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Unverified Commit 6bf87f37 authored by Toni-SM's avatar Toni-SM Committed by GitHub
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Improve omni.isaac.lab_tasks loading time (#1353) 

# Description

Improve omni.isaac.lab_tasks loading time

(13th Gen Intel® Core™ i9-13950HX × 32)
* Before: 3.66 seconds
* After: 84 milliseconds

## Screenshots

Original (no changes)
![Screenshot from 2024-10-27
09-32-44](https://github.com/user-attachments/assets/2245d1c3-b0c8-47fc-8bc3-dd09c5e5303d)

Define task entry points as string when registering
![Screenshot from 2024-10-27
18-12-20](https://github.com/user-attachments/assets/574fbddd-cd77-4b78-83ea-99c21dbcb214)

Define task entry points as string when registering + Ignore `mdp`
directories during import.
![Screenshot from 2024-10-28
10-20-00](https://github.com/user-attachments/assets/6fe6744c-ad2c-42fc-b6fa-ae1966281cbb)


## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] 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
- [x] 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

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---------
Co-authored-by: 's avatarMayank Mittal <mittalma@leggedrobotics.com>
Co-authored-by: 's avatarKelly Guo <kellyguo123@hotmail.com>
Co-authored-by: 's avatarKelly Guo <kellyg@nvidia.com>
parent c9e86311
Hide whitespace changes
Inline Side-by-side
Showing with 192 additions and 140 deletions
source/extensions/omni.isaac.lab_tasks/config/extension.toml
View file @ 6bf87f37
[package]
# Note: Semantic Versioning is used: https://semver.org/
version = "0.10.12"
version = "0.10.13"
# Description
title = "Isaac Lab Environments"
......
source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst
View file @ 6bf87f37
Changelog
---------
0.10.13 (2024-10-30)
~~~~~~~~~~~~~~~~~~~~
Changed
^^^^^^^
* Defined the Gymnasium task entry points with configuration strings instead of class types.
This avoids unnecessary imports and improves the load types.
* Blacklisted ``mdp`` directories during the recursive module search.
0.10.12 (2024-10-28)
~~~~~~~~~~~~~~~~~~~~
......@@ -10,6 +21,7 @@ Changed
* Changed manager-based vision cartpole environment names from Isaac-Cartpole-RGB-Camera-v0
and Isaac-Cartpole-Depth-Camera-v0 to Isaac-Cartpole-RGB-v0 and Isaac-Cartpole-Depth-v0
0.10.11 (2024-10-28)
~~~~~~~~~~~~~~~~~~~~
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/__init__.py
View file @ 6bf87f37
......@@ -25,6 +25,6 @@ __version__ = ISAACLAB_TASKS_METADATA["package"]["version"]
from .utils import import_packages
# The blacklist is used to prevent importing configs from sub-packages
_BLACKLIST_PKGS = ["utils"]
_BLACKLIST_PKGS = ["utils", ".mdp"]
# Import all configs in this package
import_packages(__name__, _BLACKLIST_PKGS)
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/allegro_hand/__init__.py
View file @ 6bf87f37
......@@ -10,18 +10,20 @@ Allegro Inhand Manipulation environment.
import gymnasium as gym
from . import agents
from .allegro_hand_env_cfg import AllegroHandEnvCfg
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.direct.allegro_hand"
inhand_task_entry = "omni.isaac.lab_tasks.direct.inhand_manipulation"
gym.register(
id="Isaac-Repose-Cube-Allegro-Direct-v0",
entry_point="omni.isaac.lab_tasks.direct.inhand_manipulation:InHandManipulationEnv",
entry_point=f"{inhand_task_entry}.inhand_manipulation_env:InHandManipulationEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": AllegroHandEnvCfg,
"env_cfg_entry_point": f"{task_entry}.allegro_hand_env_cfg:AllegroHandEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AllegroHandPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/ant/__init__.py
View file @ 6bf87f37
......@@ -10,18 +10,19 @@ Ant locomotion environment.
import gymnasium as gym
from . import agents
from .ant_env import AntEnv, AntEnvCfg
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.direct.ant"
gym.register(
id="Isaac-Ant-Direct-v0",
entry_point="omni.isaac.lab_tasks.direct.ant:AntEnv",
entry_point=f"{task_entry}.ant_env:AntEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": AntEnvCfg,
"env_cfg_entry_point": f"{task_entry}.ant_env:AntEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AntPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/anymal_c/__init__.py
View file @ 6bf87f37
......@@ -10,18 +10,19 @@ Ant locomotion environment.
import gymnasium as gym
from . import agents
from .anymal_c_env import AnymalCEnv, AnymalCFlatEnvCfg, AnymalCRoughEnvCfg
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.direct.anymal_c"
gym.register(
id="Isaac-Velocity-Flat-Anymal-C-Direct-v0",
entry_point="omni.isaac.lab_tasks.direct.anymal_c:AnymalCEnv",
entry_point=f"{task_entry}.anymal_c_env:AnymalCEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": AnymalCFlatEnvCfg,
"env_cfg_entry_point": f"{task_entry}.anymal_c_env:AnymalCFlatEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_flat_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalCFlatPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
......@@ -30,10 +31,10 @@ gym.register(
gym.register(
id="Isaac-Velocity-Rough-Anymal-C-Direct-v0",
entry_point="omni.isaac.lab_tasks.direct.anymal_c:AnymalCEnv",
entry_point=f"{task_entry}.anymal_c_env:AnymalCEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": AnymalCRoughEnvCfg,
"env_cfg_entry_point": f"{task_entry}.anymal_c_env:AnymalCRoughEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_rough_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalCRoughPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cart_double_pendulum/__init__.py
View file @ 6bf87f37
......@@ -10,18 +10,19 @@ Inverted Double Pendulum on a Cart balancing environment.
import gymnasium as gym
from . import agents
from .cart_double_pendulum_env import CartDoublePendulumEnv, CartDoublePendulumEnvCfg
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.direct.cart_double_pendulum"
gym.register(
id="Isaac-Cart-Double-Pendulum-Direct-v0",
entry_point="omni.isaac.lab_tasks.direct.cart_double_pendulum:CartDoublePendulumEnv",
entry_point=f"{task_entry}.cart_double_pendulum_env:CartDoublePendulumEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": CartDoublePendulumEnvCfg,
"env_cfg_entry_point": f"{task_entry}.cart_double_pendulum_env:CartDoublePendulumEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
"skrl_ippo_cfg_entry_point": f"{agents.__name__}:skrl_ippo_cfg.yaml",
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/__init__.py
View file @ 6bf87f37
......@@ -10,19 +10,19 @@ Cartpole balancing environment.
import gymnasium as gym
from . import agents
from .cartpole_camera_env import CartpoleCameraEnv, CartpoleDepthCameraEnvCfg, CartpoleRGBCameraEnvCfg
from .cartpole_env import CartpoleEnv, CartpoleEnvCfg
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.direct.cartpole"
gym.register(
id="Isaac-Cartpole-Direct-v0",
entry_point="omni.isaac.lab_tasks.direct.cartpole:CartpoleEnv",
entry_point=f"{task_entry}.cartpole_env:CartpoleEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": CartpoleEnvCfg,
"env_cfg_entry_point": f"{task_entry}.cartpole_env:CartpoleEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CartpolePPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
......@@ -32,10 +32,10 @@ gym.register(
gym.register(
id="Isaac-Cartpole-RGB-Camera-Direct-v0",
entry_point="omni.isaac.lab_tasks.direct.cartpole:CartpoleCameraEnv",
entry_point=f"{task_entry}.cartpole_camera_env:CartpoleCameraEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": CartpoleRGBCameraEnvCfg,
"env_cfg_entry_point": f"{task_entry}.cartpole_camera_env:CartpoleRGBCameraEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_camera_ppo_cfg.yaml",
},
......@@ -43,10 +43,10 @@ gym.register(
gym.register(
id="Isaac-Cartpole-Depth-Camera-Direct-v0",
entry_point="omni.isaac.lab_tasks.direct.cartpole:CartpoleCameraEnv",
entry_point=f"{task_entry}.cartpole_camera_env:CartpoleCameraEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": CartpoleDepthCameraEnvCfg,
"env_cfg_entry_point": f"{task_entry}.cartpole_camera_env:CartpoleDepthCameraEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_camera_ppo_cfg.yaml",
},
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/franka_cabinet/__init__.py
View file @ 6bf87f37
......@@ -9,18 +9,19 @@ Franka-Cabinet environment.
import gymnasium as gym
from . import agents
from .franka_cabinet_env import FrankaCabinetEnv, FrankaCabinetEnvCfg
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.direct.franka_cabinet"
gym.register(
id="Isaac-Franka-Cabinet-Direct-v0",
entry_point="omni.isaac.lab_tasks.direct.franka_cabinet:FrankaCabinetEnv",
entry_point=f"{task_entry}.franka_cabinet_env:FrankaCabinetEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": FrankaCabinetEnvCfg,
"env_cfg_entry_point": f"{task_entry}.franka_cabinet_env:FrankaCabinetEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:FrankaCabinetPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/humanoid/__init__.py
View file @ 6bf87f37
......@@ -10,18 +10,19 @@ Humanoid locomotion environment.
import gymnasium as gym
from . import agents
from .humanoid_env import HumanoidEnv, HumanoidEnvCfg
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.direct.humanoid"
gym.register(
id="Isaac-Humanoid-Direct-v0",
entry_point="omni.isaac.lab_tasks.direct.humanoid:HumanoidEnv",
entry_point=f"{task_entry}.humanoid_env:HumanoidEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": HumanoidEnvCfg,
"env_cfg_entry_point": f"{task_entry}.humanoid_env:HumanoidEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:HumanoidPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/quadcopter/__init__.py
View file @ 6bf87f37
......@@ -10,18 +10,19 @@ Quacopter environment.
import gymnasium as gym
from . import agents
from .quadcopter_env import QuadcopterEnv, QuadcopterEnvCfg
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.direct.quadcopter"
gym.register(
id="Isaac-Quadcopter-Direct-v0",
entry_point="omni.isaac.lab_tasks.direct.quadcopter:QuadcopterEnv",
entry_point=f"{task_entry}.quadcopter_env:QuadcopterEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": QuadcopterEnvCfg,
"env_cfg_entry_point": f"{task_entry}.quadcopter_env:QuadcopterEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:QuadcopterPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/__init__.py
View file @ 6bf87f37
......@@ -10,19 +10,20 @@ Shadow Hand environment.
import gymnasium as gym
from . import agents
from .shadow_hand_env_cfg import ShadowHandEnvCfg, ShadowHandOpenAIEnvCfg
from .shadow_hand_vision_env import ShadowHandVisionEnvCfg, ShadowHandVisionEnvPlayCfg
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.direct.shadow_hand"
inhand_task_entry = "omni.isaac.lab_tasks.direct.inhand_manipulation"
gym.register(
id="Isaac-Repose-Cube-Shadow-Direct-v0",
entry_point="omni.isaac.lab_tasks.direct.inhand_manipulation:InHandManipulationEnv",
entry_point=f"{inhand_task_entry}.inhand_manipulation_env:InHandManipulationEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": ShadowHandEnvCfg,
"env_cfg_entry_point": f"{task_entry}.shadow_hand_env_cfg:ShadowHandEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:ShadowHandPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
......@@ -31,10 +32,10 @@ gym.register(
gym.register(
id="Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0",
entry_point="omni.isaac.lab_tasks.direct.inhand_manipulation:InHandManipulationEnv",
entry_point=f"{inhand_task_entry}.inhand_manipulation_env:InHandManipulationEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": ShadowHandOpenAIEnvCfg,
"env_cfg_entry_point": f"{task_entry}.shadow_hand_env_cfg:ShadowHandOpenAIEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_ff_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:ShadowHandAsymFFPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ff_ppo_cfg.yaml",
......@@ -43,10 +44,10 @@ gym.register(
gym.register(
id="Isaac-Repose-Cube-Shadow-OpenAI-LSTM-Direct-v0",
entry_point="omni.isaac.lab_tasks.direct.inhand_manipulation:InHandManipulationEnv",
entry_point=f"{inhand_task_entry}.inhand_manipulation_env:InHandManipulationEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": ShadowHandOpenAIEnvCfg,
"env_cfg_entry_point": f"{task_entry}.shadow_hand_env_cfg:ShadowHandOpenAIEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_lstm_cfg.yaml",
},
)
......@@ -55,10 +56,10 @@ gym.register(
gym.register(
id="Isaac-Repose-Cube-Shadow-Vision-Direct-v0",
entry_point="omni.isaac.lab_tasks.direct.shadow_hand.shadow_hand_vision_env:ShadowHandVisionEnv",
entry_point=f"{task_entry}.shadow_hand_vision_env:ShadowHandVisionEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": ShadowHandVisionEnvCfg,
"env_cfg_entry_point": f"{task_entry}.shadow_hand_vision_env:ShadowHandVisionEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:ShadowHandVisionFFPPORunnerCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_vision_cfg.yaml",
},
......@@ -66,10 +67,10 @@ gym.register(
gym.register(
id="Isaac-Repose-Cube-Shadow-Vision-Direct-Play-v0",
entry_point="omni.isaac.lab_tasks.direct.shadow_hand.shadow_hand_vision_env:ShadowHandVisionEnv",
entry_point=f"{task_entry}.shadow_hand_vision_env:ShadowHandVisionEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": ShadowHandVisionEnvPlayCfg,
"env_cfg_entry_point": f"{task_entry}.shadow_hand_vision_env:ShadowHandVisionEnvPlayCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:ShadowHandVisionFFPPORunnerCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_vision_cfg.yaml",
},
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand_over/__init__.py
View file @ 6bf87f37
......@@ -10,19 +10,19 @@ ShadowHand Over environment.
import gymnasium as gym
from . import agents
from .shadow_hand_over_env import ShadowHandOverEnv
from .shadow_hand_over_env_cfg import ShadowHandOverEnvCfg
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.direct.shadow_hand_over"
gym.register(
id="Isaac-Shadow-Hand-Over-Direct-v0",
entry_point="omni.isaac.lab_tasks.direct.shadow_hand_over:ShadowHandOverEnv",
entry_point=f"{task_entry}.shadow_hand_over_env:ShadowHandOverEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": ShadowHandOverEnvCfg,
"env_cfg_entry_point": f"{task_entry}.shadow_hand_over_env_cfg:ShadowHandOverEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
"skrl_ippo_cfg_entry_point": f"{agents.__name__}:skrl_ippo_cfg.yaml",
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/ant/__init__.py
View file @ 6bf87f37
......@@ -9,18 +9,20 @@ Ant locomotion environment (similar to OpenAI Gym Ant-v2).
import gymnasium as gym
from . import agents, ant_env_cfg
from . import agents
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.manager_based.classic.ant"
gym.register(
id="Isaac-Ant-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": ant_env_cfg.AntEnvCfg,
"env_cfg_entry_point": f"{task_entry}.ant_env_cfg:AntEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AntPPORunnerCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/__init__.py
View file @ 6bf87f37
......@@ -10,24 +10,19 @@ Cartpole balancing environment.
import gymnasium as gym
from . import agents
from .cartpole_camera_env_cfg import (
CartpoleDepthCameraEnvCfg,
CartpoleResNet18CameraEnvCfg,
CartpoleRGBCameraEnvCfg,
CartpoleTheiaTinyCameraEnvCfg,
)
from .cartpole_env_cfg import CartpoleEnvCfg
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.manager_based.classic.cartpole"
gym.register(
id="Isaac-Cartpole-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": CartpoleEnvCfg,
"env_cfg_entry_point": f"{task_entry}.cartpole_env_cfg:CartpoleEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CartpolePPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
......@@ -40,7 +35,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": CartpoleRGBCameraEnvCfg,
"env_cfg_entry_point": f"{task_entry}.cartpole_camera_env_cfg:CartpoleRGBCameraEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
},
)
......@@ -50,7 +45,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": CartpoleDepthCameraEnvCfg,
"env_cfg_entry_point": f"{task_entry}.cartpole_camera_env_cfg:CartpoleDepthCameraEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
},
)
......@@ -60,7 +55,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": CartpoleResNet18CameraEnvCfg,
"env_cfg_entry_point": f"{task_entry}.cartpole_camera_env_cfg:CartpoleResNet18CameraEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_feature_ppo_cfg.yaml",
},
)
......@@ -70,7 +65,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": CartpoleTheiaTinyCameraEnvCfg,
"env_cfg_entry_point": f"{task_entry}.cartpole_camera_env_cfg:CartpoleTheiaTinyCameraEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_feature_ppo_cfg.yaml",
},
)
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/humanoid/__init__.py
View file @ 6bf87f37
......@@ -9,18 +9,20 @@ Humanoid locomotion environment (similar to OpenAI Gym Humanoid-v2).
import gymnasium as gym
from . import agents, humanoid_env_cfg
from . import agents
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.manager_based.classic.humanoid"
gym.register(
id="Isaac-Humanoid-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": humanoid_env_cfg.HumanoidEnvCfg,
"env_cfg_entry_point": f"{task_entry}.humanoid_env_cfg:HumanoidEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:HumanoidPPORunnerCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/a1/__init__.py
View file @ 6bf87f37
......@@ -5,18 +5,20 @@
import gymnasium as gym
from . import agents, flat_env_cfg, rough_env_cfg
from . import agents
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.a1"
gym.register(
id="Isaac-Velocity-Flat-Unitree-A1-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.UnitreeA1FlatEnvCfg,
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:UnitreeA1FlatEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeA1FlatPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
},
......@@ -27,7 +29,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.UnitreeA1FlatEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:UnitreeA1FlatEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeA1FlatPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
},
......@@ -38,7 +40,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.UnitreeA1RoughEnvCfg,
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:UnitreeA1RoughEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeA1RoughPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
},
......@@ -49,7 +51,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.UnitreeA1RoughEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:UnitreeA1RoughEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeA1RoughPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
},
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_b/__init__.py
View file @ 6bf87f37
......@@ -4,18 +4,20 @@
# SPDX-License-Identifier: BSD-3-Clause
import gymnasium as gym
from . import agents, flat_env_cfg, rough_env_cfg
from . import agents
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.anymal_b"
gym.register(
id="Isaac-Velocity-Flat-Anymal-B-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.AnymalBFlatEnvCfg,
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:AnymalBFlatEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalBFlatPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
},
......@@ -26,7 +28,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.AnymalBFlatEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:AnymalBFlatEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalBFlatPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
},
......@@ -37,7 +39,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.AnymalBRoughEnvCfg,
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:AnymalBRoughEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalBRoughPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
},
......@@ -48,7 +50,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.AnymalBRoughEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:AnymalBRoughEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalBRoughPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
},
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_c/__init__.py
View file @ 6bf87f37
......@@ -5,18 +5,20 @@
import gymnasium as gym
from . import agents, flat_env_cfg, rough_env_cfg
from . import agents
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.anymal_c"
gym.register(
id="Isaac-Velocity-Flat-Anymal-C-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.AnymalCFlatEnvCfg,
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:AnymalCFlatEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalCFlatPPORunnerCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_flat_ppo_cfg.yaml",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
......@@ -28,7 +30,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.AnymalCFlatEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:AnymalCFlatEnvCfg_PLAY",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_flat_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalCFlatPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
......@@ -40,7 +42,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.AnymalCRoughEnvCfg,
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:AnymalCRoughEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_rough_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalCRoughPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
......@@ -52,7 +54,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.AnymalCRoughEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:AnymalCRoughEnvCfg_PLAY",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_rough_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalCRoughPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_d/__init__.py
View file @ 6bf87f37
......@@ -5,18 +5,20 @@
import gymnasium as gym
from . import agents, flat_env_cfg, rough_env_cfg
from . import agents
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.anymal_d"
gym.register(
id="Isaac-Velocity-Flat-Anymal-D-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.AnymalDFlatEnvCfg,
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:AnymalDFlatEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalDFlatPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
},
......@@ -27,7 +29,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.AnymalDFlatEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:AnymalDFlatEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalDFlatPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
},
......@@ -38,7 +40,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.AnymalDRoughEnvCfg,
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:AnymalDRoughEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalDRoughPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
},
......@@ -49,7 +51,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.AnymalDRoughEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:AnymalDRoughEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalDRoughPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
},
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/cassie/__init__.py
View file @ 6bf87f37
......@@ -5,18 +5,20 @@
import gymnasium as gym
from . import agents, flat_env_cfg, rough_env_cfg
from . import agents
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.cassie"
gym.register(
id="Isaac-Velocity-Flat-Cassie-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.CassieFlatEnvCfg,
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:CassieFlatEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CassieFlatPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
},
......@@ -27,7 +29,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.CassieFlatEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:CassieFlatEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CassieFlatPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
},
......@@ -38,7 +40,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.CassieRoughEnvCfg,
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:CassieRoughEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CassieRoughPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
},
......@@ -49,7 +51,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.CassieRoughEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:CassieRoughEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CassieRoughPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
},
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/g1/__init__.py
View file @ 6bf87f37
......@@ -5,19 +5,21 @@
import gymnasium as gym
from . import agents, flat_env_cfg, rough_env_cfg
from . import agents
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.g1"
gym.register(
id="Isaac-Velocity-Rough-G1-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.G1RoughEnvCfg,
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:G1RoughEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:G1RoughPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
},
......@@ -29,7 +31,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.G1RoughEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:G1RoughEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:G1RoughPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
},
......@@ -41,7 +43,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.G1FlatEnvCfg,
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:G1FlatEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:G1FlatPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
},
......@@ -53,7 +55,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.G1FlatEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:G1FlatEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:G1FlatPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
},
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go1/__init__.py
View file @ 6bf87f37
......@@ -5,18 +5,20 @@
import gymnasium as gym
from . import agents, flat_env_cfg, rough_env_cfg
from . import agents
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.go1"
gym.register(
id="Isaac-Velocity-Flat-Unitree-Go1-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.UnitreeGo1FlatEnvCfg,
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:UnitreeGo1FlatEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeGo1FlatPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
},
......@@ -27,7 +29,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.UnitreeGo1FlatEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:UnitreeGo1FlatEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeGo1FlatPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
},
......@@ -38,7 +40,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.UnitreeGo1RoughEnvCfg,
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:UnitreeGo1RoughEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeGo1RoughPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
},
......@@ -49,7 +51,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.UnitreeGo1RoughEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:UnitreeGo1RoughEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeGo1RoughPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
},
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go2/__init__.py
View file @ 6bf87f37
......@@ -5,18 +5,20 @@
import gymnasium as gym
from . import agents, flat_env_cfg, rough_env_cfg
from . import agents
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.go2"
gym.register(
id="Isaac-Velocity-Flat-Unitree-Go2-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.UnitreeGo2FlatEnvCfg,
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:UnitreeGo2FlatEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeGo2FlatPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
},
......@@ -27,7 +29,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.UnitreeGo2FlatEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:UnitreeGo2FlatEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeGo2FlatPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
},
......@@ -38,7 +40,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.UnitreeGo2RoughEnvCfg,
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:UnitreeGo2RoughEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeGo2RoughPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
},
......@@ -49,7 +51,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.UnitreeGo2RoughEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:UnitreeGo2RoughEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeGo2RoughPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
},
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/h1/__init__.py
View file @ 6bf87f37
......@@ -5,19 +5,21 @@
import gymnasium as gym
from . import agents, flat_env_cfg, rough_env_cfg
from . import agents
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.h1"
gym.register(
id="Isaac-Velocity-Rough-H1-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.H1RoughEnvCfg,
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:H1RoughEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:H1RoughPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
},
......@@ -29,7 +31,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.H1RoughEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:H1RoughEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:H1RoughPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
},
......@@ -41,7 +43,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.H1FlatEnvCfg,
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:H1FlatEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:H1FlatPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
},
......@@ -53,7 +55,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.H1FlatEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:H1FlatEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:H1FlatPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
},
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/spot/__init__.py
View file @ 6bf87f37
......@@ -5,18 +5,20 @@
import gymnasium as gym
from . import agents, flat_env_cfg
from . import agents
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.spot"
gym.register(
id="Isaac-Velocity-Flat-Spot-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.SpotFlatEnvCfg,
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:SpotFlatEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:SpotFlatPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
},
......@@ -27,7 +29,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.SpotFlatEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:SpotFlatEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:SpotFlatPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
},
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/cabinet/config/franka/__init__.py
View file @ 6bf87f37
......@@ -5,12 +5,14 @@
import gymnasium as gym
from . import agents, ik_abs_env_cfg, ik_rel_env_cfg, joint_pos_env_cfg
from . import agents
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.manager_based.manipulation.cabinet.config.franka"
##
# Joint Position Control
##
......@@ -19,7 +21,7 @@ gym.register(
id="Isaac-Open-Drawer-Franka-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": joint_pos_env_cfg.FrankaCabinetEnvCfg,
"env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:FrankaCabinetEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CabinetPPORunnerCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
......@@ -31,7 +33,7 @@ gym.register(
id="Isaac-Open-Drawer-Franka-Play-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": joint_pos_env_cfg.FrankaCabinetEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:FrankaCabinetEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CabinetPPORunnerCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
......@@ -48,7 +50,7 @@ gym.register(
id="Isaac-Open-Drawer-Franka-IK-Abs-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": ik_abs_env_cfg.FrankaCabinetEnvCfg,
"env_cfg_entry_point": f"{task_entry}.ik_abs_env_cfg:FrankaCabinetEnvCfg",
},
disable_env_checker=True,
)
......@@ -61,7 +63,7 @@ gym.register(
id="Isaac-Open-Drawer-Franka-IK-Rel-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": ik_rel_env_cfg.FrankaCabinetEnvCfg,
"env_cfg_entry_point": f"{task_entry}.ik_rel_env_cfg:FrankaCabinetEnvCfg",
},
disable_env_checker=True,
)
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/inhand/config/allegro_hand/__init__.py
View file @ 6bf87f37
......@@ -5,12 +5,14 @@
import gymnasium as gym
from . import agents, allegro_env_cfg
from . import agents
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.manager_based.manipulation.inhand.config.allegro_hand"
##
# Full kinematic state observations.
##
......@@ -20,7 +22,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": allegro_env_cfg.AllegroCubeEnvCfg,
"env_cfg_entry_point": f"{task_entry}.allegro_env_cfg:AllegroCubeEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AllegroCubePPORunnerCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
......@@ -32,7 +34,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": allegro_env_cfg.AllegroCubeEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.allegro_env_cfg:AllegroCubeEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AllegroCubePPORunnerCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
......@@ -48,7 +50,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": allegro_env_cfg.AllegroCubeNoVelObsEnvCfg,
"env_cfg_entry_point": f"{task_entry}.allegro_env_cfg:AllegroCubeNoVelObsEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AllegroCubeNoVelObsPPORunnerCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
......@@ -60,7 +62,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": allegro_env_cfg.AllegroCubeNoVelObsEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.allegro_env_cfg:AllegroCubeNoVelObsEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AllegroCubeNoVelObsPPORunnerCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/__init__.py
View file @ 6bf87f37
......@@ -5,12 +5,14 @@
import gymnasium as gym
import os
from . import agents, ik_abs_env_cfg, ik_rel_env_cfg, joint_pos_env_cfg
from . import agents
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.manager_based.manipulation.lift.config.franka"
##
# Joint Position Control
##
......@@ -19,7 +21,7 @@ gym.register(
id="Isaac-Lift-Cube-Franka-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": joint_pos_env_cfg.FrankaCubeLiftEnvCfg,
"env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:FrankaCubeLiftEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:LiftCubePPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
......@@ -32,7 +34,7 @@ gym.register(
id="Isaac-Lift-Cube-Franka-Play-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": joint_pos_env_cfg.FrankaCubeLiftEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:FrankaCubeLiftEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:LiftCubePPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
......@@ -49,7 +51,7 @@ gym.register(
id="Isaac-Lift-Cube-Franka-IK-Abs-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": ik_abs_env_cfg.FrankaCubeLiftEnvCfg,
"env_cfg_entry_point": f"{task_entry}.ik_abs_env_cfg:FrankaCubeLiftEnvCfg",
},
disable_env_checker=True,
)
......@@ -58,7 +60,7 @@ gym.register(
id="Isaac-Lift-Teddy-Bear-Franka-IK-Abs-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": ik_abs_env_cfg.FrankaTeddyBearLiftEnvCfg,
"env_cfg_entry_point": f"{task_entry}.ik_abs_env_cfg:FrankaTeddyBearLiftEnvCfg",
},
disable_env_checker=True,
)
......@@ -71,7 +73,7 @@ gym.register(
id="Isaac-Lift-Cube-Franka-IK-Rel-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": ik_rel_env_cfg.FrankaCubeLiftEnvCfg,
"env_cfg_entry_point": f"{task_entry}.ik_rel_env_cfg:FrankaCubeLiftEnvCfg",
"robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc.json"),
},
disable_env_checker=True,
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/franka/__init__.py
View file @ 6bf87f37
......@@ -5,12 +5,14 @@
import gymnasium as gym
from . import agents, ik_abs_env_cfg, ik_rel_env_cfg, joint_pos_env_cfg
from . import agents
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.manager_based.manipulation.reach.config.franka"
##
# Joint Position Control
##
......@@ -20,7 +22,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": joint_pos_env_cfg.FrankaReachEnvCfg,
"env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:FrankaReachEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:FrankaReachPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
......@@ -32,7 +34,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": joint_pos_env_cfg.FrankaReachEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:FrankaReachEnvCfg_PLAY",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:FrankaReachPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
......@@ -48,7 +50,7 @@ gym.register(
id="Isaac-Reach-Franka-IK-Abs-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": ik_abs_env_cfg.FrankaReachEnvCfg,
"env_cfg_entry_point": f"{task_entry}.ik_abs_env_cfg:FrankaReachEnvCfg",
},
disable_env_checker=True,
)
......@@ -61,7 +63,7 @@ gym.register(
id="Isaac-Reach-Franka-IK-Rel-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": ik_rel_env_cfg.FrankaReachEnvCfg,
"env_cfg_entry_point": f"{task_entry}.ik_rel_env_cfg:FrankaReachEnvCfg",
},
disable_env_checker=True,
)
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/ur_10/__init__.py
View file @ 6bf87f37
......@@ -5,18 +5,20 @@
import gymnasium as gym
from . import agents, joint_pos_env_cfg
from . import agents
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.manager_based.manipulation.reach.config.ur_10"
gym.register(
id="Isaac-Reach-UR10-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": joint_pos_env_cfg.UR10ReachEnvCfg,
"env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:UR10ReachEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UR10ReachPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
......@@ -28,7 +30,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": joint_pos_env_cfg.UR10ReachEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:UR10ReachEnvCfg_PLAY",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UR10ReachPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/navigation/config/anymal_c/__init__.py
View file @ 6bf87f37
......@@ -5,18 +5,20 @@
import gymnasium as gym
from . import agents, navigation_env_cfg
from . import agents
##
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.manager_based.navigation.config.anymal_c"
gym.register(
id="Isaac-Navigation-Flat-Anymal-C-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": navigation_env_cfg.NavigationEnvCfg,
"env_cfg_entry_point": f"{task_entry}.navigation_env_cfg:NavigationEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:NavigationEnvPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
},
......@@ -27,7 +29,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": navigation_env_cfg.NavigationEnvCfg_PLAY,
"env_cfg_entry_point": f"{task_entry}.navigation_env_cfg:NavigationEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:NavigationEnvPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
},
......
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