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Unverified Commit aa5472c6 authored by David Hoeller's avatar David Hoeller Committed by GitHub
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Fixes running train scripts when rsl_rl is not installed (#784) 

# Description

Previously, it was not possible to run training scripts with rl_games,
skrl, sb3 when rsl_rl was not installed.

Fixes #749 

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## 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
- [ ] 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
parent f75a51f3
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Showing with 61 additions and 114 deletions
source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py
View file @ aa5472c6
......@@ -96,7 +96,6 @@ class DirectRLEnv(gym.Env):
print(f"\tPhysics step-size : {self.physics_dt}")
print(f"\tRendering step-size : {self.physics_dt * self.cfg.sim.render_interval}")
print(f"\tEnvironment step-size : {self.step_dt}")
print(f"\tEnvironment device: {self.device}")
if self.cfg.sim.render_interval < self.cfg.decimation:
msg = (
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/allegro_hand/__init__.py
View file @ aa5472c6
......@@ -23,6 +23,6 @@ gym.register(
kwargs={
"env_cfg_entry_point": AllegroHandEnvCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": agents.rsl_rl_ppo_cfg.AllegroHandPPORunnerCfg,
"rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.AllegroHandPPORunnerCfg",
},
)
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/allegro_hand/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_ppo_cfg
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/ant/__init__.py
View file @ aa5472c6
......@@ -23,7 +23,7 @@ gym.register(
kwargs={
"env_cfg_entry_point": AntEnvCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": agents.rsl_rl_ppo_cfg.AntPPORunnerCfg,
"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/ant/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_ppo_cfg
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/anymal_c/__init__.py
View file @ aa5472c6
......@@ -23,7 +23,7 @@ gym.register(
kwargs={
"env_cfg_entry_point": AnymalCFlatEnvCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_flat_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": agents.rsl_rl_ppo_cfg.AnymalCFlatPPORunnerCfg,
"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",
},
)
......@@ -35,7 +35,7 @@ gym.register(
kwargs={
"env_cfg_entry_point": AnymalCRoughEnvCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_rough_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": agents.rsl_rl_ppo_cfg.AnymalCRoughPPORunnerCfg,
"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/anymal_c/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_ppo_cfg
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/__init__.py
View file @ aa5472c6
......@@ -24,7 +24,7 @@ gym.register(
kwargs={
"env_cfg_entry_point": CartpoleEnvCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": agents.rsl_rl_ppo_cfg.CartpolePPORunnerCfg,
"rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.CartpolePPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
"sb3_cfg_entry_point": f"{agents.__name__}:sb3_ppo_cfg.yaml",
},
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_ppo_cfg # noqa: F401, F403
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/franka_cabinet/__init__.py
View file @ aa5472c6
......@@ -22,7 +22,7 @@ gym.register(
kwargs={
"env_cfg_entry_point": FrankaCabinetEnvCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": agents.rsl_rl_ppo_cfg.FrankaCabinetPPORunnerCfg,
"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/franka_cabinet/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_ppo_cfg
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/humanoid/__init__.py
View file @ aa5472c6
......@@ -23,7 +23,7 @@ gym.register(
kwargs={
"env_cfg_entry_point": HumanoidEnvCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": agents.rsl_rl_ppo_cfg.HumanoidPPORunnerCfg,
"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/humanoid/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_ppo_cfg
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/quadcopter/__init__.py
View file @ aa5472c6
......@@ -23,7 +23,7 @@ gym.register(
kwargs={
"env_cfg_entry_point": QuadcopterEnvCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": agents.rsl_rl_ppo_cfg.QuadcopterPPORunnerCfg,
"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/quadcopter/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_ppo_cfg
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/__init__.py
View file @ aa5472c6
......@@ -23,7 +23,7 @@ gym.register(
kwargs={
"env_cfg_entry_point": ShadowHandEnvCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": agents.rsl_rl_ppo_cfg.ShadowHandPPORunnerCfg,
"rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.ShadowHandPPORunnerCfg",
},
)
......@@ -34,7 +34,7 @@ gym.register(
kwargs={
"env_cfg_entry_point": ShadowHandOpenAIEnvCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_ff_cfg.yaml",
"rsl_rl_cfg_entry_point": agents.rsl_rl_ppo_cfg.ShadowHandAsymFFPPORunnerCfg,
"rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.ShadowHandAsymFFPPORunnerCfg",
},
)
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_ppo_cfg
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/ant/__init__.py
View file @ aa5472c6
......@@ -21,7 +21,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": ant_env_cfg.AntEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_ppo_cfg.AntPPORunnerCfg,
"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",
"sb3_cfg_entry_point": f"{agents.__name__}:sb3_ppo_cfg.yaml",
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/ant/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_ppo_cfg
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/__init__.py
View file @ aa5472c6
......@@ -23,7 +23,7 @@ gym.register(
kwargs={
"env_cfg_entry_point": CartpoleEnvCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": agents.rsl_rl_ppo_cfg.CartpolePPORunnerCfg,
"rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.CartpolePPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
"sb3_cfg_entry_point": f"{agents.__name__}:sb3_ppo_cfg.yaml",
},
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_ppo_cfg # noqa: F401, F403
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/humanoid/__init__.py
View file @ aa5472c6
......@@ -21,7 +21,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": humanoid_env_cfg.HumanoidEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_ppo_cfg.HumanoidPPORunnerCfg,
"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",
"sb3_cfg_entry_point": f"{agents.__name__}:sb3_ppo_cfg.yaml",
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/humanoid/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_ppo_cfg # noqa: F401, F403
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/a1/__init__.py
View file @ aa5472c6
......@@ -17,7 +17,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.UnitreeA1FlatEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeA1FlatPPORunnerCfg,
"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",
},
)
......@@ -28,7 +28,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.UnitreeA1FlatEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeA1FlatPPORunnerCfg,
"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",
},
)
......@@ -39,7 +39,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.UnitreeA1RoughEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeA1RoughPPORunnerCfg,
"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",
},
)
......@@ -50,7 +50,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.UnitreeA1RoughEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeA1RoughPPORunnerCfg,
"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/a1/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_cfg # noqa: F401, F403
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_b/__init__.py
View file @ aa5472c6
......@@ -16,7 +16,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.AnymalBFlatEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalBFlatPPORunnerCfg,
"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",
},
)
......@@ -27,7 +27,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.AnymalBFlatEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalBFlatPPORunnerCfg,
"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",
},
)
......@@ -38,7 +38,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.AnymalBRoughEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalBRoughPPORunnerCfg,
"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",
},
)
......@@ -49,7 +49,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.AnymalBRoughEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalBRoughPPORunnerCfg,
"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_b/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_cfg # noqa: F401, F403
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_c/__init__.py
View file @ aa5472c6
......@@ -17,7 +17,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.AnymalCFlatEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalCFlatPPORunnerCfg,
"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",
},
......@@ -30,7 +30,7 @@ gym.register(
kwargs={
"env_cfg_entry_point": flat_env_cfg.AnymalCFlatEnvCfg_PLAY,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_flat_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalCFlatPPORunnerCfg,
"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",
},
)
......@@ -42,7 +42,7 @@ gym.register(
kwargs={
"env_cfg_entry_point": rough_env_cfg.AnymalCRoughEnvCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_rough_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalCRoughPPORunnerCfg,
"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",
},
)
......@@ -54,7 +54,7 @@ gym.register(
kwargs={
"env_cfg_entry_point": rough_env_cfg.AnymalCRoughEnvCfg_PLAY,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_rough_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalCRoughPPORunnerCfg,
"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_c/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_cfg # noqa: F401, F403
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_d/__init__.py
View file @ aa5472c6
......@@ -17,7 +17,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.AnymalDFlatEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalDFlatPPORunnerCfg,
"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",
},
)
......@@ -28,7 +28,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.AnymalDFlatEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalDFlatPPORunnerCfg,
"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",
},
)
......@@ -39,7 +39,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.AnymalDRoughEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalDRoughPPORunnerCfg,
"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",
},
)
......@@ -50,7 +50,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.AnymalDRoughEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalDRoughPPORunnerCfg,
"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/anymal_d/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_cfg # noqa: F401, F403
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/cassie/__init__.py
View file @ aa5472c6
......@@ -17,7 +17,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.CassieFlatEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.CassieFlatPPORunnerCfg,
"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",
},
)
......@@ -28,7 +28,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.CassieFlatEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.CassieFlatPPORunnerCfg,
"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",
},
)
......@@ -39,7 +39,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.CassieRoughEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.CassieRoughPPORunnerCfg,
"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",
},
)
......@@ -50,7 +50,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.CassieRoughEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.CassieRoughPPORunnerCfg,
"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/cassie/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_cfg # noqa: F401, F403
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/g1/__init__.py
View file @ aa5472c6
......@@ -18,7 +18,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.G1RoughEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.G1RoughPPORunnerCfg,
"rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.G1RoughPPORunnerCfg",
},
)
......@@ -29,7 +29,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.G1RoughEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.G1RoughPPORunnerCfg,
"rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.G1RoughPPORunnerCfg",
},
)
......@@ -40,7 +40,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.G1FlatEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.G1FlatPPORunnerCfg,
"rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.G1FlatPPORunnerCfg",
},
)
......@@ -51,6 +51,6 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.G1FlatEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.G1FlatPPORunnerCfg,
"rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.G1FlatPPORunnerCfg",
},
)
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/g1/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_cfg # noqa: F401, F403
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go1/__init__.py
View file @ aa5472c6
......@@ -17,7 +17,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.UnitreeGo1FlatEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeGo1FlatPPORunnerCfg,
"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",
},
)
......@@ -28,7 +28,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.UnitreeGo1FlatEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeGo1FlatPPORunnerCfg,
"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",
},
)
......@@ -39,7 +39,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.UnitreeGo1RoughEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeGo1RoughPPORunnerCfg,
"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",
},
)
......@@ -50,7 +50,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.UnitreeGo1RoughEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeGo1RoughPPORunnerCfg,
"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/go1/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_cfg # noqa: F401, F403
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go2/__init__.py
View file @ aa5472c6
......@@ -17,7 +17,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.UnitreeGo2FlatEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeGo2FlatPPORunnerCfg,
"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",
},
)
......@@ -28,7 +28,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.UnitreeGo2FlatEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeGo2FlatPPORunnerCfg,
"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",
},
)
......@@ -39,7 +39,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.UnitreeGo2RoughEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeGo2RoughPPORunnerCfg,
"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",
},
)
......@@ -50,7 +50,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.UnitreeGo2RoughEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeGo2RoughPPORunnerCfg,
"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/go2/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_cfg # noqa: F401, F403
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/h1/__init__.py
View file @ aa5472c6
......@@ -18,7 +18,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.H1RoughEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.H1RoughPPORunnerCfg,
"rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.H1RoughPPORunnerCfg",
},
)
......@@ -29,7 +29,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.H1RoughEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.H1RoughPPORunnerCfg,
"rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.H1RoughPPORunnerCfg",
},
)
......@@ -40,7 +40,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.H1FlatEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.H1FlatPPORunnerCfg,
"rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.H1FlatPPORunnerCfg",
},
)
......@@ -51,6 +51,6 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.H1FlatEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.H1FlatPPORunnerCfg,
"rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.H1FlatPPORunnerCfg",
},
)
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/h1/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_cfg # noqa: F401, F403
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/spot/__init__.py
View file @ aa5472c6
......@@ -17,7 +17,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.SpotFlatEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.SpotFlatPPORunnerCfg,
"rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.SpotFlatPPORunnerCfg",
},
)
......@@ -27,6 +27,6 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.SpotFlatEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.SpotFlatPPORunnerCfg,
"rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.SpotFlatPPORunnerCfg",
},
)
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/spot/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_cfg # noqa: F401, F403
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/cabinet/config/franka/__init__.py
View file @ aa5472c6
......@@ -20,7 +20,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": joint_pos_env_cfg.FrankaCabinetEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.CabinetPPORunnerCfg,
"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",
},
......@@ -32,7 +32,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": joint_pos_env_cfg.FrankaCabinetEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.CabinetPPORunnerCfg,
"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",
},
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/cabinet/config/franka/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_cfg # noqa: F401, F403
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/inhand/config/allegro_hand/__init__.py
View file @ aa5472c6
......@@ -21,7 +21,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": allegro_env_cfg.AllegroCubeEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AllegroCubePPORunnerCfg,
"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",
},
......@@ -33,7 +33,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": allegro_env_cfg.AllegroCubeEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AllegroCubePPORunnerCfg,
"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",
},
......@@ -49,7 +49,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": allegro_env_cfg.AllegroCubeNoVelObsEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AllegroCubeNoVelObsPPORunnerCfg,
"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",
},
......@@ -61,7 +61,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": allegro_env_cfg.AllegroCubeNoVelObsEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AllegroCubeNoVelObsPPORunnerCfg,
"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/inhand/config/allegro_hand/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_cfg # noqa: F401, F403
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/__init__.py
View file @ aa5472c6
......@@ -20,7 +20,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": joint_pos_env_cfg.FrankaCubeLiftEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.LiftCubePPORunnerCfg,
"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 +32,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": joint_pos_env_cfg.FrankaCubeLiftEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.LiftCubePPORunnerCfg,
"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",
},
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_cfg # noqa: F401, F403
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/ur_10/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_ppo_cfg # noqa: F401, F403
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/navigation/config/anymal_c/__init__.py
View file @ aa5472c6
......@@ -17,7 +17,7 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": navigation_env_cfg.NavigationEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.NavigationEnvPPORunnerCfg,
"rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.NavigationEnvPPORunnerCfg",
},
)
......@@ -27,6 +27,6 @@ gym.register(
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": navigation_env_cfg.NavigationEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.NavigationEnvPPORunnerCfg,
"rsl_rl_cfg_entry_point": f"{agents.__name__}:rsl_rl_ppo_cfg.NavigationEnvPPORunnerCfg",
},
)
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/navigation/config/anymal_c/agents/__init__.py
View file @ aa5472c6
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from . import rsl_rl_cfg # noqa: F401, F403
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