.cloner import GridCloner -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import Articulation -from omni.isaac.orbit.controllers import DifferentialIKController, DifferentialIKControllerCfg -from omni.isaac.orbit.utils.math import compute_pose_error, subtract_frame_transforms +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import Articulation +from omni.isaac.lab.controllers import DifferentialIKController, DifferentialIKControllerCfg +from omni.isaac.lab.utils.math import compute_pose_error, subtract_frame_transforms ## # Pre-defined configs ## -from omni.isaac.orbit_assets import FRANKA_PANDA_HIGH_PD_CFG, UR10_CFG # isort:skip +from omni.isaac.lab_assets import FRANKA_PANDA_HIGH_PD_CFG, UR10_CFG # isort:skip class TestDifferentialIKController(unittest.TestCase): diff --git a/source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_app.py b/source/extensions/omni.isaac.lab/test/deps/isaacsim/check_app.py similarity index 89% rename from source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_app.py rename to source/extensions/omni.isaac.lab/test/deps/isaacsim/check_app.py index 4dc75010a1..78f43ce8e5 100644 --- a/source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_app.py +++ b/source/extensions/omni.isaac.lab/test/deps/isaacsim/check_app.py @@ -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 @@ -10,7 +10,7 @@ There are multiple warnings and errors that are printed on the console. ``` -_isaac_sim/python.sh source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_app.py +_isaac_sim/python.sh source/extensions/omni.isaac.lab/test/deps/isaacsim/check_app.py ``` Output: diff --git a/source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_camera.py b/source/extensions/omni.isaac.lab/test/deps/isaacsim/check_camera.py similarity index 96% rename from source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_camera.py rename to source/extensions/omni.isaac.lab/test/deps/isaacsim/check_camera.py index 14283cba0a..003bbda68e 100644 --- a/source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_camera.py +++ b/source/extensions/omni.isaac.lab/test/deps/isaacsim/check_camera.py @@ -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 @@ -11,9 +11,9 @@ ``` # run with cube -_isaac_sim/python.sh source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_camera.py --scenario cube +_isaac_sim/python.sh source/extensions/omni.isaac.lab/test/deps/isaacsim/check_camera.py --scenario cube # run with anymal -_isaac_sim/python.sh source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_camera.py --scenario anymal +_isaac_sim/python.sh source/extensions/omni.isaac.lab/test/deps/isaacsim/check_camera.py --scenario anymal ``` """ @@ -21,8 +21,8 @@ import argparse -# omni-isaac-orbit -from omni.isaac.orbit.app import AppLauncher +# omni-isaac-lab +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser( @@ -69,7 +69,7 @@ def main(): - """Runs a camera sensor from orbit.""" + """Runs a camera sensor from Isaac Lab.""" # Load kit helper world = World(physics_dt=0.005, rendering_dt=0.005, backend="torch", device="cpu") diff --git a/source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_floating_base_made_fixed.py b/source/extensions/omni.isaac.lab/test/deps/isaacsim/check_floating_base_made_fixed.py similarity index 95% rename from source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_floating_base_made_fixed.py rename to source/extensions/omni.isaac.lab/test/deps/isaacsim/check_floating_base_made_fixed.py index c75639b2cf..08eb18a282 100644 --- a/source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_floating_base_made_fixed.py +++ b/source/extensions/omni.isaac.lab/test/deps/isaacsim/check_floating_base_made_fixed.py @@ -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 @@ -53,8 +53,8 @@ ISAAC_NUCLEUS_DIR = f"{nucleus_utils.get_assets_root_path()}/Isaac" """Path to the `Isaac` directory on the NVIDIA Nucleus Server.""" -ISAAC_ORBIT_NUCLEUS_DIR = f"{nucleus_utils.get_assets_root_path()}/Isaac/Samples/Orbit" -"""Path to the `Isaac/Samples/Orbit` directory on the NVIDIA Nucleus Server.""" +ISAACLAB_NUCLEUS_DIR = f"{nucleus_utils.get_assets_root_path()}/Isaac/IsaacLab" +"""Path to the `Isaac/IsaacLab` directory on the NVIDIA Nucleus Server.""" """ @@ -82,7 +82,7 @@ def main(): prim_utils.create_prim("/World/Light/WhiteSphere", "SphereLight", translation=(-4.5, 3.5, 10.0)) # -- Robot # resolve asset - usd_path = f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd" + usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd" root_prim_path = "/World/Robot/base" # add asset print("Loading robot from: ", usd_path) diff --git a/source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_legged_robot_clone.py b/source/extensions/omni.isaac.lab/test/deps/isaacsim/check_legged_robot_clone.py similarity index 90% rename from source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_legged_robot_clone.py rename to source/extensions/omni.isaac.lab/test/deps/isaacsim/check_legged_robot_clone.py index ca0b54404f..15b90bdd0b 100644 --- a/source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_legged_robot_clone.py +++ b/source/extensions/omni.isaac.lab/test/deps/isaacsim/check_legged_robot_clone.py @@ -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 @@ -14,7 +14,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser( @@ -24,8 +24,8 @@ parser.add_argument( "--asset", type=str, - default="orbit", - help="The asset source location for the robot. Can be: orbit, oige, custom asset path.", + default="isaaclab", + help="The asset source location for the robot. Can be: isaaclab, oige, custom asset path.", ) # append AppLauncher cli args AppLauncher.add_app_launcher_args(parser) @@ -63,8 +63,8 @@ ISAAC_NUCLEUS_DIR = f"{nucleus_utils.get_assets_root_path()}/Isaac" """Path to the `Isaac` directory on the NVIDIA Nucleus Server.""" -ISAAC_ORBIT_NUCLEUS_DIR = f"{nucleus_utils.get_assets_root_path()}/Isaac/Samples/Orbit" -"""Path to the `Isaac/Samples/Orbit` directory on the NVIDIA Nucleus Server.""" +ISAACLAB_NUCLEUS_DIR = f"{nucleus_utils.get_assets_root_path()}/Isaac/IsaacLab" +"""Path to the `Isaac/IsaacLab` directory on the NVIDIA Nucleus Server.""" """ @@ -99,8 +99,8 @@ def main(): prim_utils.create_prim("/World/Light/WhiteSphere", "SphereLight", translation=(-4.5, 3.5, 10.0)) # -- Robot # resolve asset - if args_cli.asset == "orbit": - usd_path = f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd" + if args_cli.asset == "isaaclab": + usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd" root_prim_path = "/World/envs/env_.*/Robot/base" elif args_cli.asset == "oige": usd_path = f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_instanceable.usd" @@ -108,7 +108,7 @@ def main(): elif os.path.exists(args_cli.asset): usd_path = args_cli.asset else: - raise ValueError(f"Invalid asset: {args_cli.asset}. Must be one of: orbit, oige.") + raise ValueError(f"Invalid asset: {args_cli.asset}. Must be one of: isaaclab, oige.") # add asset print("Loading robot from: ", usd_path) prim_utils.create_prim( @@ -133,7 +133,7 @@ def main(): ) # Resolve robot prim paths - if args_cli.asset == "orbit": + if args_cli.asset == "isaaclab": root_prim_path = "/World/envs/env_.*/Robot/base" elif args_cli.asset == "oige": root_prim_path = "/World/envs/env_.*/Robot" @@ -141,7 +141,7 @@ def main(): usd_path = args_cli.asset root_prim_path = "/World/envs/env_.*/Robot" else: - raise ValueError(f"Invalid asset: {args_cli.asset}. Must be one of: orbit, oige.") + raise ValueError(f"Invalid asset: {args_cli.asset}. Must be one of: isaaclab, oige.") # Setup robot robot_view = ArticulationView(root_prim_path, name="ANYMAL") world.scene.add(robot_view) diff --git a/source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_rep_texture_randomizer.py b/source/extensions/omni.isaac.lab/test/deps/isaacsim/check_rep_texture_randomizer.py similarity index 95% rename from source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_rep_texture_randomizer.py rename to source/extensions/omni.isaac.lab/test/deps/isaacsim/check_rep_texture_randomizer.py index e2e846105c..d8833d47cf 100644 --- a/source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_rep_texture_randomizer.py +++ b/source/extensions/omni.isaac.lab/test/deps/isaacsim/check_rep_texture_randomizer.py @@ -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 @@ -15,7 +15,7 @@ .. code-block:: bash - ./orbit.sh -p source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_rep_texture_randomizer.py + ./isaaclab.sh -p source/extensions/omni.isaac.lab/test/deps/isaacsim/check_rep_texture_randomizer.py """ @@ -23,8 +23,8 @@ import argparse -# omni-isaac-orbit -from omni.isaac.orbit.app import AppLauncher +# omni-isaac-lab +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser( diff --git a/source/extensions/omni.isaac.orbit/test/deps/test_scipy.py b/source/extensions/omni.isaac.lab/test/deps/test_scipy.py similarity index 94% rename from source/extensions/omni.isaac.orbit/test/deps/test_scipy.py rename to source/extensions/omni.isaac.lab/test/deps/test_scipy.py index 864debab94..51a9c1e34b 100644 --- a/source/extensions/omni.isaac.orbit/test/deps/test_scipy.py +++ b/source/extensions/omni.isaac.lab/test/deps/test_scipy.py @@ -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 @@ -13,11 +13,11 @@ import scipy.interpolate as interpolate import unittest -from omni.isaac.orbit.app import run_tests +from omni.isaac.lab.app import run_tests class TestScipyOperations(unittest.TestCase): - """Tests for assuring scipy related operations used in Orbit.""" + """Tests for assuring scipy related operations used in Isaac Lab.""" def test_interpolation(self): """Test scipy interpolation 2D method.""" diff --git a/source/extensions/omni.isaac.orbit/test/deps/test_torch.py b/source/extensions/omni.isaac.lab/test/deps/test_torch.py similarity index 97% rename from source/extensions/omni.isaac.orbit/test/deps/test_torch.py rename to source/extensions/omni.isaac.lab/test/deps/test_torch.py index f76c6c1180..0c1faf1ca0 100644 --- a/source/extensions/omni.isaac.orbit/test/deps/test_torch.py +++ b/source/extensions/omni.isaac.lab/test/deps/test_torch.py @@ -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 @@ -7,11 +7,11 @@ import torch.utils.benchmark as benchmark import unittest -from omni.isaac.orbit.app import run_tests +from omni.isaac.lab.app import run_tests class TestTorchOperations(unittest.TestCase): - """Tests for assuring torch related operations used in Orbit.""" + """Tests for assuring torch related operations used in Isaac Lab.""" def test_array_slicing(self): """Check that using ellipsis and slices work for torch tensors.""" diff --git a/source/extensions/omni.isaac.orbit/test/devices/check_keyboard.py b/source/extensions/omni.isaac.lab/test/devices/check_keyboard.py similarity index 94% rename from source/extensions/omni.isaac.orbit/test/devices/check_keyboard.py rename to source/extensions/omni.isaac.lab/test/devices/check_keyboard.py index 2a66fbd9bd..7c64608629 100644 --- a/source/extensions/omni.isaac.orbit/test/devices/check_keyboard.py +++ b/source/extensions/omni.isaac.lab/test/devices/check_keyboard.py @@ -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 @@ -13,7 +13,7 @@ """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # launch omniverse app app_launcher = AppLauncher() @@ -25,7 +25,7 @@ from omni.isaac.core.simulation_context import SimulationContext -from omni.isaac.orbit.devices import Se3Keyboard +from omni.isaac.lab.devices import Se3Keyboard def print_cb(): diff --git a/source/extensions/omni.isaac.orbit/test/envs/check_base_env_anymal_locomotion.py b/source/extensions/omni.isaac.lab/test/envs/check_base_env_anymal_locomotion.py similarity index 84% rename from source/extensions/omni.isaac.orbit/test/envs/check_base_env_anymal_locomotion.py rename to source/extensions/omni.isaac.lab/test/envs/check_base_env_anymal_locomotion.py index 8aad9b6e9f..da511942cb 100644 --- a/source/extensions/omni.isaac.orbit/test/envs/check_base_env_anymal_locomotion.py +++ b/source/extensions/omni.isaac.lab/test/envs/check_base_env_anymal_locomotion.py @@ -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 @@ -16,7 +16,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="This script demonstrates how to use the concept of an Environment.") @@ -36,26 +36,26 @@ import os import torch -import omni.isaac.orbit.envs.mdp as mdp -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg -from omni.isaac.orbit.envs import BaseEnv, BaseEnvCfg -from omni.isaac.orbit.managers import EventTermCfg as EventTerm -from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup -from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.scene import InteractiveSceneCfg -from omni.isaac.orbit.sensors import RayCasterCfg, patterns -from omni.isaac.orbit.terrains import TerrainImporterCfg -from omni.isaac.orbit.utils import configclass -from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR, check_file_path, read_file -from omni.isaac.orbit.utils.noise import AdditiveUniformNoiseCfg as Unoise +import omni.isaac.lab.envs.mdp as mdp +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import ArticulationCfg, AssetBaseCfg +from omni.isaac.lab.envs import BaseEnv, BaseEnvCfg +from omni.isaac.lab.managers import EventTermCfg as EventTerm +from omni.isaac.lab.managers import ObservationGroupCfg as ObsGroup +from omni.isaac.lab.managers import ObservationTermCfg as ObsTerm +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.scene import InteractiveSceneCfg +from omni.isaac.lab.sensors import RayCasterCfg, patterns +from omni.isaac.lab.terrains import TerrainImporterCfg +from omni.isaac.lab.utils import configclass +from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR, check_file_path, read_file +from omni.isaac.lab.utils.noise import AdditiveUniformNoiseCfg as Unoise ## # Pre-defined configs ## -from omni.isaac.orbit.terrains.config.rough import ROUGH_TERRAINS_CFG # isort: skip -from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG # isort: skip +from omni.isaac.lab.terrains.config.rough import ROUGH_TERRAINS_CFG # isort: skip +from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG # isort: skip ## @@ -210,7 +210,7 @@ def main(): obs, _ = env.reset() # load level policy - policy_path = os.path.join(ISAAC_ORBIT_NUCLEUS_DIR, "Policies", "ANYmal-C", "policy.pt") + policy_path = os.path.join(ISAACLAB_NUCLEUS_DIR, "Policies", "ANYmal-C", "policy.pt") # check if policy file exists if not check_file_path(policy_path): diff --git a/source/extensions/omni.isaac.orbit/test/envs/check_base_env_floating_cube.py b/source/extensions/omni.isaac.lab/test/envs/check_base_env_floating_cube.py similarity index 89% rename from source/extensions/omni.isaac.orbit/test/envs/check_base_env_floating_cube.py rename to source/extensions/omni.isaac.lab/test/envs/check_base_env_floating_cube.py index 8f8d033802..419a091efb 100644 --- a/source/extensions/omni.isaac.orbit/test/envs/check_base_env_floating_cube.py +++ b/source/extensions/omni.isaac.lab/test/envs/check_base_env_floating_cube.py @@ -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 @@ -13,7 +13,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="This script demonstrates how to use the concept of an Environment.") @@ -32,18 +32,18 @@ import torch -import omni.isaac.orbit.envs.mdp as mdp -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import AssetBaseCfg, RigidObject, RigidObjectCfg -from omni.isaac.orbit.envs import BaseEnv, BaseEnvCfg -from omni.isaac.orbit.managers import EventTermCfg as EventTerm -from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup -from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.managers.action_manager import ActionTerm, ActionTermCfg -from omni.isaac.orbit.scene import InteractiveSceneCfg -from omni.isaac.orbit.terrains import TerrainImporterCfg -from omni.isaac.orbit.utils import configclass +import omni.isaac.lab.envs.mdp as mdp +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import AssetBaseCfg, RigidObject, RigidObjectCfg +from omni.isaac.lab.envs import BaseEnv, BaseEnvCfg +from omni.isaac.lab.managers import EventTermCfg as EventTerm +from omni.isaac.lab.managers import ObservationGroupCfg as ObsGroup +from omni.isaac.lab.managers import ObservationTermCfg as ObsTerm +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.managers.action_manager import ActionTerm, ActionTermCfg +from omni.isaac.lab.scene import InteractiveSceneCfg +from omni.isaac.lab.terrains import TerrainImporterCfg +from omni.isaac.lab.utils import configclass ## # Scene definition diff --git a/source/extensions/omni.isaac.orbit/test/envs/test_base_env.py b/source/extensions/omni.isaac.lab/test/envs/test_base_env.py similarity index 91% rename from source/extensions/omni.isaac.orbit/test/envs/test_base_env.py rename to source/extensions/omni.isaac.lab/test/envs/test_base_env.py index 1e83ec536e..010f270b54 100644 --- a/source/extensions/omni.isaac.orbit/test/envs/test_base_env.py +++ b/source/extensions/omni.isaac.lab/test/envs/test_base_env.py @@ -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 @@ -10,7 +10,7 @@ """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # Can set this to False to see the GUI for debugging HEADLESS = True @@ -26,9 +26,9 @@ import omni.usd -from omni.isaac.orbit.envs import BaseEnv, BaseEnvCfg -from omni.isaac.orbit.scene import InteractiveSceneCfg -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.envs import BaseEnv, BaseEnvCfg +from omni.isaac.lab.scene import InteractiveSceneCfg +from omni.isaac.lab.utils import configclass @configclass diff --git a/source/extensions/omni.isaac.orbit/test/envs/test_null_command_term.py b/source/extensions/omni.isaac.lab/test/envs/test_null_command_term.py similarity index 88% rename from source/extensions/omni.isaac.orbit/test/envs/test_null_command_term.py rename to source/extensions/omni.isaac.lab/test/envs/test_null_command_term.py index 20e93b1b7c..0a3783aa82 100644 --- a/source/extensions/omni.isaac.orbit/test/envs/test_null_command_term.py +++ b/source/extensions/omni.isaac.lab/test/envs/test_null_command_term.py @@ -1,11 +1,11 @@ -# 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 """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app app_launcher = AppLauncher(headless=True) @@ -16,7 +16,7 @@ import unittest from collections import namedtuple -from omni.isaac.orbit.envs.mdp import NullCommandCfg +from omni.isaac.lab.envs.mdp import NullCommandCfg class TestNullCommandTerm(unittest.TestCase): diff --git a/source/extensions/omni.isaac.orbit/test/managers/test_observation_manager.py b/source/extensions/omni.isaac.lab/test/managers/test_observation_manager.py similarity index 97% rename from source/extensions/omni.isaac.orbit/test/managers/test_observation_manager.py rename to source/extensions/omni.isaac.lab/test/managers/test_observation_manager.py index f0bf7365e2..8197473376 100644 --- a/source/extensions/omni.isaac.orbit/test/managers/test_observation_manager.py +++ b/source/extensions/omni.isaac.lab/test/managers/test_observation_manager.py @@ -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 @@ -8,7 +8,7 @@ """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app simulation_app = AppLauncher(headless=True).app @@ -19,8 +19,8 @@ import unittest from collections import namedtuple -from omni.isaac.orbit.managers import ManagerTermBase, ObservationGroupCfg, ObservationManager, ObservationTermCfg -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.managers import ManagerTermBase, ObservationGroupCfg, ObservationManager, ObservationTermCfg +from omni.isaac.lab.utils import configclass def grilled_chicken(env): diff --git a/source/extensions/omni.isaac.orbit/test/managers/test_reward_manager.py b/source/extensions/omni.isaac.lab/test/managers/test_reward_manager.py similarity index 96% rename from source/extensions/omni.isaac.orbit/test/managers/test_reward_manager.py rename to source/extensions/omni.isaac.lab/test/managers/test_reward_manager.py index 3c4ddcee19..1bdc67e997 100644 --- a/source/extensions/omni.isaac.orbit/test/managers/test_reward_manager.py +++ b/source/extensions/omni.isaac.lab/test/managers/test_reward_manager.py @@ -1,11 +1,11 @@ -# 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 """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app simulation_app = AppLauncher(headless=True).app @@ -15,8 +15,8 @@ import unittest from collections import namedtuple -from omni.isaac.orbit.managers import RewardManager, RewardTermCfg -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.managers import RewardManager, RewardTermCfg +from omni.isaac.lab.utils import configclass def grilled_chicken(env): diff --git a/source/extensions/omni.isaac.orbit/test/markers/check_markers_visibility.py b/source/extensions/omni.isaac.lab/test/markers/check_markers_visibility.py similarity index 88% rename from source/extensions/omni.isaac.orbit/test/markers/check_markers_visibility.py rename to source/extensions/omni.isaac.lab/test/markers/check_markers_visibility.py index 6100d7a685..446a2a345e 100644 --- a/source/extensions/omni.isaac.orbit/test/markers/check_markers_visibility.py +++ b/source/extensions/omni.isaac.lab/test/markers/check_markers_visibility.py @@ -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 @@ -13,7 +13,7 @@ .. code-block:: bash # Usage - ./orbit.sh -p source/extensions/omni.isaac.orbit/test/markers/check_markers_visibility.py + ./isaaclab.sh -p source/extensions/omni.isaac.lab/test/markers/check_markers_visibility.py """ @@ -22,7 +22,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="Check if the debug markers are visible from the camera.") @@ -38,16 +38,16 @@ """Rest everything follows.""" -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg -from omni.isaac.orbit.scene import InteractiveScene, InteractiveSceneCfg -from omni.isaac.orbit.sensors import RayCasterCfg, patterns -from omni.isaac.orbit.utils import configclass +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import ArticulationCfg, AssetBaseCfg +from omni.isaac.lab.scene import InteractiveScene, InteractiveSceneCfg +from omni.isaac.lab.sensors import RayCasterCfg, patterns +from omni.isaac.lab.utils import configclass ## # Pre-defined configs ## -from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG # isort:skip +from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG # isort:skip @configclass diff --git a/source/extensions/omni.isaac.orbit/test/markers/test_visualization_markers.py b/source/extensions/omni.isaac.lab/test/markers/test_visualization_markers.py similarity index 94% rename from source/extensions/omni.isaac.orbit/test/markers/test_visualization_markers.py rename to source/extensions/omni.isaac.lab/test/markers/test_visualization_markers.py index 2f7b2e4b07..3a991c88dc 100644 --- a/source/extensions/omni.isaac.orbit/test/markers/test_visualization_markers.py +++ b/source/extensions/omni.isaac.lab/test/markers/test_visualization_markers.py @@ -1,11 +1,11 @@ -# 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 """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app config = {"headless": True} @@ -19,11 +19,11 @@ import omni.isaac.core.utils.stage as stage_utils from omni.isaac.core.simulation_context import SimulationContext -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.markers import VisualizationMarkers, VisualizationMarkersCfg -from omni.isaac.orbit.markers.config import FRAME_MARKER_CFG, POSITION_GOAL_MARKER_CFG -from omni.isaac.orbit.utils.math import random_orientation -from omni.isaac.orbit.utils.timer import Timer +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.markers import VisualizationMarkers, VisualizationMarkersCfg +from omni.isaac.lab.markers.config import FRAME_MARKER_CFG, POSITION_GOAL_MARKER_CFG +from omni.isaac.lab.utils.math import random_orientation +from omni.isaac.lab.utils.timer import Timer class TestUsdVisualizationMarkers(unittest.TestCase): diff --git a/source/extensions/omni.isaac.orbit/test/scene/check_interactive_scene.py b/source/extensions/omni.isaac.lab/test/scene/check_interactive_scene.py similarity index 89% rename from source/extensions/omni.isaac.orbit/test/scene/check_interactive_scene.py rename to source/extensions/omni.isaac.lab/test/scene/check_interactive_scene.py index 92183c137a..25b63fc087 100644 --- a/source/extensions/omni.isaac.orbit/test/scene/check_interactive_scene.py +++ b/source/extensions/omni.isaac.lab/test/scene/check_interactive_scene.py @@ -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 @@ -13,7 +13,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="This script demonstrates how to use the scene interface.") @@ -27,19 +27,19 @@ """Rest everything follows.""" -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import AssetBaseCfg -from omni.isaac.orbit.scene import InteractiveScene, InteractiveSceneCfg -from omni.isaac.orbit.sensors.ray_caster import RayCasterCfg, patterns -from omni.isaac.orbit.sim import SimulationContext -from omni.isaac.orbit.terrains import TerrainImporterCfg -from omni.isaac.orbit.utils import configclass -from omni.isaac.orbit.utils.timer import Timer +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import AssetBaseCfg +from omni.isaac.lab.scene import InteractiveScene, InteractiveSceneCfg +from omni.isaac.lab.sensors.ray_caster import RayCasterCfg, patterns +from omni.isaac.lab.sim import SimulationContext +from omni.isaac.lab.terrains import TerrainImporterCfg +from omni.isaac.lab.utils import configclass +from omni.isaac.lab.utils.timer import Timer ## # Pre-defined configs ## -from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG # isort: skip +from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG # isort: skip @configclass diff --git a/source/extensions/omni.isaac.orbit/test/scene/test_interactive_scene.py b/source/extensions/omni.isaac.lab/test/scene/test_interactive_scene.py similarity index 83% rename from source/extensions/omni.isaac.orbit/test/scene/test_interactive_scene.py rename to source/extensions/omni.isaac.lab/test/scene/test_interactive_scene.py index afc1e1cd69..4e9d08e54b 100644 --- a/source/extensions/omni.isaac.orbit/test/scene/test_interactive_scene.py +++ b/source/extensions/omni.isaac.lab/test/scene/test_interactive_scene.py @@ -1,11 +1,11 @@ -# 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 """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app simulation_app = AppLauncher(headless=True).app @@ -14,15 +14,15 @@ import unittest -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.actuators import ImplicitActuatorCfg -from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg -from omni.isaac.orbit.scene import InteractiveScene, InteractiveSceneCfg -from omni.isaac.orbit.sensors import ContactSensorCfg -from omni.isaac.orbit.sim import build_simulation_context -from omni.isaac.orbit.terrains import TerrainImporterCfg -from omni.isaac.orbit.utils import configclass -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.actuators import ImplicitActuatorCfg +from omni.isaac.lab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg +from omni.isaac.lab.scene import InteractiveScene, InteractiveSceneCfg +from omni.isaac.lab.sensors import ContactSensorCfg +from omni.isaac.lab.sim import build_simulation_context +from omni.isaac.lab.terrains import TerrainImporterCfg +from omni.isaac.lab.utils import configclass +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR @configclass diff --git a/source/extensions/omni.isaac.orbit/test/sensors/check_contact_sensor.py b/source/extensions/omni.isaac.lab/test/sensors/check_contact_sensor.py similarity index 91% rename from source/extensions/omni.isaac.orbit/test/sensors/check_contact_sensor.py rename to source/extensions/omni.isaac.lab/test/sensors/check_contact_sensor.py index c565265beb..a1af36076f 100644 --- a/source/extensions/omni.isaac.orbit/test/sensors/check_contact_sensor.py +++ b/source/extensions/omni.isaac.lab/test/sensors/check_contact_sensor.py @@ -1,14 +1,14 @@ -# 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 demonstrates how to use the contact sensor sensor in Orbit. +This script demonstrates how to use the contact sensor sensor in Isaac Lab. .. code-block:: bash - ./orbit.sh -p source/extensions/omni.isaac.orbit/test/sensors/test_contact_sensor.py --num_robots 2 + ./isaaclab.sh -p source/extensions/omni.isaac.lab/test/sensors/test_contact_sensor.py --num_robots 2 """ """Launch Isaac Sim Simulator first.""" @@ -16,7 +16,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="Contact Sensor Test Script") @@ -42,14 +42,14 @@ from omni.isaac.core.utils.carb import set_carb_setting from omni.isaac.core.utils.viewports import set_camera_view -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import Articulation -from omni.isaac.orbit.sensors.contact_sensor import ContactSensor, ContactSensorCfg +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import Articulation +from omni.isaac.lab.sensors.contact_sensor import ContactSensor, ContactSensorCfg ## # Pre-defined configs ## -from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG # isort:skip +from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG # isort:skip """ diff --git a/source/extensions/omni.isaac.orbit/test/sensors/check_ray_caster.py b/source/extensions/omni.isaac.lab/test/sensors/check_ray_caster.py similarity index 89% rename from source/extensions/omni.isaac.orbit/test/sensors/check_ray_caster.py rename to source/extensions/omni.isaac.lab/test/sensors/check_ray_caster.py index 6191bd1bd6..31844ce438 100644 --- a/source/extensions/omni.isaac.orbit/test/sensors/check_ray_caster.py +++ b/source/extensions/omni.isaac.lab/test/sensors/check_ray_caster.py @@ -1,22 +1,22 @@ -# 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 shows how to use the ray caster from the Orbit framework. +This script shows how to use the ray caster from the Isaac Lab framework. .. code-block:: bash # Usage - ./orbit.sh -p source/extensions/omni.isaac.orbit/test/sensors/test_ray_caster.py --headless + ./isaaclab.sh -p source/extensions/omni.isaac.lab/test/sensors/test_ray_caster.py --headless """ """Launch Isaac Sim Simulator first.""" import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="Ray Caster Test Script") @@ -47,13 +47,13 @@ from omni.isaac.core.simulation_context import SimulationContext from omni.isaac.core.utils.viewports import set_camera_view -import omni.isaac.orbit.sim as sim_utils -import omni.isaac.orbit.terrains as terrain_gen -from omni.isaac.orbit.sensors.ray_caster import RayCaster, RayCasterCfg, patterns -from omni.isaac.orbit.terrains.config.rough import ROUGH_TERRAINS_CFG -from omni.isaac.orbit.terrains.terrain_importer import TerrainImporter -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR -from omni.isaac.orbit.utils.timer import Timer +import omni.isaac.lab.sim as sim_utils +import omni.isaac.lab.terrains as terrain_gen +from omni.isaac.lab.sensors.ray_caster import RayCaster, RayCasterCfg, patterns +from omni.isaac.lab.terrains.config.rough import ROUGH_TERRAINS_CFG +from omni.isaac.lab.terrains.terrain_importer import TerrainImporter +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR +from omni.isaac.lab.utils.timer import Timer def design_scene(sim: SimulationContext, num_envs: int = 2048): diff --git a/source/extensions/omni.isaac.orbit/test/sensors/test_camera.py b/source/extensions/omni.isaac.lab/test/sensors/test_camera.py similarity index 98% rename from source/extensions/omni.isaac.orbit/test/sensors/test_camera.py rename to source/extensions/omni.isaac.lab/test/sensors/test_camera.py index f64b6ad738..0a28e6d9e3 100644 --- a/source/extensions/omni.isaac.orbit/test/sensors/test_camera.py +++ b/source/extensions/omni.isaac.lab/test/sensors/test_camera.py @@ -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 @@ -8,7 +8,7 @@ """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app app_launcher = AppLauncher(headless=True, offscreen_render=True) @@ -30,11 +30,11 @@ from omni.isaac.core.prims import GeometryPrim, RigidPrim from pxr import Gf, Usd, UsdGeom -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.sensors.camera import Camera, CameraCfg -from omni.isaac.orbit.utils import convert_dict_to_backend -from omni.isaac.orbit.utils.math import convert_quat -from omni.isaac.orbit.utils.timer import Timer +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.sensors.camera import Camera, CameraCfg +from omni.isaac.lab.utils import convert_dict_to_backend +from omni.isaac.lab.utils.math import convert_quat +from omni.isaac.lab.utils.timer import Timer # sample camera poses POSITION = [2.5, 2.5, 2.5] diff --git a/source/extensions/omni.isaac.orbit/test/sensors/test_contact_sensor.py b/source/extensions/omni.isaac.lab/test/sensors/test_contact_sensor.py similarity index 97% rename from source/extensions/omni.isaac.orbit/test/sensors/test_contact_sensor.py rename to source/extensions/omni.isaac.lab/test/sensors/test_contact_sensor.py index 6061f8c55a..42e308e1a4 100644 --- a/source/extensions/omni.isaac.orbit/test/sensors/test_contact_sensor.py +++ b/source/extensions/omni.isaac.lab/test/sensors/test_contact_sensor.py @@ -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 @@ -7,7 +7,7 @@ """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests HEADLESS = True @@ -22,13 +22,13 @@ from dataclasses import MISSING from enum import Enum -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import RigidObject, RigidObjectCfg -from omni.isaac.orbit.scene import InteractiveScene, InteractiveSceneCfg -from omni.isaac.orbit.sensors import ContactSensor, ContactSensorCfg -from omni.isaac.orbit.sim import build_simulation_context -from omni.isaac.orbit.terrains import HfRandomUniformTerrainCfg, TerrainGeneratorCfg, TerrainImporterCfg -from omni.isaac.orbit.utils import configclass +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import RigidObject, RigidObjectCfg +from omni.isaac.lab.scene import InteractiveScene, InteractiveSceneCfg +from omni.isaac.lab.sensors import ContactSensor, ContactSensorCfg +from omni.isaac.lab.sim import build_simulation_context +from omni.isaac.lab.terrains import HfRandomUniformTerrainCfg, TerrainGeneratorCfg, TerrainImporterCfg +from omni.isaac.lab.utils import configclass ## # Custom helper classes. diff --git a/source/extensions/omni.isaac.orbit/test/sensors/test_frame_transformer.py b/source/extensions/omni.isaac.lab/test/sensors/test_frame_transformer.py similarity index 96% rename from source/extensions/omni.isaac.orbit/test/sensors/test_frame_transformer.py rename to source/extensions/omni.isaac.lab/test/sensors/test_frame_transformer.py index 80499a984b..f379bc86b2 100644 --- a/source/extensions/omni.isaac.orbit/test/sensors/test_frame_transformer.py +++ b/source/extensions/omni.isaac.lab/test/sensors/test_frame_transformer.py @@ -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 @@ -9,7 +9,7 @@ """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app app_launcher = AppLauncher(headless=True) @@ -24,17 +24,17 @@ import omni.isaac.core.utils.stage as stage_utils -import omni.isaac.orbit.sim as sim_utils -import omni.isaac.orbit.utils.math as math_utils -from omni.isaac.orbit.scene import InteractiveScene, InteractiveSceneCfg -from omni.isaac.orbit.sensors import FrameTransformerCfg, OffsetCfg -from omni.isaac.orbit.terrains import TerrainImporterCfg -from omni.isaac.orbit.utils import configclass +import omni.isaac.lab.sim as sim_utils +import omni.isaac.lab.utils.math as math_utils +from omni.isaac.lab.scene import InteractiveScene, InteractiveSceneCfg +from omni.isaac.lab.sensors import FrameTransformerCfg, OffsetCfg +from omni.isaac.lab.terrains import TerrainImporterCfg +from omni.isaac.lab.utils import configclass ## # Pre-defined configs ## -from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG # isort:skip +from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG # isort:skip def quat_from_euler_rpy(roll, pitch, yaw, degrees=False): diff --git a/source/extensions/omni.isaac.orbit/test/sensors/test_ray_caster_camera.py b/source/extensions/omni.isaac.lab/test/sensors/test_ray_caster_camera.py similarity index 97% rename from source/extensions/omni.isaac.orbit/test/sensors/test_ray_caster_camera.py rename to source/extensions/omni.isaac.lab/test/sensors/test_ray_caster_camera.py index 75f3395074..c38d6f122c 100644 --- a/source/extensions/omni.isaac.orbit/test/sensors/test_ray_caster_camera.py +++ b/source/extensions/omni.isaac.lab/test/sensors/test_ray_caster_camera.py @@ -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 @@ -8,7 +8,7 @@ """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app app_launcher = AppLauncher(headless=True, offscreen_render=True) @@ -27,14 +27,14 @@ import omni.replicator.core as rep from pxr import Gf -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.sensors.camera import Camera, CameraCfg -from omni.isaac.orbit.sensors.ray_caster import RayCasterCamera, RayCasterCameraCfg, patterns -from omni.isaac.orbit.sim import PinholeCameraCfg -from omni.isaac.orbit.terrains.trimesh.utils import make_plane -from omni.isaac.orbit.terrains.utils import create_prim_from_mesh -from omni.isaac.orbit.utils import convert_dict_to_backend -from omni.isaac.orbit.utils.timer import Timer +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.sensors.camera import Camera, CameraCfg +from omni.isaac.lab.sensors.ray_caster import RayCasterCamera, RayCasterCameraCfg, patterns +from omni.isaac.lab.sim import PinholeCameraCfg +from omni.isaac.lab.terrains.trimesh.utils import make_plane +from omni.isaac.lab.terrains.utils import create_prim_from_mesh +from omni.isaac.lab.utils import convert_dict_to_backend +from omni.isaac.lab.utils.timer import Timer # sample camera poses POSITION = [2.5, 2.5, 2.5] @@ -44,7 +44,7 @@ class TestWarpCamera(unittest.TestCase): - """Test for orbit camera sensor""" + """Test for Isaac Lab camera sensor""" """ Test Setup and Teardown diff --git a/source/extensions/omni.isaac.orbit/test/sim/test_build_simulation_context_headless.py b/source/extensions/omni.isaac.lab/test/sim/test_build_simulation_context_headless.py similarity index 94% rename from source/extensions/omni.isaac.orbit/test/sim/test_build_simulation_context_headless.py rename to source/extensions/omni.isaac.lab/test/sim/test_build_simulation_context_headless.py index 76f5a0178a..d81553b007 100644 --- a/source/extensions/omni.isaac.orbit/test/sim/test_build_simulation_context_headless.py +++ b/source/extensions/omni.isaac.lab/test/sim/test_build_simulation_context_headless.py @@ -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 @@ -13,7 +13,7 @@ """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app app_launcher = AppLauncher(headless=True) @@ -25,8 +25,8 @@ from omni.isaac.core.utils.prims import is_prim_path_valid -from omni.isaac.orbit.sim.simulation_cfg import SimulationCfg -from omni.isaac.orbit.sim.simulation_context import build_simulation_context +from omni.isaac.lab.sim.simulation_cfg import SimulationCfg +from omni.isaac.lab.sim.simulation_context import build_simulation_context class TestBuildSimulationContextHeadless(unittest.TestCase): diff --git a/source/extensions/omni.isaac.orbit/test/sim/test_build_simulation_context_nonheadless.py b/source/extensions/omni.isaac.lab/test/sim/test_build_simulation_context_nonheadless.py similarity index 94% rename from source/extensions/omni.isaac.orbit/test/sim/test_build_simulation_context_nonheadless.py rename to source/extensions/omni.isaac.lab/test/sim/test_build_simulation_context_nonheadless.py index 5baed2013e..a4bb0fb255 100644 --- a/source/extensions/omni.isaac.orbit/test/sim/test_build_simulation_context_nonheadless.py +++ b/source/extensions/omni.isaac.lab/test/sim/test_build_simulation_context_nonheadless.py @@ -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 @@ -12,7 +12,7 @@ """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app app_launcher = AppLauncher(headless=False) @@ -24,8 +24,8 @@ from omni.isaac.core.utils.prims import is_prim_path_valid -from omni.isaac.orbit.sim.simulation_cfg import SimulationCfg -from omni.isaac.orbit.sim.simulation_context import build_simulation_context +from omni.isaac.lab.sim.simulation_cfg import SimulationCfg +from omni.isaac.lab.sim.simulation_context import build_simulation_context class TestBuildSimulationContextNonheadless(unittest.TestCase): diff --git a/source/extensions/omni.isaac.orbit/test/sim/test_mesh_converter.py b/source/extensions/omni.isaac.lab/test/sim/test_mesh_converter.py similarity index 96% rename from source/extensions/omni.isaac.orbit/test/sim/test_mesh_converter.py rename to source/extensions/omni.isaac.lab/test/sim/test_mesh_converter.py index bc0f05444b..4d67db879c 100644 --- a/source/extensions/omni.isaac.orbit/test/sim/test_mesh_converter.py +++ b/source/extensions/omni.isaac.lab/test/sim/test_mesh_converter.py @@ -1,11 +1,11 @@ -# 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 """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app simulation_app = AppLauncher(headless=True).app @@ -22,9 +22,9 @@ from omni.isaac.core.simulation_context import SimulationContext from pxr import UsdGeom, UsdPhysics -from omni.isaac.orbit.sim.converters import MeshConverter, MeshConverterCfg -from omni.isaac.orbit.sim.schemas import schemas_cfg -from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR, retrieve_file_path +from omni.isaac.lab.sim.converters import MeshConverter, MeshConverterCfg +from omni.isaac.lab.sim.schemas import schemas_cfg +from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR, retrieve_file_path class TestMeshConverter(unittest.TestCase): @@ -33,7 +33,7 @@ class TestMeshConverter(unittest.TestCase): @classmethod def setUpClass(cls): """Load assets for tests.""" - assets_dir = f"{ISAAC_ORBIT_NUCLEUS_DIR}/Tests/MeshConverter/duck" + assets_dir = f"{ISAACLAB_NUCLEUS_DIR}/Tests/MeshConverter/duck" # Create mapping of file endings to file paths that can be used by tests cls.assets = { "obj": f"{assets_dir}/duck.obj", diff --git a/source/extensions/omni.isaac.orbit/test/sim/test_schemas.py b/source/extensions/omni.isaac.lab/test/sim/test_schemas.py similarity index 97% rename from source/extensions/omni.isaac.orbit/test/sim/test_schemas.py rename to source/extensions/omni.isaac.lab/test/sim/test_schemas.py index 299b76c285..c9d291a245 100644 --- a/source/extensions/omni.isaac.orbit/test/sim/test_schemas.py +++ b/source/extensions/omni.isaac.lab/test/sim/test_schemas.py @@ -1,11 +1,11 @@ -# 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 """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app simulation_app = AppLauncher(headless=True).app @@ -19,14 +19,14 @@ from omni.isaac.core.simulation_context import SimulationContext from pxr import UsdPhysics -import omni.isaac.orbit.sim.schemas as schemas -from omni.isaac.orbit.sim.utils import find_global_fixed_joint_prim -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR -from omni.isaac.orbit.utils.string import to_camel_case +import omni.isaac.lab.sim.schemas as schemas +from omni.isaac.lab.sim.utils import find_global_fixed_joint_prim +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR +from omni.isaac.lab.utils.string import to_camel_case class TestPhysicsSchema(unittest.TestCase): - """Test fixture for checking schemas modifications through Orbit.""" + """Test fixture for checking schemas modifications through Isaac Lab.""" def setUp(self) -> None: """Create a blank new stage for each test.""" diff --git a/source/extensions/omni.isaac.orbit/test/sim/test_simulation_context.py b/source/extensions/omni.isaac.lab/test/sim/test_simulation_context.py similarity index 96% rename from source/extensions/omni.isaac.orbit/test/sim/test_simulation_context.py rename to source/extensions/omni.isaac.lab/test/sim/test_simulation_context.py index 859400b738..e4c141a134 100644 --- a/source/extensions/omni.isaac.orbit/test/sim/test_simulation_context.py +++ b/source/extensions/omni.isaac.lab/test/sim/test_simulation_context.py @@ -1,11 +1,11 @@ -# 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 """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app simulation_app = AppLauncher(headless=True, experience="omni.isaac.sim.python.gym.headless.kit").app @@ -19,7 +19,7 @@ import omni.isaac.core.utils.prims as prim_utils from omni.isaac.core.simulation_context import SimulationContext as IsaacSimulationContext -from omni.isaac.orbit.sim import SimulationCfg, SimulationContext +from omni.isaac.lab.sim import SimulationCfg, SimulationContext class TestSimulationContext(unittest.TestCase): diff --git a/source/extensions/omni.isaac.orbit/test/sim/test_spawn_from_files.py b/source/extensions/omni.isaac.lab/test/sim/test_spawn_from_files.py similarity index 87% rename from source/extensions/omni.isaac.orbit/test/sim/test_spawn_from_files.py rename to source/extensions/omni.isaac.lab/test/sim/test_spawn_from_files.py index 3c4a1df3fa..d263f9f90c 100644 --- a/source/extensions/omni.isaac.orbit/test/sim/test_spawn_from_files.py +++ b/source/extensions/omni.isaac.lab/test/sim/test_spawn_from_files.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 -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests """Launch Isaac Sim Simulator first.""" @@ -19,8 +19,8 @@ from omni.isaac.core.simulation_context import SimulationContext from omni.isaac.core.utils.extensions import enable_extension, get_extension_path_from_name -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR class TestSpawningFromFiles(unittest.TestCase): @@ -52,7 +52,7 @@ def tearDown(self) -> None: def test_spawn_usd(self): """Test loading prim from Usd file.""" # Spawn cone - cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd") + cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd") prim = cfg.func("/World/Franka", cfg) # Check validity self.assertTrue(prim.IsValid()) @@ -62,7 +62,7 @@ def test_spawn_usd(self): def test_spawn_usd_fails(self): """Test loading prim from Usd file fails when asset usd path is invalid.""" # Spawn cone - cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/FrankaEmika/panda2_instanceable.usd") + cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda2_instanceable.usd") with self.assertRaises(FileNotFoundError): cfg.func("/World/Franka", cfg) diff --git a/source/extensions/omni.isaac.orbit/test/sim/test_spawn_lights.py b/source/extensions/omni.isaac.lab/test/sim/test_spawn_lights.py similarity index 96% rename from source/extensions/omni.isaac.orbit/test/sim/test_spawn_lights.py rename to source/extensions/omni.isaac.lab/test/sim/test_spawn_lights.py index 39018479fb..6949f36eef 100644 --- a/source/extensions/omni.isaac.orbit/test/sim/test_spawn_lights.py +++ b/source/extensions/omni.isaac.lab/test/sim/test_spawn_lights.py @@ -1,11 +1,11 @@ -# 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 """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app simulation_app = AppLauncher(headless=True).app @@ -19,8 +19,8 @@ from omni.isaac.core.simulation_context import SimulationContext from pxr import UsdLux -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.utils.string import to_camel_case +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.utils.string import to_camel_case class TestSpawningLights(unittest.TestCase): diff --git a/source/extensions/omni.isaac.orbit/test/sim/test_spawn_materials.py b/source/extensions/omni.isaac.lab/test/sim/test_spawn_materials.py similarity index 97% rename from source/extensions/omni.isaac.orbit/test/sim/test_spawn_materials.py rename to source/extensions/omni.isaac.lab/test/sim/test_spawn_materials.py index 5d0ce62760..38befb837e 100644 --- a/source/extensions/omni.isaac.orbit/test/sim/test_spawn_materials.py +++ b/source/extensions/omni.isaac.lab/test/sim/test_spawn_materials.py @@ -1,11 +1,11 @@ -# 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 """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app simulation_app = AppLauncher(headless=True).app @@ -19,8 +19,8 @@ from omni.isaac.core.simulation_context import SimulationContext from pxr import UsdPhysics, UsdShade -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.utils.assets import NVIDIA_NUCLEUS_DIR +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.utils.assets import NVIDIA_NUCLEUS_DIR class TestSpawningMaterials(unittest.TestCase): diff --git a/source/extensions/omni.isaac.orbit/test/sim/test_spawn_sensors.py b/source/extensions/omni.isaac.lab/test/sim/test_spawn_sensors.py similarity index 93% rename from source/extensions/omni.isaac.orbit/test/sim/test_spawn_sensors.py rename to source/extensions/omni.isaac.lab/test/sim/test_spawn_sensors.py index 42c26b0d09..3917cd3bb6 100644 --- a/source/extensions/omni.isaac.orbit/test/sim/test_spawn_sensors.py +++ b/source/extensions/omni.isaac.lab/test/sim/test_spawn_sensors.py @@ -1,11 +1,11 @@ -# 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 """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app simulation_app = AppLauncher(headless=True).app @@ -18,12 +18,12 @@ import omni.isaac.core.utils.stage as stage_utils from omni.isaac.core.simulation_context import SimulationContext -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.sim.spawners.sensors.sensors import ( +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.sim.spawners.sensors.sensors import ( CUSTOM_FISHEYE_CAMERA_ATTRIBUTES, CUSTOM_PINHOLE_CAMERA_ATTRIBUTES, ) -from omni.isaac.orbit.utils.string import to_camel_case +from omni.isaac.lab.utils.string import to_camel_case class TestSpawningSensors(unittest.TestCase): diff --git a/source/extensions/omni.isaac.orbit/test/sim/test_spawn_shapes.py b/source/extensions/omni.isaac.lab/test/sim/test_spawn_shapes.py similarity index 98% rename from source/extensions/omni.isaac.orbit/test/sim/test_spawn_shapes.py rename to source/extensions/omni.isaac.lab/test/sim/test_spawn_shapes.py index adb9a0d521..3838b998c5 100644 --- a/source/extensions/omni.isaac.orbit/test/sim/test_spawn_shapes.py +++ b/source/extensions/omni.isaac.lab/test/sim/test_spawn_shapes.py @@ -1,11 +1,11 @@ -# 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 """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app simulation_app = AppLauncher(headless=True).app @@ -18,7 +18,7 @@ import omni.isaac.core.utils.stage as stage_utils from omni.isaac.core.simulation_context import SimulationContext -import omni.isaac.orbit.sim as sim_utils +import omni.isaac.lab.sim as sim_utils class TestSpawningUsdGeometries(unittest.TestCase): diff --git a/source/extensions/omni.isaac.orbit/test/sim/test_urdf_converter.py b/source/extensions/omni.isaac.lab/test/sim/test_urdf_converter.py similarity index 97% rename from source/extensions/omni.isaac.orbit/test/sim/test_urdf_converter.py rename to source/extensions/omni.isaac.lab/test/sim/test_urdf_converter.py index 5f56ccac64..d503d9dcef 100644 --- a/source/extensions/omni.isaac.orbit/test/sim/test_urdf_converter.py +++ b/source/extensions/omni.isaac.lab/test/sim/test_urdf_converter.py @@ -1,11 +1,11 @@ -# 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 """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app config = {"headless": True} @@ -24,7 +24,7 @@ from omni.isaac.core.simulation_context import SimulationContext from omni.isaac.core.utils.extensions import enable_extension, get_extension_path_from_name -from omni.isaac.orbit.sim.converters import UrdfConverter, UrdfConverterCfg +from omni.isaac.lab.sim.converters import UrdfConverter, UrdfConverterCfg class TestUrdfConverter(unittest.TestCase): diff --git a/source/extensions/omni.isaac.orbit/test/sim/test_utils.py b/source/extensions/omni.isaac.lab/test/sim/test_utils.py similarity index 80% rename from source/extensions/omni.isaac.orbit/test/sim/test_utils.py rename to source/extensions/omni.isaac.lab/test/sim/test_utils.py index ae7f661dc8..1f58ee2b6b 100644 --- a/source/extensions/omni.isaac.orbit/test/sim/test_utils.py +++ b/source/extensions/omni.isaac.lab/test/sim/test_utils.py @@ -1,11 +1,11 @@ -# 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 """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app config = {"headless": True} @@ -20,8 +20,8 @@ import omni.isaac.core.utils.stage as stage_utils from pxr import Sdf, Usd, UsdGeom -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR, ISAAC_ORBIT_NUCLEUS_DIR +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR class TestUtilities(unittest.TestCase): @@ -48,8 +48,8 @@ def test_get_all_matching_child_prims(self): # test isaac_sim_result = prim_utils.get_all_matching_child_prims("/World") - orbit_result = sim_utils.get_all_matching_child_prims("/World") - self.assertListEqual(isaac_sim_result, orbit_result) + isaaclab_result = sim_utils.get_all_matching_child_prims("/World") + self.assertListEqual(isaac_sim_result, isaaclab_result) # test valid path with self.assertRaises(ValueError): @@ -67,18 +67,18 @@ def test_find_matching_prim_paths(self): # test leaf paths isaac_sim_result = prim_utils.find_matching_prim_paths("/World/Floor_.*/Sphere") - orbit_result = sim_utils.find_matching_prim_paths("/World/Floor_.*/Sphere") - self.assertListEqual(isaac_sim_result, orbit_result) + isaaclab_result = sim_utils.find_matching_prim_paths("/World/Floor_.*/Sphere") + self.assertListEqual(isaac_sim_result, isaaclab_result) # test non-leaf paths isaac_sim_result = prim_utils.find_matching_prim_paths("/World/Floor_.*") - orbit_result = sim_utils.find_matching_prim_paths("/World/Floor_.*") - self.assertListEqual(isaac_sim_result, orbit_result) + isaaclab_result = sim_utils.find_matching_prim_paths("/World/Floor_.*") + self.assertListEqual(isaac_sim_result, isaaclab_result) # test child-leaf paths isaac_sim_result = prim_utils.find_matching_prim_paths("/World/Floor_.*/Sphere/childSphere.*") - orbit_result = sim_utils.find_matching_prim_paths("/World/Floor_.*/Sphere/childSphere.*") - self.assertListEqual(isaac_sim_result, orbit_result) + isaaclab_result = sim_utils.find_matching_prim_paths("/World/Floor_.*/Sphere/childSphere.*") + self.assertListEqual(isaac_sim_result, isaaclab_result) # test valid path with self.assertRaises(ValueError): @@ -89,10 +89,10 @@ def test_find_global_fixed_joint_prim(self): # create scene prim_utils.create_prim("/World") prim_utils.create_prim( - "/World/ANYmal", usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd" + "/World/ANYmal", usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd" ) prim_utils.create_prim( - "/World/Franka", usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd" + "/World/Franka", usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd" ) prim_utils.create_prim("/World/Franka_Isaac", usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Franka/franka.usd") diff --git a/source/extensions/omni.isaac.orbit/test/terrains/check_height_field_subterrains.py b/source/extensions/omni.isaac.lab/test/terrains/check_height_field_subterrains.py similarity index 97% rename from source/extensions/omni.isaac.orbit/test/terrains/check_height_field_subterrains.py rename to source/extensions/omni.isaac.lab/test/terrains/check_height_field_subterrains.py index 40b0c3b3c5..496fc759c6 100644 --- a/source/extensions/omni.isaac.orbit/test/terrains/check_height_field_subterrains.py +++ b/source/extensions/omni.isaac.lab/test/terrains/check_height_field_subterrains.py @@ -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 @@ -13,7 +13,7 @@ ) args_cli = parser.parse_args() -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # launch omniverse app # note: we only need to do this because of `TerrainImporter` which uses Omniverse functions @@ -25,8 +25,8 @@ import os import trimesh -import omni.isaac.orbit.terrains.height_field as hf_gen -from omni.isaac.orbit.terrains.utils import color_meshes_by_height +import omni.isaac.lab.terrains.height_field as hf_gen +from omni.isaac.lab.terrains.utils import color_meshes_by_height def test_random_uniform_terrain(difficulty: float, output_dir: str, headless: bool): diff --git a/source/extensions/omni.isaac.orbit/test/terrains/check_mesh_subterrains.py b/source/extensions/omni.isaac.lab/test/terrains/check_mesh_subterrains.py similarity index 98% rename from source/extensions/omni.isaac.orbit/test/terrains/check_mesh_subterrains.py rename to source/extensions/omni.isaac.lab/test/terrains/check_mesh_subterrains.py index b7cdbf16ab..6d290cf411 100644 --- a/source/extensions/omni.isaac.orbit/test/terrains/check_mesh_subterrains.py +++ b/source/extensions/omni.isaac.lab/test/terrains/check_mesh_subterrains.py @@ -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 @@ -13,7 +13,7 @@ ) args_cli = parser.parse_args() -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # launch omniverse app # note: we only need to do this because of `TerrainImporter` which uses Omniverse functions @@ -26,8 +26,8 @@ import os import trimesh -import omni.isaac.orbit.terrains.trimesh as mesh_gen -from omni.isaac.orbit.terrains.utils import color_meshes_by_height +import omni.isaac.lab.terrains.trimesh as mesh_gen +from omni.isaac.lab.terrains.utils import color_meshes_by_height def test_flat_terrain(difficulty: float, output_dir: str, headless: bool): diff --git a/source/extensions/omni.isaac.orbit/test/terrains/check_terrain_generator.py b/source/extensions/omni.isaac.lab/test/terrains/check_terrain_generator.py similarity index 81% rename from source/extensions/omni.isaac.orbit/test/terrains/check_terrain_generator.py rename to source/extensions/omni.isaac.lab/test/terrains/check_terrain_generator.py index 29b79b8a09..ce51a1f8ad 100644 --- a/source/extensions/omni.isaac.orbit/test/terrains/check_terrain_generator.py +++ b/source/extensions/omni.isaac.lab/test/terrains/check_terrain_generator.py @@ -1,11 +1,11 @@ -# 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 """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # launch omniverse app # note: we only need to do this because of `TerrainImporter` which uses Omniverse functions @@ -17,8 +17,8 @@ import os import shutil -from omni.isaac.orbit.terrains.config.rough import ROUGH_TERRAINS_CFG -from omni.isaac.orbit.terrains.terrain_generator import TerrainGenerator +from omni.isaac.lab.terrains.config.rough import ROUGH_TERRAINS_CFG +from omni.isaac.lab.terrains.terrain_generator import TerrainGenerator def main(): diff --git a/source/extensions/omni.isaac.orbit/test/terrains/check_terrain_importer.py b/source/extensions/omni.isaac.lab/test/terrains/check_terrain_importer.py similarity index 86% rename from source/extensions/omni.isaac.orbit/test/terrains/check_terrain_importer.py rename to source/extensions/omni.isaac.lab/test/terrains/check_terrain_importer.py index fad4f76b95..38dc84ef0f 100644 --- a/source/extensions/omni.isaac.orbit/test/terrains/check_terrain_importer.py +++ b/source/extensions/omni.isaac.lab/test/terrains/check_terrain_importer.py @@ -1,10 +1,10 @@ -# 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 shows how to use the terrain generator from the Orbit framework. +This script shows how to use the terrain generator from the Isaac Lab framework. The terrains are generated using the :class:`TerrainGenerator` class and imported using the :class:`TerrainImporter` class. The terrains can be imported from a file or generated procedurally. @@ -15,23 +15,23 @@ # generate terrain # -- use physics sphere mesh - ./orbit.sh -p source/extensions/omni.isaac.orbit/test/terrains/check_terrain_importer.py --terrain_type generator + ./isaaclab.sh -p source/extensions/omni.isaac.lab/test/terrains/check_terrain_importer.py --terrain_type generator # -- usd usd sphere geom - ./orbit.sh -p source/extensions/omni.isaac.orbit/test/terrains/check_terrain_importer.py --terrain_type generator --geom_sphere + ./isaaclab.sh -p source/extensions/omni.isaac.lab/test/terrains/check_terrain_importer.py --terrain_type generator --geom_sphere # usd terrain - ./orbit.sh -p source/extensions/omni.isaac.orbit/test/terrains/check_terrain_importer.py --terrain_type usd + ./isaaclab.sh -p source/extensions/omni.isaac.lab/test/terrains/check_terrain_importer.py --terrain_type usd # plane terrain - ./orbit.sh -p source/extensions/omni.isaac.orbit/test/terrains/check_terrain_importer.py --terrain_type plane + ./isaaclab.sh -p source/extensions/omni.isaac.lab/test/terrains/check_terrain_importer.py --terrain_type plane """ """Launch Isaac Sim Simulator first.""" import argparse -# omni-isaac-orbit -from omni.isaac.orbit.app import AppLauncher +# omni-isaac-lab +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="This script shows how to use the terrain importer.") @@ -73,15 +73,15 @@ from omni.isaac.core.simulation_context import SimulationContext from omni.isaac.core.utils.viewports import set_camera_view -import omni.isaac.orbit.sim as sim_utils -import omni.isaac.orbit.terrains as terrain_gen -from omni.isaac.orbit.terrains.config.rough import ROUGH_TERRAINS_CFG -from omni.isaac.orbit.terrains.terrain_importer import TerrainImporter -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR +import omni.isaac.lab.sim as sim_utils +import omni.isaac.lab.terrains as terrain_gen +from omni.isaac.lab.terrains.config.rough import ROUGH_TERRAINS_CFG +from omni.isaac.lab.terrains.terrain_importer import TerrainImporter +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR def main(): - """Generates a terrain from orbit.""" + """Generates a terrain from Isaac Lab.""" # Load kit helper sim_params = { diff --git a/source/extensions/omni.isaac.orbit/test/terrains/test_terrain_importer.py b/source/extensions/omni.isaac.lab/test/terrains/test_terrain_importer.py similarity index 96% rename from source/extensions/omni.isaac.orbit/test/terrains/test_terrain_importer.py rename to source/extensions/omni.isaac.lab/test/terrains/test_terrain_importer.py index 2b5f62ab4e..8fab4984ad 100644 --- a/source/extensions/omni.isaac.orbit/test/terrains/test_terrain_importer.py +++ b/source/extensions/omni.isaac.lab/test/terrains/test_terrain_importer.py @@ -1,11 +1,11 @@ -# 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 """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app simulation_app = AppLauncher(headless=True).app @@ -23,11 +23,11 @@ from omni.isaac.core.objects import DynamicSphere from omni.isaac.core.prims import GeometryPrim, RigidPrim, RigidPrimView -import omni.isaac.orbit.terrains as terrain_gen -from omni.isaac.orbit.sim import SimulationContext, build_simulation_context -from omni.isaac.orbit.terrains import TerrainImporter, TerrainImporterCfg -from omni.isaac.orbit.terrains.config.rough import ROUGH_TERRAINS_CFG -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR +import omni.isaac.lab.terrains as terrain_gen +from omni.isaac.lab.sim import SimulationContext, build_simulation_context +from omni.isaac.lab.terrains import TerrainImporter, TerrainImporterCfg +from omni.isaac.lab.terrains.config.rough import ROUGH_TERRAINS_CFG +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR class TestTerrainImporter(unittest.TestCase): diff --git a/source/extensions/omni.isaac.orbit/test/utils/test_assets.py b/source/extensions/omni.isaac.lab/test/utils/test_assets.py similarity index 74% rename from source/extensions/omni.isaac.orbit/test/utils/test_assets.py rename to source/extensions/omni.isaac.lab/test/utils/test_assets.py index 0853657c19..dd9726555a 100644 --- a/source/extensions/omni.isaac.orbit/test/utils/test_assets.py +++ b/source/extensions/omni.isaac.lab/test/utils/test_assets.py @@ -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 @@ -7,7 +7,7 @@ """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app app_launcher = AppLauncher(headless=True) @@ -17,7 +17,7 @@ import unittest -import omni.isaac.orbit.utils.assets as assets_utils +import omni.isaac.lab.utils.assets as assets_utils class TestAssetsUtils(unittest.TestCase): @@ -31,14 +31,14 @@ def test_nucleus_connection(self): def test_check_file_path_nucleus(self): """Test checking a file path on the Nucleus server.""" # robot file path - usd_path = f"{assets_utils.ISAAC_ORBIT_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd" + usd_path = f"{assets_utils.ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd" # check file path self.assertEqual(assets_utils.check_file_path(usd_path), 2) def test_check_file_path_invalid(self): """Test checking an invalid file path.""" # robot file path - usd_path = f"{assets_utils.ISAAC_ORBIT_NUCLEUS_DIR}/Robots/FrankaEmika/panda_xyz.usd" + usd_path = f"{assets_utils.ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_xyz.usd" # check file path self.assertEqual(assets_utils.check_file_path(usd_path), 0) diff --git a/source/extensions/omni.isaac.orbit/test/utils/test_configclass.py b/source/extensions/omni.isaac.lab/test/utils/test_configclass.py similarity index 98% rename from source/extensions/omni.isaac.orbit/test/utils/test_configclass.py rename to source/extensions/omni.isaac.lab/test/utils/test_configclass.py index 6e159d08de..c2231ea54e 100644 --- a/source/extensions/omni.isaac.orbit/test/utils/test_configclass.py +++ b/source/extensions/omni.isaac.lab/test/utils/test_configclass.py @@ -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 @@ -7,7 +7,7 @@ # because warp is only available in the context of a running simulation """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app app_launcher = AppLauncher(headless=True) @@ -23,9 +23,9 @@ from functools import wraps from typing import ClassVar -from omni.isaac.orbit.utils.configclass import configclass -from omni.isaac.orbit.utils.dict import class_to_dict, update_class_from_dict -from omni.isaac.orbit.utils.io import dump_yaml, load_yaml +from omni.isaac.lab.utils.configclass import configclass +from omni.isaac.lab.utils.dict import class_to_dict, update_class_from_dict +from omni.isaac.lab.utils.io import dump_yaml, load_yaml """ Mock classes and functions. diff --git a/source/extensions/omni.isaac.orbit/test/utils/test_dict.py b/source/extensions/omni.isaac.lab/test/utils/test_dict.py similarity index 91% rename from source/extensions/omni.isaac.orbit/test/utils/test_dict.py rename to source/extensions/omni.isaac.lab/test/utils/test_dict.py index 3fc0805017..011ce4ba29 100644 --- a/source/extensions/omni.isaac.orbit/test/utils/test_dict.py +++ b/source/extensions/omni.isaac.lab/test/utils/test_dict.py @@ -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 @@ -7,7 +7,7 @@ # because warp is only available in the context of a running simulation """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app app_launcher = AppLauncher(headless=True) @@ -17,7 +17,7 @@ import unittest -import omni.isaac.orbit.utils.dict as dict_utils +import omni.isaac.lab.utils.dict as dict_utils def test_function(x): @@ -31,7 +31,7 @@ def test_lambda_function(x): class TestDictUtilities(unittest.TestCase): - """Test fixture for checking dictionary utilities in Orbit.""" + """Test fixture for checking dictionary utilities in Isaac Lab.""" def test_print_dict(self): """Test printing of dictionary.""" diff --git a/source/extensions/omni.isaac.orbit/test/utils/test_math.py b/source/extensions/omni.isaac.lab/test/utils/test_math.py similarity index 97% rename from source/extensions/omni.isaac.orbit/test/utils/test_math.py rename to source/extensions/omni.isaac.lab/test/utils/test_math.py index 66e05ff847..f3de280a49 100644 --- a/source/extensions/omni.isaac.orbit/test/utils/test_math.py +++ b/source/extensions/omni.isaac.lab/test/utils/test_math.py @@ -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 @@ -12,17 +12,17 @@ This is only needed because of warp dependency. """ -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app in headless mode simulation_app = AppLauncher(headless=True).app -import omni.isaac.orbit.utils.math as math_utils +import omni.isaac.lab.utils.math as math_utils class TestMathUtilities(unittest.TestCase): - """Test fixture for checking math utilities in Orbit.""" + """Test fixture for checking math utilities in Isaac Lab.""" def test_is_identity_pose(self): """Test is_identity_pose method.""" diff --git a/source/extensions/omni.isaac.orbit/test/utils/test_string.py b/source/extensions/omni.isaac.lab/test/utils/test_string.py similarity index 98% rename from source/extensions/omni.isaac.orbit/test/utils/test_string.py rename to source/extensions/omni.isaac.lab/test/utils/test_string.py index 56fecbd5b3..b0775e3fe3 100644 --- a/source/extensions/omni.isaac.orbit/test/utils/test_string.py +++ b/source/extensions/omni.isaac.lab/test/utils/test_string.py @@ -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 @@ -7,7 +7,7 @@ # because warp is only available in the context of a running simulation """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app app_launcher = AppLauncher(headless=True) @@ -18,7 +18,7 @@ import random import unittest -import omni.isaac.orbit.utils.string as string_utils +import omni.isaac.lab.utils.string as string_utils class TestStringUtilities(unittest.TestCase): diff --git a/source/extensions/omni.isaac.orbit/test/utils/test_timer.py b/source/extensions/omni.isaac.lab/test/utils/test_timer.py similarity index 89% rename from source/extensions/omni.isaac.orbit/test/utils/test_timer.py rename to source/extensions/omni.isaac.lab/test/utils/test_timer.py index 31998758b7..4ebfd398fc 100644 --- a/source/extensions/omni.isaac.orbit/test/utils/test_timer.py +++ b/source/extensions/omni.isaac.lab/test/utils/test_timer.py @@ -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 @@ -7,7 +7,7 @@ # because warp is only available in the context of a running simulation """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch omniverse app app_launcher = AppLauncher(headless=True) @@ -18,7 +18,7 @@ import time import unittest -from omni.isaac.orbit.utils.timer import Timer +from omni.isaac.lab.utils.timer import Timer class TestTimer(unittest.TestCase): diff --git a/source/extensions/omni.isaac.orbit_assets/config/extension.toml b/source/extensions/omni.isaac.lab_assets/config/extension.toml similarity index 62% rename from source/extensions/omni.isaac.orbit_assets/config/extension.toml rename to source/extensions/omni.isaac.lab_assets/config/extension.toml index 42a3ca88f6..7e48b07463 100644 --- a/source/extensions/omni.isaac.orbit_assets/config/extension.toml +++ b/source/extensions/omni.isaac.lab_assets/config/extension.toml @@ -3,16 +3,16 @@ version = "0.1.2" # Description -title = "ORBIT Assets" +title = "Isaac Lab Assets" description="Extension containing configuration instances of different assets and sensors" readme = "docs/README.md" -repository = "https://github.com/NVIDIA-Omniverse/Orbit" +repository = "https://github.com/isaac-sim/IsaacLab" category = "robotics" -keywords = ["kit", "robotics", "assets", "orbit"] +keywords = ["kit", "robotics", "assets", "isaaclab"] [dependencies] -"omni.isaac.orbit" = {} +"omni.isaac.lab" = {} # Main python module this extension provides. [[python.module]] -name = "omni.isaac.orbit_assets" +name = "omni.isaac.lab_assets" diff --git a/source/extensions/omni.isaac.orbit_assets/data/.gitkeep b/source/extensions/omni.isaac.lab_assets/data/.gitkeep similarity index 56% rename from source/extensions/omni.isaac.orbit_assets/data/.gitkeep rename to source/extensions/omni.isaac.lab_assets/data/.gitkeep index 161cca66b3..3b41fe31ac 100644 --- a/source/extensions/omni.isaac.orbit_assets/data/.gitkeep +++ b/source/extensions/omni.isaac.lab_assets/data/.gitkeep @@ -1,6 +1,6 @@ -For Orbit, we primarily store assets on the Omniverse Nucleus server. However, at times, it may be +For Isaac Lab, we primarily store assets on the Omniverse Nucleus server. However, at times, it may be needed to store the assets locally (for debugging purposes). In such cases, this directory can be used for temporary hosting of assets. Inside the `data` directory, we recommend following the same structure as our Nucleus directory -`Isaac/Samples/Orbit`. Please check the extension's README for further details. +`Isaac/IsaacLab`. Please check the extension's README for further details. diff --git a/source/extensions/omni.isaac.orbit_assets/docs/CHANGELOG.rst b/source/extensions/omni.isaac.lab_assets/docs/CHANGELOG.rst similarity index 76% rename from source/extensions/omni.isaac.orbit_assets/docs/CHANGELOG.rst rename to source/extensions/omni.isaac.lab_assets/docs/CHANGELOG.rst index 5cc325ad34..fa4a453738 100644 --- a/source/extensions/omni.isaac.orbit_assets/docs/CHANGELOG.rst +++ b/source/extensions/omni.isaac.lab_assets/docs/CHANGELOG.rst @@ -25,4 +25,4 @@ Added Added ^^^^^ -* Moved all assets' configuration from ``omni.isaac.orbit`` to ``omni.isaac.orbit_assets`` extension. +* Moved all assets' configuration from ``omni.isaac.lab`` to ``omni.isaac.lab_assets`` extension. diff --git a/source/extensions/omni.isaac.orbit_assets/docs/README.md b/source/extensions/omni.isaac.lab_assets/docs/README.md similarity index 75% rename from source/extensions/omni.isaac.orbit_assets/docs/README.md rename to source/extensions/omni.isaac.lab_assets/docs/README.md index 3632981ce3..f4e7f32002 100644 --- a/source/extensions/omni.isaac.orbit_assets/docs/README.md +++ b/source/extensions/omni.isaac.lab_assets/docs/README.md @@ -1,4 +1,4 @@ -# Orbit: Assets for Robots and Objects +# Isaac Lab: Assets for Robots and Objects This extension contains configurations for various assets and sensors. The configuration instances are used to spawn and configure the instances in the simulation. They are passed to their corresponding @@ -6,12 +6,12 @@ classes during construction. ## Organizing custom assets -For Orbit, we primarily store assets on the Omniverse Nucleus server. However, at times, it may be +For Isaac Lab, we primarily store assets on the Omniverse Nucleus server. However, at times, it may be needed to store the assets locally (for debugging purposes). In such cases, the extension's `data` directory can be used for temporary hosting of assets. Inside the `data` directory, we recommend following the same structure as our Nucleus directory -`Isaac/Samples/Orbit`. This helps us later to move these assets to the Nucleus server seamlessly. +`Isaac/IsaacLab`. This helps us later to move these assets to the Nucleus server seamlessly. The recommended directory structure inside `data` is as follows: @@ -31,11 +31,11 @@ You can use the following snippet to refer to the assets: ```python -from omni.isaac.orbit_assets import ORBIT_ASSETS_DATA_DIR +from omni.isaac.lab_assets import ISAACLAB_ASSETS_DATA_DIR # ANYmal-C -ANYMAL_C_USD_PATH = f"{ORBIT_ASSETS_DATA_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd" +ANYMAL_C_USD_PATH = f"{ISAACLAB_ASSETS_DATA_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd" # ANYmal-D -ANYMAL_D_USD_PATH = f"{ORBIT_ASSETS_DATA_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd" +ANYMAL_D_USD_PATH = f"{ISAACLAB_ASSETS_DATA_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd" ``` diff --git a/source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/__init__.py b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/__init__.py similarity index 64% rename from source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/__init__.py rename to source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/__init__.py index 3cb4953e30..3ac6e54110 100644 --- a/source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/__init__.py +++ b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/__init__.py @@ -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 @@ -9,17 +9,17 @@ import toml # Conveniences to other module directories via relative paths -ORBIT_ASSETS_EXT_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../../")) +ISAACLAB_ASSETS_EXT_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../../")) """Path to the extension source directory.""" -ORBIT_ASSETS_DATA_DIR = os.path.join(ORBIT_ASSETS_EXT_DIR, "data") +ISAACLAB_ASSETS_DATA_DIR = os.path.join(ISAACLAB_ASSETS_EXT_DIR, "data") """Path to the extension data directory.""" -ORBIT_ASSETS_METADATA = toml.load(os.path.join(ORBIT_ASSETS_EXT_DIR, "config", "extension.toml")) +ISAACLAB_ASSETS_METADATA = toml.load(os.path.join(ISAACLAB_ASSETS_EXT_DIR, "config", "extension.toml")) """Extension metadata dictionary parsed from the extension.toml file.""" # Configure the module-level variables -__version__ = ORBIT_ASSETS_METADATA["package"]["version"] +__version__ = ISAACLAB_ASSETS_METADATA["package"]["version"] ## diff --git a/source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/allegro.py b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/allegro.py similarity index 86% rename from source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/allegro.py rename to source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/allegro.py index 399d74869e..f3e97f4b11 100644 --- a/source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/allegro.py +++ b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/allegro.py @@ -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 @@ -18,10 +18,10 @@ import math -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.actuators.actuator_cfg import ImplicitActuatorCfg -from omni.isaac.orbit.assets.articulation import ArticulationCfg -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.actuators.actuator_cfg import ImplicitActuatorCfg +from omni.isaac.lab.assets.articulation import ArticulationCfg +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR ## # Configuration diff --git a/source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/anymal.py b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/anymal.py similarity index 87% rename from source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/anymal.py rename to source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/anymal.py index ed72b5e605..3641450a41 100644 --- a/source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/anymal.py +++ b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/anymal.py @@ -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 @@ -19,10 +19,10 @@ """ -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.actuators import ActuatorNetLSTMCfg, DCMotorCfg -from omni.isaac.orbit.assets.articulation import ArticulationCfg -from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.actuators import ActuatorNetLSTMCfg, DCMotorCfg +from omni.isaac.lab.assets.articulation import ArticulationCfg +from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR ## # Configuration - Actuators. @@ -41,7 +41,7 @@ ANYDRIVE_3_LSTM_ACTUATOR_CFG = ActuatorNetLSTMCfg( joint_names_expr=[".*HAA", ".*HFE", ".*KFE"], - network_file=f"{ISAAC_ORBIT_NUCLEUS_DIR}/ActuatorNets/ANYbotics/anydrive_3_lstm_jit.pt", + network_file=f"{ISAACLAB_NUCLEUS_DIR}/ActuatorNets/ANYbotics/anydrive_3_lstm_jit.pt", saturation_effort=120.0, effort_limit=80.0, velocity_limit=7.5, @@ -55,7 +55,7 @@ ANYMAL_B_CFG = ArticulationCfg( spawn=sim_utils.UsdFileCfg( - usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-B/anymal_b.usd", + usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-B/anymal_b.usd", activate_contact_sensors=True, rigid_props=sim_utils.RigidBodyPropertiesCfg( disable_gravity=False, @@ -89,7 +89,7 @@ ANYMAL_C_CFG = ArticulationCfg( spawn=sim_utils.UsdFileCfg( - usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd", + usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd", # usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_instanceable.usd", activate_contact_sensors=True, rigid_props=sim_utils.RigidBodyPropertiesCfg( @@ -124,8 +124,8 @@ ANYMAL_D_CFG = ArticulationCfg( spawn=sim_utils.UsdFileCfg( - usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd", - # usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d_minimal.usd", + usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd", + # usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d_minimal.usd", activate_contact_sensors=True, rigid_props=sim_utils.RigidBodyPropertiesCfg( disable_gravity=False, diff --git a/source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/cartpole.py b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/cartpole.py similarity index 78% rename from source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/cartpole.py rename to source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/cartpole.py index fa305701e2..51aa7009f8 100644 --- a/source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/cartpole.py +++ b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/cartpole.py @@ -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 @@ -6,14 +6,14 @@ """Configuration for a simple Cartpole robot.""" -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.actuators import ImplicitActuatorCfg -from omni.isaac.orbit.assets import ArticulationCfg -from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.actuators import ImplicitActuatorCfg +from omni.isaac.lab.assets import ArticulationCfg +from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR CARTPOLE_CFG = ArticulationCfg( spawn=sim_utils.UsdFileCfg( - usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/Classic/Cartpole/cartpole.usd", + usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Classic/Cartpole/cartpole.usd", rigid_props=sim_utils.RigidBodyPropertiesCfg( rigid_body_enabled=True, max_linear_velocity=1000.0, diff --git a/source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/cassie.py b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/cassie.py similarity index 87% rename from source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/cassie.py rename to source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/cassie.py index 7fb03f313d..d0e7dbc9e0 100644 --- a/source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/cassie.py +++ b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/cassie.py @@ -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 @@ -12,10 +12,10 @@ Reference: https://github.com/UMich-BipedLab/Cassie_Model/blob/master/urdf/cassie.urdf """ -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.actuators import ImplicitActuatorCfg -from omni.isaac.orbit.assets.articulation import ArticulationCfg -from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.actuators import ImplicitActuatorCfg +from omni.isaac.lab.assets.articulation import ArticulationCfg +from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR ## # Configuration @@ -24,7 +24,7 @@ CASSIE_CFG = ArticulationCfg( spawn=sim_utils.UsdFileCfg( - usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/Agility/Cassie/cassie.usd", + usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Agility/Cassie/cassie.usd", activate_contact_sensors=True, rigid_props=sim_utils.RigidBodyPropertiesCfg( disable_gravity=False, diff --git a/source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/franka.py b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/franka.py similarity index 87% rename from source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/franka.py rename to source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/franka.py index 6aaf249e67..3f960e8928 100644 --- a/source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/franka.py +++ b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/franka.py @@ -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 @@ -13,10 +13,10 @@ Reference: https://github.com/frankaemika/franka_ros """ -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.actuators import ImplicitActuatorCfg -from omni.isaac.orbit.assets.articulation import ArticulationCfg -from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.actuators import ImplicitActuatorCfg +from omni.isaac.lab.assets.articulation import ArticulationCfg +from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR ## # Configuration @@ -24,7 +24,7 @@ FRANKA_PANDA_CFG = ArticulationCfg( spawn=sim_utils.UsdFileCfg( - usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd", + usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd", activate_contact_sensors=False, rigid_props=sim_utils.RigidBodyPropertiesCfg( disable_gravity=False, diff --git a/source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/kinova.py b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/kinova.py similarity index 95% rename from source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/kinova.py rename to source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/kinova.py index 0a07e4db94..7e6b411d53 100644 --- a/source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/kinova.py +++ b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/kinova.py @@ -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 @@ -14,10 +14,10 @@ Reference: https://github.com/Kinovarobotics/kinova-ros """ -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.actuators import ImplicitActuatorCfg -from omni.isaac.orbit.assets.articulation import ArticulationCfg -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.actuators import ImplicitActuatorCfg +from omni.isaac.lab.assets.articulation import ArticulationCfg +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR ## # Configuration diff --git a/source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/ridgeback_franka.py b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/ridgeback_franka.py similarity index 89% rename from source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/ridgeback_franka.py rename to source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/ridgeback_franka.py index 2e1c6a1fd3..8ff4df2a7a 100644 --- a/source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/ridgeback_franka.py +++ b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/ridgeback_franka.py @@ -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 @@ -12,10 +12,10 @@ Reference: https://github.com/ridgeback/ridgeback_manipulation """ -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.actuators import ImplicitActuatorCfg -from omni.isaac.orbit.assets.articulation import ArticulationCfg -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.actuators import ImplicitActuatorCfg +from omni.isaac.lab.assets.articulation import ArticulationCfg +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR RIDGEBACK_FRANKA_PANDA_CFG = ArticulationCfg( spawn=sim_utils.UsdFileCfg( diff --git a/source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/sawyer.py b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/sawyer.py similarity index 86% rename from source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/sawyer.py rename to source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/sawyer.py index d3b6af4813..9c39278ed4 100644 --- a/source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/sawyer.py +++ b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/sawyer.py @@ -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 @@ -12,10 +12,10 @@ Reference: https://github.com/RethinkRobotics/sawyer_robot """ -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.actuators import ImplicitActuatorCfg -from omni.isaac.orbit.assets.articulation import ArticulationCfg -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.actuators import ImplicitActuatorCfg +from omni.isaac.lab.assets.articulation import ArticulationCfg +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR ## # Configuration diff --git a/source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/shadow_hand.py b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/shadow_hand.py similarity index 89% rename from source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/shadow_hand.py rename to source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/shadow_hand.py index fe8bc40efd..92a02edba0 100644 --- a/source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/shadow_hand.py +++ b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/shadow_hand.py @@ -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 @@ -16,10 +16,10 @@ """ -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.actuators.actuator_cfg import ImplicitActuatorCfg -from omni.isaac.orbit.assets.articulation import ArticulationCfg -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.actuators.actuator_cfg import ImplicitActuatorCfg +from omni.isaac.lab.assets.articulation import ArticulationCfg +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR ## # Configuration diff --git a/source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/unitree.py b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/unitree.py similarity index 89% rename from source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/unitree.py rename to source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/unitree.py index 0e6bdb6411..1e4b418e3e 100644 --- a/source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/unitree.py +++ b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/unitree.py @@ -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 @@ -14,10 +14,10 @@ Reference: https://github.com/unitreerobotics/unitree_ros """ -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.actuators import ActuatorNetMLPCfg, DCMotorCfg -from omni.isaac.orbit.assets.articulation import ArticulationCfg -from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.actuators import ActuatorNetMLPCfg, DCMotorCfg +from omni.isaac.lab.assets.articulation import ArticulationCfg +from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR ## # Configuration - Actuators. @@ -25,7 +25,7 @@ GO1_ACTUATOR_CFG = ActuatorNetMLPCfg( joint_names_expr=[".*_hip_joint", ".*_thigh_joint", ".*_calf_joint"], - network_file=f"{ISAAC_ORBIT_NUCLEUS_DIR}/ActuatorNets/Unitree/unitree_go1.pt", + network_file=f"{ISAACLAB_NUCLEUS_DIR}/ActuatorNets/Unitree/unitree_go1.pt", pos_scale=-1.0, vel_scale=1.0, torque_scale=1.0, @@ -50,7 +50,7 @@ UNITREE_A1_CFG = ArticulationCfg( spawn=sim_utils.UsdFileCfg( - usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/Unitree/A1/a1.usd", + usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/A1/a1.usd", activate_contact_sensors=True, rigid_props=sim_utils.RigidBodyPropertiesCfg( disable_gravity=False, @@ -97,7 +97,7 @@ UNITREE_GO1_CFG = ArticulationCfg( spawn=sim_utils.UsdFileCfg( - usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/Unitree/Go1/go1.usd", + usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/Go1/go1.usd", activate_contact_sensors=True, rigid_props=sim_utils.RigidBodyPropertiesCfg( disable_gravity=False, @@ -133,7 +133,7 @@ UNITREE_GO2_CFG = ArticulationCfg( spawn=sim_utils.UsdFileCfg( - usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/Unitree/Go2/go2.usd", + usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/Go2/go2.usd", activate_contact_sensors=True, rigid_props=sim_utils.RigidBodyPropertiesCfg( disable_gravity=False, diff --git a/source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/universal_robots.py b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/universal_robots.py similarity index 75% rename from source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/universal_robots.py rename to source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/universal_robots.py index f910377cf7..ea40b3605c 100644 --- a/source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/universal_robots.py +++ b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/universal_robots.py @@ -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 @@ -12,10 +12,10 @@ Reference: https://github.com/ros-industrial/universal_robot """ -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.actuators import ImplicitActuatorCfg -from omni.isaac.orbit.assets.articulation import ArticulationCfg -from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.actuators import ImplicitActuatorCfg +from omni.isaac.lab.assets.articulation import ArticulationCfg +from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR ## # Configuration @@ -24,7 +24,7 @@ UR10_CFG = ArticulationCfg( spawn=sim_utils.UsdFileCfg( - usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/UniversalRobots/UR10/ur10_instanceable.usd", + usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/UniversalRobots/UR10/ur10_instanceable.usd", rigid_props=sim_utils.RigidBodyPropertiesCfg( disable_gravity=False, max_depenetration_velocity=5.0, diff --git a/source/extensions/omni.isaac.orbit_assets/setup.py b/source/extensions/omni.isaac.lab_assets/setup.py similarity index 73% rename from source/extensions/omni.isaac.orbit_assets/setup.py rename to source/extensions/omni.isaac.lab_assets/setup.py index f5f593aca3..776526c89a 100644 --- a/source/extensions/omni.isaac.orbit_assets/setup.py +++ b/source/extensions/omni.isaac.lab_assets/setup.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 -"""Installation script for the 'omni.isaac.orbit_assets' python package.""" +"""Installation script for the 'omni.isaac.lab_assets' python package.""" import os import toml @@ -17,17 +17,16 @@ # Installation operation setup( - name="omni-isaac-orbit_assets", - author="ORBIT Project Developers", - maintainer="Mayank Mittal", - maintainer_email="mittalma@ethz.ch", + name="omni-isaac-lab_assets", + author="Isaac Lab Project Developers", + maintainer="Isaac Lab Project Developers", url=EXTENSION_TOML_DATA["package"]["repository"], version=EXTENSION_TOML_DATA["package"]["version"], description=EXTENSION_TOML_DATA["package"]["description"], keywords=EXTENSION_TOML_DATA["package"]["keywords"], include_package_data=True, python_requires=">=3.10", - packages=["omni.isaac.orbit_assets"], + packages=["omni.isaac.lab_assets"], classifiers=[ "Natural Language :: English", "Programming Language :: Python :: 3.10", diff --git a/source/extensions/omni.isaac.orbit_assets/test/test_valid_configs.py b/source/extensions/omni.isaac.lab_assets/test/test_valid_configs.py similarity index 82% rename from source/extensions/omni.isaac.orbit_assets/test/test_valid_configs.py rename to source/extensions/omni.isaac.lab_assets/test/test_valid_configs.py index 6d806af03d..093050b566 100644 --- a/source/extensions/omni.isaac.orbit_assets/test/test_valid_configs.py +++ b/source/extensions/omni.isaac.lab_assets/test/test_valid_configs.py @@ -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 @@ -8,7 +8,7 @@ """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch the simulator app_launcher = AppLauncher(headless=True) @@ -19,11 +19,11 @@ import unittest -import omni.isaac.orbit_assets as orbit_assets # noqa: F401 +import omni.isaac.lab_assets as lab_assets # noqa: F401 -from omni.isaac.orbit.assets import AssetBase, AssetBaseCfg -from omni.isaac.orbit.sensors import SensorBase, SensorBaseCfg -from omni.isaac.orbit.sim import build_simulation_context +from omni.isaac.lab.assets import AssetBase, AssetBaseCfg +from omni.isaac.lab.sensors import SensorBase, SensorBaseCfg +from omni.isaac.lab.sim import build_simulation_context class TestValidEntitiesConfigs(unittest.TestCase): @@ -34,8 +34,8 @@ def setUpClass(cls): # load all registered entities configurations from the module cls.registered_entities: dict[str, AssetBaseCfg | SensorBaseCfg] = {} # inspect all classes from the module - for obj_name in dir(orbit_assets): - obj = getattr(orbit_assets, obj_name) + for obj_name in dir(lab_assets): + obj = getattr(lab_assets, obj_name) # store all registered entities configurations if isinstance(obj, (AssetBaseCfg, SensorBaseCfg)): cls.registered_entities[obj_name] = obj diff --git a/source/extensions/omni.isaac.orbit_tasks/config/extension.toml b/source/extensions/omni.isaac.lab_tasks/config/extension.toml similarity index 68% rename from source/extensions/omni.isaac.orbit_tasks/config/extension.toml rename to source/extensions/omni.isaac.lab_tasks/config/extension.toml index 6a2916d257..36534bd639 100644 --- a/source/extensions/omni.isaac.orbit_tasks/config/extension.toml +++ b/source/extensions/omni.isaac.lab_tasks/config/extension.toml @@ -4,19 +4,19 @@ version = "0.6.2" # Description -title = "ORBIT Environments" +title = "Isaac Lab Environments" description="Extension containing suite of environments for robot learning." readme = "docs/README.md" -repository = "https://github.com/NVIDIA-Omniverse/Orbit" +repository = "https://github.com/isaac-sim/IsaacLab" category = "robotics" keywords = ["robotics", "rl", "il", "learning"] [dependencies] -"omni.isaac.orbit" = {} -"omni.isaac.orbit_assets" = {} +"omni.isaac.lab" = {} +"omni.isaac.lab_assets" = {} "omni.isaac.core" = {} "omni.isaac.gym" = {} "omni.replicator.isaac" = {} [[python.module]] -name = "omni.isaac.orbit_tasks" +name = "omni.isaac.lab_tasks" diff --git a/source/extensions/omni.isaac.orbit_tasks/docs/CHANGELOG.rst b/source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst similarity index 91% rename from source/extensions/omni.isaac.orbit_tasks/docs/CHANGELOG.rst rename to source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst index a58f09fb80..e3f979d7a4 100644 --- a/source/extensions/omni.isaac.orbit_tasks/docs/CHANGELOG.rst +++ b/source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst @@ -8,7 +8,7 @@ Added ^^^^^ * Added exporting of empirical normalization layer to ONNX and JIT when exporting the model using - :meth:`omni.isaac.orbit.actuators.ActuatorNetMLP.export` method. Previously, the normalization layer + :meth:`omni.isaac.lab.actuators.ActuatorNetMLP.export` method. Previously, the normalization layer was not exported to the ONNX and JIT models. This caused the exported model to not work properly when used for inference. @@ -74,7 +74,7 @@ Fixed Added ^^^^^ -* Added a check for the flag :attr:`omni.isaac.orbit.envs.RLTaskEnvCfg.is_finite_horizon` +* Added a check for the flag :attr:`omni.isaac.lab.envs.RLTaskEnvCfg.is_finite_horizon` in the RSL-RL and RL-Games wrappers to handle the finite horizon tasks properly. Earlier, the wrappers were always assuming the tasks to be infinite horizon tasks and returning a time-out signals when the episode length was reached. @@ -86,7 +86,7 @@ Added Fixed ^^^^^ -* Added raising of error in the :meth:`omni.isaac.orbit_tasks.utils.importer.import_all` method to make sure +* Added raising of error in the :meth:`omni.isaac.lab_tasks.utils.importer.import_all` method to make sure all the packages are imported properly. Previously, error was being caught and ignored. @@ -107,7 +107,7 @@ Fixed Fixed ^^^^^ -* Fixed the wrappers to different learning frameworks to use the new :class:`omni.isaac.orbit_tasks.RLTaskEnv` class. +* Fixed the wrappers to different learning frameworks to use the new :class:`omni.isaac.lab_tasks.RLTaskEnv` class. The :class:`RLTaskEnv` class inherits from the :class:`gymnasium.Env` class (Gym 0.29.0). * Fixed the registration of tasks in the Gym registry based on Gym 0.29.0 API. @@ -130,7 +130,7 @@ Changed Fixed ^^^^^ -* Fixed the way package import automation is handled in the :mod:`omni.isaac.orbit_tasks` module. Earlier it was +* Fixed the way package import automation is handled in the :mod:`omni.isaac.lab_tasks` module. Earlier it was not skipping the blacklisted packages properly. @@ -151,15 +151,15 @@ Changed Changed ^^^^^^^ -* Moved the base environment definition to the :class:`omni.isaac.orbit.envs.RLEnv` class. The :class:`RLEnv` +* Moved the base environment definition to the :class:`omni.isaac.lab.envs.RLEnv` class. The :class:`RLEnv` contains RL-specific managers such as the reward, termination, randomization and curriculum managers. These - are all configured using the :class:`omni.isaac.orbit.envs.RLEnvConfig` class. The :class:`RLEnv` class - inherits from the :class:`omni.isaac.orbit.envs.BaseEnv` and ``gym.Env`` classes. + are all configured using the :class:`omni.isaac.lab.envs.RLEnvConfig` class. The :class:`RLEnv` class + inherits from the :class:`omni.isaac.lab.envs.BaseEnv` and ``gym.Env`` classes. Fixed ^^^^^ -* Adapted the wrappers to use the new :class:`omni.isaac.orbit.envs.RLEnv` class. +* Adapted the wrappers to use the new :class:`omni.isaac.lab.envs.RLEnv` class. 0.4.1 (2023-08-02) @@ -169,7 +169,7 @@ Changed ^^^^^^^ * Adapted the base :class:`IsaacEnv` class to use the :class:`SimulationContext` class from the - :mod:`omni.isaac.orbit.sim` module. This simplifies setting of simulation parameters. + :mod:`omni.isaac.lab.sim` module. This simplifies setting of simulation parameters. 0.4.0 (2023-07-26) diff --git a/source/extensions/omni.isaac.orbit_tasks/docs/README.md b/source/extensions/omni.isaac.lab_tasks/docs/README.md similarity index 82% rename from source/extensions/omni.isaac.orbit_tasks/docs/README.md rename to source/extensions/omni.isaac.lab_tasks/docs/README.md index 0945bab724..fe225ca25a 100644 --- a/source/extensions/omni.isaac.orbit_tasks/docs/README.md +++ b/source/extensions/omni.isaac.lab_tasks/docs/README.md @@ -1,6 +1,6 @@ -# Orbit: Environment Suite +# Isaac Lab: Environment Suite -Using the core framework developed as part of Orbit, we provide various learning environments for robotics research. +Using the core framework developed as part of Isaac Lab, we provide various learning environments for robotics research. These environments follow the `gym.Env` API from OpenAI Gym version `0.21.0`. The environments are registered using the Gym registry. @@ -14,7 +14,7 @@ itself. However, its various instances are included in directories within the en This looks like as follows: ```tree -omni/isaac/orbit_tasks/locomotion/ +omni/isaac/lab_tasks/locomotion/ ├── __init__.py └── velocity ├── config @@ -27,19 +27,19 @@ omni/isaac/orbit_tasks/locomotion/ └── velocity_env_cfg.py # <- this is the base task configuration ``` -The environments are then registered in the `omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/__init__.py`: +The environments are then registered in the `omni/isaac/lab_tasks/locomotion/velocity/config/anymal_c/__init__.py`: ```python gym.register( id="Isaac-Velocity-Rough-Anymal-C-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={"env_cfg_entry_point": f"{__name__}.rough_env_cfg:AnymalCRoughEnvCfg"}, ) gym.register( id="Isaac-Velocity-Flat-Anymal-C-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={"env_cfg_entry_point": f"{__name__}.flat_env_cfg:AnymalCFlatEnvCfg"}, ) diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/__init__.py similarity index 66% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/__init__.py index 0ef8315e48..5dd39864d3 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/__init__.py @@ -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 @@ -9,14 +9,14 @@ import toml # Conveniences to other module directories via relative paths -ORBIT_TASKS_EXT_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../../")) +ISAACLAB_TASKS_EXT_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../../")) """Path to the extension source directory.""" -ORBIT_TASKS_METADATA = toml.load(os.path.join(ORBIT_TASKS_EXT_DIR, "config", "extension.toml")) +ISAACLAB_TASKS_METADATA = toml.load(os.path.join(ISAACLAB_TASKS_EXT_DIR, "config", "extension.toml")) """Extension metadata dictionary parsed from the extension.toml file.""" # Configure the module-level variables -__version__ = ORBIT_TASKS_METADATA["package"]["version"] +__version__ = ISAACLAB_TASKS_METADATA["package"]["version"] ## # Register Gym environments. diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/__init__.py similarity index 80% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/__init__.py index f390a8d221..e90f67eea3 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/ant/__init__.py similarity index 85% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/ant/__init__.py index f4d488f6c3..ed5039baab 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/ant/__init__.py @@ -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 @@ -17,7 +17,7 @@ gym.register( id="Isaac-Ant-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": ant_env_cfg.AntEnvCfg, diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/agents/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/ant/agents/__init__.py similarity index 60% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/agents/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/ant/agents/__init__.py index ddd871cb95..441ab975b9 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/agents/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/ant/agents/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/agents/rl_games_ppo_cfg.yaml b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/ant/agents/rl_games_ppo_cfg.yaml similarity index 100% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/agents/rl_games_ppo_cfg.yaml rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/ant/agents/rl_games_ppo_cfg.yaml diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/agents/rsl_rl_ppo_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/ant/agents/rsl_rl_ppo_cfg.py similarity index 84% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/agents/rsl_rl_ppo_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/ant/agents/rsl_rl_ppo_cfg.py index e9ff3cc979..ce5bb31e78 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/agents/rsl_rl_ppo_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/ant/agents/rsl_rl_ppo_cfg.py @@ -1,11 +1,11 @@ -# 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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass -from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import ( +from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import ( RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg, diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/agents/sb3_ppo_cfg.yaml b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/ant/agents/sb3_ppo_cfg.yaml similarity index 100% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/agents/sb3_ppo_cfg.yaml rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/ant/agents/sb3_ppo_cfg.yaml diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/agents/skrl_ppo_cfg.yaml b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/ant/agents/skrl_ppo_cfg.yaml similarity index 100% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/agents/skrl_ppo_cfg.yaml rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/ant/agents/skrl_ppo_cfg.yaml diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/ant_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/ant/ant_env_cfg.py similarity index 87% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/ant_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/ant/ant_env_cfg.py index 92e41bfcea..1da3258918 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/ant_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/ant/ant_env_cfg.py @@ -1,24 +1,24 @@ -# 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 -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.actuators import ImplicitActuatorCfg -from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg -from omni.isaac.orbit.envs import RLTaskEnvCfg -from omni.isaac.orbit.managers import EventTermCfg as EventTerm -from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup -from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm -from omni.isaac.orbit.managers import RewardTermCfg as RewTerm -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm -from omni.isaac.orbit.scene import InteractiveSceneCfg -from omni.isaac.orbit.terrains import TerrainImporterCfg -from omni.isaac.orbit.utils import configclass -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR - -import omni.isaac.orbit_tasks.classic.humanoid.mdp as mdp +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.actuators import ImplicitActuatorCfg +from omni.isaac.lab.assets import ArticulationCfg, AssetBaseCfg +from omni.isaac.lab.envs import RLTaskEnvCfg +from omni.isaac.lab.managers import EventTermCfg as EventTerm +from omni.isaac.lab.managers import ObservationGroupCfg as ObsGroup +from omni.isaac.lab.managers import ObservationTermCfg as ObsTerm +from omni.isaac.lab.managers import RewardTermCfg as RewTerm +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.managers import TerminationTermCfg as DoneTerm +from omni.isaac.lab.scene import InteractiveSceneCfg +from omni.isaac.lab.terrains import TerrainImporterCfg +from omni.isaac.lab.utils import configclass +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR + +import omni.isaac.lab_tasks.classic.humanoid.mdp as mdp ## # Scene definition diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/__init__.py similarity index 86% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/__init__.py index 687ebfb2ce..d255d8703a 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/__init__.py @@ -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 @@ -18,7 +18,7 @@ gym.register( id="Isaac-Cartpole-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": CartpoleEnvCfg, diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/agents/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/agents/__init__.py similarity index 65% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/agents/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/agents/__init__.py index cdf10570a4..dadccd581c 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/agents/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/agents/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/agents/rl_games_ppo_cfg.yaml b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/agents/rl_games_ppo_cfg.yaml similarity index 100% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/agents/rl_games_ppo_cfg.yaml rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/agents/rl_games_ppo_cfg.yaml diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/agents/rsl_rl_ppo_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/agents/rsl_rl_ppo_cfg.py similarity index 84% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/agents/rsl_rl_ppo_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/agents/rsl_rl_ppo_cfg.py index 06098a4c52..dc739c63ab 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/agents/rsl_rl_ppo_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/agents/rsl_rl_ppo_cfg.py @@ -1,11 +1,11 @@ -# 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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass -from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import ( +from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import ( RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg, diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/agents/sb3_ppo_cfg.yaml b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/agents/sb3_ppo_cfg.yaml similarity index 100% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/agents/sb3_ppo_cfg.yaml rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/agents/sb3_ppo_cfg.yaml diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/agents/skrl_ppo_cfg.yaml b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/agents/skrl_ppo_cfg.yaml similarity index 100% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/agents/skrl_ppo_cfg.yaml rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/agents/skrl_ppo_cfg.yaml diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/cartpole_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/cartpole_env_cfg.py similarity index 85% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/cartpole_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/cartpole_env_cfg.py index 54a3c84c17..6fd552363d 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/cartpole_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/cartpole_env_cfg.py @@ -1,28 +1,28 @@ -# 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 import math -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg -from omni.isaac.orbit.envs import RLTaskEnvCfg -from omni.isaac.orbit.managers import EventTermCfg as EventTerm -from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup -from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm -from omni.isaac.orbit.managers import RewardTermCfg as RewTerm -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm -from omni.isaac.orbit.scene import InteractiveSceneCfg -from omni.isaac.orbit.utils import configclass +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import ArticulationCfg, AssetBaseCfg +from omni.isaac.lab.envs import RLTaskEnvCfg +from omni.isaac.lab.managers import EventTermCfg as EventTerm +from omni.isaac.lab.managers import ObservationGroupCfg as ObsGroup +from omni.isaac.lab.managers import ObservationTermCfg as ObsTerm +from omni.isaac.lab.managers import RewardTermCfg as RewTerm +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.managers import TerminationTermCfg as DoneTerm +from omni.isaac.lab.scene import InteractiveSceneCfg +from omni.isaac.lab.utils import configclass -import omni.isaac.orbit_tasks.classic.cartpole.mdp as mdp +import omni.isaac.lab_tasks.classic.cartpole.mdp as mdp ## # Pre-defined configs ## -from omni.isaac.orbit_assets.cartpole import CARTPOLE_CFG # isort:skip +from omni.isaac.lab_assets.cartpole import CARTPOLE_CFG # isort:skip ## diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/mdp/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/mdp/__init__.py similarity index 63% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/mdp/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/mdp/__init__.py index e9bd8b3ef1..d83b85cfcf 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/mdp/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/mdp/__init__.py @@ -1,10 +1,10 @@ -# 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 sub-module contains the functions that are specific to the cartpole environments.""" -from omni.isaac.orbit.envs.mdp import * # noqa: F401, F403 +from omni.isaac.lab.envs.mdp import * # noqa: F401, F403 from .rewards import * # noqa: F401, F403 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/mdp/rewards.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/mdp/rewards.py similarity index 71% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/mdp/rewards.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/mdp/rewards.py index 3d5cd21da3..e5ebf1a3f4 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/mdp/rewards.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/cartpole/mdp/rewards.py @@ -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 @@ -8,12 +8,12 @@ import torch from typing import TYPE_CHECKING -from omni.isaac.orbit.assets import Articulation -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.utils.math import wrap_to_pi +from omni.isaac.lab.assets import Articulation +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.utils.math import wrap_to_pi if TYPE_CHECKING: - from omni.isaac.orbit.envs import RLTaskEnv + from omni.isaac.lab.envs import RLTaskEnv def joint_pos_target_l2(env: RLTaskEnv, target: float, asset_cfg: SceneEntityCfg) -> torch.Tensor: diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/__init__.py similarity index 86% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/__init__.py index 01ee6226b9..5b4ac88748 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/__init__.py @@ -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 @@ -17,7 +17,7 @@ gym.register( id="Isaac-Humanoid-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": humanoid_env_cfg.HumanoidEnvCfg, diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/agents/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/agents/__init__.py similarity index 65% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/agents/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/agents/__init__.py index cdf10570a4..dadccd581c 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/agents/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/agents/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/agents/rl_games_ppo_cfg.yaml b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/agents/rl_games_ppo_cfg.yaml similarity index 100% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/agents/rl_games_ppo_cfg.yaml rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/agents/rl_games_ppo_cfg.yaml diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/agents/rsl_rl_ppo_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/agents/rsl_rl_ppo_cfg.py similarity index 84% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/agents/rsl_rl_ppo_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/agents/rsl_rl_ppo_cfg.py index bce7cb0b4b..b96a64f677 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/agents/rsl_rl_ppo_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/agents/rsl_rl_ppo_cfg.py @@ -1,11 +1,11 @@ -# 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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass -from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import ( +from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import ( RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg, diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/agents/sb3_ppo_cfg.yaml b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/agents/sb3_ppo_cfg.yaml similarity index 100% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/agents/sb3_ppo_cfg.yaml rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/agents/sb3_ppo_cfg.yaml diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/agents/skrl_ppo_cfg.yaml b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/agents/skrl_ppo_cfg.yaml similarity index 100% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/agents/skrl_ppo_cfg.yaml rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/agents/skrl_ppo_cfg.yaml diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/humanoid_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/humanoid_env_cfg.py similarity index 89% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/humanoid_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/humanoid_env_cfg.py index 40dfa263db..836cc91951 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/humanoid_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/humanoid_env_cfg.py @@ -1,24 +1,24 @@ -# 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 -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.actuators import ImplicitActuatorCfg -from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg -from omni.isaac.orbit.envs import RLTaskEnvCfg -from omni.isaac.orbit.managers import EventTermCfg as EventTerm -from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup -from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm -from omni.isaac.orbit.managers import RewardTermCfg as RewTerm -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm -from omni.isaac.orbit.scene import InteractiveSceneCfg -from omni.isaac.orbit.terrains import TerrainImporterCfg -from omni.isaac.orbit.utils import configclass -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR - -import omni.isaac.orbit_tasks.classic.humanoid.mdp as mdp +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.actuators import ImplicitActuatorCfg +from omni.isaac.lab.assets import ArticulationCfg, AssetBaseCfg +from omni.isaac.lab.envs import RLTaskEnvCfg +from omni.isaac.lab.managers import EventTermCfg as EventTerm +from omni.isaac.lab.managers import ObservationGroupCfg as ObsGroup +from omni.isaac.lab.managers import ObservationTermCfg as ObsTerm +from omni.isaac.lab.managers import RewardTermCfg as RewTerm +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.managers import TerminationTermCfg as DoneTerm +from omni.isaac.lab.scene import InteractiveSceneCfg +from omni.isaac.lab.terrains import TerrainImporterCfg +from omni.isaac.lab.utils import configclass +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR + +import omni.isaac.lab_tasks.classic.humanoid.mdp as mdp ## # Scene definition diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/mdp/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/mdp/__init__.py similarity index 63% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/mdp/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/mdp/__init__.py index 52e2d9d8db..a60deb8018 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/mdp/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/mdp/__init__.py @@ -1,11 +1,11 @@ -# 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 sub-module contains the functions that are specific to the humanoid environment.""" -from omni.isaac.orbit.envs.mdp import * # noqa: F401, F403 +from omni.isaac.lab.envs.mdp import * # noqa: F401, F403 from .observations import * from .rewards import * diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/mdp/observations.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/mdp/observations.py similarity index 92% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/mdp/observations.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/mdp/observations.py index 788b6fa63c..f1c506ae70 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/mdp/observations.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/mdp/observations.py @@ -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 @@ -8,12 +8,12 @@ import torch from typing import TYPE_CHECKING -import omni.isaac.orbit.utils.math as math_utils -from omni.isaac.orbit.assets import Articulation -from omni.isaac.orbit.managers import SceneEntityCfg +import omni.isaac.lab.utils.math as math_utils +from omni.isaac.lab.assets import Articulation +from omni.isaac.lab.managers import SceneEntityCfg if TYPE_CHECKING: - from omni.isaac.orbit.envs import BaseEnv + from omni.isaac.lab.envs import BaseEnv def base_yaw_roll(env: BaseEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor: diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/mdp/rewards.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/mdp/rewards.py similarity index 94% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/mdp/rewards.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/mdp/rewards.py index 25d7450193..f6ccb0ef61 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/mdp/rewards.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/classic/humanoid/mdp/rewards.py @@ -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 @@ -8,15 +8,15 @@ import torch from typing import TYPE_CHECKING -import omni.isaac.orbit.utils.math as math_utils -import omni.isaac.orbit.utils.string as string_utils -from omni.isaac.orbit.assets import Articulation -from omni.isaac.orbit.managers import ManagerTermBase, RewardTermCfg, SceneEntityCfg +import omni.isaac.lab.utils.math as math_utils +import omni.isaac.lab.utils.string as string_utils +from omni.isaac.lab.assets import Articulation +from omni.isaac.lab.managers import ManagerTermBase, RewardTermCfg, SceneEntityCfg from . import observations as obs if TYPE_CHECKING: - from omni.isaac.orbit.envs import RLTaskEnv + from omni.isaac.lab.envs import RLTaskEnv def upright_posture_bonus( diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/__init__.py similarity index 70% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/__init__.py index 54fe12ab47..ed9d8f984b 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/__init__.py similarity index 82% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/__init__.py index 19b29dfaec..4995a9f0a6 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/__init__.py similarity index 83% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/__init__.py index 3466df9602..d1326540a8 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_b/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_b/__init__.py similarity index 82% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_b/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_b/__init__.py index 70e115b64a..24674e1987 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_b/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_b/__init__.py @@ -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 @@ -12,7 +12,7 @@ gym.register( id="Isaac-Velocity-Flat-Anymal-B-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": flat_env_cfg.AnymalBFlatEnvCfg, @@ -22,7 +22,7 @@ gym.register( id="Isaac-Velocity-Flat-Anymal-B-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": flat_env_cfg.AnymalBFlatEnvCfg_PLAY, @@ -32,7 +32,7 @@ gym.register( id="Isaac-Velocity-Rough-Anymal-B-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": rough_env_cfg.AnymalBRoughEnvCfg, @@ -42,7 +42,7 @@ gym.register( id="Isaac-Velocity-Rough-Anymal-B-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": rough_env_cfg.AnymalBRoughEnvCfg_PLAY, diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_b/agents/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_b/agents/__init__.py similarity index 64% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_b/agents/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_b/agents/__init__.py index 1c370f641f..b3a5a970d3 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_b/agents/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_b/agents/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_b/agents/rsl_rl_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_b/agents/rsl_rl_cfg.py similarity index 88% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_b/agents/rsl_rl_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_b/agents/rsl_rl_cfg.py index a10cb3a058..1802b4260a 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_b/agents/rsl_rl_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_b/agents/rsl_rl_cfg.py @@ -1,11 +1,11 @@ -# 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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass -from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import ( +from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import ( RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg, diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_b/flat_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_b/flat_env_cfg.py similarity index 92% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_b/flat_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_b/flat_env_cfg.py index 811225d1c4..9e783d5121 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_b/flat_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_b/flat_env_cfg.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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass from .rough_env_cfg import AnymalBRoughEnvCfg diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_b/rough_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_b/rough_env_cfg.py similarity index 83% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_b/rough_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_b/rough_env_cfg.py index d1fc1f6668..98af7cb097 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_b/rough_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_b/rough_env_cfg.py @@ -1,16 +1,16 @@ -# 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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass -from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg +from omni.isaac.lab_tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg ## # Pre-defined configs ## -from omni.isaac.orbit_assets import ANYMAL_B_CFG # isort: skip +from omni.isaac.lab_assets import ANYMAL_B_CFG # isort: skip @configclass diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_c/__init__.py similarity index 76% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_c/__init__.py index 2c73537ba9..1c6346fe87 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_c/__init__.py @@ -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 @@ -13,18 +13,18 @@ gym.register( id="Isaac-Velocity-Flat-Anymal-C-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": flat_env_cfg.AnymalCFlatEnvCfg, "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalCFlatPPORunnerCfg, - "skrl_cfg_entry_point": "omni.isaac.orbit_tasks.locomotion.velocity.anymal_c.agents:skrl_cfg.yaml", + "skrl_cfg_entry_point": "omni.isaac.lab_tasks.locomotion.velocity.anymal_c.agents:skrl_cfg.yaml", }, ) gym.register( id="Isaac-Velocity-Flat-Anymal-C-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": flat_env_cfg.AnymalCFlatEnvCfg_PLAY, @@ -34,7 +34,7 @@ gym.register( id="Isaac-Velocity-Rough-Anymal-C-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": rough_env_cfg.AnymalCRoughEnvCfg, @@ -44,7 +44,7 @@ gym.register( id="Isaac-Velocity-Rough-Anymal-C-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": rough_env_cfg.AnymalCRoughEnvCfg_PLAY, diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/agents/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_c/agents/__init__.py similarity index 64% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/agents/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_c/agents/__init__.py index 1c370f641f..b3a5a970d3 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/agents/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_c/agents/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/agents/rsl_rl_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_c/agents/rsl_rl_cfg.py similarity index 88% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/agents/rsl_rl_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_c/agents/rsl_rl_cfg.py index 546d52067b..441f6f41b1 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/agents/rsl_rl_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_c/agents/rsl_rl_cfg.py @@ -1,11 +1,11 @@ -# 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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass -from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import ( +from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import ( RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg, diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/agents/skrl_cfg.yaml b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_c/agents/skrl_cfg.yaml similarity index 100% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/agents/skrl_cfg.yaml rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_c/agents/skrl_cfg.yaml diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/flat_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_c/flat_env_cfg.py similarity index 92% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/flat_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_c/flat_env_cfg.py index bbcc767c85..f417388159 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/flat_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_c/flat_env_cfg.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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass from .rough_env_cfg import AnymalCRoughEnvCfg diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/rough_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_c/rough_env_cfg.py similarity index 82% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/rough_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_c/rough_env_cfg.py index 2d9582fa11..17410ba51d 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/rough_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_c/rough_env_cfg.py @@ -1,16 +1,16 @@ -# 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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass -from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg +from omni.isaac.lab_tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg ## # Pre-defined configs ## -from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG # isort: skip +from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG # isort: skip @configclass diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_d/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_d/__init__.py similarity index 82% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_d/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_d/__init__.py index 621f65f849..beb3017408 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_d/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_d/__init__.py @@ -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 @@ -13,7 +13,7 @@ gym.register( id="Isaac-Velocity-Flat-Anymal-D-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": flat_env_cfg.AnymalDFlatEnvCfg, @@ -23,7 +23,7 @@ gym.register( id="Isaac-Velocity-Flat-Anymal-D-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": flat_env_cfg.AnymalDFlatEnvCfg_PLAY, @@ -33,7 +33,7 @@ gym.register( id="Isaac-Velocity-Rough-Anymal-D-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": rough_env_cfg.AnymalDRoughEnvCfg, @@ -43,7 +43,7 @@ gym.register( id="Isaac-Velocity-Rough-Anymal-D-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": rough_env_cfg.AnymalDRoughEnvCfg_PLAY, diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_d/agents/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_d/agents/__init__.py similarity index 64% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_d/agents/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_d/agents/__init__.py index 1c370f641f..b3a5a970d3 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_d/agents/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_d/agents/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_d/agents/rsl_rl_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_d/agents/rsl_rl_cfg.py similarity index 88% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_d/agents/rsl_rl_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_d/agents/rsl_rl_cfg.py index c64cbf7ddd..6dd40afcfd 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_d/agents/rsl_rl_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_d/agents/rsl_rl_cfg.py @@ -1,11 +1,11 @@ -# 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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass -from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import ( +from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import ( RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg, diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_d/flat_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_d/flat_env_cfg.py similarity index 92% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_d/flat_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_d/flat_env_cfg.py index aa0e0bf11e..2df0f5e823 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_d/flat_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_d/flat_env_cfg.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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass from .rough_env_cfg import AnymalDRoughEnvCfg diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_d/rough_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_d/rough_env_cfg.py similarity index 82% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_d/rough_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_d/rough_env_cfg.py index fed3a0e2a7..846d928764 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_d/rough_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/anymal_d/rough_env_cfg.py @@ -1,16 +1,16 @@ -# 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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass -from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg +from omni.isaac.lab_tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg ## # Pre-defined configs ## -from omni.isaac.orbit_assets.anymal import ANYMAL_D_CFG # isort: skip +from omni.isaac.lab_assets.anymal import ANYMAL_D_CFG # isort: skip @configclass diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/cassie/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/cassie/__init__.py similarity index 81% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/cassie/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/cassie/__init__.py index c814780014..6f0b3aaf0d 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/cassie/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/cassie/__init__.py @@ -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 @@ -13,7 +13,7 @@ gym.register( id="Isaac-Velocity-Flat-Cassie-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": flat_env_cfg.CassieFlatEnvCfg, @@ -23,7 +23,7 @@ gym.register( id="Isaac-Velocity-Flat-Cassie-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": flat_env_cfg.CassieFlatEnvCfg_PLAY, @@ -33,7 +33,7 @@ gym.register( id="Isaac-Velocity-Rough-Cassie-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": rough_env_cfg.CassieRoughEnvCfg, @@ -43,7 +43,7 @@ gym.register( id="Isaac-Velocity-Rough-Cassie-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": rough_env_cfg.CassieRoughEnvCfg_PLAY, diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/cassie/agents/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/cassie/agents/__init__.py similarity index 64% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/cassie/agents/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/cassie/agents/__init__.py index 1c370f641f..b3a5a970d3 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/cassie/agents/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/cassie/agents/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/cassie/agents/rsl_rl_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/cassie/agents/rsl_rl_cfg.py similarity index 88% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/cassie/agents/rsl_rl_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/cassie/agents/rsl_rl_cfg.py index 909145e24f..59ea44aa06 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/cassie/agents/rsl_rl_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/cassie/agents/rsl_rl_cfg.py @@ -1,11 +1,11 @@ -# 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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass -from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import ( +from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import ( RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg, diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/cassie/flat_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/cassie/flat_env_cfg.py similarity index 91% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/cassie/flat_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/cassie/flat_env_cfg.py index c576df8492..f0b78f35d9 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/cassie/flat_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/cassie/flat_env_cfg.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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass from .rough_env_cfg import CassieRoughEnvCfg diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/cassie/rough_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/cassie/rough_env_cfg.py similarity index 88% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/cassie/rough_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/cassie/rough_env_cfg.py index b63dcc0fcc..2468eb4bd6 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/cassie/rough_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/cassie/rough_env_cfg.py @@ -1,19 +1,19 @@ -# 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 -from omni.isaac.orbit.managers import RewardTermCfg as RewTerm -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.managers import RewardTermCfg as RewTerm +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.utils import configclass -import omni.isaac.orbit_tasks.locomotion.velocity.mdp as mdp -from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg, RewardsCfg +import omni.isaac.lab_tasks.locomotion.velocity.mdp as mdp +from omni.isaac.lab_tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg, RewardsCfg ## # Pre-defined configs ## -from omni.isaac.orbit_assets.cassie import CASSIE_CFG # isort: skip +from omni.isaac.lab_assets.cassie import CASSIE_CFG # isort: skip @configclass diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_a1/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_a1/__init__.py similarity index 82% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_a1/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_a1/__init__.py index d77ab176e6..d9c7110ec9 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_a1/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_a1/__init__.py @@ -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 @@ -13,7 +13,7 @@ gym.register( id="Isaac-Velocity-Flat-Unitree-A1-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": flat_env_cfg.UnitreeA1FlatEnvCfg, @@ -23,7 +23,7 @@ gym.register( id="Isaac-Velocity-Flat-Unitree-A1-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": flat_env_cfg.UnitreeA1FlatEnvCfg_PLAY, @@ -33,7 +33,7 @@ gym.register( id="Isaac-Velocity-Rough-Unitree-A1-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": rough_env_cfg.UnitreeA1RoughEnvCfg, @@ -43,7 +43,7 @@ gym.register( id="Isaac-Velocity-Rough-Unitree-A1-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": rough_env_cfg.UnitreeA1RoughEnvCfg_PLAY, diff --git a/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_a1/agents/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_a1/agents/__init__.py new file mode 100644 index 0000000000..b3a5a970d3 --- /dev/null +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_a1/agents/__init__.py @@ -0,0 +1,6 @@ +# Copyright (c) 2022-2024, The Isaac Lab Project Developers. +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +from . import rsl_rl_cfg # noqa: F401, F403 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_a1/agents/rsl_rl_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_a1/agents/rsl_rl_cfg.py similarity index 88% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_a1/agents/rsl_rl_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_a1/agents/rsl_rl_cfg.py index efb6a0728b..a4a4db5da8 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_a1/agents/rsl_rl_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_a1/agents/rsl_rl_cfg.py @@ -1,11 +1,11 @@ -# 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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass -from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import ( +from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import ( RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg, diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_a1/flat_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_a1/flat_env_cfg.py similarity index 92% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_a1/flat_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_a1/flat_env_cfg.py index f22931bbcc..d24a32d6ee 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_a1/flat_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_a1/flat_env_cfg.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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass from .rough_env_cfg import UnitreeA1RoughEnvCfg diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_a1/rough_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_a1/rough_env_cfg.py similarity index 91% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_a1/rough_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_a1/rough_env_cfg.py index a5192dcbb8..0c0d3c064e 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_a1/rough_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_a1/rough_env_cfg.py @@ -1,16 +1,16 @@ -# 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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass -from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg +from omni.isaac.lab_tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg ## # Pre-defined configs ## -from omni.isaac.orbit_assets.unitree import UNITREE_A1_CFG # isort: skip +from omni.isaac.lab_assets.unitree import UNITREE_A1_CFG # isort: skip @configclass diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go1/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go1/__init__.py similarity index 82% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go1/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go1/__init__.py index c84ec70bb1..73d6a69338 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go1/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go1/__init__.py @@ -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 @@ -13,7 +13,7 @@ gym.register( id="Isaac-Velocity-Flat-Unitree-Go1-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": flat_env_cfg.UnitreeGo1FlatEnvCfg, @@ -23,7 +23,7 @@ gym.register( id="Isaac-Velocity-Flat-Unitree-Go1-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": flat_env_cfg.UnitreeGo1FlatEnvCfg_PLAY, @@ -33,7 +33,7 @@ gym.register( id="Isaac-Velocity-Rough-Unitree-Go1-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": rough_env_cfg.UnitreeGo1RoughEnvCfg, @@ -43,7 +43,7 @@ gym.register( id="Isaac-Velocity-Rough-Unitree-Go1-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": rough_env_cfg.UnitreeGo1RoughEnvCfg_PLAY, diff --git a/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go1/agents/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go1/agents/__init__.py new file mode 100644 index 0000000000..b3a5a970d3 --- /dev/null +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go1/agents/__init__.py @@ -0,0 +1,6 @@ +# Copyright (c) 2022-2024, The Isaac Lab Project Developers. +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +from . import rsl_rl_cfg # noqa: F401, F403 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go1/agents/rsl_rl_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go1/agents/rsl_rl_cfg.py similarity index 88% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go1/agents/rsl_rl_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go1/agents/rsl_rl_cfg.py index b8c397b1d8..a165734695 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go1/agents/rsl_rl_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go1/agents/rsl_rl_cfg.py @@ -1,11 +1,11 @@ -# 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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass -from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import ( +from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import ( RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg, diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go1/flat_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go1/flat_env_cfg.py similarity index 92% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go1/flat_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go1/flat_env_cfg.py index 171b070a99..6ddda99ab9 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go1/flat_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go1/flat_env_cfg.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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass from .rough_env_cfg import UnitreeGo1RoughEnvCfg diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go1/rough_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go1/rough_env_cfg.py similarity index 91% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go1/rough_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go1/rough_env_cfg.py index 68be0ac660..452034587b 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go1/rough_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go1/rough_env_cfg.py @@ -1,16 +1,16 @@ -# 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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass -from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg +from omni.isaac.lab_tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg ## # Pre-defined configs ## -from omni.isaac.orbit_assets.unitree import UNITREE_GO1_CFG # isort: skip +from omni.isaac.lab_assets.unitree import UNITREE_GO1_CFG # isort: skip @configclass diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go2/__init__.py similarity index 82% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go2/__init__.py index b8b9d730e7..b3d074ea90 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go2/__init__.py @@ -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 @@ -13,7 +13,7 @@ gym.register( id="Isaac-Velocity-Flat-Unitree-Go2-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": flat_env_cfg.UnitreeGo2FlatEnvCfg, @@ -23,7 +23,7 @@ gym.register( id="Isaac-Velocity-Flat-Unitree-Go2-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": flat_env_cfg.UnitreeGo2FlatEnvCfg_PLAY, @@ -33,7 +33,7 @@ gym.register( id="Isaac-Velocity-Rough-Unitree-Go2-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": rough_env_cfg.UnitreeGo2RoughEnvCfg, @@ -43,7 +43,7 @@ gym.register( id="Isaac-Velocity-Rough-Unitree-Go2-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": rough_env_cfg.UnitreeGo2RoughEnvCfg_PLAY, diff --git a/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go2/agents/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go2/agents/__init__.py new file mode 100644 index 0000000000..b3a5a970d3 --- /dev/null +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go2/agents/__init__.py @@ -0,0 +1,6 @@ +# Copyright (c) 2022-2024, The Isaac Lab Project Developers. +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +from . import rsl_rl_cfg # noqa: F401, F403 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/agents/rsl_rl_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go2/agents/rsl_rl_cfg.py similarity index 88% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/agents/rsl_rl_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go2/agents/rsl_rl_cfg.py index 7de557bf52..e211e0dbe2 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/agents/rsl_rl_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go2/agents/rsl_rl_cfg.py @@ -1,11 +1,11 @@ -# 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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass -from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import ( +from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import ( RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg, diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/flat_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go2/flat_env_cfg.py similarity index 92% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/flat_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go2/flat_env_cfg.py index 44e1ed2706..1c3f41d692 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/flat_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go2/flat_env_cfg.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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass from .rough_env_cfg import UnitreeGo2RoughEnvCfg diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/rough_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go2/rough_env_cfg.py similarity index 91% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/rough_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go2/rough_env_cfg.py index 27d62dcd3e..45799d3f2e 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/rough_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/config/unitree_go2/rough_env_cfg.py @@ -1,16 +1,16 @@ -# 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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass -from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg +from omni.isaac.lab_tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg ## # Pre-defined configs ## -from omni.isaac.orbit_assets.unitree import UNITREE_GO2_CFG # isort: skip +from omni.isaac.lab_assets.unitree import UNITREE_GO2_CFG # isort: skip @configclass diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/mdp/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/mdp/__init__.py similarity index 68% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/mdp/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/mdp/__init__.py index ca6b9814f5..aab8533905 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/mdp/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/mdp/__init__.py @@ -1,11 +1,11 @@ -# 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 sub-module contains the functions that are specific to the locomotion environments.""" -from omni.isaac.orbit.envs.mdp import * # noqa: F401, F403 +from omni.isaac.lab.envs.mdp import * # noqa: F401, F403 from .curriculums import * # noqa: F401, F403 from .rewards import * # noqa: F401, F403 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/mdp/curriculums.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/mdp/curriculums.py similarity index 82% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/mdp/curriculums.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/mdp/curriculums.py index 5ae5b63e67..e5a8ac9729 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/mdp/curriculums.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/mdp/curriculums.py @@ -1,11 +1,11 @@ -# 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 """Common functions that can be used to create curriculum for the learning environment. -The functions can be passed to the :class:`omni.isaac.orbit.managers.CurriculumTermCfg` object to enable +The functions can be passed to the :class:`omni.isaac.lab.managers.CurriculumTermCfg` object to enable the curriculum introduced by the function. """ @@ -15,12 +15,12 @@ from collections.abc import Sequence from typing import TYPE_CHECKING -from omni.isaac.orbit.assets import Articulation -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.terrains import TerrainImporter +from omni.isaac.lab.assets import Articulation +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.terrains import TerrainImporter if TYPE_CHECKING: - from omni.isaac.orbit.envs import RLTaskEnv + from omni.isaac.lab.envs import RLTaskEnv def terrain_levels_vel( @@ -33,7 +33,7 @@ def terrain_levels_vel( .. note:: It is only possible to use this term with the terrain type ``generator``. For further information - on different terrain types, check the :class:`omni.isaac.orbit.terrains.TerrainImporter` class. + on different terrain types, check the :class:`omni.isaac.lab.terrains.TerrainImporter` class. Returns: The mean terrain level for the given environment ids. diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/mdp/rewards.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/mdp/rewards.py similarity index 91% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/mdp/rewards.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/mdp/rewards.py index 0e938a55b6..b784abc2f7 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/mdp/rewards.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/mdp/rewards.py @@ -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 @@ -8,11 +8,11 @@ import torch from typing import TYPE_CHECKING -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.sensors import ContactSensor +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.sensors import ContactSensor if TYPE_CHECKING: - from omni.isaac.orbit.envs import RLTaskEnv + from omni.isaac.lab.envs import RLTaskEnv def feet_air_time(env: RLTaskEnv, command_name: str, sensor_cfg: SceneEntityCfg, threshold: float) -> torch.Tensor: diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/velocity_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/velocity_env_cfg.py similarity index 89% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/velocity_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/velocity_env_cfg.py index 6024971a08..7fb53470e7 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/velocity_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/locomotion/velocity/velocity_env_cfg.py @@ -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 @@ -6,28 +6,28 @@ import math from dataclasses import MISSING -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg -from omni.isaac.orbit.envs import RLTaskEnvCfg -from omni.isaac.orbit.managers import CurriculumTermCfg as CurrTerm -from omni.isaac.orbit.managers import EventTermCfg as EventTerm -from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup -from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm -from omni.isaac.orbit.managers import RewardTermCfg as RewTerm -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm -from omni.isaac.orbit.scene import InteractiveSceneCfg -from omni.isaac.orbit.sensors import ContactSensorCfg, RayCasterCfg, patterns -from omni.isaac.orbit.terrains import TerrainImporterCfg -from omni.isaac.orbit.utils import configclass -from omni.isaac.orbit.utils.noise import AdditiveUniformNoiseCfg as Unoise - -import omni.isaac.orbit_tasks.locomotion.velocity.mdp as mdp +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import ArticulationCfg, AssetBaseCfg +from omni.isaac.lab.envs import RLTaskEnvCfg +from omni.isaac.lab.managers import CurriculumTermCfg as CurrTerm +from omni.isaac.lab.managers import EventTermCfg as EventTerm +from omni.isaac.lab.managers import ObservationGroupCfg as ObsGroup +from omni.isaac.lab.managers import ObservationTermCfg as ObsTerm +from omni.isaac.lab.managers import RewardTermCfg as RewTerm +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.managers import TerminationTermCfg as DoneTerm +from omni.isaac.lab.scene import InteractiveSceneCfg +from omni.isaac.lab.sensors import ContactSensorCfg, RayCasterCfg, patterns +from omni.isaac.lab.terrains import TerrainImporterCfg +from omni.isaac.lab.utils import configclass +from omni.isaac.lab.utils.noise import AdditiveUniformNoiseCfg as Unoise + +import omni.isaac.lab_tasks.locomotion.velocity.mdp as mdp ## # Pre-defined configs ## -from omni.isaac.orbit.terrains.config.rough import ROUGH_TERRAINS_CFG # isort: skip +from omni.isaac.lab.terrains.config.rough import ROUGH_TERRAINS_CFG # isort: skip ## diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/__init__.py similarity index 71% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/__init__.py index 2ce606a0e1..374bd5baa3 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/__init__.py similarity index 67% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/__init__.py index 53f4389a59..607567cd79 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/cabinet_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/cabinet_env_cfg.py similarity index 88% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/cabinet_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/cabinet_env_cfg.py index 3e980c5db2..ee6e94da56 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/cabinet_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/cabinet_env_cfg.py @@ -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 @@ -6,28 +6,28 @@ from dataclasses import MISSING -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.actuators.actuator_cfg import ImplicitActuatorCfg -from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg -from omni.isaac.orbit.envs import RLTaskEnvCfg -from omni.isaac.orbit.managers import EventTermCfg as EventTerm -from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup -from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm -from omni.isaac.orbit.managers import RewardTermCfg as RewTerm -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm -from omni.isaac.orbit.scene import InteractiveSceneCfg -from omni.isaac.orbit.sensors import FrameTransformerCfg -from omni.isaac.orbit.sensors.frame_transformer import OffsetCfg -from omni.isaac.orbit.utils import configclass -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.actuators.actuator_cfg import ImplicitActuatorCfg +from omni.isaac.lab.assets import ArticulationCfg, AssetBaseCfg +from omni.isaac.lab.envs import RLTaskEnvCfg +from omni.isaac.lab.managers import EventTermCfg as EventTerm +from omni.isaac.lab.managers import ObservationGroupCfg as ObsGroup +from omni.isaac.lab.managers import ObservationTermCfg as ObsTerm +from omni.isaac.lab.managers import RewardTermCfg as RewTerm +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.managers import TerminationTermCfg as DoneTerm +from omni.isaac.lab.scene import InteractiveSceneCfg +from omni.isaac.lab.sensors import FrameTransformerCfg +from omni.isaac.lab.sensors.frame_transformer import OffsetCfg +from omni.isaac.lab.utils import configclass +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR from . import mdp ## # Pre-defined configs ## -from omni.isaac.orbit.markers.config import FRAME_MARKER_CFG # isort: skip +from omni.isaac.lab.markers.config import FRAME_MARKER_CFG # isort: skip FRAME_MARKER_SMALL_CFG = FRAME_MARKER_CFG.copy() diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/config/__init__.py similarity index 82% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/config/__init__.py index 1fdf123a27..d39adbd066 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/config/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/franka/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/config/franka/__init__.py similarity index 86% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/franka/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/config/franka/__init__.py index 9440fa3d7c..e099f67636 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/franka/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/config/franka/__init__.py @@ -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 @@ -17,7 +17,7 @@ gym.register( id="Isaac-Open-Drawer-Franka-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", kwargs={ "env_cfg_entry_point": joint_pos_env_cfg.FrankaCabinetEnvCfg, "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.CabinetPPORunnerCfg, @@ -28,7 +28,7 @@ gym.register( id="Isaac-Open-Drawer-Franka-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", kwargs={ "env_cfg_entry_point": joint_pos_env_cfg.FrankaCabinetEnvCfg_PLAY, "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.CabinetPPORunnerCfg, @@ -44,7 +44,7 @@ gym.register( id="Isaac-Open-Drawer-Franka-IK-Abs-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", kwargs={ "env_cfg_entry_point": ik_abs_env_cfg.FrankaCabinetEnvCfg, "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.CabinetPPORunnerCfg, @@ -55,7 +55,7 @@ gym.register( id="Isaac-Open-Drawer-Franka-IK-Abs-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", kwargs={ "env_cfg_entry_point": ik_abs_env_cfg.FrankaCabinetEnvCfg_PLAY, "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.CabinetPPORunnerCfg, @@ -70,7 +70,7 @@ gym.register( id="Isaac-Open-Drawer-Franka-IK-Rel-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", kwargs={ "env_cfg_entry_point": ik_rel_env_cfg.FrankaCabinetEnvCfg, "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.CabinetPPORunnerCfg, @@ -81,7 +81,7 @@ gym.register( id="Isaac-Open-Drawer-Franka-IK-Rel-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", kwargs={ "env_cfg_entry_point": ik_rel_env_cfg.FrankaCabinetEnvCfg_PLAY, "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.CabinetPPORunnerCfg, diff --git a/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/config/franka/agents/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/config/franka/agents/__init__.py new file mode 100644 index 0000000000..b3a5a970d3 --- /dev/null +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/config/franka/agents/__init__.py @@ -0,0 +1,6 @@ +# Copyright (c) 2022-2024, The Isaac Lab Project Developers. +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +from . import rsl_rl_cfg # noqa: F401, F403 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/franka/agents/rl_games_ppo_cfg.yaml b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/config/franka/agents/rl_games_ppo_cfg.yaml similarity index 100% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/franka/agents/rl_games_ppo_cfg.yaml rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/config/franka/agents/rl_games_ppo_cfg.yaml diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/franka/agents/rsl_rl_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/config/franka/agents/rsl_rl_cfg.py similarity index 84% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/franka/agents/rsl_rl_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/config/franka/agents/rsl_rl_cfg.py index 6c3e16bfa5..3085b9872c 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/franka/agents/rsl_rl_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/config/franka/agents/rsl_rl_cfg.py @@ -1,11 +1,11 @@ -# 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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass -from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import ( +from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import ( RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg, diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/franka/ik_abs_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/config/franka/ik_abs_env_cfg.py similarity index 78% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/franka/ik_abs_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/config/franka/ik_abs_env_cfg.py index e3ac4ea63c..8b91908afb 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/franka/ik_abs_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/config/franka/ik_abs_env_cfg.py @@ -1,18 +1,18 @@ -# 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 -from omni.isaac.orbit.controllers.differential_ik_cfg import DifferentialIKControllerCfg -from omni.isaac.orbit.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.controllers.differential_ik_cfg import DifferentialIKControllerCfg +from omni.isaac.lab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg +from omni.isaac.lab.utils import configclass from . import joint_pos_env_cfg ## # Pre-defined configs ## -from omni.isaac.orbit_assets.franka import FRANKA_PANDA_HIGH_PD_CFG # isort: skip +from omni.isaac.lab_assets.franka import FRANKA_PANDA_HIGH_PD_CFG # isort: skip @configclass diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/franka/ik_rel_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/config/franka/ik_rel_env_cfg.py similarity index 78% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/franka/ik_rel_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/config/franka/ik_rel_env_cfg.py index 0a77dd8e8d..026c5237bb 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/franka/ik_rel_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/config/franka/ik_rel_env_cfg.py @@ -1,18 +1,18 @@ -# 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 -from omni.isaac.orbit.controllers.differential_ik_cfg import DifferentialIKControllerCfg -from omni.isaac.orbit.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.controllers.differential_ik_cfg import DifferentialIKControllerCfg +from omni.isaac.lab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg +from omni.isaac.lab.utils import configclass from . import joint_pos_env_cfg ## # Pre-defined configs ## -from omni.isaac.orbit_assets.franka import FRANKA_PANDA_HIGH_PD_CFG # isort: skip +from omni.isaac.lab_assets.franka import FRANKA_PANDA_HIGH_PD_CFG # isort: skip @configclass diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/franka/joint_pos_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/config/franka/joint_pos_env_cfg.py similarity index 83% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/franka/joint_pos_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/config/franka/joint_pos_env_cfg.py index 82a2d7a2e5..16b278a578 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/franka/joint_pos_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/config/franka/joint_pos_env_cfg.py @@ -1,20 +1,20 @@ -# 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 -from omni.isaac.orbit.sensors import FrameTransformerCfg -from omni.isaac.orbit.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.sensors import FrameTransformerCfg +from omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg +from omni.isaac.lab.utils import configclass -from omni.isaac.orbit_tasks.manipulation.cabinet import mdp -from omni.isaac.orbit_tasks.manipulation.cabinet.cabinet_env_cfg import CabinetEnvCfg +from omni.isaac.lab_tasks.manipulation.cabinet import mdp +from omni.isaac.lab_tasks.manipulation.cabinet.cabinet_env_cfg import CabinetEnvCfg ## # Pre-defined configs ## -from omni.isaac.orbit_assets.franka import FRANKA_PANDA_CFG # isort: skip -from omni.isaac.orbit_tasks.manipulation.cabinet.cabinet_env_cfg import FRAME_MARKER_SMALL_CFG # isort: skip +from omni.isaac.lab_assets.franka import FRANKA_PANDA_CFG # isort: skip +from omni.isaac.lab_tasks.manipulation.cabinet.cabinet_env_cfg import FRAME_MARKER_SMALL_CFG # isort: skip @configclass diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/mdp/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/mdp/__init__.py similarity index 67% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/mdp/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/mdp/__init__.py index 5dad89831c..3e9b3de4d2 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/mdp/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/mdp/__init__.py @@ -1,11 +1,11 @@ -# 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 sub-module contains the functions that are specific to the cabinet environments.""" -from omni.isaac.orbit.envs.mdp import * # noqa: F401, F403 +from omni.isaac.lab.envs.mdp import * # noqa: F401, F403 from .observations import * # noqa: F401, F403 from .rewards import * # noqa: F401, F403 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/mdp/observations.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/mdp/observations.py similarity index 88% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/mdp/observations.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/mdp/observations.py index e241ff2a97..78dc92bb8b 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/mdp/observations.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/mdp/observations.py @@ -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 @@ -8,12 +8,12 @@ import torch from typing import TYPE_CHECKING -import omni.isaac.orbit.utils.math as math_utils -from omni.isaac.orbit.assets import ArticulationData -from omni.isaac.orbit.sensors import FrameTransformerData +import omni.isaac.lab.utils.math as math_utils +from omni.isaac.lab.assets import ArticulationData +from omni.isaac.lab.sensors import FrameTransformerData if TYPE_CHECKING: - from omni.isaac.orbit.envs import RLTaskEnv + from omni.isaac.lab.envs import RLTaskEnv def rel_ee_object_distance(env: RLTaskEnv) -> torch.Tensor: diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/mdp/rewards.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/mdp/rewards.py similarity index 96% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/mdp/rewards.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/mdp/rewards.py index 2d7651ecf6..d5a479f0a3 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/mdp/rewards.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/cabinet/mdp/rewards.py @@ -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 @@ -8,11 +8,11 @@ import torch from typing import TYPE_CHECKING -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.utils.math import matrix_from_quat +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.utils.math import matrix_from_quat if TYPE_CHECKING: - from omni.isaac.orbit.envs import RLTaskEnv + from omni.isaac.lab.envs import RLTaskEnv def approach_ee_handle(env: RLTaskEnv, threshold: float) -> torch.Tensor: diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/__init__.py similarity index 87% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/__init__.py index 1430f8d222..e7a0dcadb1 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/config/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/config/__init__.py similarity index 83% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/config/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/config/__init__.py index 5f9e3b1ee1..19777a523f 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/config/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/config/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/config/allegro_hand/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/config/allegro_hand/__init__.py similarity index 86% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/config/allegro_hand/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/config/allegro_hand/__init__.py index 58409b71b7..ca7fe118e5 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/config/allegro_hand/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/config/allegro_hand/__init__.py @@ -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 @@ -17,7 +17,7 @@ gym.register( id="Isaac-Repose-Cube-Allegro-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": allegro_env_cfg.AllegroCubeEnvCfg, @@ -28,7 +28,7 @@ gym.register( id="Isaac-Repose-Cube-Allegro-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": allegro_env_cfg.AllegroCubeEnvCfg_PLAY, @@ -43,7 +43,7 @@ gym.register( id="Isaac-Repose-Cube-Allegro-NoVelObs-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": allegro_env_cfg.AllegroCubeNoVelObsEnvCfg, @@ -54,7 +54,7 @@ gym.register( id="Isaac-Repose-Cube-Allegro-NoVelObs-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": allegro_env_cfg.AllegroCubeNoVelObsEnvCfg_PLAY, diff --git a/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/config/allegro_hand/agents/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/config/allegro_hand/agents/__init__.py new file mode 100644 index 0000000000..b3a5a970d3 --- /dev/null +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/config/allegro_hand/agents/__init__.py @@ -0,0 +1,6 @@ +# Copyright (c) 2022-2024, The Isaac Lab Project Developers. +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +from . import rsl_rl_cfg # noqa: F401, F403 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/config/allegro_hand/agents/rl_games_ppo_cfg.yaml b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/config/allegro_hand/agents/rl_games_ppo_cfg.yaml similarity index 100% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/config/allegro_hand/agents/rl_games_ppo_cfg.yaml rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/config/allegro_hand/agents/rl_games_ppo_cfg.yaml diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/config/allegro_hand/agents/rsl_rl_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/config/allegro_hand/agents/rsl_rl_cfg.py similarity index 86% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/config/allegro_hand/agents/rsl_rl_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/config/allegro_hand/agents/rsl_rl_cfg.py index 7bc6b6539a..e21d6c8207 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/config/allegro_hand/agents/rsl_rl_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/config/allegro_hand/agents/rsl_rl_cfg.py @@ -1,11 +1,11 @@ -# 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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass -from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import ( +from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import ( RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg, diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/config/allegro_hand/allegro_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/config/allegro_hand/allegro_env_cfg.py similarity index 86% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/config/allegro_hand/allegro_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/config/allegro_hand/allegro_env_cfg.py index fcee98b0aa..36ec483bcd 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/config/allegro_hand/allegro_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/config/allegro_hand/allegro_env_cfg.py @@ -1,16 +1,16 @@ -# 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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass -import omni.isaac.orbit_tasks.manipulation.inhand.inhand_env_cfg as inhand_env_cfg +import omni.isaac.lab_tasks.manipulation.inhand.inhand_env_cfg as inhand_env_cfg ## # Pre-defined configs ## -from omni.isaac.orbit_assets import ALLEGRO_HAND_CFG # isort: skip +from omni.isaac.lab_assets import ALLEGRO_HAND_CFG # isort: skip @configclass diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/inhand_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/inhand_env_cfg.py similarity index 90% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/inhand_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/inhand_env_cfg.py index 22efb6de12..5c779a14ac 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/inhand_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/inhand_env_cfg.py @@ -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 @@ -7,23 +7,23 @@ from dataclasses import MISSING -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg -from omni.isaac.orbit.envs import RLTaskEnvCfg -from omni.isaac.orbit.managers import EventTermCfg as EventTerm -from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup -from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm -from omni.isaac.orbit.managers import RewardTermCfg as RewTerm -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm -from omni.isaac.orbit.scene import InteractiveSceneCfg -from omni.isaac.orbit.sim.simulation_cfg import PhysxCfg, SimulationCfg -from omni.isaac.orbit.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialCfg -from omni.isaac.orbit.utils import configclass -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR -from omni.isaac.orbit.utils.noise import AdditiveGaussianNoiseCfg as Gnoise - -import omni.isaac.orbit_tasks.manipulation.inhand.mdp as mdp +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg +from omni.isaac.lab.envs import RLTaskEnvCfg +from omni.isaac.lab.managers import EventTermCfg as EventTerm +from omni.isaac.lab.managers import ObservationGroupCfg as ObsGroup +from omni.isaac.lab.managers import ObservationTermCfg as ObsTerm +from omni.isaac.lab.managers import RewardTermCfg as RewTerm +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.managers import TerminationTermCfg as DoneTerm +from omni.isaac.lab.scene import InteractiveSceneCfg +from omni.isaac.lab.sim.simulation_cfg import PhysxCfg, SimulationCfg +from omni.isaac.lab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialCfg +from omni.isaac.lab.utils import configclass +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR +from omni.isaac.lab.utils.noise import AdditiveGaussianNoiseCfg as Gnoise + +import omni.isaac.lab_tasks.manipulation.inhand.mdp as mdp ## # Scene definition diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/mdp/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/mdp/__init__.py similarity index 76% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/mdp/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/mdp/__init__.py index d1a25d3453..42d1ae5774 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/mdp/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/mdp/__init__.py @@ -1,11 +1,11 @@ -# 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 sub-module contains the functions that are specific to the in-hand manipulation environments.""" -from omni.isaac.orbit.envs.mdp import * # noqa: F401, F403 +from omni.isaac.lab.envs.mdp import * # noqa: F401, F403 from .commands import * # noqa: F401, F403 from .events import * # noqa: F401, F403 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/mdp/commands/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/mdp/commands/__init__.py similarity index 82% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/mdp/commands/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/mdp/commands/__init__.py index 027fe3b4f5..a0f43fe411 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/mdp/commands/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/mdp/commands/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/mdp/commands/commands_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/mdp/commands/commands_cfg.py similarity index 87% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/mdp/commands/commands_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/mdp/commands/commands_cfg.py index db2cbcf1f7..d60eb96059 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/mdp/commands/commands_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/mdp/commands/commands_cfg.py @@ -1,15 +1,15 @@ -# 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 from dataclasses import MISSING -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.managers import CommandTermCfg -from omni.isaac.orbit.markers import VisualizationMarkersCfg -from omni.isaac.orbit.utils import configclass -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.managers import CommandTermCfg +from omni.isaac.lab.markers import VisualizationMarkersCfg +from omni.isaac.lab.utils import configclass +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR from .orientation_command import InHandReOrientationCommand diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/mdp/commands/orientation_command.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/mdp/commands/orientation_command.py similarity index 94% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/mdp/commands/orientation_command.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/mdp/commands/orientation_command.py index 1c0c0c21d8..f62ac4aa31 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/mdp/commands/orientation_command.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/mdp/commands/orientation_command.py @@ -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 @@ -11,13 +11,13 @@ from collections.abc import Sequence from typing import TYPE_CHECKING -import omni.isaac.orbit.utils.math as math_utils -from omni.isaac.orbit.assets import RigidObject -from omni.isaac.orbit.managers import CommandTerm -from omni.isaac.orbit.markers.visualization_markers import VisualizationMarkers +import omni.isaac.lab.utils.math as math_utils +from omni.isaac.lab.assets import RigidObject +from omni.isaac.lab.managers import CommandTerm +from omni.isaac.lab.markers.visualization_markers import VisualizationMarkers if TYPE_CHECKING: - from omni.isaac.orbit.envs import RLTaskEnv + from omni.isaac.lab.envs import RLTaskEnv from .commands_cfg import InHandReOrientationCommandCfg diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/mdp/events.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/mdp/events.py similarity index 96% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/mdp/events.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/mdp/events.py index e0fd2d6b1f..0dc075f2b4 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/mdp/events.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/mdp/events.py @@ -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 @@ -11,12 +11,12 @@ import torch from typing import TYPE_CHECKING, Literal -from omni.isaac.orbit.assets import Articulation -from omni.isaac.orbit.managers import EventTermCfg, ManagerTermBase, SceneEntityCfg -from omni.isaac.orbit.utils.math import sample_uniform +from omni.isaac.lab.assets import Articulation +from omni.isaac.lab.managers import EventTermCfg, ManagerTermBase, SceneEntityCfg +from omni.isaac.lab.utils.math import sample_uniform if TYPE_CHECKING: - from omni.isaac.orbit.envs import BaseEnv + from omni.isaac.lab.envs import BaseEnv class reset_joints_within_limits_range(ManagerTermBase): diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/mdp/observations.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/mdp/observations.py similarity index 81% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/mdp/observations.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/mdp/observations.py index 904a253cff..d518b274cf 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/mdp/observations.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/mdp/observations.py @@ -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 @@ -8,10 +8,10 @@ import torch from typing import TYPE_CHECKING -import omni.isaac.orbit.utils.math as math_utils -from omni.isaac.orbit.assets import RigidObject -from omni.isaac.orbit.envs import RLTaskEnv -from omni.isaac.orbit.managers import SceneEntityCfg +import omni.isaac.lab.utils.math as math_utils +from omni.isaac.lab.assets import RigidObject +from omni.isaac.lab.envs import RLTaskEnv +from omni.isaac.lab.managers import SceneEntityCfg if TYPE_CHECKING: from .commands import InHandReOrientationCommand diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/mdp/rewards.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/mdp/rewards.py similarity index 93% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/mdp/rewards.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/mdp/rewards.py index 5feeca6e7b..e6f5ce90c4 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/mdp/rewards.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/mdp/rewards.py @@ -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 @@ -8,10 +8,10 @@ import torch from typing import TYPE_CHECKING -import omni.isaac.orbit.utils.math as math_utils -from omni.isaac.orbit.assets import RigidObject -from omni.isaac.orbit.envs import RLTaskEnv -from omni.isaac.orbit.managers import SceneEntityCfg +import omni.isaac.lab.utils.math as math_utils +from omni.isaac.lab.assets import RigidObject +from omni.isaac.lab.envs import RLTaskEnv +from omni.isaac.lab.managers import SceneEntityCfg if TYPE_CHECKING: from .commands import InHandReOrientationCommand diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/mdp/terminations.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/mdp/terminations.py similarity index 94% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/mdp/terminations.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/mdp/terminations.py index 70944decd2..f3fb18ef17 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/mdp/terminations.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/inhand/mdp/terminations.py @@ -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 @@ -8,8 +8,8 @@ import torch from typing import TYPE_CHECKING -from omni.isaac.orbit.envs import RLTaskEnv -from omni.isaac.orbit.managers import SceneEntityCfg +from omni.isaac.lab.envs import RLTaskEnv +from omni.isaac.lab.managers import SceneEntityCfg if TYPE_CHECKING: from .commands import InHandReOrientationCommand diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/__init__.py similarity index 82% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/__init__.py index dfec6f10bc..d960514feb 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/__init__.py similarity index 82% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/__init__.py index dfec6f10bc..d960514feb 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/__init__.py similarity index 86% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/__init__.py index 6f2fcab23f..d4946cbb2a 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/__init__.py @@ -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 @@ -17,7 +17,7 @@ gym.register( id="Isaac-Lift-Cube-Franka-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", kwargs={ "env_cfg_entry_point": joint_pos_env_cfg.FrankaCubeLiftEnvCfg, "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.LiftCubePPORunnerCfg, @@ -28,7 +28,7 @@ gym.register( id="Isaac-Lift-Cube-Franka-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", kwargs={ "env_cfg_entry_point": joint_pos_env_cfg.FrankaCubeLiftEnvCfg_PLAY, "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.LiftCubePPORunnerCfg, @@ -43,7 +43,7 @@ gym.register( id="Isaac-Lift-Cube-Franka-IK-Abs-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", kwargs={ "env_cfg_entry_point": ik_abs_env_cfg.FrankaCubeLiftEnvCfg, "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.LiftCubePPORunnerCfg, @@ -54,7 +54,7 @@ gym.register( id="Isaac-Lift-Cube-Franka-IK-Abs-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", kwargs={ "env_cfg_entry_point": ik_abs_env_cfg.FrankaCubeLiftEnvCfg_PLAY, "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.LiftCubePPORunnerCfg, @@ -69,7 +69,7 @@ gym.register( id="Isaac-Lift-Cube-Franka-IK-Rel-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", kwargs={ "env_cfg_entry_point": ik_rel_env_cfg.FrankaCubeLiftEnvCfg, "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.LiftCubePPORunnerCfg, @@ -81,7 +81,7 @@ gym.register( id="Isaac-Lift-Cube-Franka-IK-Rel-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", kwargs={ "env_cfg_entry_point": ik_rel_env_cfg.FrankaCubeLiftEnvCfg_PLAY, "rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.LiftCubePPORunnerCfg, diff --git a/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/agents/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/agents/__init__.py new file mode 100644 index 0000000000..b3a5a970d3 --- /dev/null +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/agents/__init__.py @@ -0,0 +1,6 @@ +# Copyright (c) 2022-2024, The Isaac Lab Project Developers. +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +from . import rsl_rl_cfg # noqa: F401, F403 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/agents/rl_games_ppo_cfg.yaml b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/agents/rl_games_ppo_cfg.yaml similarity index 100% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/agents/rl_games_ppo_cfg.yaml rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/agents/rl_games_ppo_cfg.yaml diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/agents/robomimic/bc.json b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/agents/robomimic/bc.json similarity index 100% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/agents/robomimic/bc.json rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/agents/robomimic/bc.json diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/agents/robomimic/bcq.json b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/agents/robomimic/bcq.json similarity index 100% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/agents/robomimic/bcq.json rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/agents/robomimic/bcq.json diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/agents/rsl_rl_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/agents/rsl_rl_cfg.py similarity index 84% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/agents/rsl_rl_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/agents/rsl_rl_cfg.py index 53a17b39ef..3dad63a217 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/agents/rsl_rl_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/agents/rsl_rl_cfg.py @@ -1,11 +1,11 @@ -# 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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass -from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import ( +from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import ( RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg, diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/agents/sb3_ppo_cfg.yaml b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/agents/sb3_ppo_cfg.yaml similarity index 100% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/agents/sb3_ppo_cfg.yaml rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/agents/sb3_ppo_cfg.yaml diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/agents/skrl_ppo_cfg.yaml b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/agents/skrl_ppo_cfg.yaml similarity index 100% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/agents/skrl_ppo_cfg.yaml rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/agents/skrl_ppo_cfg.yaml diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/ik_abs_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/ik_abs_env_cfg.py similarity index 78% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/ik_abs_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/ik_abs_env_cfg.py index 3911cf3ab7..6b2ac5c1a3 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/ik_abs_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/ik_abs_env_cfg.py @@ -1,18 +1,18 @@ -# 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 -from omni.isaac.orbit.controllers.differential_ik_cfg import DifferentialIKControllerCfg -from omni.isaac.orbit.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.controllers.differential_ik_cfg import DifferentialIKControllerCfg +from omni.isaac.lab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg +from omni.isaac.lab.utils import configclass from . import joint_pos_env_cfg ## # Pre-defined configs ## -from omni.isaac.orbit_assets.franka import FRANKA_PANDA_HIGH_PD_CFG # isort: skip +from omni.isaac.lab_assets.franka import FRANKA_PANDA_HIGH_PD_CFG # isort: skip @configclass diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/ik_rel_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/ik_rel_env_cfg.py similarity index 78% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/ik_rel_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/ik_rel_env_cfg.py index 8936af61c4..98ef9fc253 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/ik_rel_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/ik_rel_env_cfg.py @@ -1,18 +1,18 @@ -# 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 -from omni.isaac.orbit.controllers.differential_ik_cfg import DifferentialIKControllerCfg -from omni.isaac.orbit.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.controllers.differential_ik_cfg import DifferentialIKControllerCfg +from omni.isaac.lab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg +from omni.isaac.lab.utils import configclass from . import joint_pos_env_cfg ## # Pre-defined configs ## -from omni.isaac.orbit_assets.franka import FRANKA_PANDA_HIGH_PD_CFG # isort: skip +from omni.isaac.lab_assets.franka import FRANKA_PANDA_HIGH_PD_CFG # isort: skip @configclass diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/joint_pos_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/joint_pos_env_cfg.py similarity index 78% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/joint_pos_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/joint_pos_env_cfg.py index f75601a22f..9a9c592009 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/joint_pos_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/config/franka/joint_pos_env_cfg.py @@ -1,24 +1,24 @@ -# 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 -from omni.isaac.orbit.assets import RigidObjectCfg -from omni.isaac.orbit.sensors import FrameTransformerCfg -from omni.isaac.orbit.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg -from omni.isaac.orbit.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg -from omni.isaac.orbit.sim.spawners.from_files.from_files_cfg import UsdFileCfg -from omni.isaac.orbit.utils import configclass -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR +from omni.isaac.lab.assets import RigidObjectCfg +from omni.isaac.lab.sensors import FrameTransformerCfg +from omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg +from omni.isaac.lab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg +from omni.isaac.lab.sim.spawners.from_files.from_files_cfg import UsdFileCfg +from omni.isaac.lab.utils import configclass +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR -from omni.isaac.orbit_tasks.manipulation.lift import mdp -from omni.isaac.orbit_tasks.manipulation.lift.lift_env_cfg import LiftEnvCfg +from omni.isaac.lab_tasks.manipulation.lift import mdp +from omni.isaac.lab_tasks.manipulation.lift.lift_env_cfg import LiftEnvCfg ## # Pre-defined configs ## -from omni.isaac.orbit.markers.config import FRAME_MARKER_CFG # isort: skip -from omni.isaac.orbit_assets.franka import FRANKA_PANDA_CFG # isort: skip +from omni.isaac.lab.markers.config import FRAME_MARKER_CFG # isort: skip +from omni.isaac.lab_assets.franka import FRANKA_PANDA_CFG # isort: skip @configclass diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/lift_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/lift_env_cfg.py similarity index 85% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/lift_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/lift_env_cfg.py index f10940f34c..0f73ba9f30 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/lift_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/lift_env_cfg.py @@ -1,25 +1,25 @@ -# 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 from dataclasses import MISSING -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg -from omni.isaac.orbit.envs import RLTaskEnvCfg -from omni.isaac.orbit.managers import CurriculumTermCfg as CurrTerm -from omni.isaac.orbit.managers import EventTermCfg as EventTerm -from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup -from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm -from omni.isaac.orbit.managers import RewardTermCfg as RewTerm -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm -from omni.isaac.orbit.scene import InteractiveSceneCfg -from omni.isaac.orbit.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg -from omni.isaac.orbit.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg -from omni.isaac.orbit.utils import configclass -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg +from omni.isaac.lab.envs import RLTaskEnvCfg +from omni.isaac.lab.managers import CurriculumTermCfg as CurrTerm +from omni.isaac.lab.managers import EventTermCfg as EventTerm +from omni.isaac.lab.managers import ObservationGroupCfg as ObsGroup +from omni.isaac.lab.managers import ObservationTermCfg as ObsTerm +from omni.isaac.lab.managers import RewardTermCfg as RewTerm +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.managers import TerminationTermCfg as DoneTerm +from omni.isaac.lab.scene import InteractiveSceneCfg +from omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg +from omni.isaac.lab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg +from omni.isaac.lab.utils import configclass +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR from . import mdp diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/mdp/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/mdp/__init__.py similarity index 71% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/mdp/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/mdp/__init__.py index 7e223a084b..2fac7ed7fe 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/mdp/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/mdp/__init__.py @@ -1,11 +1,11 @@ -# 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 sub-module contains the functions that are specific to the lift environments.""" -from omni.isaac.orbit.envs.mdp import * # noqa: F401, F403 +from omni.isaac.lab.envs.mdp import * # noqa: F401, F403 from .observations import * # noqa: F401, F403 from .rewards import * # noqa: F401, F403 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/mdp/observations.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/mdp/observations.py similarity index 73% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/mdp/observations.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/mdp/observations.py index 701f0db938..4d846b82a8 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/mdp/observations.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/mdp/observations.py @@ -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 @@ -8,12 +8,12 @@ import torch from typing import TYPE_CHECKING -from omni.isaac.orbit.assets import RigidObject -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.utils.math import subtract_frame_transforms +from omni.isaac.lab.assets import RigidObject +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.utils.math import subtract_frame_transforms if TYPE_CHECKING: - from omni.isaac.orbit.envs import RLTaskEnv + from omni.isaac.lab.envs import RLTaskEnv def object_position_in_robot_root_frame( diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/mdp/rewards.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/mdp/rewards.py similarity index 87% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/mdp/rewards.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/mdp/rewards.py index 24c566b4fa..2033e52539 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/mdp/rewards.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/mdp/rewards.py @@ -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 @@ -8,13 +8,13 @@ import torch from typing import TYPE_CHECKING -from omni.isaac.orbit.assets import RigidObject -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.sensors import FrameTransformer -from omni.isaac.orbit.utils.math import combine_frame_transforms +from omni.isaac.lab.assets import RigidObject +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.sensors import FrameTransformer +from omni.isaac.lab.utils.math import combine_frame_transforms if TYPE_CHECKING: - from omni.isaac.orbit.envs import RLTaskEnv + from omni.isaac.lab.envs import RLTaskEnv def object_is_lifted( diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/mdp/terminations.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/mdp/terminations.py similarity index 81% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/mdp/terminations.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/mdp/terminations.py index 17b19a5081..32f7ea58f3 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/mdp/terminations.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/lift/mdp/terminations.py @@ -1,11 +1,11 @@ -# 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 """Common functions that can be used to activate certain terminations for the lift task. -The functions can be passed to the :class:`omni.isaac.orbit.managers.TerminationTermCfg` object to enable +The functions can be passed to the :class:`omni.isaac.lab.managers.TerminationTermCfg` object to enable the termination introduced by the function. """ @@ -14,12 +14,12 @@ import torch from typing import TYPE_CHECKING -from omni.isaac.orbit.assets import RigidObject -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.utils.math import combine_frame_transforms +from omni.isaac.lab.assets import RigidObject +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.utils.math import combine_frame_transforms if TYPE_CHECKING: - from omni.isaac.orbit.envs import RLTaskEnv + from omni.isaac.lab.envs import RLTaskEnv def object_reached_goal( diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/__init__.py similarity index 69% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/__init__.py index af1e08aefe..e15560d62c 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/__init__.py similarity index 83% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/__init__.py index 02a3078810..a19f15d679 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/franka/__init__.py similarity index 88% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/franka/__init__.py index 6b04a8c492..f246376160 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/franka/__init__.py @@ -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 @@ -17,7 +17,7 @@ gym.register( id="Isaac-Reach-Franka-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": joint_pos_env_cfg.FrankaReachEnvCfg, @@ -29,7 +29,7 @@ gym.register( id="Isaac-Reach-Franka-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": joint_pos_env_cfg.FrankaReachEnvCfg_PLAY, @@ -46,7 +46,7 @@ gym.register( id="Isaac-Reach-Franka-IK-Abs-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", kwargs={ "env_cfg_entry_point": ik_abs_env_cfg.FrankaReachEnvCfg, "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml", @@ -58,7 +58,7 @@ gym.register( id="Isaac-Reach-Franka-IK-Abs-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", kwargs={ "env_cfg_entry_point": ik_abs_env_cfg.FrankaReachEnvCfg_PLAY, "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml", @@ -74,7 +74,7 @@ gym.register( id="Isaac-Reach-Franka-IK-Rel-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", kwargs={ "env_cfg_entry_point": ik_rel_env_cfg.FrankaReachEnvCfg, "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml", @@ -86,7 +86,7 @@ gym.register( id="Isaac-Reach-Franka-IK-Rel-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", kwargs={ "env_cfg_entry_point": ik_rel_env_cfg.FrankaReachEnvCfg_PLAY, "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml", diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/agents/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/franka/agents/__init__.py similarity index 51% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/agents/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/franka/agents/__init__.py index 57c4f5a685..c3ee657052 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/agents/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/franka/agents/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/agents/rl_games_ppo_cfg.yaml b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/franka/agents/rl_games_ppo_cfg.yaml similarity index 100% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/agents/rl_games_ppo_cfg.yaml rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/franka/agents/rl_games_ppo_cfg.yaml diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/agents/rsl_rl_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/franka/agents/rsl_rl_cfg.py similarity index 85% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/agents/rsl_rl_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/franka/agents/rsl_rl_cfg.py index 652d2c1449..acfbd01d08 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/agents/rsl_rl_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/franka/agents/rsl_rl_cfg.py @@ -1,11 +1,11 @@ -# 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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass -from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import ( +from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import ( RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg, diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/agents/skrl_ppo_cfg.yaml b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/franka/agents/skrl_ppo_cfg.yaml similarity index 100% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/agents/skrl_ppo_cfg.yaml rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/franka/agents/skrl_ppo_cfg.yaml diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/ik_abs_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/franka/ik_abs_env_cfg.py similarity index 78% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/ik_abs_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/franka/ik_abs_env_cfg.py index 676c68a6a8..a190c29784 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/ik_abs_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/franka/ik_abs_env_cfg.py @@ -1,18 +1,18 @@ -# 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 -from omni.isaac.orbit.controllers.differential_ik_cfg import DifferentialIKControllerCfg -from omni.isaac.orbit.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.controllers.differential_ik_cfg import DifferentialIKControllerCfg +from omni.isaac.lab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg +from omni.isaac.lab.utils import configclass from . import joint_pos_env_cfg ## # Pre-defined configs ## -from omni.isaac.orbit_assets.franka import FRANKA_PANDA_HIGH_PD_CFG # isort: skip +from omni.isaac.lab_assets.franka import FRANKA_PANDA_HIGH_PD_CFG # isort: skip @configclass diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/ik_rel_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/franka/ik_rel_env_cfg.py similarity index 78% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/ik_rel_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/franka/ik_rel_env_cfg.py index 3ecb78c5f3..76b420296c 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/ik_rel_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/franka/ik_rel_env_cfg.py @@ -1,18 +1,18 @@ -# 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 -from omni.isaac.orbit.controllers.differential_ik_cfg import DifferentialIKControllerCfg -from omni.isaac.orbit.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.controllers.differential_ik_cfg import DifferentialIKControllerCfg +from omni.isaac.lab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg +from omni.isaac.lab.utils import configclass from . import joint_pos_env_cfg ## # Pre-defined configs ## -from omni.isaac.orbit_assets.franka import FRANKA_PANDA_HIGH_PD_CFG # isort: skip +from omni.isaac.lab_assets.franka import FRANKA_PANDA_HIGH_PD_CFG # isort: skip @configclass diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/joint_pos_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/franka/joint_pos_env_cfg.py similarity index 81% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/joint_pos_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/franka/joint_pos_env_cfg.py index 53a3b7b8f2..9edd6b9b5e 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/joint_pos_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/franka/joint_pos_env_cfg.py @@ -1,19 +1,19 @@ -# 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 import math -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass -import omni.isaac.orbit_tasks.manipulation.reach.mdp as mdp -from omni.isaac.orbit_tasks.manipulation.reach.reach_env_cfg import ReachEnvCfg +import omni.isaac.lab_tasks.manipulation.reach.mdp as mdp +from omni.isaac.lab_tasks.manipulation.reach.reach_env_cfg import ReachEnvCfg ## # Pre-defined configs ## -from omni.isaac.orbit_assets import FRANKA_PANDA_CFG # isort: skip +from omni.isaac.lab_assets import FRANKA_PANDA_CFG # isort: skip ## diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/ur_10/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/ur_10/__init__.py similarity index 84% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/ur_10/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/ur_10/__init__.py index 8e199774e5..84b0f5ad36 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/ur_10/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/ur_10/__init__.py @@ -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 @@ -13,7 +13,7 @@ gym.register( id="Isaac-Reach-UR10-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": joint_pos_env_cfg.UR10ReachEnvCfg, @@ -24,7 +24,7 @@ gym.register( id="Isaac-Reach-UR10-Play-v0", - entry_point="omni.isaac.orbit.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:RLTaskEnv", disable_env_checker=True, kwargs={ "env_cfg_entry_point": joint_pos_env_cfg.UR10ReachEnvCfg_PLAY, diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/ur_10/agents/rl_games_ppo_cfg.yaml b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/ur_10/agents/rl_games_ppo_cfg.yaml similarity index 100% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/ur_10/agents/rl_games_ppo_cfg.yaml rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/ur_10/agents/rl_games_ppo_cfg.yaml diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/ur_10/agents/rsl_rl_ppo_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/ur_10/agents/rsl_rl_ppo_cfg.py similarity index 85% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/ur_10/agents/rsl_rl_ppo_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/ur_10/agents/rsl_rl_ppo_cfg.py index 1cf3e476ed..cec80dd961 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/ur_10/agents/rsl_rl_ppo_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/ur_10/agents/rsl_rl_ppo_cfg.py @@ -1,11 +1,11 @@ -# 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 -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass -from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import ( +from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import ( RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg, diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/ur_10/joint_pos_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/ur_10/joint_pos_env_cfg.py similarity index 82% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/ur_10/joint_pos_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/ur_10/joint_pos_env_cfg.py index 5c97e24075..232c8f4224 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/ur_10/joint_pos_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/config/ur_10/joint_pos_env_cfg.py @@ -1,19 +1,19 @@ -# 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 import math -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass -import omni.isaac.orbit_tasks.manipulation.reach.mdp as mdp -from omni.isaac.orbit_tasks.manipulation.reach.reach_env_cfg import ReachEnvCfg +import omni.isaac.lab_tasks.manipulation.reach.mdp as mdp +from omni.isaac.lab_tasks.manipulation.reach.reach_env_cfg import ReachEnvCfg ## # Pre-defined configs ## -from omni.isaac.orbit_assets import UR10_CFG # isort: skip +from omni.isaac.lab_assets import UR10_CFG # isort: skip ## diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/mdp/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/mdp/__init__.py similarity index 63% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/mdp/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/mdp/__init__.py index 1b9080bc6a..a70dc59359 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/mdp/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/mdp/__init__.py @@ -1,10 +1,10 @@ -# 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 sub-module contains the functions that are specific to the locomotion environments.""" -from omni.isaac.orbit.envs.mdp import * # noqa: F401, F403 +from omni.isaac.lab.envs.mdp import * # noqa: F401, F403 from .rewards import * # noqa: F401, F403 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/mdp/rewards.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/mdp/rewards.py similarity index 87% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/mdp/rewards.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/mdp/rewards.py index 52aec2e199..72724f76c3 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/mdp/rewards.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/mdp/rewards.py @@ -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 @@ -8,12 +8,12 @@ import torch from typing import TYPE_CHECKING -from omni.isaac.orbit.assets import RigidObject -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.utils.math import combine_frame_transforms, quat_error_magnitude, quat_mul +from omni.isaac.lab.assets import RigidObject +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.utils.math import combine_frame_transforms, quat_error_magnitude, quat_mul if TYPE_CHECKING: - from omni.isaac.orbit.envs import RLTaskEnv + from omni.isaac.lab.envs import RLTaskEnv def position_command_error(env: RLTaskEnv, command_name: str, asset_cfg: SceneEntityCfg) -> torch.Tensor: diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/reach_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/reach_env_cfg.py similarity index 81% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/reach_env_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/reach_env_cfg.py index 747535070b..817110d1c1 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/reach_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manipulation/reach/reach_env_cfg.py @@ -1,27 +1,27 @@ -# 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 from dataclasses import MISSING -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg -from omni.isaac.orbit.envs import RLTaskEnvCfg -from omni.isaac.orbit.managers import ActionTermCfg as ActionTerm -from omni.isaac.orbit.managers import CurriculumTermCfg as CurrTerm -from omni.isaac.orbit.managers import EventTermCfg as EventTerm -from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup -from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm -from omni.isaac.orbit.managers import RewardTermCfg as RewTerm -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm -from omni.isaac.orbit.scene import InteractiveSceneCfg -from omni.isaac.orbit.utils import configclass -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR -from omni.isaac.orbit.utils.noise import AdditiveUniformNoiseCfg as Unoise - -import omni.isaac.orbit_tasks.manipulation.reach.mdp as mdp +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import ArticulationCfg, AssetBaseCfg +from omni.isaac.lab.envs import RLTaskEnvCfg +from omni.isaac.lab.managers import ActionTermCfg as ActionTerm +from omni.isaac.lab.managers import CurriculumTermCfg as CurrTerm +from omni.isaac.lab.managers import EventTermCfg as EventTerm +from omni.isaac.lab.managers import ObservationGroupCfg as ObsGroup +from omni.isaac.lab.managers import ObservationTermCfg as ObsTerm +from omni.isaac.lab.managers import RewardTermCfg as RewTerm +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.managers import TerminationTermCfg as DoneTerm +from omni.isaac.lab.scene import InteractiveSceneCfg +from omni.isaac.lab.utils import configclass +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR +from omni.isaac.lab.utils.noise import AdditiveUniformNoiseCfg as Unoise + +import omni.isaac.lab_tasks.manipulation.reach.mdp as mdp ## # Scene definition diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py similarity index 81% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py index 164abb4a59..d80773732c 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/data_collector/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/__init__.py similarity index 95% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/data_collector/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/__init__.py index 835c1b6d5d..e608777100 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/data_collector/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/__init__.py @@ -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 @@ -23,7 +23,7 @@ import os import torch - from omni.isaac.orbit_tasks.utils.data_collector import RobomimicDataCollector + from omni.isaac.lab_tasks.utils.data_collector import RobomimicDataCollector # name of the environment (needed by robomimic) task_name = "Isaac-Franka-Lift-v0" diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/data_collector/robomimic_data_collector.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py similarity index 99% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/data_collector/robomimic_data_collector.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py index 5a03481bbe..5ef34f3c34 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/data_collector/robomimic_data_collector.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/importer.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/importer.py similarity index 97% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/importer.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/importer.py index deb68272f8..00888ba0b0 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/importer.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/importer.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/parse_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/parse_cfg.py similarity index 97% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/parse_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/parse_cfg.py index 89cea987a5..8d31ea2c5a 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/parse_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/parse_cfg.py @@ -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 @@ -13,8 +13,8 @@ import re import yaml -from omni.isaac.orbit.envs import RLTaskEnvCfg -from omni.isaac.orbit.utils import update_class_from_dict, update_dict +from omni.isaac.lab.envs import RLTaskEnvCfg +from omni.isaac.lab.utils import update_class_from_dict, update_dict def load_cfg_from_registry(task_name: str, entry_point_key: str) -> dict | RLTaskEnvCfg: @@ -37,7 +37,7 @@ def load_cfg_from_registry(task_name: str, entry_point_key: str) -> dict | RLTas .. code-block:: python - from omni.isaac.orbit_tasks.utils.parse_cfg import load_cfg_from_registry + from omni.isaac.lab_tasks.utils.parse_cfg import load_cfg_from_registry cfg = load_cfg_from_registry("My-Awesome-Task-v0", "env_entry_point_cfg") diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/__init__.py similarity index 91% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/__init__.py index 8cdb10f021..b0a6fec174 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/__init__.py @@ -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 @@ -21,7 +21,7 @@ .. code-block:: python - from omni.isaac.orbit_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper + from omni.isaac.lab_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper env = Sb3VecEnvWrapper(env) diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/rl_games.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py similarity index 97% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/rl_games.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py index 63f90343eb..36c7af2e23 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/rl_games.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py @@ -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 @@ -12,7 +12,7 @@ from rl_games.common import env_configurations, vecenv - from omni.isaac.orbit_tasks.utils.wrappers.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper + from omni.isaac.lab_tasks.utils.wrappers.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper # configuration parameters rl_device = "cuda:0" @@ -41,7 +41,7 @@ from rl_games.common import env_configurations from rl_games.common.vecenv import IVecEnv -from omni.isaac.orbit.envs import RLTaskEnv, VecEnvObs +from omni.isaac.lab.envs import RLTaskEnv, VecEnvObs """ Vectorized environment wrapper. @@ -49,9 +49,9 @@ class RlGamesVecEnvWrapper(IVecEnv): - """Wraps around Orbit environment for RL-Games. + """Wraps around Isaac Lab environment for RL-Games. - This class wraps around the Orbit environment. Since RL-Games works directly on + This class wraps around the Isaac Lab environment. Since RL-Games works directly on GPU buffers, the wrapper handles moving of buffers from the simulation environment to the same device as the learning agent. Additionally, it performs clipping of observations and actions. diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/rsl_rl/__init__.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py similarity index 85% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/rsl_rl/__init__.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py index 6192db38b0..138de3489e 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/rsl_rl/__init__.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/rsl_rl/exporter.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/exporter.py similarity index 98% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/rsl_rl/exporter.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/exporter.py index 8ef5045ff7..09c1f177ee 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/rsl_rl/exporter.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/exporter.py @@ -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 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/rsl_rl/rl_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py similarity index 92% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/rsl_rl/rl_cfg.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py index d766a54f86..7c9e6e42ca 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/rsl_rl/rl_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py @@ -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 @@ -6,7 +6,7 @@ from dataclasses import MISSING from typing import Literal -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.utils import configclass @configclass @@ -123,11 +123,11 @@ class RslRlOnPolicyRunnerCfg: logger: Literal["tensorboard", "neptune", "wandb"] = "tensorboard" """The logger to use. Default is tensorboard.""" - neptune_project: str = "orbit" - """The neptune project name. Default is "orbit".""" + neptune_project: str = "isaaclab" + """The neptune project name. Default is "isaaclab".""" - wandb_project: str = "orbit" - """The wandb project name. Default is "orbit".""" + wandb_project: str = "isaaclab" + """The wandb project name. Default is "isaaclab".""" ## # Loading parameters diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py similarity index 96% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py index 30da3da9fa..52608e75e7 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py @@ -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 @@ -9,7 +9,7 @@ .. code-block:: python - from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import RslRlVecEnvWrapper + from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import RslRlVecEnvWrapper env = RslRlVecEnvWrapper(env) @@ -21,11 +21,11 @@ from rsl_rl.env import VecEnv -from omni.isaac.orbit.envs import RLTaskEnv +from omni.isaac.lab.envs import RLTaskEnv class RslRlVecEnvWrapper(VecEnv): - """Wraps around Orbit environment for RSL-RL library + """Wraps around Isaac Lab environment for RSL-RL library To use asymmetric actor-critic, the environment instance must have the attributes :attr:`num_privileged_obs` (int). This is used by the learning agent to allocate buffers in the trajectory memory. Additionally, the returned diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/sb3.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py similarity index 97% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/sb3.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py index c50dc17438..b505a73af6 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/sb3.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py @@ -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 @@ -9,7 +9,7 @@ .. code-block:: python - from omni.isaac.orbit_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper + from omni.isaac.lab_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper env = Sb3VecEnvWrapper(env) @@ -27,7 +27,7 @@ from stable_baselines3.common.utils import constant_fn from stable_baselines3.common.vec_env.base_vec_env import VecEnv, VecEnvObs, VecEnvStepReturn -from omni.isaac.orbit.envs import RLTaskEnv +from omni.isaac.lab.envs import RLTaskEnv """ Configuration Parser. @@ -79,7 +79,7 @@ def update_dict(hyperparams: dict[str, Any]) -> dict[str, Any]: class Sb3VecEnvWrapper(VecEnv): - """Wraps around Orbit environment for Stable Baselines3. + """Wraps around Isaac Lab environment for Stable Baselines3. Isaac Sim internally implements a vectorized environment. However, since it is still considered a single environment instance, Stable Baselines tries to wrap @@ -95,7 +95,7 @@ class Sb3VecEnvWrapper(VecEnv): We also add monitoring functionality that computes the un-discounted episode return and length. This information is added to the info dicts under key `episode`. - In contrast to the Orbit environment, stable-baselines expect the following: + In contrast to the Isaac Lab environment, stable-baselines expect the following: 1. numpy datatype for MDP signals 2. a list of info dicts for each sub-environment (instead of a dict) diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/skrl.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py similarity index 96% rename from source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/skrl.py rename to source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py index 8071b7a7f3..dfde9e04e0 100644 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/skrl.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py @@ -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 @@ -9,7 +9,7 @@ .. code-block:: python - from omni.isaac.orbit_tasks.utils.wrappers.skrl import SkrlVecEnvWrapper + from omni.isaac.lab_tasks.utils.wrappers.skrl import SkrlVecEnvWrapper env = SkrlVecEnvWrapper(env) @@ -38,7 +38,7 @@ from skrl.trainers.torch.sequential import SEQUENTIAL_TRAINER_DEFAULT_CONFIG from skrl.utils.model_instantiators.torch import Shape # noqa: F401 -from omni.isaac.orbit.envs import RLTaskEnv +from omni.isaac.lab.envs import RLTaskEnv """ Configuration Parser. @@ -92,9 +92,9 @@ def update_dict(d): def SkrlVecEnvWrapper(env: RLTaskEnv): - """Wraps around Orbit environment for skrl. + """Wraps around Isaac Lab environment for skrl. - This function wraps around the Orbit environment. Since the :class:`RLTaskEnv` environment + This function wraps around the Isaac Lab environment. Since the :class:`RLTaskEnv` environment wrapping functionality is defined within the skrl library itself, this implementation is maintained for compatibility with the structure of the extension that contains it. Internally it calls the :func:`wrap_env` from the skrl library API. diff --git a/source/extensions/omni.isaac.orbit_tasks/setup.py b/source/extensions/omni.isaac.lab_tasks/setup.py similarity index 85% rename from source/extensions/omni.isaac.orbit_tasks/setup.py rename to source/extensions/omni.isaac.lab_tasks/setup.py index 4f21105521..4f5781eca4 100644 --- a/source/extensions/omni.isaac.orbit_tasks/setup.py +++ b/source/extensions/omni.isaac.lab_tasks/setup.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 -"""Installation script for the 'omni.isaac.orbit_tasks' python package.""" +"""Installation script for the 'omni.isaac.lab_tasks' python package.""" import itertools import os @@ -47,10 +47,9 @@ # Installation operation setup( - name="omni-isaac-orbit_tasks", - author="ORBIT Project Developers", - maintainer="Mayank Mittal", - maintainer_email="mittalma@ethz.ch", + name="omni-isaac-lab_tasks", + author="Isaac Lab Project Developers", + maintainer="Isaac Lab Project Developers", url=EXTENSION_TOML_DATA["package"]["repository"], version=EXTENSION_TOML_DATA["package"]["version"], description=EXTENSION_TOML_DATA["package"]["description"], @@ -59,7 +58,7 @@ python_requires=">=3.10", install_requires=INSTALL_REQUIRES, extras_require=EXTRAS_REQUIRE, - packages=["omni.isaac.orbit_tasks"], + packages=["omni.isaac.lab_tasks"], classifiers=[ "Natural Language :: English", "Programming Language :: Python :: 3.10", diff --git a/source/extensions/omni.isaac.orbit_tasks/test/test_data_collector.py b/source/extensions/omni.isaac.lab_tasks/test/test_data_collector.py similarity index 93% rename from source/extensions/omni.isaac.orbit_tasks/test/test_data_collector.py rename to source/extensions/omni.isaac.lab_tasks/test/test_data_collector.py index 29db508e85..0a653180d6 100644 --- a/source/extensions/omni.isaac.orbit_tasks/test/test_data_collector.py +++ b/source/extensions/omni.isaac.lab_tasks/test/test_data_collector.py @@ -1,11 +1,11 @@ -# 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 """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch the simulator app_launcher = AppLauncher(headless=True) @@ -18,7 +18,7 @@ import torch import unittest -from omni.isaac.orbit_tasks.utils.data_collector import RobomimicDataCollector +from omni.isaac.lab_tasks.utils.data_collector import RobomimicDataCollector class TestRobomimicDataCollector(unittest.TestCase): diff --git a/source/extensions/omni.isaac.orbit_tasks/test/test_environments.py b/source/extensions/omni.isaac.lab_tasks/test/test_environments.py similarity index 94% rename from source/extensions/omni.isaac.orbit_tasks/test/test_environments.py rename to source/extensions/omni.isaac.lab_tasks/test/test_environments.py index 3effd741bd..4007bfa2b6 100644 --- a/source/extensions/omni.isaac.orbit_tasks/test/test_environments.py +++ b/source/extensions/omni.isaac.lab_tasks/test/test_environments.py @@ -1,11 +1,11 @@ -# 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 """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch the simulator app_launcher = AppLauncher(headless=True) @@ -20,10 +20,10 @@ import omni.usd -from omni.isaac.orbit.envs import RLTaskEnv, RLTaskEnvCfg +from omni.isaac.lab.envs import RLTaskEnv, RLTaskEnvCfg -import omni.isaac.orbit_tasks # noqa: F401 -from omni.isaac.orbit_tasks.utils.parse_cfg import parse_env_cfg +import omni.isaac.lab_tasks # noqa: F401 +from omni.isaac.lab_tasks.utils.parse_cfg import parse_env_cfg class TestEnvironments(unittest.TestCase): diff --git a/source/extensions/omni.isaac.orbit_tasks/test/test_record_video.py b/source/extensions/omni.isaac.lab_tasks/test/test_record_video.py similarity index 91% rename from source/extensions/omni.isaac.orbit_tasks/test/test_record_video.py rename to source/extensions/omni.isaac.lab_tasks/test/test_record_video.py index 16ee7cfa98..39f8c3a1e3 100644 --- a/source/extensions/omni.isaac.orbit_tasks/test/test_record_video.py +++ b/source/extensions/omni.isaac.lab_tasks/test/test_record_video.py @@ -1,11 +1,11 @@ -# 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 """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch the simulator app_launcher = AppLauncher(headless=True, offscreen_render=True) @@ -20,10 +20,10 @@ import omni.usd -from omni.isaac.orbit.envs import RLTaskEnvCfg +from omni.isaac.lab.envs import RLTaskEnvCfg -import omni.isaac.orbit_tasks # noqa: F401 -from omni.isaac.orbit_tasks.utils import parse_env_cfg +import omni.isaac.lab_tasks # noqa: F401 +from omni.isaac.lab_tasks.utils import parse_env_cfg class TestRecordVideoWrapper(unittest.TestCase): diff --git a/source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_rl_games_wrapper.py b/source/extensions/omni.isaac.lab_tasks/test/wrappers/test_rl_games_wrapper.py similarity index 91% rename from source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_rl_games_wrapper.py rename to source/extensions/omni.isaac.lab_tasks/test/wrappers/test_rl_games_wrapper.py index b4f05197a5..de7ec5fb40 100644 --- a/source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_rl_games_wrapper.py +++ b/source/extensions/omni.isaac.lab_tasks/test/wrappers/test_rl_games_wrapper.py @@ -1,11 +1,11 @@ -# 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 """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch the simulator app_launcher = AppLauncher(headless=True) @@ -20,11 +20,11 @@ import omni.usd -from omni.isaac.orbit.envs import RLTaskEnvCfg +from omni.isaac.lab.envs import RLTaskEnvCfg -import omni.isaac.orbit_tasks # noqa: F401 -from omni.isaac.orbit_tasks.utils.parse_cfg import parse_env_cfg -from omni.isaac.orbit_tasks.utils.wrappers.rl_games import RlGamesVecEnvWrapper +import omni.isaac.lab_tasks # noqa: F401 +from omni.isaac.lab_tasks.utils.parse_cfg import parse_env_cfg +from omni.isaac.lab_tasks.utils.wrappers.rl_games import RlGamesVecEnvWrapper class TestRlGamesVecEnvWrapper(unittest.TestCase): diff --git a/source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_rsl_rl_wrapper.py b/source/extensions/omni.isaac.lab_tasks/test/wrappers/test_rsl_rl_wrapper.py similarity index 94% rename from source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_rsl_rl_wrapper.py rename to source/extensions/omni.isaac.lab_tasks/test/wrappers/test_rsl_rl_wrapper.py index 0ea36cdff7..bf5199abb0 100644 --- a/source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_rsl_rl_wrapper.py +++ b/source/extensions/omni.isaac.lab_tasks/test/wrappers/test_rsl_rl_wrapper.py @@ -1,11 +1,11 @@ -# 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 """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch the simulator app_launcher = AppLauncher(headless=True) @@ -20,11 +20,11 @@ import omni.usd -from omni.isaac.orbit.envs import RLTaskEnvCfg +from omni.isaac.lab.envs import RLTaskEnvCfg -import omni.isaac.orbit_tasks # noqa: F401 -from omni.isaac.orbit_tasks.utils.parse_cfg import parse_env_cfg -from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import RslRlVecEnvWrapper +import omni.isaac.lab_tasks # noqa: F401 +from omni.isaac.lab_tasks.utils.parse_cfg import parse_env_cfg +from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import RslRlVecEnvWrapper class TestRslRlVecEnvWrapper(unittest.TestCase): diff --git a/source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_sb3_wrapper.py b/source/extensions/omni.isaac.lab_tasks/test/wrappers/test_sb3_wrapper.py similarity index 91% rename from source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_sb3_wrapper.py rename to source/extensions/omni.isaac.lab_tasks/test/wrappers/test_sb3_wrapper.py index b5c814e1c7..66ea4d019c 100644 --- a/source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_sb3_wrapper.py +++ b/source/extensions/omni.isaac.lab_tasks/test/wrappers/test_sb3_wrapper.py @@ -1,11 +1,11 @@ -# 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 """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher, run_tests +from omni.isaac.lab.app import AppLauncher, run_tests # launch the simulator app_launcher = AppLauncher(headless=True) @@ -21,11 +21,11 @@ import omni.usd -from omni.isaac.orbit.envs import RLTaskEnvCfg +from omni.isaac.lab.envs import RLTaskEnvCfg -import omni.isaac.orbit_tasks # noqa: F401 -from omni.isaac.orbit_tasks.utils.parse_cfg import parse_env_cfg -from omni.isaac.orbit_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper +import omni.isaac.lab_tasks # noqa: F401 +from omni.isaac.lab_tasks.utils.parse_cfg import parse_env_cfg +from omni.isaac.lab_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper class TestStableBaselines3VecEnvWrapper(unittest.TestCase): diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_a1/agents/__init__.py b/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_a1/agents/__init__.py deleted file mode 100644 index 1c370f641f..0000000000 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_a1/agents/__init__.py +++ /dev/null @@ -1,6 +0,0 @@ -# Copyright (c) 2022-2024, The ORBIT Project Developers. -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -from . import rsl_rl_cfg # noqa: F401, F403 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go1/agents/__init__.py b/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go1/agents/__init__.py deleted file mode 100644 index 1c370f641f..0000000000 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go1/agents/__init__.py +++ /dev/null @@ -1,6 +0,0 @@ -# Copyright (c) 2022-2024, The ORBIT Project Developers. -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -from . import rsl_rl_cfg # noqa: F401, F403 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/agents/__init__.py b/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/agents/__init__.py deleted file mode 100644 index 1c370f641f..0000000000 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/agents/__init__.py +++ /dev/null @@ -1,6 +0,0 @@ -# Copyright (c) 2022-2024, The ORBIT Project Developers. -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -from . import rsl_rl_cfg # noqa: F401, F403 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/franka/agents/__init__.py b/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/franka/agents/__init__.py deleted file mode 100644 index 1c370f641f..0000000000 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/franka/agents/__init__.py +++ /dev/null @@ -1,6 +0,0 @@ -# Copyright (c) 2022-2024, The ORBIT Project Developers. -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -from . import rsl_rl_cfg # noqa: F401, F403 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/config/allegro_hand/agents/__init__.py b/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/config/allegro_hand/agents/__init__.py deleted file mode 100644 index 1c370f641f..0000000000 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/inhand/config/allegro_hand/agents/__init__.py +++ /dev/null @@ -1,6 +0,0 @@ -# Copyright (c) 2022-2024, The ORBIT Project Developers. -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -from . import rsl_rl_cfg # noqa: F401, F403 diff --git a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/agents/__init__.py b/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/agents/__init__.py deleted file mode 100644 index 1c370f641f..0000000000 --- a/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/agents/__init__.py +++ /dev/null @@ -1,6 +0,0 @@ -# Copyright (c) 2022-2024, The ORBIT Project Developers. -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -from . import rsl_rl_cfg # noqa: F401, F403 diff --git a/source/standalone/demos/arms.py b/source/standalone/demos/arms.py index 64af683860..0fdfd68e5c 100644 --- a/source/standalone/demos/arms.py +++ b/source/standalone/demos/arms.py @@ -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 @@ -9,7 +9,7 @@ .. code-block:: bash # Usage - ./orbit.sh -p source/standalone/demos/arms.py + ./isaaclab.sh -p source/standalone/demos/arms.py """ @@ -17,7 +17,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="This script demonstrates different single-arm manipulators.") @@ -37,15 +37,15 @@ import omni.isaac.core.utils.prims as prim_utils -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import Articulation -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import Articulation +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR ## # Pre-defined configs ## # isort: off -from omni.isaac.orbit_assets import ( +from omni.isaac.lab_assets import ( FRANKA_PANDA_CFG, UR10_CFG, KINOVA_JACO2_N7S300_CFG, diff --git a/source/standalone/demos/bipeds.py b/source/standalone/demos/bipeds.py index 3a731bddbf..29f63e4bbe 100644 --- a/source/standalone/demos/bipeds.py +++ b/source/standalone/demos/bipeds.py @@ -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 @@ -12,7 +12,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="This script demonstrates how to simulate a bipedal robot.") @@ -27,14 +27,14 @@ """Rest everything follows.""" -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import Articulation -from omni.isaac.orbit.sim import SimulationContext +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import Articulation +from omni.isaac.lab.sim import SimulationContext ## # Pre-defined configs ## -from omni.isaac.orbit_assets.cassie import CASSIE_CFG # isort:skip +from omni.isaac.lab_assets.cassie import CASSIE_CFG # isort:skip def main(): diff --git a/source/standalone/demos/hands.py b/source/standalone/demos/hands.py index 5286b13af0..3bd5108435 100644 --- a/source/standalone/demos/hands.py +++ b/source/standalone/demos/hands.py @@ -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 @@ -9,7 +9,7 @@ .. code-block:: bash # Usage - ./orbit.sh -p source/standalone/demos/hands.py + ./isaaclab.sh -p source/standalone/demos/hands.py """ @@ -17,7 +17,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="This script demonstrates different dexterous hands.") @@ -37,14 +37,14 @@ import omni.isaac.core.utils.prims as prim_utils -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import Articulation +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import Articulation ## # Pre-defined configs ## -from omni.isaac.orbit_assets.allegro import ALLEGRO_HAND_CFG # isort:skip -from omni.isaac.orbit_assets.shadow_hand import SHADOW_HAND_CFG # isort:skip +from omni.isaac.lab_assets.allegro import ALLEGRO_HAND_CFG # isort:skip +from omni.isaac.lab_assets.shadow_hand import SHADOW_HAND_CFG # isort:skip def define_origins(num_origins: int, spacing: float) -> list[list[float]]: diff --git a/source/standalone/demos/markers.py b/source/standalone/demos/markers.py index e14d2be6df..3b3e3e3141 100644 --- a/source/standalone/demos/markers.py +++ b/source/standalone/demos/markers.py @@ -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 @@ -8,7 +8,7 @@ .. code-block:: bash # Usage - ./orbit.sh -p source/standalone/demos/markers.py + ./isaaclab.sh -p source/standalone/demos/markers.py """ @@ -16,7 +16,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="This script demonstrates different types of markers.") @@ -33,11 +33,11 @@ import torch -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.markers import VisualizationMarkers, VisualizationMarkersCfg -from omni.isaac.orbit.sim import SimulationContext -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR, ISAAC_ORBIT_NUCLEUS_DIR -from omni.isaac.orbit.utils.math import quat_from_angle_axis +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.markers import VisualizationMarkers, VisualizationMarkersCfg +from omni.isaac.lab.sim import SimulationContext +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR +from omni.isaac.lab.utils.math import quat_from_angle_axis def define_markers() -> VisualizationMarkers: @@ -82,7 +82,7 @@ def define_markers() -> VisualizationMarkers: visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.25, 0.0)), ), "robot_mesh": sim_utils.UsdFileCfg( - usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd", + usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd", scale=(2.0, 2.0, 2.0), visual_material=sim_utils.GlassMdlCfg(glass_color=(0.0, 0.1, 0.0)), ), diff --git a/source/standalone/demos/procedural_terrain.py b/source/standalone/demos/procedural_terrain.py index 67e6967138..57ab9278a2 100644 --- a/source/standalone/demos/procedural_terrain.py +++ b/source/standalone/demos/procedural_terrain.py @@ -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 @@ -11,19 +11,19 @@ .. code-block:: bash # Generate terrain with height color scheme - ./orbit.sh -p source/standalone/demos/procedural_terrain.py --color_scheme height + ./isaaclab.sh -p source/standalone/demos/procedural_terrain.py --color_scheme height # Generate terrain with random color scheme - ./orbit.sh -p source/standalone/demos/procedural_terrain.py --color_scheme random + ./isaaclab.sh -p source/standalone/demos/procedural_terrain.py --color_scheme random # Generate terrain with no color scheme - ./orbit.sh -p source/standalone/demos/procedural_terrain.py --color_scheme none + ./isaaclab.sh -p source/standalone/demos/procedural_terrain.py --color_scheme none # Generate terrain with curriculum - ./orbit.sh -p source/standalone/demos/procedural_terrain.py --use_curriculum + ./isaaclab.sh -p source/standalone/demos/procedural_terrain.py --use_curriculum # Generate terrain with curriculum along with flat patches - ./orbit.sh -p source/standalone/demos/procedural_terrain.py --use_curriculum --show_flat_patches + ./isaaclab.sh -p source/standalone/demos/procedural_terrain.py --use_curriculum --show_flat_patches """ @@ -31,7 +31,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="This script demonstrates procedural terrain generation.") @@ -68,15 +68,15 @@ import random import torch -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import AssetBase -from omni.isaac.orbit.markers import VisualizationMarkers, VisualizationMarkersCfg -from omni.isaac.orbit.terrains import FlatPatchSamplingCfg, TerrainImporter, TerrainImporterCfg +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import AssetBase +from omni.isaac.lab.markers import VisualizationMarkers, VisualizationMarkersCfg +from omni.isaac.lab.terrains import FlatPatchSamplingCfg, TerrainImporter, TerrainImporterCfg ## # Pre-defined configs ## -from omni.isaac.orbit.terrains.config.rough import ROUGH_TERRAINS_CFG # isort:skip +from omni.isaac.lab.terrains.config.rough import ROUGH_TERRAINS_CFG # isort:skip def design_scene() -> tuple[dict, torch.Tensor]: diff --git a/source/standalone/demos/quadrupeds.py b/source/standalone/demos/quadrupeds.py index 5d30c7d031..353731597b 100644 --- a/source/standalone/demos/quadrupeds.py +++ b/source/standalone/demos/quadrupeds.py @@ -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 @@ -9,7 +9,7 @@ .. code-block:: bash # Usage - ./orbit.sh -p source/standalone/demos/quadrupeds.py + ./isaaclab.sh -p source/standalone/demos/quadrupeds.py """ @@ -17,7 +17,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="This script demonstrates different legged robots.") @@ -37,14 +37,14 @@ import omni.isaac.core.utils.prims as prim_utils -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import Articulation +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import Articulation ## # Pre-defined configs ## -from omni.isaac.orbit_assets.anymal import ANYMAL_B_CFG, ANYMAL_C_CFG, ANYMAL_D_CFG # isort:skip -from omni.isaac.orbit_assets.unitree import UNITREE_A1_CFG, UNITREE_GO1_CFG, UNITREE_GO2_CFG # isort:skip +from omni.isaac.lab_assets.anymal import ANYMAL_B_CFG, ANYMAL_C_CFG, ANYMAL_D_CFG # isort:skip +from omni.isaac.lab_assets.unitree import UNITREE_A1_CFG, UNITREE_GO1_CFG, UNITREE_GO2_CFG # isort:skip def define_origins(num_origins: int, spacing: float) -> list[list[float]]: diff --git a/source/standalone/environments/list_envs.py b/source/standalone/environments/list_envs.py index 7a193aaa03..8fdd23c373 100644 --- a/source/standalone/environments/list_envs.py +++ b/source/standalone/environments/list_envs.py @@ -1,21 +1,21 @@ -# 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 """ -Script to print all the available environments in ORBIT. +Script to print all the available environments in Isaac Lab. The script iterates over all registered environments and stores the details in a table. It prints the name of the environment, the entry point and the config file. -All the environments are registered in the `omni.isaac.orbit_tasks` extension. They start +All the environments are registered in the `omni.isaac.lab_tasks` extension. They start with `Isaac` in their name. """ """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # launch omniverse app app_launcher = AppLauncher(headless=True) @@ -27,14 +27,14 @@ import gymnasium as gym from prettytable import PrettyTable -import omni.isaac.orbit_tasks # noqa: F401 +import omni.isaac.lab_tasks # noqa: F401 def main(): - """Print all environments registered in `omni.isaac.orbit_tasks` extension.""" + """Print all environments registered in `omni.isaac.lab_tasks` extension.""" # print all the available environments table = PrettyTable(["S. No.", "Task Name", "Entry Point", "Config"]) - table.title = "Available Environments in ORBIT" + table.title = "Available Environments in Isaac Lab" # set alignment of table columns table.align["Task Name"] = "l" table.align["Entry Point"] = "l" diff --git a/source/standalone/environments/random_agent.py b/source/standalone/environments/random_agent.py index aa17f5f978..872b2ea9d5 100644 --- a/source/standalone/environments/random_agent.py +++ b/source/standalone/environments/random_agent.py @@ -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 @@ -9,10 +9,10 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments -parser = argparse.ArgumentParser(description="Random agent for Orbit environments.") +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." @@ -33,12 +33,12 @@ import gymnasium as gym import torch -import omni.isaac.orbit_tasks # noqa: F401 -from omni.isaac.orbit_tasks.utils import parse_env_cfg +import omni.isaac.lab_tasks # noqa: F401 +from omni.isaac.lab_tasks.utils import parse_env_cfg def main(): - """Random actions agent with Orbit environment.""" + """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 diff --git a/source/standalone/environments/state_machine/lift_cube_sm.py b/source/standalone/environments/state_machine/lift_cube_sm.py index 960033d5a6..10b206f3f4 100644 --- a/source/standalone/environments/state_machine/lift_cube_sm.py +++ b/source/standalone/environments/state_machine/lift_cube_sm.py @@ -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 @@ -11,7 +11,7 @@ .. code-block:: bash - ./orbit.sh -p source/standalone/environments/state_machine/lift_cube_sm.py --num_envs 32 + ./isaaclab.sh -p source/standalone/environments/state_machine/lift_cube_sm.py --num_envs 32 """ @@ -19,7 +19,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="Pick and lift state machine for lift environments.") @@ -45,11 +45,11 @@ import warp as wp -from omni.isaac.orbit.assets.rigid_object.rigid_object_data import RigidObjectData +from omni.isaac.lab.assets.rigid_object.rigid_object_data import RigidObjectData -import omni.isaac.orbit_tasks # noqa: F401 -from omni.isaac.orbit_tasks.manipulation.lift.lift_env_cfg import LiftEnvCfg -from omni.isaac.orbit_tasks.utils.parse_cfg import parse_env_cfg +import omni.isaac.lab_tasks # noqa: F401 +from omni.isaac.lab_tasks.manipulation.lift.lift_env_cfg import LiftEnvCfg +from omni.isaac.lab_tasks.utils.parse_cfg import parse_env_cfg # initialize warp wp.init() diff --git a/source/standalone/environments/state_machine/open_cabinet_sm.py b/source/standalone/environments/state_machine/open_cabinet_sm.py index 6061cfe717..69c04cde90 100644 --- a/source/standalone/environments/state_machine/open_cabinet_sm.py +++ b/source/standalone/environments/state_machine/open_cabinet_sm.py @@ -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 @@ -11,7 +11,7 @@ .. code-block:: bash - ./orbit.sh -p source/standalone/environments/state_machine/lift_cube_sm.py --num_envs 32 + ./isaaclab.sh -p source/standalone/environments/state_machine/lift_cube_sm.py --num_envs 32 """ @@ -19,7 +19,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="Pick and lift state machine for cabinet environments.") @@ -47,11 +47,11 @@ import carb import warp as wp -from omni.isaac.orbit.sensors import FrameTransformer +from omni.isaac.lab.sensors import FrameTransformer -import omni.isaac.orbit_tasks # noqa: F401 -from omni.isaac.orbit_tasks.manipulation.cabinet.cabinet_env_cfg import CabinetEnvCfg -from omni.isaac.orbit_tasks.utils.parse_cfg import parse_env_cfg +import omni.isaac.lab_tasks # noqa: F401 +from omni.isaac.lab_tasks.manipulation.cabinet.cabinet_env_cfg import CabinetEnvCfg +from omni.isaac.lab_tasks.utils.parse_cfg import parse_env_cfg # initialize warp wp.init() diff --git a/source/standalone/environments/teleoperation/teleop_se3_agent.py b/source/standalone/environments/teleoperation/teleop_se3_agent.py index 3e6a37e43b..18f77e1783 100644 --- a/source/standalone/environments/teleoperation/teleop_se3_agent.py +++ b/source/standalone/environments/teleoperation/teleop_se3_agent.py @@ -1,18 +1,18 @@ -# 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 -"""Script to run a keyboard teleoperation with Orbit manipulation environments.""" +"""Script to run a keyboard teleoperation with Isaac Lab manipulation environments.""" """Launch Isaac Sim Simulator first.""" import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments -parser = argparse.ArgumentParser(description="Keyboard teleoperation for Orbit environments.") +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." @@ -38,10 +38,10 @@ import carb -from omni.isaac.orbit.devices import Se3Gamepad, Se3Keyboard, Se3SpaceMouse +from omni.isaac.lab.devices import Se3Gamepad, Se3Keyboard, Se3SpaceMouse -import omni.isaac.orbit_tasks # noqa: F401 -from omni.isaac.orbit_tasks.utils import parse_env_cfg +import omni.isaac.lab_tasks # noqa: F401 +from omni.isaac.lab_tasks.utils import parse_env_cfg def pre_process_actions(delta_pose: torch.Tensor, gripper_command: bool) -> torch.Tensor: @@ -60,7 +60,7 @@ def pre_process_actions(delta_pose: torch.Tensor, gripper_command: bool) -> torc def main(): - """Running keyboard teleoperation with Orbit manipulation environment.""" + """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 diff --git a/source/standalone/environments/zero_agent.py b/source/standalone/environments/zero_agent.py index e61da89381..ff39fe5cb4 100644 --- a/source/standalone/environments/zero_agent.py +++ b/source/standalone/environments/zero_agent.py @@ -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 @@ -9,10 +9,10 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments -parser = argparse.ArgumentParser(description="Zero agent for Orbit environments.") +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." @@ -33,12 +33,12 @@ import gymnasium as gym import torch -import omni.isaac.orbit_tasks # noqa: F401 -from omni.isaac.orbit_tasks.utils import parse_env_cfg +import omni.isaac.lab_tasks # noqa: F401 +from omni.isaac.lab_tasks.utils import parse_env_cfg def main(): - """Zero actions agent with Orbit environment.""" + """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 diff --git a/source/standalone/tools/blender_obj.py b/source/standalone/tools/blender_obj.py index ef1ec32969..c50f122698 100755 --- a/source/standalone/tools/blender_obj.py +++ b/source/standalone/tools/blender_obj.py @@ -1,6 +1,6 @@ #!/usr/bin/env python -# 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 diff --git a/source/standalone/tools/check_instanceable.py b/source/standalone/tools/check_instanceable.py index ef388453db..f5ab28f941 100644 --- a/source/standalone/tools/check_instanceable.py +++ b/source/standalone/tools/check_instanceable.py @@ -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 @@ -10,10 +10,10 @@ original asset and the instanced asset respectively): ```bash -./orbit.sh -p source/tools/check_instanceable.py -n 4096 --headless --physics -./orbit.sh -p source/tools/check_instanceable.py -n 4096 --headless --physics -./orbit.sh -p source/tools/check_instanceable.py -n 4096 --headless -./orbit.sh -p source/tools/check_instanceable.py -n 4096 --headless +./isaaclab.sh -p source/tools/check_instanceable.py -n 4096 --headless --physics +./isaaclab.sh -p source/tools/check_instanceable.py -n 4096 --headless --physics +./isaaclab.sh -p source/tools/check_instanceable.py -n 4096 --headless +./isaaclab.sh -p source/tools/check_instanceable.py -n 4096 --headless ``` Output from the above commands: @@ -44,8 +44,8 @@ import contextlib import os -# omni-isaac-orbit -from omni.isaac.orbit.app import AppLauncher +# omni-isaac-lab +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser("Utility to empirically check if asset in instanced properly.") @@ -70,8 +70,8 @@ from omni.isaac.core.simulation_context import SimulationContext from omni.isaac.core.utils.carb import set_carb_setting -from omni.isaac.orbit.utils import Timer -from omni.isaac.orbit.utils.assets import check_file_path +from omni.isaac.lab.utils import Timer +from omni.isaac.lab.utils.assets import check_file_path def main(): diff --git a/source/standalone/tools/convert_mesh.py b/source/standalone/tools/convert_mesh.py index 310ae3a058..5cebf53d7f 100644 --- a/source/standalone/tools/convert_mesh.py +++ b/source/standalone/tools/convert_mesh.py @@ -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 @@ -41,7 +41,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="Utility to convert a mesh file into USD format.") @@ -87,10 +87,10 @@ import omni.isaac.core.utils.stage as stage_utils import omni.kit.app -from omni.isaac.orbit.sim.converters import MeshConverter, MeshConverterCfg -from omni.isaac.orbit.sim.schemas import schemas_cfg -from omni.isaac.orbit.utils.assets import check_file_path -from omni.isaac.orbit.utils.dict import print_dict +from omni.isaac.lab.sim.converters import MeshConverter, MeshConverterCfg +from omni.isaac.lab.sim.schemas import schemas_cfg +from omni.isaac.lab.utils.assets import check_file_path +from omni.isaac.lab.utils.dict import print_dict def main(): diff --git a/source/standalone/tools/convert_urdf.py b/source/standalone/tools/convert_urdf.py index fdf7f4eb24..6e48cdb621 100644 --- a/source/standalone/tools/convert_urdf.py +++ b/source/standalone/tools/convert_urdf.py @@ -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 @@ -31,7 +31,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="Utility to convert a URDF into USD format.") @@ -68,9 +68,9 @@ import omni.isaac.core.utils.stage as stage_utils import omni.kit.app -from omni.isaac.orbit.sim.converters import UrdfConverter, UrdfConverterCfg -from omni.isaac.orbit.utils.assets import check_file_path -from omni.isaac.orbit.utils.dict import print_dict +from omni.isaac.lab.sim.converters import UrdfConverter, UrdfConverterCfg +from omni.isaac.lab.utils.assets import check_file_path +from omni.isaac.lab.utils.dict import print_dict def main(): diff --git a/source/standalone/tools/process_meshes_to_obj.py b/source/standalone/tools/process_meshes_to_obj.py index c7a3f6bc8d..0c0814170e 100755 --- a/source/standalone/tools/process_meshes_to_obj.py +++ b/source/standalone/tools/process_meshes_to_obj.py @@ -1,6 +1,6 @@ #!/usr/bin/env python -# 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 diff --git a/source/standalone/tutorials/00_sim/create_empty.py b/source/standalone/tutorials/00_sim/create_empty.py index caede898b4..dbb6f4cc9f 100644 --- a/source/standalone/tutorials/00_sim/create_empty.py +++ b/source/standalone/tutorials/00_sim/create_empty.py @@ -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 @@ -8,7 +8,7 @@ .. code-block:: bash # Usage - ./orbit.sh -p source/standalone/tutorials/00_sim/create_empty.py + ./isaaclab.sh -p source/standalone/tutorials/00_sim/create_empty.py """ @@ -17,7 +17,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # create argparser parser = argparse.ArgumentParser(description="Tutorial on creating an empty stage.") @@ -31,7 +31,7 @@ """Rest everything follows.""" -from omni.isaac.orbit.sim import SimulationCfg, SimulationContext +from omni.isaac.lab.sim import SimulationCfg, SimulationContext def main(): diff --git a/source/standalone/tutorials/00_sim/launch_app.py b/source/standalone/tutorials/00_sim/launch_app.py index 4223b46a81..bcd4ced151 100644 --- a/source/standalone/tutorials/00_sim/launch_app.py +++ b/source/standalone/tutorials/00_sim/launch_app.py @@ -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 @@ -9,7 +9,7 @@ .. code-block:: bash # Usage - ./orbit.sh -p source/standalone/tutorials/00_sim/launch_app.py + ./isaaclab.sh -p source/standalone/tutorials/00_sim/launch_app.py """ @@ -18,7 +18,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # create argparser parser = argparse.ArgumentParser(description="Tutorial on running IsaacSim via the AppLauncher.") @@ -41,7 +41,7 @@ """Rest everything follows.""" -import omni.isaac.orbit.sim as sim_utils +import omni.isaac.lab.sim as sim_utils def design_scene(): diff --git a/source/standalone/tutorials/00_sim/log_time.py b/source/standalone/tutorials/00_sim/log_time.py index ff2a2c333c..92c3080b4d 100644 --- a/source/standalone/tutorials/00_sim/log_time.py +++ b/source/standalone/tutorials/00_sim/log_time.py @@ -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 @@ -10,7 +10,7 @@ .. code-block:: bash # Usage - ./orbit.sh -p source/standalone/tutorials/00_sim/log_time.py + ./isaaclab.sh -p source/standalone/tutorials/00_sim/log_time.py """ @@ -20,7 +20,7 @@ import argparse import os -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # create argparser parser = argparse.ArgumentParser(description="Tutorial on creating logs from within the docker container.") @@ -34,7 +34,7 @@ """Rest everything follows.""" -from omni.isaac.orbit.sim import SimulationCfg, SimulationContext +from omni.isaac.lab.sim import SimulationCfg, SimulationContext def main(): @@ -42,9 +42,9 @@ def main(): # Specify that the logs must be in logs/docker_tutorial log_dir_path = os.path.join("logs", "docker_tutorial") # In the container, the absolute path will be - # /workspace/orbit/logs/docker_tutorial, because - # all python execution is done through /workspace/orbit/orbit.sh - # and the calling process' path will be /workspace/orbit + # /workspace/isaaclab/logs/docker_tutorial, because + # all python execution is done through /workspace/isaaclab/isaaclab.sh + # and the calling process' path will be /workspace/isaaclab log_dir_path = os.path.abspath(log_dir_path) if not os.path.isdir(log_dir_path): os.mkdir(log_dir_path) diff --git a/source/standalone/tutorials/00_sim/spawn_prims.py b/source/standalone/tutorials/00_sim/spawn_prims.py index 2876fbdf45..1bc10c7e21 100644 --- a/source/standalone/tutorials/00_sim/spawn_prims.py +++ b/source/standalone/tutorials/00_sim/spawn_prims.py @@ -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 @@ -8,7 +8,7 @@ .. code-block:: bash # Usage - ./orbit.sh -p source/standalone/tutorials/00_sim/spawn_prims.py + ./isaaclab.sh -p source/standalone/tutorials/00_sim/spawn_prims.py """ @@ -17,7 +17,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # create argparser parser = argparse.ArgumentParser(description="Tutorial on spawning prims into the scene.") @@ -33,8 +33,8 @@ import omni.isaac.core.utils.prims as prim_utils -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR def design_scene(): diff --git a/source/standalone/tutorials/01_assets/run_articulation.py b/source/standalone/tutorials/01_assets/run_articulation.py index 0d2547ba1d..8f14069863 100644 --- a/source/standalone/tutorials/01_assets/run_articulation.py +++ b/source/standalone/tutorials/01_assets/run_articulation.py @@ -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 @@ -8,7 +8,7 @@ .. code-block:: bash # Usage - ./orbit.sh -p source/standalone/tutorials/01_assets/run_articulation.py + ./isaaclab.sh -p source/standalone/tutorials/01_assets/run_articulation.py """ @@ -17,7 +17,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="Tutorial on spawning and interacting with an articulation.") @@ -36,14 +36,14 @@ import omni.isaac.core.utils.prims as prim_utils -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import Articulation -from omni.isaac.orbit.sim import SimulationContext +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import Articulation +from omni.isaac.lab.sim import SimulationContext ## # Pre-defined configs ## -from omni.isaac.orbit_assets import CARTPOLE_CFG # isort:skip +from omni.isaac.lab_assets import CARTPOLE_CFG # isort:skip def design_scene() -> tuple[dict, list[list[float]]]: diff --git a/source/standalone/tutorials/01_assets/run_rigid_object.py b/source/standalone/tutorials/01_assets/run_rigid_object.py index 3138d1a506..af0811a912 100644 --- a/source/standalone/tutorials/01_assets/run_rigid_object.py +++ b/source/standalone/tutorials/01_assets/run_rigid_object.py @@ -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 @@ -9,7 +9,7 @@ .. code-block:: bash # Usage - ./orbit.sh -p source/standalone/tutorials/01_assets/run_rigid_object.py + ./isaaclab.sh -p source/standalone/tutorials/01_assets/run_rigid_object.py """ @@ -18,7 +18,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="Tutorial on spawning and interacting with a rigid object.") @@ -37,10 +37,10 @@ import omni.isaac.core.utils.prims as prim_utils -import omni.isaac.orbit.sim as sim_utils -import omni.isaac.orbit.utils.math as math_utils -from omni.isaac.orbit.assets import RigidObject, RigidObjectCfg -from omni.isaac.orbit.sim import SimulationContext +import omni.isaac.lab.sim as sim_utils +import omni.isaac.lab.utils.math as math_utils +from omni.isaac.lab.assets import RigidObject, RigidObjectCfg +from omni.isaac.lab.sim import SimulationContext def design_scene(): diff --git a/source/standalone/tutorials/02_scene/create_scene.py b/source/standalone/tutorials/02_scene/create_scene.py index 2b29bc786a..2d1c83974a 100644 --- a/source/standalone/tutorials/02_scene/create_scene.py +++ b/source/standalone/tutorials/02_scene/create_scene.py @@ -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 @@ -8,7 +8,7 @@ .. code-block:: bash # Usage - ./orbit.sh -p source/standalone/tutorials/03_scene/create_scene.py --num_envs 32 + ./isaaclab.sh -p source/standalone/tutorials/03_scene/create_scene.py --num_envs 32 """ @@ -17,7 +17,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="Tutorial on using the interactive scene interface.") @@ -35,16 +35,16 @@ import torch -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg -from omni.isaac.orbit.scene import InteractiveScene, InteractiveSceneCfg -from omni.isaac.orbit.sim import SimulationContext -from omni.isaac.orbit.utils import configclass +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import ArticulationCfg, AssetBaseCfg +from omni.isaac.lab.scene import InteractiveScene, InteractiveSceneCfg +from omni.isaac.lab.sim import SimulationContext +from omni.isaac.lab.utils import configclass ## # Pre-defined configs ## -from omni.isaac.orbit_assets import CARTPOLE_CFG # isort:skip +from omni.isaac.lab_assets import CARTPOLE_CFG # isort:skip @configclass diff --git a/source/standalone/tutorials/03_envs/create_cartpole_base_env.py b/source/standalone/tutorials/03_envs/create_cartpole_base_env.py index fae4c7b6e4..06fa09c1a2 100644 --- a/source/standalone/tutorials/03_envs/create_cartpole_base_env.py +++ b/source/standalone/tutorials/03_envs/create_cartpole_base_env.py @@ -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 @@ -13,7 +13,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="Tutorial on creating a cartpole base environment.") @@ -33,15 +33,15 @@ import math import torch -import omni.isaac.orbit.envs.mdp as mdp -from omni.isaac.orbit.envs import BaseEnv, BaseEnvCfg -from omni.isaac.orbit.managers import EventTermCfg as EventTerm -from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup -from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.utils import configclass +import omni.isaac.lab.envs.mdp as mdp +from omni.isaac.lab.envs import BaseEnv, BaseEnvCfg +from omni.isaac.lab.managers import EventTermCfg as EventTerm +from omni.isaac.lab.managers import ObservationGroupCfg as ObsGroup +from omni.isaac.lab.managers import ObservationTermCfg as ObsTerm +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.utils import configclass -from omni.isaac.orbit_tasks.classic.cartpole.cartpole_env_cfg import CartpoleSceneCfg +from omni.isaac.lab_tasks.classic.cartpole.cartpole_env_cfg import CartpoleSceneCfg @configclass diff --git a/source/standalone/tutorials/03_envs/create_cube_base_env.py b/source/standalone/tutorials/03_envs/create_cube_base_env.py index dec643713b..0544c263f9 100644 --- a/source/standalone/tutorials/03_envs/create_cube_base_env.py +++ b/source/standalone/tutorials/03_envs/create_cube_base_env.py @@ -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 @@ -14,7 +14,7 @@ .. code-block:: bash # Run the script - ./orbit.sh -p source/standalone/tutorials/04_envs/floating_cube.py --num_envs 32 + ./isaaclab.sh -p source/standalone/tutorials/04_envs/floating_cube.py --num_envs 32 """ from __future__ import annotations @@ -24,7 +24,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="Tutorial on creating a floating cube environment.") @@ -43,18 +43,18 @@ import torch -import omni.isaac.orbit.envs.mdp as mdp -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import AssetBaseCfg, RigidObject, RigidObjectCfg -from omni.isaac.orbit.envs import BaseEnv, BaseEnvCfg -from omni.isaac.orbit.managers import ActionTerm, ActionTermCfg -from omni.isaac.orbit.managers import EventTermCfg as EventTerm -from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup -from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.scene import InteractiveSceneCfg -from omni.isaac.orbit.terrains import TerrainImporterCfg -from omni.isaac.orbit.utils import configclass +import omni.isaac.lab.envs.mdp as mdp +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import AssetBaseCfg, RigidObject, RigidObjectCfg +from omni.isaac.lab.envs import BaseEnv, BaseEnvCfg +from omni.isaac.lab.managers import ActionTerm, ActionTermCfg +from omni.isaac.lab.managers import EventTermCfg as EventTerm +from omni.isaac.lab.managers import ObservationGroupCfg as ObsGroup +from omni.isaac.lab.managers import ObservationTermCfg as ObsTerm +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.scene import InteractiveSceneCfg +from omni.isaac.lab.terrains import TerrainImporterCfg +from omni.isaac.lab.utils import configclass ## # Custom action term diff --git a/source/standalone/tutorials/03_envs/create_quadruped_base_env.py b/source/standalone/tutorials/03_envs/create_quadruped_base_env.py index ed223852f9..cda83ca897 100644 --- a/source/standalone/tutorials/03_envs/create_quadruped_base_env.py +++ b/source/standalone/tutorials/03_envs/create_quadruped_base_env.py @@ -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 @@ -13,7 +13,7 @@ .. code-block:: bash # Run the script - ./orbit.sh -p source/standalone/tutorials/04_envs/quadruped_base_env.py --num_envs 32 + ./isaaclab.sh -p source/standalone/tutorials/04_envs/quadruped_base_env.py --num_envs 32 """ @@ -22,7 +22,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="Tutorial on creating a quadruped base environment.") @@ -42,26 +42,26 @@ import os import torch -import omni.isaac.orbit.envs.mdp as mdp -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg -from omni.isaac.orbit.envs import BaseEnv, BaseEnvCfg -from omni.isaac.orbit.managers import EventTermCfg as EventTerm -from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup -from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.scene import InteractiveSceneCfg -from omni.isaac.orbit.sensors import RayCasterCfg, patterns -from omni.isaac.orbit.terrains import TerrainImporterCfg -from omni.isaac.orbit.utils import configclass -from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR, check_file_path, read_file -from omni.isaac.orbit.utils.noise import AdditiveUniformNoiseCfg as Unoise +import omni.isaac.lab.envs.mdp as mdp +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import ArticulationCfg, AssetBaseCfg +from omni.isaac.lab.envs import BaseEnv, BaseEnvCfg +from omni.isaac.lab.managers import EventTermCfg as EventTerm +from omni.isaac.lab.managers import ObservationGroupCfg as ObsGroup +from omni.isaac.lab.managers import ObservationTermCfg as ObsTerm +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.scene import InteractiveSceneCfg +from omni.isaac.lab.sensors import RayCasterCfg, patterns +from omni.isaac.lab.terrains import TerrainImporterCfg +from omni.isaac.lab.utils import configclass +from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR, check_file_path, read_file +from omni.isaac.lab.utils.noise import AdditiveUniformNoiseCfg as Unoise ## # Pre-defined configs ## -from omni.isaac.orbit.terrains.config.rough import ROUGH_TERRAINS_CFG # isort: skip -from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG # isort: skip +from omni.isaac.lab.terrains.config.rough import ROUGH_TERRAINS_CFG # isort: skip +from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG # isort: skip ## @@ -208,7 +208,7 @@ def main(): env = BaseEnv(cfg=env_cfg) # load level policy - policy_path = os.path.join(ISAAC_ORBIT_NUCLEUS_DIR, "Policies", "ANYmal-C", "policy.pt") + policy_path = os.path.join(ISAACLAB_NUCLEUS_DIR, "Policies", "ANYmal-C", "policy.pt") # check if policy file exists if not check_file_path(policy_path): raise FileNotFoundError(f"Policy file '{policy_path}' does not exist.") diff --git a/source/standalone/tutorials/03_envs/run_cartpole_rl_env.py b/source/standalone/tutorials/03_envs/run_cartpole_rl_env.py index f13c5447d4..e80709848b 100644 --- a/source/standalone/tutorials/03_envs/run_cartpole_rl_env.py +++ b/source/standalone/tutorials/03_envs/run_cartpole_rl_env.py @@ -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 @@ -9,7 +9,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="Tutorial on running the cartpole RL environment.") @@ -28,9 +28,9 @@ import torch -from omni.isaac.orbit.envs import RLTaskEnv +from omni.isaac.lab.envs import RLTaskEnv -from omni.isaac.orbit_tasks.classic.cartpole.cartpole_env_cfg import CartpoleEnvCfg +from omni.isaac.lab_tasks.classic.cartpole.cartpole_env_cfg import CartpoleEnvCfg def main(): diff --git a/source/standalone/tutorials/04_sensors/add_sensors_on_robot.py b/source/standalone/tutorials/04_sensors/add_sensors_on_robot.py index 50d4cec638..badb9509d9 100644 --- a/source/standalone/tutorials/04_sensors/add_sensors_on_robot.py +++ b/source/standalone/tutorials/04_sensors/add_sensors_on_robot.py @@ -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 @@ -15,7 +15,7 @@ .. code-block:: bash # Usage - ./orbit.sh -p source/standalone/tutorials/04_sensors/add_sensors_on_robot.py + ./isaaclab.sh -p source/standalone/tutorials/04_sensors/add_sensors_on_robot.py """ @@ -23,7 +23,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="Tutorial on adding sensors on a robot.") @@ -41,16 +41,16 @@ import torch -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg -from omni.isaac.orbit.scene import InteractiveScene, InteractiveSceneCfg -from omni.isaac.orbit.sensors import CameraCfg, ContactSensorCfg, RayCasterCfg, patterns -from omni.isaac.orbit.utils import configclass +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import ArticulationCfg, AssetBaseCfg +from omni.isaac.lab.scene import InteractiveScene, InteractiveSceneCfg +from omni.isaac.lab.sensors import CameraCfg, ContactSensorCfg, RayCasterCfg, patterns +from omni.isaac.lab.utils import configclass ## # Pre-defined configs ## -from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG # isort: skip +from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG # isort: skip @configclass diff --git a/source/standalone/tutorials/04_sensors/run_frame_transformer.py b/source/standalone/tutorials/04_sensors/run_frame_transformer.py index 81bb3c1dbe..2eb12bd327 100644 --- a/source/standalone/tutorials/04_sensors/run_frame_transformer.py +++ b/source/standalone/tutorials/04_sensors/run_frame_transformer.py @@ -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 @@ -9,7 +9,7 @@ .. code-block:: bash # Usage - ./orbit.sh -p source/standalone/tutorials/04_sensors/run_frame_transformer.py + ./isaaclab.sh -p source/standalone/tutorials/04_sensors/run_frame_transformer.py """ @@ -17,7 +17,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser( @@ -37,18 +37,18 @@ import omni.isaac.debug_draw._debug_draw as omni_debug_draw -import omni.isaac.orbit.sim as sim_utils -import omni.isaac.orbit.utils.math as math_utils -from omni.isaac.orbit.assets import Articulation -from omni.isaac.orbit.markers import VisualizationMarkers -from omni.isaac.orbit.markers.config import FRAME_MARKER_CFG -from omni.isaac.orbit.sensors import FrameTransformer, FrameTransformerCfg, OffsetCfg -from omni.isaac.orbit.sim import SimulationContext +import omni.isaac.lab.sim as sim_utils +import omni.isaac.lab.utils.math as math_utils +from omni.isaac.lab.assets import Articulation +from omni.isaac.lab.markers import VisualizationMarkers +from omni.isaac.lab.markers.config import FRAME_MARKER_CFG +from omni.isaac.lab.sensors import FrameTransformer, FrameTransformerCfg, OffsetCfg +from omni.isaac.lab.sim import SimulationContext ## # Pre-defined configs ## -from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG # isort:skip +from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG # isort:skip def define_sensor() -> FrameTransformer: diff --git a/source/standalone/tutorials/04_sensors/run_ray_caster.py b/source/standalone/tutorials/04_sensors/run_ray_caster.py index e21bbe7b4c..7346b35fa3 100644 --- a/source/standalone/tutorials/04_sensors/run_ray_caster.py +++ b/source/standalone/tutorials/04_sensors/run_ray_caster.py @@ -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 @@ -9,7 +9,7 @@ .. code-block:: bash # Usage - ./orbit.sh -p source/standalone/tutorials/04_sensors/run_ray_caster.py + ./isaaclab.sh -p source/standalone/tutorials/04_sensors/run_ray_caster.py """ @@ -17,7 +17,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="Ray Caster Test Script") @@ -35,11 +35,11 @@ import omni.isaac.core.utils.prims as prim_utils -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import RigidObject, RigidObjectCfg -from omni.isaac.orbit.sensors.ray_caster import RayCaster, RayCasterCfg, patterns -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR -from omni.isaac.orbit.utils.timer import Timer +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import RigidObject, RigidObjectCfg +from omni.isaac.lab.sensors.ray_caster import RayCaster, RayCasterCfg, patterns +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR +from omni.isaac.lab.utils.timer import Timer def define_sensor() -> RayCaster: diff --git a/source/standalone/tutorials/04_sensors/run_ray_caster_camera.py b/source/standalone/tutorials/04_sensors/run_ray_caster_camera.py index 8610fca45d..a54d9dc6f6 100644 --- a/source/standalone/tutorials/04_sensors/run_ray_caster_camera.py +++ b/source/standalone/tutorials/04_sensors/run_ray_caster_camera.py @@ -1,17 +1,17 @@ -# 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 shows how to use the ray-cast camera sensor from the Orbit framework. +This script shows how to use the ray-cast camera sensor from the Isaac Lab framework. The camera sensor is based on using Warp kernels which do ray-casting against static meshes. .. code-block:: bash # Usage - ./orbit.sh -p source/standalone/tutorials/04_sensors/run_ray_caster_camera.py + ./isaaclab.sh -p source/standalone/tutorials/04_sensors/run_ray_caster_camera.py """ @@ -19,7 +19,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="This script demonstrates how to use the ray-cast camera sensor.") @@ -41,11 +41,11 @@ import omni.isaac.core.utils.prims as prim_utils import omni.replicator.core as rep -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.sensors.ray_caster import RayCasterCamera, RayCasterCameraCfg, patterns -from omni.isaac.orbit.utils import convert_dict_to_backend -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR -from omni.isaac.orbit.utils.math import project_points, unproject_depth +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.sensors.ray_caster import RayCasterCamera, RayCasterCameraCfg, patterns +from omni.isaac.lab.utils import convert_dict_to_backend +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR +from omni.isaac.lab.utils.math import project_points, unproject_depth def define_sensor() -> RayCasterCamera: diff --git a/source/standalone/tutorials/04_sensors/run_usd_camera.py b/source/standalone/tutorials/04_sensors/run_usd_camera.py index d03ca41f8a..f769cd02e1 100644 --- a/source/standalone/tutorials/04_sensors/run_usd_camera.py +++ b/source/standalone/tutorials/04_sensors/run_usd_camera.py @@ -1,10 +1,10 @@ -# 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 shows how to use the camera sensor from the Orbit framework. +This script shows how to use the camera sensor from the Isaac Lab framework. The camera sensor is created and interfaced through the Omniverse Replicator API. However, instead of using the simulator or OpenGL convention for the camera, we use the robotics or ROS convention. @@ -12,10 +12,10 @@ .. code-block:: bash # Usage with GUI - ./orbit.sh -p source/standalone/tutorials/04_sensors/run_usd_camera.py + ./isaaclab.sh -p source/standalone/tutorials/04_sensors/run_usd_camera.py # Usage with headless - ./orbit.sh -p source/standalone/tutorials/04_sensors/run_usd_camera.py --headless --offscreen_render + ./isaaclab.sh -p source/standalone/tutorials/04_sensors/run_usd_camera.py --headless --offscreen_render """ @@ -23,7 +23,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="This script demonstrates how to use the camera sensor.") @@ -68,13 +68,13 @@ import omni.isaac.core.utils.prims as prim_utils import omni.replicator.core as rep -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import RigidObject, RigidObjectCfg -from omni.isaac.orbit.markers import VisualizationMarkers -from omni.isaac.orbit.markers.config import RAY_CASTER_MARKER_CFG -from omni.isaac.orbit.sensors.camera import Camera, CameraCfg -from omni.isaac.orbit.sensors.camera.utils import create_pointcloud_from_depth -from omni.isaac.orbit.utils import convert_dict_to_backend +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import RigidObject, RigidObjectCfg +from omni.isaac.lab.markers import VisualizationMarkers +from omni.isaac.lab.markers.config import RAY_CASTER_MARKER_CFG +from omni.isaac.lab.sensors.camera import Camera, CameraCfg +from omni.isaac.lab.sensors.camera.utils import create_pointcloud_from_depth +from omni.isaac.lab.utils import convert_dict_to_backend def define_sensor() -> Camera: diff --git a/source/standalone/tutorials/05_controllers/run_diff_ik.py b/source/standalone/tutorials/05_controllers/run_diff_ik.py index 980e54161d..1c621a9abc 100644 --- a/source/standalone/tutorials/05_controllers/run_diff_ik.py +++ b/source/standalone/tutorials/05_controllers/run_diff_ik.py @@ -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 @@ -12,7 +12,7 @@ .. code-block:: bash # Usage - ./orbit.sh -p source/standalone/tutorials/05_controllers/ik_control.py + ./isaaclab.sh -p source/standalone/tutorials/05_controllers/ik_control.py """ @@ -20,7 +20,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="Tutorial on using the differential IK controller.") @@ -39,21 +39,21 @@ import torch -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import AssetBaseCfg -from omni.isaac.orbit.controllers import DifferentialIKController, DifferentialIKControllerCfg -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.markers import VisualizationMarkers -from omni.isaac.orbit.markers.config import FRAME_MARKER_CFG -from omni.isaac.orbit.scene import InteractiveScene, InteractiveSceneCfg -from omni.isaac.orbit.utils import configclass -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR -from omni.isaac.orbit.utils.math import subtract_frame_transforms +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import AssetBaseCfg +from omni.isaac.lab.controllers import DifferentialIKController, DifferentialIKControllerCfg +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.markers import VisualizationMarkers +from omni.isaac.lab.markers.config import FRAME_MARKER_CFG +from omni.isaac.lab.scene import InteractiveScene, InteractiveSceneCfg +from omni.isaac.lab.utils import configclass +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR +from omni.isaac.lab.utils.math import subtract_frame_transforms ## # Pre-defined configs ## -from omni.isaac.orbit_assets import FRANKA_PANDA_HIGH_PD_CFG, UR10_CFG # isort:skip +from omni.isaac.lab_assets import FRANKA_PANDA_HIGH_PD_CFG, UR10_CFG # isort:skip @configclass diff --git a/source/standalone/workflows/rl_games/play.py b/source/standalone/workflows/rl_games/play.py index 573a92265a..729c091f09 100644 --- a/source/standalone/workflows/rl_games/play.py +++ b/source/standalone/workflows/rl_games/play.py @@ -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 @@ -9,7 +9,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="Play a checkpoint of an RL agent from RL-Games.") @@ -46,11 +46,11 @@ from rl_games.common.player import BasePlayer from rl_games.torch_runner import Runner -from omni.isaac.orbit.utils.assets import retrieve_file_path +from omni.isaac.lab.utils.assets import retrieve_file_path -import omni.isaac.orbit_tasks # noqa: F401 -from omni.isaac.orbit_tasks.utils import get_checkpoint_path, load_cfg_from_registry, parse_env_cfg -from omni.isaac.orbit_tasks.utils.wrappers.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper +import omni.isaac.lab_tasks # noqa: F401 +from omni.isaac.lab_tasks.utils import get_checkpoint_path, load_cfg_from_registry, parse_env_cfg +from omni.isaac.lab_tasks.utils.wrappers.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper def main(): diff --git a/source/standalone/workflows/rl_games/train.py b/source/standalone/workflows/rl_games/train.py index ff7a0f4162..2c9d5be00d 100644 --- a/source/standalone/workflows/rl_games/train.py +++ b/source/standalone/workflows/rl_games/train.py @@ -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 @@ -9,7 +9,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="Train an RL agent with RL-Games.") @@ -43,12 +43,12 @@ from rl_games.common.algo_observer import IsaacAlgoObserver from rl_games.torch_runner import Runner -from omni.isaac.orbit.utils.dict import print_dict -from omni.isaac.orbit.utils.io import dump_pickle, dump_yaml +from omni.isaac.lab.utils.dict import print_dict +from omni.isaac.lab.utils.io import dump_pickle, dump_yaml -import omni.isaac.orbit_tasks # noqa: F401 -from omni.isaac.orbit_tasks.utils import load_cfg_from_registry, parse_env_cfg -from omni.isaac.orbit_tasks.utils.wrappers.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper +import omni.isaac.lab_tasks # noqa: F401 +from omni.isaac.lab_tasks.utils import load_cfg_from_registry, parse_env_cfg +from omni.isaac.lab_tasks.utils.wrappers.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper def main(): diff --git a/source/standalone/workflows/robomimic/collect_demonstrations.py b/source/standalone/workflows/robomimic/collect_demonstrations.py index ea37d8f242..56e6252303 100644 --- a/source/standalone/workflows/robomimic/collect_demonstrations.py +++ b/source/standalone/workflows/robomimic/collect_demonstrations.py @@ -1,18 +1,18 @@ -# 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 -"""Script to collect demonstrations with Orbit environments.""" +"""Script to collect demonstrations with Isaac Lab environments.""" """Launch Isaac Sim Simulator first.""" import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments -parser = argparse.ArgumentParser(description="Collect demonstrations for Orbit environments.") +parser = argparse.ArgumentParser(description="Collect demonstrations for Isaac Lab environments.") parser.add_argument("--cpu", action="store_true", default=False, help="Use CPU pipeline.") parser.add_argument("--num_envs", type=int, default=1, help="Number of environments to simulate.") parser.add_argument("--task", type=str, default=None, help="Name of the task.") @@ -35,14 +35,14 @@ import os import torch -from omni.isaac.orbit.devices import Se3Keyboard, Se3SpaceMouse -from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm -from omni.isaac.orbit.utils.io import dump_pickle, dump_yaml +from omni.isaac.lab.devices import Se3Keyboard, Se3SpaceMouse +from omni.isaac.lab.managers import TerminationTermCfg as DoneTerm +from omni.isaac.lab.utils.io import dump_pickle, dump_yaml -import omni.isaac.orbit_tasks # noqa: F401 -from omni.isaac.orbit_tasks.manipulation.lift import mdp -from omni.isaac.orbit_tasks.utils.data_collector import RobomimicDataCollector -from omni.isaac.orbit_tasks.utils.parse_cfg import parse_env_cfg +import omni.isaac.lab_tasks # noqa: F401 +from omni.isaac.lab_tasks.manipulation.lift import mdp +from omni.isaac.lab_tasks.utils.data_collector import RobomimicDataCollector +from omni.isaac.lab_tasks.utils.parse_cfg import parse_env_cfg def pre_process_actions(delta_pose: torch.Tensor, gripper_command: bool) -> torch.Tensor: diff --git a/source/standalone/workflows/robomimic/play.py b/source/standalone/workflows/robomimic/play.py index 7a2a66fae7..10799b2f7c 100644 --- a/source/standalone/workflows/robomimic/play.py +++ b/source/standalone/workflows/robomimic/play.py @@ -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 @@ -9,10 +9,10 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments -parser = argparse.ArgumentParser(description="Play policy trained using robomimic for Orbit environments.") +parser = argparse.ArgumentParser(description="Play policy trained using robomimic 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." @@ -37,12 +37,12 @@ import robomimic.utils.file_utils as FileUtils import robomimic.utils.torch_utils as TorchUtils -import omni.isaac.orbit_tasks # noqa: F401 -from omni.isaac.orbit_tasks.utils import parse_env_cfg +import omni.isaac.lab_tasks # noqa: F401 +from omni.isaac.lab_tasks.utils import parse_env_cfg def main(): - """Run a trained policy from robomimic with Orbit environment.""" + """Run a trained policy from robomimic with Isaac Lab environment.""" # parse configuration env_cfg = parse_env_cfg(args_cli.task, use_gpu=not args_cli.cpu, num_envs=1, use_fabric=not args_cli.disable_fabric) # we want to have the terms in the observations returned as a dictionary diff --git a/source/standalone/workflows/robomimic/tools/episode_merging.py b/source/standalone/workflows/robomimic/tools/episode_merging.py index 10d14fd9bc..5810484809 100644 --- a/source/standalone/workflows/robomimic/tools/episode_merging.py +++ b/source/standalone/workflows/robomimic/tools/episode_merging.py @@ -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 diff --git a/source/standalone/workflows/robomimic/tools/inspect_demonstrations.py b/source/standalone/workflows/robomimic/tools/inspect_demonstrations.py index 07554a7ce1..595adb83fb 100644 --- a/source/standalone/workflows/robomimic/tools/inspect_demonstrations.py +++ b/source/standalone/workflows/robomimic/tools/inspect_demonstrations.py @@ -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 diff --git a/source/standalone/workflows/robomimic/tools/split_train_val.py b/source/standalone/workflows/robomimic/tools/split_train_val.py index a71759cccc..e4ec4b5307 100644 --- a/source/standalone/workflows/robomimic/tools/split_train_val.py +++ b/source/standalone/workflows/robomimic/tools/split_train_val.py @@ -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 diff --git a/source/standalone/workflows/robomimic/train.py b/source/standalone/workflows/robomimic/train.py index eb03f6a2bb..67f6dd90d7 100644 --- a/source/standalone/workflows/robomimic/train.py +++ b/source/standalone/workflows/robomimic/train.py @@ -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 @@ -36,12 +36,12 @@ This file has been modified from the original version in the following ways: -* Added import of AppLauncher from omni.isaac.orbit.app to resolve the configuration to load for training. +* Added import of AppLauncher from omni.isaac.lab.app to resolve the configuration to load for training. """ """Launch Isaac Sim Simulator first.""" -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # launch omniverse app app_launcher = AppLauncher(headless=True) @@ -72,7 +72,7 @@ from robomimic.utils.log_utils import DataLogger, PrintLogger # Needed so that environment is registered -import omni.isaac.orbit_tasks # noqa: F401 +import omni.isaac.lab_tasks # noqa: F401 def train(config, device): diff --git a/source/standalone/workflows/rsl_rl/cli_args.py b/source/standalone/workflows/rsl_rl/cli_args.py index 2a51774e7d..6c34b9d079 100644 --- a/source/standalone/workflows/rsl_rl/cli_args.py +++ b/source/standalone/workflows/rsl_rl/cli_args.py @@ -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 @@ -9,7 +9,7 @@ from typing import TYPE_CHECKING if TYPE_CHECKING: - from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import RslRlOnPolicyRunnerCfg + from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import RslRlOnPolicyRunnerCfg def add_rsl_rl_args(parser: argparse.ArgumentParser): @@ -48,7 +48,7 @@ def parse_rsl_rl_cfg(task_name: str, args_cli: argparse.Namespace) -> RslRlOnPol Returns: The parsed configuration for RSL-RL agent based on inputs. """ - from omni.isaac.orbit_tasks.utils.parse_cfg import load_cfg_from_registry + from omni.isaac.lab_tasks.utils.parse_cfg import load_cfg_from_registry # load the default configuration rslrl_cfg: RslRlOnPolicyRunnerCfg = load_cfg_from_registry(task_name, "rsl_rl_cfg_entry_point") diff --git a/source/standalone/workflows/rsl_rl/play.py b/source/standalone/workflows/rsl_rl/play.py index 20384b5d41..7842c04594 100644 --- a/source/standalone/workflows/rsl_rl/play.py +++ b/source/standalone/workflows/rsl_rl/play.py @@ -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 @@ -9,7 +9,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # local imports import cli_args # isort: skip @@ -41,9 +41,9 @@ from rsl_rl.runners import OnPolicyRunner -import omni.isaac.orbit_tasks # noqa: F401 -from omni.isaac.orbit_tasks.utils import get_checkpoint_path, parse_env_cfg -from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import ( +import omni.isaac.lab_tasks # noqa: F401 +from omni.isaac.lab_tasks.utils import get_checkpoint_path, parse_env_cfg +from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import ( RslRlOnPolicyRunnerCfg, RslRlVecEnvWrapper, export_policy_as_jit, diff --git a/source/standalone/workflows/rsl_rl/train.py b/source/standalone/workflows/rsl_rl/train.py index 49cbf7f2e7..b8d6bc3e0f 100644 --- a/source/standalone/workflows/rsl_rl/train.py +++ b/source/standalone/workflows/rsl_rl/train.py @@ -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 @@ -9,7 +9,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # local imports import cli_args # isort: skip @@ -46,13 +46,13 @@ from rsl_rl.runners import OnPolicyRunner -from omni.isaac.orbit.envs import RLTaskEnvCfg -from omni.isaac.orbit.utils.dict import print_dict -from omni.isaac.orbit.utils.io import dump_pickle, dump_yaml +from omni.isaac.lab.envs import RLTaskEnvCfg +from omni.isaac.lab.utils.dict import print_dict +from omni.isaac.lab.utils.io import dump_pickle, dump_yaml -import omni.isaac.orbit_tasks # noqa: F401 -from omni.isaac.orbit_tasks.utils import get_checkpoint_path, parse_env_cfg -from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlVecEnvWrapper +import omni.isaac.lab_tasks # noqa: F401 +from omni.isaac.lab_tasks.utils import get_checkpoint_path, parse_env_cfg +from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlVecEnvWrapper torch.backends.cuda.matmul.allow_tf32 = True torch.backends.cudnn.allow_tf32 = True diff --git a/source/standalone/workflows/sb3/play.py b/source/standalone/workflows/sb3/play.py index 076076fa37..463dedc37e 100644 --- a/source/standalone/workflows/sb3/play.py +++ b/source/standalone/workflows/sb3/play.py @@ -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 @@ -9,7 +9,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="Play a checkpoint of an RL agent from Stable-Baselines3.") @@ -44,9 +44,9 @@ from stable_baselines3 import PPO from stable_baselines3.common.vec_env import VecNormalize -import omni.isaac.orbit_tasks # noqa: F401 -from omni.isaac.orbit_tasks.utils.parse_cfg import get_checkpoint_path, load_cfg_from_registry, parse_env_cfg -from omni.isaac.orbit_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper, process_sb3_cfg +import omni.isaac.lab_tasks # noqa: F401 +from omni.isaac.lab_tasks.utils.parse_cfg import get_checkpoint_path, load_cfg_from_registry, parse_env_cfg +from omni.isaac.lab_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper, process_sb3_cfg def main(): diff --git a/source/standalone/workflows/sb3/train.py b/source/standalone/workflows/sb3/train.py index 18f2b6dc48..d7813cca30 100644 --- a/source/standalone/workflows/sb3/train.py +++ b/source/standalone/workflows/sb3/train.py @@ -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 @@ -14,7 +14,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="Train an RL agent with Stable-Baselines3.") @@ -49,12 +49,12 @@ from stable_baselines3.common.logger import configure from stable_baselines3.common.vec_env import VecNormalize -from omni.isaac.orbit.utils.dict import print_dict -from omni.isaac.orbit.utils.io import dump_pickle, dump_yaml +from omni.isaac.lab.utils.dict import print_dict +from omni.isaac.lab.utils.io import dump_pickle, dump_yaml -import omni.isaac.orbit_tasks # noqa: F401 -from omni.isaac.orbit_tasks.utils import load_cfg_from_registry, parse_env_cfg -from omni.isaac.orbit_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper, process_sb3_cfg +import omni.isaac.lab_tasks # noqa: F401 +from omni.isaac.lab_tasks.utils import load_cfg_from_registry, parse_env_cfg +from omni.isaac.lab_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper, process_sb3_cfg def main(): diff --git a/source/standalone/workflows/skrl/play.py b/source/standalone/workflows/skrl/play.py index ab32bf8932..2bc4dc5d62 100644 --- a/source/standalone/workflows/skrl/play.py +++ b/source/standalone/workflows/skrl/play.py @@ -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 @@ -15,7 +15,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="Play a checkpoint of an RL agent from skrl.") @@ -44,9 +44,9 @@ from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG from skrl.utils.model_instantiators.torch import deterministic_model, gaussian_model, shared_model -import omni.isaac.orbit_tasks # noqa: F401 -from omni.isaac.orbit_tasks.utils import get_checkpoint_path, load_cfg_from_registry, parse_env_cfg -from omni.isaac.orbit_tasks.utils.wrappers.skrl import SkrlVecEnvWrapper, process_skrl_cfg +import omni.isaac.lab_tasks # noqa: F401 +from omni.isaac.lab_tasks.utils import get_checkpoint_path, load_cfg_from_registry, parse_env_cfg +from omni.isaac.lab_tasks.utils.wrappers.skrl import SkrlVecEnvWrapper, process_skrl_cfg def main(): diff --git a/source/standalone/workflows/skrl/train.py b/source/standalone/workflows/skrl/train.py index df861b18bf..a3f7d75257 100644 --- a/source/standalone/workflows/skrl/train.py +++ b/source/standalone/workflows/skrl/train.py @@ -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 @@ -15,7 +15,7 @@ import argparse -from omni.isaac.orbit.app import AppLauncher +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="Train an RL agent with skrl.") @@ -49,12 +49,12 @@ from skrl.utils import set_seed from skrl.utils.model_instantiators.torch import deterministic_model, gaussian_model, shared_model -from omni.isaac.orbit.utils.dict import print_dict -from omni.isaac.orbit.utils.io import dump_pickle, dump_yaml +from omni.isaac.lab.utils.dict import print_dict +from omni.isaac.lab.utils.io import dump_pickle, dump_yaml -import omni.isaac.orbit_tasks # noqa: F401 -from omni.isaac.orbit_tasks.utils import load_cfg_from_registry, parse_env_cfg -from omni.isaac.orbit_tasks.utils.wrappers.skrl import SkrlSequentialLogTrainer, SkrlVecEnvWrapper, process_skrl_cfg +import omni.isaac.lab_tasks # noqa: F401 +from omni.isaac.lab_tasks.utils import load_cfg_from_registry, parse_env_cfg +from omni.isaac.lab_tasks.utils.wrappers.skrl import SkrlSequentialLogTrainer, SkrlVecEnvWrapper, process_skrl_cfg def main(): diff --git a/tools/install_deps.py b/tools/install_deps.py index 10e4b2e23d..cc004566f9 100644 --- a/tools/install_deps.py +++ b/tools/install_deps.py @@ -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 @@ -23,8 +23,8 @@ def install_apt_packages(path): """ - A function which attempts to install apt packages for Orbit extensions. - It looks in {extension_root}/config/extension.toml for [orbit_settings][apt_deps] + A function which attempts to install apt packages for Isaac Lab extensions. + It looks in {extension_root}/config/extension.toml for [isaaclab_settings][apt_deps] and then attempts to install them. Exits on failure to stop the build process from continuing despite missing dependencies. @@ -35,8 +35,8 @@ def install_apt_packages(path): if shutil.which("apt"): with open(f"{path}/config/extension.toml") as fd: ext_toml = toml.load(fd) - if "orbit_settings" in ext_toml and "apt_deps" in ext_toml["orbit_settings"]: - deps = ext_toml["orbit_settings"]["apt_deps"] + if "isaaclab_settings" in ext_toml and "apt_deps" in ext_toml["isaaclab_settings"]: + deps = ext_toml["isaaclab_settings"]["apt_deps"] print(f"[INFO] Installing the following apt packages: {deps}") run_and_print(["apt-get", "update"]) run_and_print(["apt-get", "install", "-y"] + deps) @@ -54,8 +54,8 @@ def install_apt_packages(path): def install_rosdep_packages(path): """ - A function which attempts to install rosdep packages for Orbit extensions. - It looks in {extension_root}/config/extension.toml for [orbit_settings][ros_ws] + A function which attempts to install rosdep packages for Isaac Lab extensions. + It looks in {extension_root}/config/extension.toml for [isaaclab_settings][ros_ws] and then attempts to install all rosdeps under that workspace. Exits on failure to stop the build process from continuing despite missing dependencies. @@ -66,8 +66,8 @@ def install_rosdep_packages(path): if shutil.which("rosdep"): with open(f"{path}/config/extension.toml") as fd: ext_toml = toml.load(fd) - if "orbit_settings" in ext_toml and "ros_ws" in ext_toml["orbit_settings"]: - ws_path = ext_toml["orbit_settings"]["ros_ws"] + if "isaaclab_settings" in ext_toml and "ros_ws" in ext_toml["isaaclab_settings"]: + ws_path = ext_toml["isaaclab_settings"]["ros_ws"] if not os.path.exists("/etc/ros/rosdep/sources.list.d/20-default.list"): run_and_print(["rosdep", "init"]) run_and_print(["rosdep", "update", "--rosdistro=humble"]) diff --git a/tools/run_all_tests.py b/tools/run_all_tests.py index 6f5d6753b5..b8a61ec2d1 100644 --- a/tools/run_all_tests.py +++ b/tools/run_all_tests.py @@ -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 @@ -7,16 +7,16 @@ .. code-block:: bash - ./orbit.sh -p tools/run_all_tests.py + ./isaaclab.sh -p tools/run_all_tests.py # for dry run - ./orbit.sh -p tools/run_all_tests.py --discover_only + ./isaaclab.sh -p tools/run_all_tests.py --discover_only # for quiet run - ./orbit.sh -p tools/run_all_tests.py --quiet + ./isaaclab.sh -p tools/run_all_tests.py --quiet # for increasing timeout (default is 600 seconds) - ./orbit.sh -p tools/run_all_tests.py --timeout 1000 + ./isaaclab.sh -p tools/run_all_tests.py --timeout 1000 """ @@ -33,8 +33,8 @@ # Tests to skip from tests_to_skip import TESTS_TO_SKIP -ORBIT_PATH = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) -"""Path to the root directory of Orbit repository.""" +ISAACLAB_PATH = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) +"""Path to the root directory of the Isaac Lab repository.""" def parse_args() -> argparse.Namespace: @@ -50,7 +50,7 @@ def parse_args() -> argparse.Namespace: ) # configure default test directory (source directory) - default_test_dir = os.path.join(ORBIT_PATH, "source") + default_test_dir = os.path.join(ISAACLAB_PATH, "source") parser.add_argument( "--test_dir", type=str, default=default_test_dir, help="Path to the directory containing the tests." @@ -58,7 +58,7 @@ def parse_args() -> argparse.Namespace: # configure default logging path based on time stamp log_file_name = datetime.now().strftime("%Y-%m-%d_%H-%M-%S") + ".log" - default_log_path = os.path.join(ORBIT_PATH, "logs", "test_results", log_file_name) + default_log_path = os.path.join(ISAACLAB_PATH, "logs", "test_results", log_file_name) parser.add_argument( "--log_path", type=str, default=default_log_path, help="Path to the log file to store the results in." diff --git a/tools/tests_to_skip.py b/tools/tests_to_skip.py index b64773f24d..0ad57f2115 100644 --- a/tools/tests_to_skip.py +++ b/tools/tests_to_skip.py @@ -1,16 +1,16 @@ -# 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 # The following tests are skipped by run_tests.py TESTS_TO_SKIP = [ - # orbit + # lab "test_argparser_launch.py", # app.close issue "test_env_var_launch.py", # app.close issue "test_kwarg_launch.py", # app.close issue "test_differential_ik.py", # Failing - # orbit_tasks + # lab_tasks "test_data_collector.py", # Failing "test_record_video.py", # Failing ]