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KincoActuatorIsaacLab
Unverified Commit d05c7bbc authored by Mayank Mittal's avatar Mayank Mittal Committed by GitHub
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Replaces hardcoded module paths with `__name__` dunder (#1357) 

# Description

A minor change to automate where the config directory is located.

## Motivation

If user wants to copy these files to their own project, they shouldn't
have to change the paths in the registry.
parent c3372f10
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source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/allegro_hand/__init__.py
View file @ d05c7bbc
......@@ -15,7 +15,6 @@ from . import agents
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.direct.allegro_hand"
inhand_task_entry = "omni.isaac.lab_tasks.direct.inhand_manipulation"
gym.register(
......@@ -23,7 +22,7 @@ gym.register(
entry_point=f"{inhand_task_entry}.inhand_manipulation_env:InHandManipulationEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.allegro_hand_env_cfg:AllegroHandEnvCfg",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -15,14 +15,12 @@ from . import agents
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.direct.ant"
gym.register(
id="Isaac-Ant-Direct-v0",
entry_point=f"{task_entry}.ant_env:AntEnv",
entry_point=f"{__name__}.ant_env:AntEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.ant_env:AntEnvCfg",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -15,14 +15,12 @@ from . import agents
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.direct.anymal_c"
gym.register(
id="Isaac-Velocity-Flat-Anymal-C-Direct-v0",
entry_point=f"{task_entry}.anymal_c_env:AnymalCEnv",
entry_point=f"{__name__}.anymal_c_env:AnymalCEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.anymal_c_env:AnymalCFlatEnvCfg",
"env_cfg_entry_point": f"{__name__}.anymal_c_env_cfg: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",
......@@ -31,10 +29,10 @@ gym.register(
gym.register(
id="Isaac-Velocity-Rough-Anymal-C-Direct-v0",
entry_point=f"{task_entry}.anymal_c_env:AnymalCEnv",
entry_point=f"{__name__}.anymal_c_env:AnymalCEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.anymal_c_env:AnymalCRoughEnvCfg",
"env_cfg_entry_point": f"{__name__}.anymal_c_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",
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/anymal_c/anymal_c_env.py
View file @ d05c7bbc
......@@ -8,150 +8,12 @@ from __future__ import annotations
import gymnasium as gym
import torch
import omni.isaac.lab.envs.mdp as mdp
import omni.isaac.lab.sim as sim_utils
from omni.isaac.lab.assets import Articulation, ArticulationCfg
from omni.isaac.lab.envs import DirectRLEnv, DirectRLEnvCfg
from omni.isaac.lab.managers import EventTermCfg as EventTerm
from omni.isaac.lab.managers import SceneEntityCfg
from omni.isaac.lab.scene import InteractiveSceneCfg
from omni.isaac.lab.sensors import ContactSensor, ContactSensorCfg, RayCaster, RayCasterCfg, patterns
from omni.isaac.lab.sim import SimulationCfg
from omni.isaac.lab.terrains import TerrainImporterCfg
from omni.isaac.lab.utils import configclass
from omni.isaac.lab.assets import Articulation
from omni.isaac.lab.envs import DirectRLEnv
from omni.isaac.lab.sensors import ContactSensor, RayCaster
##
# Pre-defined configs
##
from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG # isort: skip
from omni.isaac.lab.terrains.config.rough import ROUGH_TERRAINS_CFG # isort: skip
@configclass
class EventCfg:
"""Configuration for randomization."""
physics_material = EventTerm(
func=mdp.randomize_rigid_body_material,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names=".*"),
"static_friction_range": (0.8, 0.8),
"dynamic_friction_range": (0.6, 0.6),
"restitution_range": (0.0, 0.0),
"num_buckets": 64,
},
)
add_base_mass = EventTerm(
func=mdp.randomize_rigid_body_mass,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names="base"),
"mass_distribution_params": (-5.0, 5.0),
"operation": "add",
},
)
@configclass
class AnymalCFlatEnvCfg(DirectRLEnvCfg):
# env
episode_length_s = 20.0
decimation = 4
action_scale = 0.5
action_space = 12
observation_space = 48
state_space = 0
# simulation
sim: SimulationCfg = SimulationCfg(
dt=1 / 200,
render_interval=decimation,
disable_contact_processing=True,
physics_material=sim_utils.RigidBodyMaterialCfg(
friction_combine_mode="multiply",
restitution_combine_mode="multiply",
static_friction=1.0,
dynamic_friction=1.0,
restitution=0.0,
),
)
terrain = TerrainImporterCfg(
prim_path="/World/ground",
terrain_type="plane",
collision_group=-1,
physics_material=sim_utils.RigidBodyMaterialCfg(
friction_combine_mode="multiply",
restitution_combine_mode="multiply",
static_friction=1.0,
dynamic_friction=1.0,
restitution=0.0,
),
debug_vis=False,
)
# scene
scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=4096, env_spacing=4.0, replicate_physics=True)
# events
events: EventCfg = EventCfg()
# robot
robot: ArticulationCfg = ANYMAL_C_CFG.replace(prim_path="/World/envs/env_.*/Robot")
contact_sensor: ContactSensorCfg = ContactSensorCfg(
prim_path="/World/envs/env_.*/Robot/.*", history_length=3, update_period=0.005, track_air_time=True
)
# reward scales
lin_vel_reward_scale = 1.0
yaw_rate_reward_scale = 0.5
z_vel_reward_scale = -2.0
ang_vel_reward_scale = -0.05
joint_torque_reward_scale = -2.5e-5
joint_accel_reward_scale = -2.5e-7
action_rate_reward_scale = -0.01
feet_air_time_reward_scale = 0.5
undersired_contact_reward_scale = -1.0
flat_orientation_reward_scale = -5.0
@configclass
class AnymalCRoughEnvCfg(AnymalCFlatEnvCfg):
# env
observation_space = 235
terrain = TerrainImporterCfg(
prim_path="/World/ground",
terrain_type="generator",
terrain_generator=ROUGH_TERRAINS_CFG,
max_init_terrain_level=9,
collision_group=-1,
physics_material=sim_utils.RigidBodyMaterialCfg(
friction_combine_mode="multiply",
restitution_combine_mode="multiply",
static_friction=1.0,
dynamic_friction=1.0,
),
visual_material=sim_utils.MdlFileCfg(
mdl_path="{NVIDIA_NUCLEUS_DIR}/Materials/Base/Architecture/Shingles_01.mdl",
project_uvw=True,
),
debug_vis=False,
)
# we add a height scanner for perceptive locomotion
height_scanner = RayCasterCfg(
prim_path="/World/envs/env_.*/Robot/base",
offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, 20.0)),
attach_yaw_only=True,
pattern_cfg=patterns.GridPatternCfg(resolution=0.1, size=[1.6, 1.0]),
debug_vis=False,
mesh_prim_paths=["/World/ground"],
)
# reward scales (override from flat config)
flat_orientation_reward_scale = 0.0
from .anymal_c_env_cfg import AnymalCFlatEnvCfg, AnymalCRoughEnvCfg
class AnymalCEnv(DirectRLEnv):
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/anymal_c/anymal_c_env_cfg.py 0 → 100644
View file @ d05c7bbc
# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
import omni.isaac.lab.envs.mdp as mdp
import omni.isaac.lab.sim as sim_utils
from omni.isaac.lab.assets import ArticulationCfg
from omni.isaac.lab.envs import DirectRLEnvCfg
from omni.isaac.lab.managers import EventTermCfg as EventTerm
from omni.isaac.lab.managers import SceneEntityCfg
from omni.isaac.lab.scene import InteractiveSceneCfg
from omni.isaac.lab.sensors import ContactSensorCfg, RayCasterCfg, patterns
from omni.isaac.lab.sim import SimulationCfg
from omni.isaac.lab.terrains import TerrainImporterCfg
from omni.isaac.lab.utils import configclass
##
# Pre-defined configs
##
from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG # isort: skip
from omni.isaac.lab.terrains.config.rough import ROUGH_TERRAINS_CFG # isort: skip
@configclass
class EventCfg:
"""Configuration for randomization."""
physics_material = EventTerm(
func=mdp.randomize_rigid_body_material,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names=".*"),
"static_friction_range": (0.8, 0.8),
"dynamic_friction_range": (0.6, 0.6),
"restitution_range": (0.0, 0.0),
"num_buckets": 64,
},
)
add_base_mass = EventTerm(
func=mdp.randomize_rigid_body_mass,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names="base"),
"mass_distribution_params": (-5.0, 5.0),
"operation": "add",
},
)
@configclass
class AnymalCFlatEnvCfg(DirectRLEnvCfg):
# env
episode_length_s = 20.0
decimation = 4
action_scale = 0.5
action_space = 12
observation_space = 48
state_space = 0
# simulation
sim: SimulationCfg = SimulationCfg(
dt=1 / 200,
render_interval=decimation,
disable_contact_processing=True,
physics_material=sim_utils.RigidBodyMaterialCfg(
friction_combine_mode="multiply",
restitution_combine_mode="multiply",
static_friction=1.0,
dynamic_friction=1.0,
restitution=0.0,
),
)
terrain = TerrainImporterCfg(
prim_path="/World/ground",
terrain_type="plane",
collision_group=-1,
physics_material=sim_utils.RigidBodyMaterialCfg(
friction_combine_mode="multiply",
restitution_combine_mode="multiply",
static_friction=1.0,
dynamic_friction=1.0,
restitution=0.0,
),
debug_vis=False,
)
# scene
scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=4096, env_spacing=4.0, replicate_physics=True)
# events
events: EventCfg = EventCfg()
# robot
robot: ArticulationCfg = ANYMAL_C_CFG.replace(prim_path="/World/envs/env_.*/Robot")
contact_sensor: ContactSensorCfg = ContactSensorCfg(
prim_path="/World/envs/env_.*/Robot/.*", history_length=3, update_period=0.005, track_air_time=True
)
# reward scales
lin_vel_reward_scale = 1.0
yaw_rate_reward_scale = 0.5
z_vel_reward_scale = -2.0
ang_vel_reward_scale = -0.05
joint_torque_reward_scale = -2.5e-5
joint_accel_reward_scale = -2.5e-7
action_rate_reward_scale = -0.01
feet_air_time_reward_scale = 0.5
undersired_contact_reward_scale = -1.0
flat_orientation_reward_scale = -5.0
@configclass
class AnymalCRoughEnvCfg(AnymalCFlatEnvCfg):
# env
observation_space = 235
terrain = TerrainImporterCfg(
prim_path="/World/ground",
terrain_type="generator",
terrain_generator=ROUGH_TERRAINS_CFG,
max_init_terrain_level=9,
collision_group=-1,
physics_material=sim_utils.RigidBodyMaterialCfg(
friction_combine_mode="multiply",
restitution_combine_mode="multiply",
static_friction=1.0,
dynamic_friction=1.0,
),
visual_material=sim_utils.MdlFileCfg(
mdl_path="{NVIDIA_NUCLEUS_DIR}/Materials/Base/Architecture/Shingles_01.mdl",
project_uvw=True,
),
debug_vis=False,
)
# we add a height scanner for perceptive locomotion
height_scanner = RayCasterCfg(
prim_path="/World/envs/env_.*/Robot/base",
offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, 20.0)),
attach_yaw_only=True,
pattern_cfg=patterns.GridPatternCfg(resolution=0.1, size=[1.6, 1.0]),
debug_vis=False,
mesh_prim_paths=["/World/ground"],
)
# reward scales (override from flat config)
flat_orientation_reward_scale = 0.0
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cart_double_pendulum/__init__.py
View file @ d05c7bbc
......@@ -15,14 +15,12 @@ from . import agents
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.direct.cart_double_pendulum"
gym.register(
id="Isaac-Cart-Double-Pendulum-Direct-v0",
entry_point=f"{task_entry}.cart_double_pendulum_env:CartDoublePendulumEnv",
entry_point=f"{__name__}.cart_double_pendulum_env:CartDoublePendulumEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.cart_double_pendulum_env:CartDoublePendulumEnvCfg",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -15,14 +15,12 @@ from . import agents
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.direct.cartpole"
gym.register(
id="Isaac-Cartpole-Direct-v0",
entry_point=f"{task_entry}.cartpole_env:CartpoleEnv",
entry_point=f"{__name__}.cartpole_env:CartpoleEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.cartpole_env:CartpoleEnvCfg",
"env_cfg_entry_point": f"{__name__}.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 +30,10 @@ gym.register(
gym.register(
id="Isaac-Cartpole-RGB-Camera-Direct-v0",
entry_point=f"{task_entry}.cartpole_camera_env:CartpoleCameraEnv",
entry_point=f"{__name__}.cartpole_camera_env:CartpoleCameraEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.cartpole_camera_env:CartpoleRGBCameraEnvCfg",
"env_cfg_entry_point": f"{__name__}.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 +41,10 @@ gym.register(
gym.register(
id="Isaac-Cartpole-Depth-Camera-Direct-v0",
entry_point=f"{task_entry}.cartpole_camera_env:CartpoleCameraEnv",
entry_point=f"{__name__}.cartpole_camera_env:CartpoleCameraEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.cartpole_camera_env:CartpoleDepthCameraEnvCfg",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -14,14 +14,12 @@ from . import agents
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.direct.franka_cabinet"
gym.register(
id="Isaac-Franka-Cabinet-Direct-v0",
entry_point=f"{task_entry}.franka_cabinet_env:FrankaCabinetEnv",
entry_point=f"{__name__}.franka_cabinet_env:FrankaCabinetEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.franka_cabinet_env:FrankaCabinetEnvCfg",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -15,14 +15,12 @@ from . import agents
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.direct.humanoid"
gym.register(
id="Isaac-Humanoid-Direct-v0",
entry_point=f"{task_entry}.humanoid_env:HumanoidEnv",
entry_point=f"{__name__}.humanoid_env:HumanoidEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.humanoid_env:HumanoidEnvCfg",
"env_cfg_entry_point": f"{__name__}.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/inhand_manipulation/__init__.py
View file @ d05c7bbc
......@@ -2,5 +2,3 @@
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from .inhand_manipulation_env import InHandManipulationEnv
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/inhand_manipulation/inhand_manipulation_env.py
View file @ d05c7bbc
......@@ -19,8 +19,8 @@ from omni.isaac.lab.sim.spawners.from_files import GroundPlaneCfg, spawn_ground_
from omni.isaac.lab.utils.math import quat_conjugate, quat_from_angle_axis, quat_mul, sample_uniform, saturate
if TYPE_CHECKING:
from omni.isaac.lab_tasks.direct.allegro_hand import AllegroHandEnvCfg
from omni.isaac.lab_tasks.direct.shadow_hand import ShadowHandEnvCfg
from omni.isaac.lab_tasks.direct.allegro_hand.allegro_hand_env_cfg import AllegroHandEnvCfg
from omni.isaac.lab_tasks.direct.shadow_hand.shadow_hand_env_cfg import ShadowHandEnvCfg
class InHandManipulationEnv(DirectRLEnv):
......
source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/quadcopter/__init__.py
View file @ d05c7bbc
......@@ -15,14 +15,12 @@ from . import agents
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.direct.quadcopter"
gym.register(
id="Isaac-Quadcopter-Direct-v0",
entry_point=f"{task_entry}.quadcopter_env:QuadcopterEnv",
entry_point=f"{__name__}.quadcopter_env:QuadcopterEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.quadcopter_env:QuadcopterEnvCfg",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -15,7 +15,6 @@ from . import agents
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.direct.shadow_hand"
inhand_task_entry = "omni.isaac.lab_tasks.direct.inhand_manipulation"
gym.register(
......@@ -23,7 +22,7 @@ gym.register(
entry_point=f"{inhand_task_entry}.inhand_manipulation_env:InHandManipulationEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.shadow_hand_env_cfg:ShadowHandEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
......@@ -35,7 +34,7 @@ gym.register(
entry_point=f"{inhand_task_entry}.inhand_manipulation_env:InHandManipulationEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.shadow_hand_env_cfg:ShadowHandOpenAIEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
......@@ -47,7 +46,7 @@ gym.register(
entry_point=f"{inhand_task_entry}.inhand_manipulation_env:InHandManipulationEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.shadow_hand_env_cfg:ShadowHandOpenAIEnvCfg",
"env_cfg_entry_point": f"{__name__}.shadow_hand_env_cfg:ShadowHandOpenAIEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_lstm_cfg.yaml",
},
)
......@@ -56,10 +55,10 @@ gym.register(
gym.register(
id="Isaac-Repose-Cube-Shadow-Vision-Direct-v0",
entry_point=f"{task_entry}.shadow_hand_vision_env:ShadowHandVisionEnv",
entry_point=f"{__name__}.shadow_hand_vision_env:ShadowHandVisionEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.shadow_hand_vision_env:ShadowHandVisionEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -67,10 +66,10 @@ gym.register(
gym.register(
id="Isaac-Repose-Cube-Shadow-Vision-Direct-Play-v0",
entry_point=f"{task_entry}.shadow_hand_vision_env:ShadowHandVisionEnv",
entry_point=f"{__name__}.shadow_hand_vision_env:ShadowHandVisionEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.shadow_hand_vision_env:ShadowHandVisionEnvPlayCfg",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -15,14 +15,12 @@ from . import agents
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.direct.shadow_hand_over"
gym.register(
id="Isaac-Shadow-Hand-Over-Direct-v0",
entry_point=f"{task_entry}.shadow_hand_over_env:ShadowHandOverEnv",
entry_point=f"{__name__}.shadow_hand_over_env:ShadowHandOverEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.shadow_hand_over_env_cfg:ShadowHandOverEnvCfg",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -15,14 +15,12 @@ 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": f"{task_entry}.ant_env_cfg:AntEnvCfg",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -15,14 +15,12 @@ from . import agents
# 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": f"{task_entry}.cartpole_env_cfg:CartpoleEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
......@@ -35,7 +33,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.cartpole_camera_env_cfg:CartpoleRGBCameraEnvCfg",
"env_cfg_entry_point": f"{__name__}.cartpole_camera_env_cfg:CartpoleRGBCameraEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
},
)
......@@ -45,7 +43,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.cartpole_camera_env_cfg:CartpoleDepthCameraEnvCfg",
"env_cfg_entry_point": f"{__name__}.cartpole_camera_env_cfg:CartpoleDepthCameraEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
},
)
......@@ -55,7 +53,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.cartpole_camera_env_cfg:CartpoleResNet18CameraEnvCfg",
"env_cfg_entry_point": f"{__name__}.cartpole_camera_env_cfg:CartpoleResNet18CameraEnvCfg",
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_feature_ppo_cfg.yaml",
},
)
......@@ -65,7 +63,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.cartpole_camera_env_cfg:CartpoleTheiaTinyCameraEnvCfg",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -15,14 +15,12 @@ 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": f"{task_entry}.humanoid_env_cfg:HumanoidEnvCfg",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -11,14 +11,12 @@ 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": f"{task_entry}.flat_env_cfg:UnitreeA1FlatEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -29,7 +27,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:UnitreeA1FlatEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -40,7 +38,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:UnitreeA1RoughEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -51,7 +49,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:UnitreeA1RoughEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -10,14 +10,12 @@ 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": f"{task_entry}.flat_env_cfg:AnymalBFlatEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -28,7 +26,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:AnymalBFlatEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -39,7 +37,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:AnymalBRoughEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -50,7 +48,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:AnymalBRoughEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -11,14 +11,12 @@ 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": f"{task_entry}.flat_env_cfg:AnymalCFlatEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
......@@ -30,7 +28,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:AnymalCFlatEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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",
......@@ -42,7 +40,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:AnymalCRoughEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
......@@ -54,7 +52,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:AnymalCRoughEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -11,14 +11,12 @@ 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": f"{task_entry}.flat_env_cfg:AnymalDFlatEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -29,7 +27,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:AnymalDFlatEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -40,7 +38,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:AnymalDRoughEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -51,7 +49,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:AnymalDRoughEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -11,14 +11,12 @@ 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": f"{task_entry}.flat_env_cfg:CassieFlatEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -29,7 +27,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:CassieFlatEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -40,7 +38,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:CassieRoughEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -51,7 +49,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:CassieRoughEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -11,15 +11,12 @@ 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": f"{task_entry}.rough_env_cfg:G1RoughEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -31,7 +28,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:G1RoughEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -43,7 +40,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:G1FlatEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -55,7 +52,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:G1FlatEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -11,14 +11,12 @@ 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": f"{task_entry}.flat_env_cfg:UnitreeGo1FlatEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -29,7 +27,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:UnitreeGo1FlatEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -40,7 +38,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:UnitreeGo1RoughEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -51,7 +49,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:UnitreeGo1RoughEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -11,14 +11,12 @@ 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": f"{task_entry}.flat_env_cfg:UnitreeGo2FlatEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -29,7 +27,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:UnitreeGo2FlatEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -40,7 +38,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:UnitreeGo2RoughEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -51,7 +49,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:UnitreeGo2RoughEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -11,15 +11,12 @@ 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": f"{task_entry}.rough_env_cfg:H1RoughEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -31,7 +28,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.rough_env_cfg:H1RoughEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -43,7 +40,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:H1FlatEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -55,7 +52,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:H1FlatEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -11,14 +11,12 @@ 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": f"{task_entry}.flat_env_cfg:SpotFlatEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -29,7 +27,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.flat_env_cfg:SpotFlatEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -11,8 +11,6 @@ from . import agents
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.manager_based.manipulation.cabinet.config.franka"
##
# Joint Position Control
##
......@@ -21,7 +19,7 @@ gym.register(
id="Isaac-Open-Drawer-Franka-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:FrankaCabinetEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
......@@ -33,7 +31,7 @@ gym.register(
id="Isaac-Open-Drawer-Franka-Play-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:FrankaCabinetEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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",
......@@ -50,7 +48,7 @@ gym.register(
id="Isaac-Open-Drawer-Franka-IK-Abs-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": f"{task_entry}.ik_abs_env_cfg:FrankaCabinetEnvCfg",
"env_cfg_entry_point": f"{__name__}.ik_abs_env_cfg:FrankaCabinetEnvCfg",
},
disable_env_checker=True,
)
......@@ -63,7 +61,7 @@ gym.register(
id="Isaac-Open-Drawer-Franka-IK-Rel-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": f"{task_entry}.ik_rel_env_cfg:FrankaCabinetEnvCfg",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -11,8 +11,6 @@ from . import agents
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.manager_based.manipulation.inhand.config.allegro_hand"
##
# Full kinematic state observations.
##
......@@ -22,7 +20,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.allegro_env_cfg:AllegroCubeEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
......@@ -34,7 +32,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.allegro_env_cfg:AllegroCubeEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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",
......@@ -50,7 +48,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.allegro_env_cfg:AllegroCubeNoVelObsEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
......@@ -62,7 +60,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.allegro_env_cfg:AllegroCubeNoVelObsEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -11,8 +11,6 @@ from . import agents
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.manager_based.manipulation.lift.config.franka"
##
# Joint Position Control
##
......@@ -21,7 +19,7 @@ gym.register(
id="Isaac-Lift-Cube-Franka-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:FrankaCubeLiftEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
......@@ -34,7 +32,7 @@ gym.register(
id="Isaac-Lift-Cube-Franka-Play-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:FrankaCubeLiftEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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",
......@@ -51,7 +49,7 @@ gym.register(
id="Isaac-Lift-Cube-Franka-IK-Abs-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": f"{task_entry}.ik_abs_env_cfg:FrankaCubeLiftEnvCfg",
"env_cfg_entry_point": f"{__name__}.ik_abs_env_cfg:FrankaCubeLiftEnvCfg",
},
disable_env_checker=True,
)
......@@ -60,7 +58,7 @@ gym.register(
id="Isaac-Lift-Teddy-Bear-Franka-IK-Abs-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": f"{task_entry}.ik_abs_env_cfg:FrankaTeddyBearLiftEnvCfg",
"env_cfg_entry_point": f"{__name__}.ik_abs_env_cfg:FrankaTeddyBearLiftEnvCfg",
},
disable_env_checker=True,
)
......@@ -73,7 +71,7 @@ gym.register(
id="Isaac-Lift-Cube-Franka-IK-Rel-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": f"{task_entry}.ik_rel_env_cfg:FrankaCubeLiftEnvCfg",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -11,8 +11,6 @@ from . import agents
# Register Gym environments.
##
task_entry = "omni.isaac.lab_tasks.manager_based.manipulation.reach.config.franka"
##
# Joint Position Control
##
......@@ -22,7 +20,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:FrankaReachEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
......@@ -34,7 +32,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:FrankaReachEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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",
......@@ -50,7 +48,7 @@ gym.register(
id="Isaac-Reach-Franka-IK-Abs-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": f"{task_entry}.ik_abs_env_cfg:FrankaReachEnvCfg",
"env_cfg_entry_point": f"{__name__}.ik_abs_env_cfg:FrankaReachEnvCfg",
},
disable_env_checker=True,
)
......@@ -63,7 +61,7 @@ gym.register(
id="Isaac-Reach-Franka-IK-Rel-v0",
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
kwargs={
"env_cfg_entry_point": f"{task_entry}.ik_rel_env_cfg:FrankaReachEnvCfg",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -11,14 +11,12 @@ 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": f"{task_entry}.joint_pos_env_cfg:UR10ReachEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
......@@ -30,7 +28,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.joint_pos_env_cfg:UR10ReachEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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 @ d05c7bbc
......@@ -11,14 +11,12 @@ 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": f"{task_entry}.navigation_env_cfg:NavigationEnvCfg",
"env_cfg_entry_point": f"{__name__}.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",
},
......@@ -29,7 +27,7 @@ gym.register(
entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{task_entry}.navigation_env_cfg:NavigationEnvCfg_PLAY",
"env_cfg_entry_point": f"{__name__}.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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