Replaces `contrib_tasks` extension to move to `orbit.ext_template` repo (#458)

# Description

Replaced `contrib_tasks` with a reference to the `orbit.ext_template`
repository in the documentation.

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## 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
- [x] I have run all the tests with `./orbit.sh --test` and they pass
- [x] **N/A** 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

README.md

@@ -19,7 +19,7 @@ in robotics research (such as RL, learning from demonstrations, and motion plann
 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, and tutorials.
+installation steps, features, tutorials, and how to setup your own project with Orbit.
 
 ## 🎉 Announcement (22.12.2023)
 

docs/index.rst

@@ -57,6 +57,7 @@ Table of Contents
    source/setup/installation
    source/setup/developer
    source/setup/sample
+   source/setup/template
    source/setup/faq
 
 .. toctree::

docs/source/deployment/docker.rst

@@ -278,7 +278,7 @@ in docker-compose.yaml.
 .. _`NGC API key`: https://docs.nvidia.com/ngc/gpu-cloud/ngc-user-guide/index.html#generating-api-key
 .. _`several streaming clients`: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/manual_livestream_clients.html
 .. _`known issue`: https://forums.developer.nvidia.com/t/unable-to-use-webrtc-when-i-run-runheadless-webrtc-sh-in-remote-headless-container/222916
-.. _`Docker compose profile`: https://docs.docker.com/compose/compose-file/15-profiles/
+.. _`profile`: https://docs.docker.com/compose/compose-file/15-profiles/
 .. _`apt package`: https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html#install-ros-2-packages
 .. _`various middleware`: https://docs.ros.org/en/humble/How-To-Guides/Working-with-multiple-RMW-implementations.html
 .. _`tuned`: https://docs.ros.org/en/foxy/How-To-Guides/DDS-tuning.html

docs/source/refs/changelog.rst

 Extensions Changelog
 ====================
 
-All notable changes to this project are documented in this file. The format is based on `Keep a Changelog <https://keepachangelog.com/en/1.0.0/>`__ and this project adheres to `Semantic Versioning <https://semver.org/spec/v2.0.0.html>`__.
+All notable changes to this project are documented in this file. The format is based on
+`Keep a Changelog <https://keepachangelog.com/en/1.0.0/>`__ and this project adheres to
+`Semantic Versioning <https://semver.org/spec/v2.0.0.html>`__.
 
-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.
+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
 -----------------
@@ -31,12 +34,3 @@ Extension containing the environments built using Orbit.
 
 .. include:: ../../../source/extensions/omni.isaac.orbit_tasks/docs/CHANGELOG.rst
    :start-line: 3
-
-
-omni.isaac.contrib_tasks
-------------------------
-
-Extension for environments contributed by the community.
-
-.. include:: ../../../source/extensions/omni.isaac.contrib_tasks/docs/CHANGELOG.rst
-   :start-line: 3

docs/source/setup/developer.rst

@@ -94,7 +94,6 @@ The ``orbit`` repository is structured as follows:
    │   ├── extensions
    │   │   ├── omni.isaac.orbit
    │   │   └── omni.isaac.orbit_tasks
-   │   │   └── omni.isaac.contrib_tasks
    │   ├── standalone
    │   │   ├── demos
    │   │   ├── environments

docs/source/setup/template.rst

+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 <https://github.com/isaac-orbit/orbit.ext_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
+  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.
+* **Omniverse Extension**: Supports direct integration into Omniverse extension workflow.
+
+.. note::
+
+  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.
+
+
+To get started, please follow the instructions in the `extension template repository <https://github.com/isaac-orbit/orbit.ext_template>`_.

pyproject.toml

@@ -49,9 +49,8 @@ known_third_party = [
 ]
 # Imports from this repository
 known_first_party = "omni.isaac.orbit"
-known_assets_firstparty = "omni.isaac.assets"
+known_assets_firstparty = "omni.isaac.orbit_assets"
 known_extra_firstparty = [
-    "omni.isaac.contrib_tasks",
     "omni.isaac.orbit_tasks"
 ]
 # Imports from the local folder

source/extensions/omni.isaac.contrib_tasks/config/extension.toml

-[package]
-
-# Note: Semantic Versioning is used: https://semver.org/
-version = "0.0.1"
-
-# Description
-title = "ORBIT Environments contributed by the community."
-description="Extension containing environments for robot learning contributed by the community."
-readme  = "docs/README.md"
-repository = "https://github.com/NVIDIA-Omniverse/Orbit"
-category = "robotics"
-keywords = ["robotics", "rl", "il", "learning"]
-
-[dependencies]
-"omni.isaac.orbit" = {}
-"omni.isaac.orbit_tasks" = {}
-"omni.isaac.core" = {}
-"omni.isaac.gym" = {}
-"omni.replicator.isaac" = {}
-
-[[python.module]]
-name = "omni.isaac.contrib_tasks"

source/extensions/omni.isaac.contrib_tasks/docs/CHANGELOG.rst

-Changelog
----------
-
-0.0.1 (2023-01-17)
-~~~~~~~~~~~~~~~~~~
-
-Added
-^^^^^
-
-* Initial dummy extension for community to contribute environments.

source/extensions/omni.isaac.contrib_tasks/docs/README.md

-# Orbit: Contributed Environment
-
-This extension serves as a platform to host contributed environments from the robotics and machine learning
-community. The extension follows the same style as the `omni.isaac.orbit_tasks` extension.
-
-The environments should follow the `gym.Env` API from OpenAI Gym version `0.21.0`. They need to be registered using
-the Gym registry.
-
-To follow the same convention, each environment's name is composed of `Isaac-Contrib-<Task>-<Robot>-v<X>`,
-where `<Task>` indicates the skill to learn in the environment, `<Robot>` indicates the embodiment of the
-acting agent, and `<X>` represents the version of the environment (which can be used to suggest different
-observation or action spaces).
-
-The environments can be configured using either Python classes (wrapped using `configclass` decorator) or through
-YAML files. The template structure of the environment is always put at the same level as the environment file
-itself. However, its various instances should be included in directories within the environment directory itself.
-
-The environments should then be registered in the `omni/isaac/contrib_tasks/__init__.py`:
-
-```python
-import gymnasium as gym
-
-gym.register(
-    id="Isaac-Contrib-<my-awesome-env>-v0",
-    entry_point="omni.isaac.contrib_tasks.<your-env-package>:<your-env-class>",
-    disable_env_checker=True,
-    kwargs={"cfg_entry_point": "omni.isaac.contrib_tasks.<your-env-package-cfg>:<your-env-class-cfg>"},
-)
-```

source/extensions/omni.isaac.contrib_tasks/omni/isaac/contrib_tasks/__init__.py

-# Copyright (c) 2022-2024, The ORBIT Project Developers.
-# All rights reserved.
-#
-# SPDX-License-Identifier: BSD-3-Clause
-
-"""Module containing environments contributed by the community.
-
-
-We use OpenAI Gym registry to register the environment and their default configuration file.
-The default configuration file is passed to the argument "kwargs" in the Gym specification registry.
-The string is parsed into respective configuration container which needs to be passed to the environment
-class. This is done using the function :meth:`load_cfg_from_registry` in the sub-module
-:mod:`omni.isaac.orbit.utils.parse_cfg`.
-
-Note:
-    This is a slight abuse of kwargs since they are meant to be directly passed into the environment class.
-    Instead, we remove the key :obj:`cfg_file` from the "kwargs" dictionary and the user needs to provide
-    the kwarg argument :obj:`cfg` while creating the environment.
-
-Usage:
-    >>> import gymnasium as gym
-    >>> import omni.isaac.contrib_tasks
-    >>> from omni.isaac.orbit_tasks.utils.parse_cfg import load_cfg_from_registry
-    >>>
-    >>> task_name = "Isaac-Contrib-<my-registered-env-name>-v0"
-    >>> cfg = load_cfg_from_registry(task_name, "env_cfg_entry_point")
-    >>> env = gym.make(task_name, cfg=cfg)
-"""
-
-from __future__ import annotations
-
-import gymnasium as gym  # noqa: F401
-import os
-import toml
-
-# Conveniences to other module directories via relative paths
-ORBIT_CONTRIB_TASKS_EXT_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../../"))
-"""Path to the extension source directory."""
-
-ORBIT_CONTRIB_TASKS_METADATA = toml.load(os.path.join(ORBIT_CONTRIB_TASKS_EXT_DIR, "config", "extension.toml"))
-"""Extension metadata dictionary parsed from the extension.toml file."""
-
-# Configure the module-level variables
-__version__ = ORBIT_CONTRIB_TASKS_METADATA["package"]["version"]

source/extensions/omni.isaac.contrib_tasks/setup.py

-# Copyright (c) 2022-2024, The ORBIT Project Developers.
-# All rights reserved.
-#
-# SPDX-License-Identifier: BSD-3-Clause
-
-"""Installation script for the 'omni.isaac.contrib_tasks' python package."""
-
-from __future__ import annotations
-
-import os
-import toml
-
-from setuptools import setup
-
-# Obtain the extension data from the extension.toml file
-EXTENSION_PATH = os.path.dirname(os.path.realpath(__file__))
-# Read the extension.toml file
-EXTENSION_TOML_DATA = toml.load(os.path.join(EXTENSION_PATH, "config", "extension.toml"))
-
-# Installation operation
-setup(
-    name="omni-isaac-contrib_tasks",
-    author="Community",
-    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.contrib_tasks"],
-    classifiers=[
-        "Natural Language :: English",
-        "Programming Language :: Python :: 3.10",
-        "Isaac Sim :: 2023.1.0-hotfix.1",
-        "Isaac Sim :: 2023.1.1",
-    ],
-    zip_safe=False,
-)

source/extensions/omni.isaac.orbit_tasks/test/test_record_video.py

@@ -24,7 +24,6 @@ import omni.usd
 
 from omni.isaac.orbit.envs import RLTaskEnv, RLTaskEnvCfg
 
-import omni.isaac.contrib_tasks  # noqa: F401
 import omni.isaac.orbit_tasks  # noqa: F401
 from omni.isaac.orbit_tasks.utils import parse_env_cfg
 

source/standalone/environments/list_envs.py

@@ -30,7 +30,6 @@ simulation_app = app_launcher.app
 import gymnasium as gym
 from prettytable import PrettyTable
 
-import omni.isaac.contrib_tasks  # noqa: F401
 import omni.isaac.orbit_tasks  # noqa: F401
 
 

source/standalone/environments/random_agent.py

@@ -36,7 +36,6 @@ simulation_app = app_launcher.app
 import gymnasium as gym
 import torch
 
-import omni.isaac.contrib_tasks  # noqa: F401
 import omni.isaac.orbit_tasks  # noqa: F401
 from omni.isaac.orbit_tasks.utils import parse_env_cfg
 

source/standalone/environments/teleoperation/teleop_se3_agent.py

@@ -43,7 +43,6 @@ import carb
 
 from omni.isaac.orbit.devices import Se3Gamepad, Se3Keyboard, Se3SpaceMouse
 
-import omni.isaac.contrib_tasks  # noqa: F401
 import omni.isaac.orbit_tasks  # noqa: F401
 from omni.isaac.orbit_tasks.utils import parse_env_cfg
 

source/standalone/environments/zero_agent.py

@@ -36,7 +36,6 @@ simulation_app = app_launcher.app
 import gymnasium as gym
 import torch
 
-import omni.isaac.contrib_tasks  # noqa: F401
 import omni.isaac.orbit_tasks  # noqa: F401
 from omni.isaac.orbit_tasks.utils import parse_env_cfg
 

source/standalone/workflows/rl_games/play.py

@@ -50,7 +50,6 @@ from rl_games.torch_runner import Runner
 
 from omni.isaac.orbit.utils.assets import retrieve_file_path
 
-import omni.isaac.contrib_tasks  # noqa: F401
 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

source/standalone/workflows/rl_games/train.py

@@ -48,7 +48,6 @@ 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
 
-import omni.isaac.contrib_tasks  # noqa: F401
 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

source/standalone/workflows/robomimic/collect_demonstrations.py

@@ -42,7 +42,6 @@ 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
 
-import omni.isaac.contrib_tasks  # noqa: F401
 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

source/standalone/workflows/robomimic/play.py

@@ -40,7 +40,6 @@ import robomimic  # noqa: F401
 import robomimic.utils.file_utils as FileUtils
 import robomimic.utils.torch_utils as TorchUtils
 
-import omni.isaac.contrib_tasks  # noqa: F401
 import omni.isaac.orbit_tasks  # noqa: F401
 from omni.isaac.orbit_tasks.utils import parse_env_cfg
 

source/standalone/workflows/rsl_rl/play.py

@@ -44,7 +44,6 @@ import torch
 
 from rsl_rl.runners import OnPolicyRunner
 
-import omni.isaac.contrib_tasks  # noqa: F401
 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 (

source/standalone/workflows/rsl_rl/train.py

@@ -53,7 +53,6 @@ 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
 
-import omni.isaac.contrib_tasks  # noqa: F401
 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

source/standalone/workflows/sb3/play.py

@@ -47,7 +47,6 @@ import torch
 from stable_baselines3 import PPO
 from stable_baselines3.common.vec_env import VecNormalize
 
-import omni.isaac.contrib_tasks  # noqa: F401
 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

source/standalone/workflows/sb3/train.py

@@ -55,7 +55,6 @@ 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
 
-import omni.isaac.contrib_tasks  # noqa: F401
 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