Restructures extension folders and removes old imitation learning scripts (#206)

This change brings some breaking changes in restructuring some of the
existing extensions and folders:

- Removes old imitation learning / robomimic scripts
- Moves wrappers folder in isaaclab_tasks to its own extension -
isaaclab_rl
- Splits the isaaclab_assets folder into robots and sensors
subdirectories

<!-- As you go through the list, delete the ones that are not
applicable. -->

- New feature (non-breaking change which adds functionality)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.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 updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

apps/isaaclab.python.headless.kit

@@ -27,6 +27,7 @@ app.version = "4.5.0"
 "omni.warp.core" = {}
 "usdrt.scenegraph" = {}
 "omni.kit.telemetry" = {}
+"omni.kit.loop" = {}
 
 
 [settings]

docs/conf.py

@@ -22,6 +22,10 @@ sys.path.insert(0, os.path.abspath("../source/isaaclab"))
 sys.path.insert(0, os.path.abspath("../source/isaaclab/isaaclab"))
 sys.path.insert(0, os.path.abspath("../source/isaaclab_tasks"))
 sys.path.insert(0, os.path.abspath("../source/isaaclab_tasks/isaaclab_tasks"))
+sys.path.insert(0, os.path.abspath("../source/isaaclab_rl"))
+sys.path.insert(0, os.path.abspath("../source/isaaclab_rl/isaaclab_rl"))
+sys.path.insert(0, os.path.abspath("../source/isaaclab_mimic"))
+sys.path.insert(0, os.path.abspath("../source/isaaclab_mimic/isaaclab_mimic"))
 
 # -- Project information -----------------------------------------------------
 

docs/source/api/index.rst

@@ -4,7 +4,7 @@ API Reference
 This page gives an overview of all the modules and classes in the Isaac Lab extensions.
 
 isaaclab extension
-------------------------
+------------------
 
 The following modules are available in the ``isaaclab`` extension:
 
@@ -38,7 +38,7 @@ The following modules are available in the ``isaaclab`` extension:
    lab/isaaclab.sim.spawners
 
 isaaclab_tasks extension
---------------------------------
+------------------------
 
 The following modules are available in the ``isaaclab_tasks`` extension:
 
@@ -50,8 +50,12 @@ The following modules are available in the ``isaaclab_tasks`` extension:
    utils
 
 
-.. toctree::
-   :hidden:
+isaaclab_rl extension
+---------------------
 
-   lab_tasks/isaaclab_tasks.utils.wrappers
-   lab_tasks/isaaclab_tasks.utils.data_collector
+The following wrappers are available in the ``isaaclab_rl`` extension:
+
+.. currentmodule:: isaaclab_rl
+
+.. autosummary::
+   :toctree: lab_rl

docs/source/api/lab_tasks/isaaclab_tasks.utils.wrappers.rst → docs/source/api/lab_rl/isaaclab_rl.rst

-isaaclab_tasks.utils.wrappers
-=============================
+isaaclab_rl
+===========
 
-.. automodule:: isaaclab_tasks.utils.wrappers
+.. automodule:: isaaclab_rl
 
 RL-Games Wrapper
 ----------------
 
-.. automodule:: isaaclab_tasks.utils.wrappers.rl_games
+.. automodule:: isaaclab_rl.rl_games
    :members:
    :show-inheritance:
 
 RSL-RL Wrapper
 --------------
 
-.. automodule:: isaaclab_tasks.utils.wrappers.rsl_rl
+.. automodule:: isaaclab_rl.rsl_rl
    :members:
    :imported-members:
    :show-inheritance:
@@ -21,13 +21,13 @@ RSL-RL Wrapper
 SKRL Wrapper
 ------------
 
-.. automodule:: isaaclab_tasks.utils.wrappers.skrl
+.. automodule:: isaaclab_rl.skrl
    :members:
    :show-inheritance:
 
 Stable-Baselines3 Wrapper
 -------------------------
 
-.. automodule:: isaaclab_tasks.utils.wrappers.sb3
+.. automodule:: isaaclab_rl.sb3
    :members:
    :show-inheritance:

docs/source/api/lab_tasks/isaaclab_tasks.utils.data_collector.rst

-isaaclab_tasks.utils.data_collector
-===================================
-
-.. automodule:: isaaclab_tasks.utils.data_collector
-
-    .. Rubric:: Classes
-
-    .. autosummary::
-
-        RobomimicDataCollector
-
-Robomimic Data Collector
-------------------------
-
-.. autoclass:: RobomimicDataCollector
-    :members:
-    :show-inheritance:

docs/source/api/lab_tasks/isaaclab_tasks.utils.rst

@@ -6,8 +6,3 @@
    :imported-members:
 
    .. rubric:: Submodules
-
-   .. autosummary::
-
-      data_collector
-      wrappers

docs/source/how-to/add_own_library.rst

@@ -73,7 +73,7 @@ The following steps can be followed to integrate a new library with Isaac Lab:
    installed or available.
 2. Install your library in the Python environment used by Isaac Lab. You can do this by following the steps mentioned
    in the previous section.
-3. Create a wrapper for the library. You can check the module :mod:`isaaclab_tasks.utils.wrappers`
+3. Create a wrapper for the library. You can check the module :mod:`isaaclab_rl`
    for examples of wrappers for different libraries. You can create a new wrapper for your library and add it to the
    module. You can also create a new module for the wrapper if you prefer.
 4. Create workflow scripts for your library to train and evaluate agents. You can check the existing workflow scripts
@@ -84,8 +84,8 @@ Optionally, you can also add some tests and documentation for the wrapper. This
 works as expected and can guide users on how to use the wrapper.
 
 * Add some tests to ensure that the wrapper works as expected and remains compatible with the library.
-  These tests can be added to the ``source/isaaclab_tasks/test/wrappers`` directory.
+  These tests can be added to the ``source/isaaclab_rl/test`` directory.
 * Add some documentation for the wrapper. You can add the API documentation to the
-  ``docs/source/api/lab_tasks/isaaclab_tasks.utils.wrappers.rst`` file.
+  ``docs/source/api/lab_tasks/isaaclab_rl.rst`` file.
 
 .. _rsl-rl: https://github.com/leggedrobotics/rsl_rl

docs/source/how-to/wrap_rl_env.rst

@@ -135,7 +135,7 @@ As an example of how to use the RL task environment with Stable-Baselines3:
 
 .. code:: python
 
-    from isaaclab_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper
+    from isaaclab_rl.sb3 import Sb3VecEnvWrapper
 
     # create isaac-env instance
     env = gym.make(task_name, cfg=env_cfg)
@@ -153,7 +153,7 @@ As an example of how to use the RL task environment with Stable-Baselines3:
 Adding new wrappers
 -------------------
 
-All new wrappers should be added to the :mod:`isaaclab_tasks.utils.wrappers` module.
+All new wrappers should be added to the :mod:`isaaclab_rl` module.
 They should check that the underlying environment is an instance of :class:`isaaclab.envs.ManagerBasedRLEnv`
 or :class:`~envs.DirectRLEnv`
 before applying the wrapper. This can be done by using the :func:`unwrapped` property.

docs/source/how-to/write_articulation_cfg.rst

@@ -22,7 +22,7 @@ is free to move along a rail, and the pole is free to rotate about the cart.
 .. dropdown:: Code for Cartpole configuration
    :icon: code
 
-   .. literalinclude:: ../../../source/isaaclab_assets/isaaclab_assets/cartpole.py
+   .. literalinclude:: ../../../source/isaaclab_assets/isaaclab_assets/robots/cartpole.py
       :language: python
       :linenos:
 
@@ -44,7 +44,7 @@ This configuration object takes in the following parameters:
 
 The last two parameters are optional. If not specified, they are kept at their default values in the USD file.
 
-.. literalinclude:: ../../../source/isaaclab_assets/isaaclab_assets/cartpole.py
+.. literalinclude:: ../../../source/isaaclab_assets/isaaclab_assets/robots/cartpole.py
    :language: python
    :lines: 19-35
    :dedent:
@@ -72,7 +72,7 @@ initial state of the root of the articulation and the initial state of all its j
 example, we will spawn the Cartpole at the origin of the XY plane at a Z height of 2.0 meters.
 Meanwhile, the joint positions and velocities are set to 0.0.
 
-.. literalinclude:: ../../../source/isaaclab_assets/isaaclab_assets/cartpole.py
+.. literalinclude:: ../../../source/isaaclab_assets/isaaclab_assets/robots/cartpole.py
    :language: python
    :lines: 36-38
    :dedent:
@@ -94,7 +94,7 @@ to combine them into a single actuator model.
 .. dropdown:: Actuator model configuration with separate actuator models
    :icon: code
 
-   .. literalinclude:: ../../../source/isaaclab_assets/isaaclab_assets/cartpole.py
+   .. literalinclude:: ../../../source/isaaclab_assets/isaaclab_assets/robots/cartpole.py
       :language: python
       :lines: 39-49
       :dedent:

docs/source/overview/developer-guide/repo_structure.rst

@@ -20,6 +20,8 @@ The Isaac Lab repository is structured as follows:
    ├── source
    │   ├── isaaclab
    │   ├── isaaclab_assets
+   │   ├── isaaclab_mimic
+   │   ├── isaaclab_rl
    │   └── isaaclab_tasks
    ├── scripts
    │   ├── demos
@@ -49,8 +51,9 @@ The extensions are organized as follows:
 * **isaaclab**: Contains the core interface extension for Isaac Lab. This provides the main modules for actuators,
   objects, robots and sensors.
 * **isaaclab_assets**: Contains the extension with pre-configured assets for Isaac Lab.
-* **isaaclab_tasks**: Contains the extension with pre-configured environments for Isaac Lab. It also includes
-  wrappers for using these environments with different agents.
+* **isaaclab_tasks**: Contains the extension with pre-configured environments for Isaac Lab.
+* **isaaclab_mimic**: Contains APIs and pre-configured environments for data generation for imitation learning.
+* **isaaclab_rl**: Contains wrappers for using the above environments with different reinforcement learning agents.
 
 
 Standalone

docs/source/refs/migration.rst

@@ -42,6 +42,28 @@ From the Isaac Sim UI, both URDF and MJCF importers can now be accessed directly
 menu when selecting a corresponding .urdf or .xml file in the file browser.
 
 
+Changes in URDF Importer
+------------------------
+
+Isaac Sim 4.5 brings some updates to the URDF Importer, with a fresh UI to allow for better configurations
+when importing robots from URDF. As a result, the Isaac Lab URDF Converter has also been updated to
+reflect these changes. The :class:`UrdfConverterCfg` includes some new settings, such as :class:`PDGainsCfg`
+and :class:`NaturalFrequencyGainsCfg` classes for configuring the gains of the drives.
+
+One breaking change to note is that the :attr:`UrdfConverterCfg.JointDriveCfg.gains` attribute must
+be of class type :class:`PDGainsCfg` or :class:`NaturalFrequencyGainsCfg`.
+
+The stiffness of the :class:`PDGainsCfg` must be specified, as such:
+
+.. code::python
+
+    joint_drive=sim_utils.UrdfConverterCfg.JointDriveCfg(
+        gains=sim_utils.UrdfConverterCfg.JointDriveCfg.PDGainsCfg(stiffness=None, damping=None)
+    )
+
+The :attr:`natural_frequency` must be specified for :class:`NaturalFrequencyGainsCfg`.
+
+
 Renaming of omni.isaac.core Classes
 -----------------------------------
 
@@ -93,4 +115,21 @@ through the ``source`` and ``docs`` directories in your local Isaac Lab project
 directories and imports. **Please use the script at your own risk as it will overwrite source files directly.**
 
 
+Restructuring of Isaac Lab Extensions
+-------------------------------------
+
+With the introduction of ``isaaclab_mimic``, designed for supporting data generation workflows for imitation learning,
+we have also split out the previous ``wrappers`` folder under ``isaaclab_tasks`` to its own module, named ``isaaclab_rl``.
+This new extension will contain reinforcement learning specific wrappers for the various RL libraries supported by Isaac Lab.
+
+The new ``isaaclab_mimic`` extension will also replace the previous imitation learning scripts under the ``robomimic`` folder.
+We have removed the old scripts for data collection and dataset preparation in favor of the new mimic workflow. For users
+who prefer to use the previous scripts, they will be available in previous release branches.
+
+Additionally, we have also restructured the ``isaaclab_assets`` extension to be split into ``robots`` and ``sensors``
+subdirectories. This allows for clearer separation between the pre-defined configurations provided in the extension.
+For any existing imports such as ``from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG``, please replace it with
+``from isaaclab.robots.anymal import ANYMAL_C_CFG``.
+
+
 .. _simple script: https://gist.github.com/kellyguo11/3e8f73f739b1c013b1069ad372277a85

docs/source/refs/reference_architecture/index.rst

@@ -198,7 +198,7 @@ Some wrappers include:
 Most RL libraries expect their own variation of an environment interface. This means the
 data types needed by each library differs. Isaac Lab provides its own wrappers to convert
 the environment into the expected interface by the RL library a user wants to use. These are
-specified in the `Isaac Lab utils wrapper module <https://isaac-sim.github.io/IsaacLab/main/source/api/lab_tasks/isaaclab_tasks.utils.wrappers.html#module-isaaclab_tasks.utils.wrappers>`__.
+specified in the `Isaac Lab utils wrapper module <https://isaac-sim.github.io/IsaacLab/main/source/api/lab_tasks/isaaclab_rl.html#module-isaaclab_rl>`__.
 
 See the `full list <https://gymnasium.farama.org/api/wrappers/#gymnasium.Wrapper>`__ of other wrappers APIs. For more information on how these wrappers work,
 please refer to the `Wrapping environments <https://isaac-sim.github.io/IsaacLab/main/source/how-to/wrap_rl_env.html#how-to-env-wrappers>`__ documentation.

docs/source/tutorials/03_envs/run_rl_training.rst

@@ -20,7 +20,7 @@ For example, `Stable-Baselines3`_ expects the environment to conform to its
 `RSL-RL`_, `RL-Games`_ and `SKRL`_ expect a different interface. Since there is no one-size-fits-all
 solution, we do not base the :class:`envs.ManagerBasedRLEnv` on any particular learning library.
 Instead, we implement wrappers to convert the environment into the expected interface.
-These are specified in the :mod:`isaaclab_tasks.utils.wrappers` module.
+These are specified in the :mod:`isaaclab_rl` module.
 
 In this tutorial, we will use `Stable-Baselines3`_ to train an RL agent to solve the
 cartpole balancing task.

isaaclab.bat

@@ -291,7 +291,7 @@ if "%arg%"=="-i" (
         shift
     )
     rem install the rl-frameworks specified
-    call !python_exe! -m pip install -e %ISAACLAB_PATH%\source\isaaclab_tasks[!framework_name!]
+    call !python_exe! -m pip install -e %ISAACLAB_PATH%\source\isaaclab_rl[!framework_name!]
     shift
 ) else if "%arg%"=="--install" (
     rem install the python packages in source directory
@@ -316,7 +316,7 @@ if "%arg%"=="-i" (
         shift
     )
     rem install the rl-frameworks specified
-    call !python_exe! -m pip install -e %ISAACLAB_PATH%\source\isaaclab_tasks[!framework_name!]
+    call !python_exe! -m pip install -e %ISAACLAB_PATH%\source\isaaclab_rl[!framework_name!]
     rem update the vscode settings
     rem once we have a docker container, we need to disable vscode settings
     call :update_vscode_settings

isaaclab.sh

@@ -296,7 +296,7 @@ while [[ $# -gt 0 ]]; do
                 shift # past argument
             fi
             # install the rl-frameworks specified
-            ${python_exe} -m pip install -e ${ISAACLAB_PATH}/source/isaaclab_tasks["${framework_name}"]
+            ${python_exe} -m pip install -e ${ISAACLAB_PATH}/source/isaaclab_rl["${framework_name}"]
 
             # check if we are inside a docker container or are building a docker image
             # in that case don't setup VSCode since it asks for EULA agreement which triggers user interaction

scripts/benchmarks/benchmark_rlgames.py

@@ -69,6 +69,7 @@ import random
 import torch
 from datetime import datetime
 
+from isaaclab_rl.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper
 from rl_games.common import env_configurations, vecenv
 from rl_games.common.algo_observer import IsaacAlgoObserver
 from rl_games.torch_runner import Runner
@@ -79,7 +80,6 @@ from isaaclab.utils.io import dump_pickle, dump_yaml
 
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.hydra import hydra_task_config
-from isaaclab_tasks.utils.wrappers.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper
 
 imports_time_end = time.perf_counter_ns()
 

scripts/benchmarks/benchmark_rsl_rl.py

@@ -67,6 +67,7 @@ import os
 import torch
 from datetime import datetime
 
+from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlVecEnvWrapper
 from rsl_rl.runners import OnPolicyRunner
 
 from isaaclab.envs import DirectMARLEnvCfg, DirectRLEnvCfg, ManagerBasedRLEnvCfg
@@ -76,7 +77,6 @@ from isaaclab.utils.io import dump_pickle, dump_yaml
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils import get_checkpoint_path
 from isaaclab_tasks.utils.hydra import hydra_task_config
-from isaaclab_tasks.utils.wrappers.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlVecEnvWrapper
 
 imports_time_end = time.perf_counter_ns()
 

scripts/demos/bipeds.py

@@ -40,7 +40,7 @@ from isaaclab.sim import SimulationContext
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.cassie import CASSIE_CFG  # isort:skip
+from isaaclab_assets.robots.cassie import CASSIE_CFG  # isort:skip
 from isaaclab_assets import H1_CFG  # isort:skip
 from isaaclab_assets import G1_CFG  # isort:skip
 

scripts/demos/cameras.py

@@ -54,7 +54,7 @@ from isaaclab.utils import configclass
 # Pre-defined configs
 ##
 from isaaclab.terrains.config.rough import ROUGH_TERRAINS_CFG  # isort:skip
-from isaaclab_assets.anymal import ANYMAL_C_CFG  # isort: skip
+from isaaclab_assets.robots.anymal import ANYMAL_C_CFG  # isort: skip
 
 
 @configclass

scripts/demos/hands.py

@@ -43,8 +43,8 @@ from isaaclab.assets import Articulation
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.allegro import ALLEGRO_HAND_CFG  # isort:skip
-from isaaclab_assets.shadow_hand import SHADOW_HAND_CFG  # isort:skip
+from isaaclab_assets.robots.allegro import ALLEGRO_HAND_CFG  # isort:skip
+from isaaclab_assets.robots.shadow_hand import SHADOW_HAND_CFG  # isort:skip
 
 
 def define_origins(num_origins: int, spacing: float) -> list[list[float]]:

scripts/demos/multi_asset.py

@@ -59,7 +59,7 @@ from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 # Pre-defined Configuration
 ##
 
-from isaaclab_assets.anymal import ANYDRIVE_3_LSTM_ACTUATOR_CFG  # isort: skip
+from isaaclab_assets.robots.anymal import ANYDRIVE_3_LSTM_ACTUATOR_CFG  # isort: skip
 
 
 ##

scripts/demos/quadrupeds.py

@@ -43,9 +43,9 @@ from isaaclab.assets import Articulation
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.anymal import ANYMAL_B_CFG, ANYMAL_C_CFG, ANYMAL_D_CFG  # isort:skip
-from isaaclab_assets.spot import SPOT_CFG  # isort:skip
-from isaaclab_assets.unitree import UNITREE_A1_CFG, UNITREE_GO1_CFG, UNITREE_GO2_CFG  # isort:skip
+from isaaclab_assets.robots.anymal import ANYMAL_B_CFG, ANYMAL_C_CFG, ANYMAL_D_CFG  # isort:skip
+from isaaclab_assets.robots.spot import SPOT_CFG  # isort:skip
+from isaaclab_assets.robots.unitree import UNITREE_A1_CFG, UNITREE_GO1_CFG, UNITREE_GO2_CFG  # isort:skip
 
 
 def define_origins(num_origins: int, spacing: float) -> list[list[float]]:

scripts/demos/sensors/contact_sensor.py

@@ -34,7 +34,7 @@ from isaaclab.utils import configclass
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.anymal import ANYMAL_C_CFG  # isort: skip
+from isaaclab_assets.robots.anymal import ANYMAL_C_CFG  # isort: skip
 
 
 @configclass

scripts/demos/sensors/frame_transformer_sensor.py

@@ -32,7 +32,7 @@ from isaaclab.utils import configclass
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.anymal import ANYMAL_C_CFG  # isort: skip
+from isaaclab_assets.robots.anymal import ANYMAL_C_CFG  # isort: skip
 
 
 @configclass

scripts/demos/sensors/raycaster_sensor.py

@@ -34,7 +34,7 @@ from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.anymal import ANYMAL_C_CFG  # isort: skip
+from isaaclab_assets.robots.anymal import ANYMAL_C_CFG  # isort: skip
 
 
 @configclass

scripts/imitation_learning/robomimic/collect_demonstrations.py

-# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
-# All rights reserved.
-#
-# SPDX-License-Identifier: BSD-3-Clause
-
-"""Script to collect demonstrations with Isaac Lab environments."""
-
-"""Launch Isaac Sim Simulator first."""
-
-import argparse
-
-from isaaclab.app import AppLauncher
-
-# add argparse arguments
-parser = argparse.ArgumentParser(description="Collect demonstrations for Isaac Lab environments.")
-parser.add_argument("--num_envs", type=int, default=1, help="Number of environments to simulate.")
-parser.add_argument("--task", type=str, default=None, help="Name of the task.")
-parser.add_argument("--teleop_device", type=str, default="keyboard", help="Device for interacting with environment")
-parser.add_argument("--num_demos", type=int, default=1, help="Number of episodes to store in the dataset.")
-parser.add_argument("--filename", type=str, default="hdf_dataset", help="Basename of output file.")
-# append AppLauncher cli args
-AppLauncher.add_app_launcher_args(parser)
-# parse the arguments
-args_cli = parser.parse_args()
-
-# launch the simulator
-app_launcher = AppLauncher(args_cli)
-simulation_app = app_launcher.app
-
-"""Rest everything follows."""
-
-import contextlib
-import gymnasium as gym
-import os
-import torch
-
-from isaaclab.devices import Se3Keyboard, Se3SpaceMouse
-from isaaclab.managers import TerminationTermCfg as DoneTerm
-from isaaclab.utils.io import dump_pickle, dump_yaml
-
-import isaaclab_tasks  # noqa: F401
-from isaaclab_tasks.manager_based.manipulation.lift import mdp
-from isaaclab_tasks.utils.data_collector import RobomimicDataCollector
-from isaaclab_tasks.utils.parse_cfg import parse_env_cfg
-
-
-def pre_process_actions(delta_pose: torch.Tensor, gripper_command: bool) -> torch.Tensor:
-    """Pre-process actions for the environment."""
-    # compute actions based on environment
-    if "Reach" in args_cli.task:
-        # note: reach is the only one that uses a different action space
-        # compute actions
-        return delta_pose
-    else:
-        # resolve gripper command
-        gripper_vel = torch.zeros((delta_pose.shape[0], 1), dtype=torch.float, device=delta_pose.device)
-        gripper_vel[:] = -1 if gripper_command else 1
-        # compute actions
-        return torch.concat([delta_pose, gripper_vel], dim=1)
-
-
-def main():
-    """Collect demonstrations from the environment using teleop interfaces."""
-    assert (
-        args_cli.task == "Isaac-Lift-Cube-Franka-IK-Rel-v0"
-    ), "Only 'Isaac-Lift-Cube-Franka-IK-Rel-v0' is supported currently."
-    # parse configuration
-    env_cfg = parse_env_cfg(args_cli.task, device=args_cli.device, num_envs=args_cli.num_envs)
-
-    # modify configuration such that the environment runs indefinitely
-    # until goal is reached
-    env_cfg.terminations.time_out = None
-    # set the resampling time range to large number to avoid resampling
-    env_cfg.commands.object_pose.resampling_time_range = (1.0e9, 1.0e9)
-    # we want to have the terms in the observations returned as a dictionary
-    # rather than a concatenated tensor
-    env_cfg.observations.policy.concatenate_terms = False
-
-    # add termination condition for reaching the goal otherwise the environment won't reset
-    env_cfg.terminations.object_reached_goal = DoneTerm(func=mdp.object_reached_goal)
-
-    # create environment
-    env = gym.make(args_cli.task, cfg=env_cfg)
-
-    # create controller
-    if args_cli.teleop_device.lower() == "keyboard":
-        teleop_interface = Se3Keyboard(pos_sensitivity=0.04, rot_sensitivity=0.08)
-    elif args_cli.teleop_device.lower() == "spacemouse":
-        teleop_interface = Se3SpaceMouse(pos_sensitivity=0.05, rot_sensitivity=0.005)
-    else:
-        raise ValueError(f"Invalid device interface '{args_cli.teleop_device}'. Supported: 'keyboard', 'spacemouse'.")
-    # add teleoperation key for env reset
-    teleop_interface.add_callback("L", env.reset)
-    # print helper
-    print(teleop_interface)
-
-    # specify directory for logging experiments
-    log_dir = os.path.join("./logs/robomimic", args_cli.task)
-    # dump the configuration into log-directory
-    dump_yaml(os.path.join(log_dir, "params", "env.yaml"), env_cfg)
-    dump_pickle(os.path.join(log_dir, "params", "env.pkl"), env_cfg)
-
-    # create data-collector
-    collector_interface = RobomimicDataCollector(
-        env_name=args_cli.task,
-        directory_path=log_dir,
-        filename=args_cli.filename,
-        num_demos=args_cli.num_demos,
-        flush_freq=env.num_envs,
-        env_config={"teleop_device": args_cli.teleop_device},
-    )
-
-    # reset environment
-    obs_dict, _ = env.reset()
-
-    # reset interfaces
-    teleop_interface.reset()
-    collector_interface.reset()
-
-    # simulate environment -- run everything in inference mode
-    with contextlib.suppress(KeyboardInterrupt) and torch.inference_mode():
-        while not collector_interface.is_stopped():
-            # get keyboard command
-            delta_pose, gripper_command = teleop_interface.advance()
-            # convert to torch
-            delta_pose = torch.tensor(delta_pose, dtype=torch.float, device=env.device).repeat(env.num_envs, 1)
-            # compute actions based on environment
-            actions = pre_process_actions(delta_pose, gripper_command)
-
-            # TODO: Deal with the case when reset is triggered by teleoperation device.
-            #   The observations need to be recollected.
-            # store signals before stepping
-            # -- obs
-            for key, value in obs_dict["policy"].items():
-                collector_interface.add(f"obs/{key}", value)
-            # -- actions
-            collector_interface.add("actions", actions)
-
-            # perform action on environment
-            obs_dict, rewards, terminated, truncated, info = env.step(actions)
-            dones = terminated | truncated
-            # check that simulation is stopped or not
-            if env.unwrapped.sim.is_stopped():
-                break
-
-            # robomimic only cares about policy observations
-            # store signals from the environment
-            # -- next_obs
-            for key, value in obs_dict["policy"].items():
-                collector_interface.add(f"next_obs/{key}", value)
-            # -- rewards
-            collector_interface.add("rewards", rewards)
-            # -- dones
-            collector_interface.add("dones", dones)
-
-            # -- is success label
-            collector_interface.add("success", env.termination_manager.get_term("object_reached_goal"))
-
-            # flush data from collector for successful environments
-            reset_env_ids = dones.nonzero(as_tuple=False).squeeze(-1)
-            collector_interface.flush(reset_env_ids)
-
-            # check if enough data is collected
-            if collector_interface.is_stopped():
-                break
-
-    # close the simulator
-    collector_interface.close()
-    env.close()
-
-
-if __name__ == "__main__":
-    # run the main function
-    main()
-    # close sim app
-    simulation_app.close()

scripts/imitation_learning/robomimic/tools/episode_merging.py

-# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
-# All rights reserved.
-#
-# SPDX-License-Identifier: BSD-3-Clause
-
-"""Tool to merge multiple episodes with single trajectory into one episode with multiple trajectories."""
-
-import argparse
-import h5py
-import json
-import os
-
-if __name__ == "__main__":
-    # parse arguments
-    parser = argparse.ArgumentParser(description="Merge multiple episodes with single trajectory into one episode.")
-    parser.add_argument(
-        "--dir", type=str, default=None, help="Path to directory that contains all single episode hdf5 files"
-    )
-    parser.add_argument("--task", type=str, default=None, help="Name of the task.")
-    parser.add_argument("--out", type=str, default="merged_dataset.hdf5", help="output hdf5 file")
-    args_cli = parser.parse_args()
-
-    # read arguments
-    parent_dir = args_cli.dir
-    merged_dataset_name = args_cli.out
-    task_name = args_cli.task
-    # check valid task name
-    if task_name is None:
-        raise ValueError("Please specify a valid task name.")
-
-    # get hdf5 entries from specified directory
-    entries = [i for i in os.listdir(parent_dir) if i.endswith(".hdf5")]
-
-    # create new hdf5 file for merging episodes
-    fp = h5py.File(parent_dir + merged_dataset_name, "a")
-
-    # initiate data group
-    f_grp = fp.create_group("data")
-    f_grp.attrs["num_samples"] = 0
-
-    # merge all episodes
-    for count, entry in enumerate(entries):
-        fc = h5py.File(parent_dir + entry, "r")
-
-        # find total number of samples in all demos
-        f_grp.attrs["num_samples"] = f_grp.attrs["num_samples"] + fc["data"]["demo_0"].attrs["num_samples"]
-
-        fc.copy("data/demo_0", fp["data"], "demo_" + str(count))
-
-    # This is needed to run env in robomimic
-    fp["data"].attrs["env_args"] = json.dumps({"env_name": task_name, "type": 2, "env_kwargs": {}})
-
-    fp.close()
-
-    print("merged")

scripts/imitation_learning/robomimic/tools/inspect_demonstrations.py

-# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
-# All rights reserved.
-#
-# SPDX-License-Identifier: BSD-3-Clause
-
-"""Tool to check structure of hdf5 files."""
-
-import argparse
-import h5py
-
-
-def check_group(f, num: int):
-    """Print the data from different keys in stored dictionary."""
-    # print name of the group first
-    for subs in f:
-        if isinstance(subs, str):
-            print("\t" * num, subs, ":", type(f[subs]))
-            check_group(f[subs], num + 1)
-    # print attributes of the group
-    print("\t" * num, "attributes", ":")
-    for attr in f.attrs:
-        print("\t" * (num + 1), attr, ":", type(f.attrs[attr]), ":", f.attrs[attr])
-
-
-if __name__ == "__main__":
-    # parse arguments
-    parser = argparse.ArgumentParser(description="Check structure of hdf5 file.")
-    parser.add_argument("file", type=str, default=None, help="The path to HDF5 file to analyze.")
-    args_cli = parser.parse_args()
-
-    # open specified file
-    with h5py.File(args_cli.file, "r") as f:
-        # print name of the file first
-        print(f)
-        # print contents of file
-        check_group(f["data"], 1)

scripts/imitation_learning/robomimic/tools/split_train_val.py

-# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
-# All rights reserved.
-#
-# SPDX-License-Identifier: BSD-3-Clause
-
-# MIT License
-#
-# Copyright (c) 2021 Stanford Vision and Learning Lab
-#
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-#
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-# SOFTWARE.
-#
-
-"""
-Script for splitting a dataset hdf5 file into training and validation trajectories.
-
-Args:
-    dataset: path to hdf5 dataset
-
-    filter_key: if provided, split the subset of trajectories
-        in the file that correspond to this filter key into a training
-        and validation set of trajectories, instead of splitting the
-        full set of trajectories
-
-    ratio: validation ratio, in (0, 1). Defaults to 0.1, which is 10%.
-
-Example usage:
-    python split_train_val.py --dataset /path/to/demo.hdf5 --ratio 0.1
-"""
-
-import argparse
-import h5py
-import numpy as np
-
-from robomimic.utils.file_utils import create_hdf5_filter_key
-
-
-def split_train_val_from_hdf5(hdf5_path: str, val_ratio=0.1, filter_key=None):
-    """
-    Splits data into training set and validation set from HDF5 file.
-
-    Args:
-        hdf5_path: path to the hdf5 file to load the transitions from
-        val_ratio: ratio of validation demonstrations to all demonstrations
-
-        filter_key: if provided, split the subset of demonstration keys stored
-            under mask/@filter_key instead of the full set of demonstrations
-    """
-    # retrieve number of demos
-    f = h5py.File(hdf5_path, "r")
-    if filter_key is not None:
-        print(f"Using filter key: {filter_key}")
-        demos = sorted(elem.decode("utf-8") for elem in np.array(f[f"mask/{filter_key}"]))
-    else:
-        demos = sorted(list(f["data"].keys()))
-    num_demos = len(demos)
-    f.close()
-
-    # get random split
-    num_demos = len(demos)
-    num_val = int(val_ratio * num_demos)
-    mask = np.zeros(num_demos)
-    mask[:num_val] = 1.0
-    np.random.shuffle(mask)
-    mask = mask.astype(int)
-    train_inds = (1 - mask).nonzero()[0]
-    valid_inds = mask.nonzero()[0]
-    train_keys = [demos[i] for i in train_inds]
-    valid_keys = [demos[i] for i in valid_inds]
-    print(f"{num_val} validation demonstrations out of {num_demos} total demonstrations.")
-
-    # pass mask to generate split
-    name_1 = "train"
-    name_2 = "valid"
-    if filter_key is not None:
-        name_1 = f"{filter_key}_{name_1}"
-        name_2 = f"{filter_key}_{name_2}"
-
-    train_lengths = create_hdf5_filter_key(hdf5_path=hdf5_path, demo_keys=train_keys, key_name=name_1)
-    valid_lengths = create_hdf5_filter_key(hdf5_path=hdf5_path, demo_keys=valid_keys, key_name=name_2)
-
-    print(f"Total number of train samples: {np.sum(train_lengths)}")
-    print(f"Average number of train samples {np.mean(train_lengths)}")
-
-    print(f"Total number of valid samples: {np.sum(valid_lengths)}")
-    print(f"Average number of valid samples {np.mean(valid_lengths)}")
-
-
-if __name__ == "__main__":
-    parser = argparse.ArgumentParser()
-    parser.add_argument("dataset", type=str, help="path to hdf5 dataset")
-    parser.add_argument(
-        "--filter_key",
-        type=str,
-        default=None,
-        help=(
-            "If provided, split the subset of trajectories in the file that correspond to this filter key"
-            " into a training and validation set of trajectories, instead of splitting the full set of"
-            " trajectories."
-        ),
-    )
-    parser.add_argument("--ratio", type=float, default=0.1, help="validation ratio, in (0, 1)")
-    args = parser.parse_args()
-
-    # seed to make sure results are consistent
-    np.random.seed(0)
-
-    split_train_val_from_hdf5(args.dataset, val_ratio=args.ratio, filter_key=args.filter_key)

scripts/reinforcement_learning/rl_games/play.py

@@ -51,6 +51,7 @@ import math
 import os
 import torch
 
+from isaaclab_rl.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper
 from rl_games.common import env_configurations, vecenv
 from rl_games.common.player import BasePlayer
 from rl_games.torch_runner import Runner
@@ -62,7 +63,6 @@ from isaaclab.utils.pretrained_checkpoint import get_published_pretrained_checkp
 
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils import get_checkpoint_path, load_cfg_from_registry, parse_env_cfg
-from isaaclab_tasks.utils.wrappers.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper
 
 
 def main():

scripts/reinforcement_learning/rl_games/train.py

@@ -50,6 +50,7 @@ import os
 import random
 from datetime import datetime
 
+from isaaclab_rl.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper
 from rl_games.common import env_configurations, vecenv
 from rl_games.common.algo_observer import IsaacAlgoObserver
 from rl_games.torch_runner import Runner
@@ -67,7 +68,6 @@ from isaaclab.utils.io import dump_pickle, dump_yaml
 
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.hydra import hydra_task_config
-from isaaclab_tasks.utils.wrappers.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper
 
 
 @hydra_task_config(args_cli.task, "rl_games_cfg_entry_point")

scripts/reinforcement_learning/rsl_rl/cli_args.py

@@ -10,7 +10,7 @@ import random
 from typing import TYPE_CHECKING
 
 if TYPE_CHECKING:
-    from isaaclab_tasks.utils.wrappers.rsl_rl import RslRlOnPolicyRunnerCfg
+    from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg
 
 
 def add_rsl_rl_args(parser: argparse.ArgumentParser):

scripts/reinforcement_learning/rsl_rl/play.py

@@ -47,6 +47,7 @@ import gymnasium as gym
 import os
 import torch
 
+from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlVecEnvWrapper, export_policy_as_jit, export_policy_as_onnx
 from rsl_rl.runners import OnPolicyRunner
 
 from isaaclab.envs import DirectMARLEnv, multi_agent_to_single_agent
@@ -56,12 +57,6 @@ from isaaclab.utils.pretrained_checkpoint import get_published_pretrained_checkp
 
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils import get_checkpoint_path, parse_env_cfg
-from isaaclab_tasks.utils.wrappers.rsl_rl import (
-    RslRlOnPolicyRunnerCfg,
-    RslRlVecEnvWrapper,
-    export_policy_as_jit,
-    export_policy_as_onnx,
-)
 
 
 def main():

scripts/reinforcement_learning/rsl_rl/train.py

@@ -49,6 +49,7 @@ import os
 import torch
 from datetime import datetime
 
+from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlVecEnvWrapper
 from rsl_rl.runners import OnPolicyRunner
 
 from isaaclab.envs import (
@@ -64,7 +65,6 @@ from isaaclab.utils.io import dump_pickle, dump_yaml
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils import get_checkpoint_path
 from isaaclab_tasks.utils.hydra import hydra_task_config
-from isaaclab_tasks.utils.wrappers.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlVecEnvWrapper
 
 torch.backends.cuda.matmul.allow_tf32 = True
 torch.backends.cudnn.allow_tf32 = True

scripts/reinforcement_learning/sb3/train.py

@@ -49,6 +49,7 @@ import os
 import random
 from datetime import datetime
 
+from isaaclab_rl.sb3 import Sb3VecEnvWrapper, process_sb3_cfg
 from stable_baselines3 import PPO
 from stable_baselines3.common.callbacks import CheckpointCallback
 from stable_baselines3.common.logger import configure
@@ -66,7 +67,6 @@ from isaaclab.utils.io import dump_pickle, dump_yaml
 
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.hydra import hydra_task_config
-from isaaclab_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper, process_sb3_cfg
 
 
 @hydra_task_config(args_cli.task, "sb3_cfg_entry_point")

scripts/reinforcement_learning/skrl/play.py

@@ -80,13 +80,14 @@ if args_cli.ml_framework.startswith("torch"):
 elif args_cli.ml_framework.startswith("jax"):
     from skrl.utils.runner.jax import Runner
 
+from isaaclab_rl.skrl import SkrlVecEnvWrapper
+
 from isaaclab.envs import DirectMARLEnv, multi_agent_to_single_agent
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.pretrained_checkpoint import get_published_pretrained_checkpoint
 
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils import get_checkpoint_path, load_cfg_from_registry, parse_env_cfg
-from isaaclab_tasks.utils.wrappers.skrl import SkrlVecEnvWrapper
 
 # config shortcuts
 algorithm = args_cli.algorithm.lower()

scripts/reinforcement_learning/skrl/train.py

@@ -83,6 +83,8 @@ if args_cli.ml_framework.startswith("torch"):
 elif args_cli.ml_framework.startswith("jax"):
     from skrl.utils.runner.jax import Runner
 
+from isaaclab_rl.skrl import SkrlVecEnvWrapper
+
 from isaaclab.envs import (
     DirectMARLEnv,
     DirectMARLEnvCfg,
@@ -95,7 +97,6 @@ from isaaclab.utils.io import dump_pickle, dump_yaml
 
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.hydra import hydra_task_config
-from isaaclab_tasks.utils.wrappers.skrl import SkrlVecEnvWrapper
 
 # config shortcuts
 algorithm = args_cli.algorithm.lower()

scripts/tutorials/03_envs/create_quadruped_base_env.py

@@ -60,7 +60,7 @@ from isaaclab.utils.noise import AdditiveUniformNoiseCfg as Unoise
 # Pre-defined configs
 ##
 from isaaclab.terrains.config.rough import ROUGH_TERRAINS_CFG  # isort: skip
-from isaaclab_assets.anymal import ANYMAL_C_CFG  # isort: skip
+from isaaclab_assets.robots.anymal import ANYMAL_C_CFG  # isort: skip
 
 
 ##

scripts/tutorials/04_sensors/add_sensors_on_robot.py

@@ -50,7 +50,7 @@ from isaaclab.utils import configclass
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.anymal import ANYMAL_C_CFG  # isort: skip
+from isaaclab_assets.robots.anymal import ANYMAL_C_CFG  # isort: skip
 
 
 @configclass

scripts/tutorials/04_sensors/run_frame_transformer.py

@@ -48,7 +48,7 @@ from isaaclab.sim import SimulationContext
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.anymal import ANYMAL_C_CFG  # isort:skip
+from isaaclab_assets.robots.anymal import ANYMAL_C_CFG  # isort:skip
 
 
 def define_sensor() -> FrameTransformer:

source/isaaclab/isaaclab/scene/interactive_scene.py

@@ -62,7 +62,7 @@ class InteractiveScene:
         from isaaclab.scene import InteractiveSceneCfg
         from isaaclab.utils import configclass
 
-        from isaaclab_assets.anymal import ANYMAL_C_CFG
+        from isaaclab_assets.robots.anymal import ANYMAL_C_CFG
 
         @configclass
         class MySceneCfg(InteractiveSceneCfg):

source/isaaclab/isaaclab/scene/interactive_scene_cfg.py

@@ -31,7 +31,7 @@ class InteractiveSceneCfg:
         from isaaclab.sensors.ray_caster import GridPatternCfg, RayCasterCfg
         from isaaclab.utils import configclass
 
-        from isaaclab_assets.anymal import ANYMAL_C_CFG
+        from isaaclab_assets.robots.anymal import ANYMAL_C_CFG
 
         @configclass
         class MySceneCfg(InteractiveSceneCfg):

source/isaaclab/isaaclab/sim/simulation_context.py

@@ -698,8 +698,9 @@ class SimulationContext(_SimulationContext):
         logging.set_level_threshold(carb.logging.LEVEL_ERROR)
 
         # App shutdown is disabled to prevent crashes on shutdown. Terminating carb is faster
-        # self._app.shutdown()
+        self._app.shutdown()
         self._framework.unload_all_plugins()
+        sys.exit(0)
 
 
 @contextmanager

source/isaaclab/test/assets/check_external_force.py

@@ -45,7 +45,7 @@ from isaaclab.sim import SimulationContext
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.anymal import ANYMAL_C_CFG  # isort:skip
+from isaaclab_assets.robots.anymal import ANYMAL_C_CFG  # isort:skip
 
 
 def main():

source/isaaclab/test/assets/check_ridgeback_franka.py

@@ -42,7 +42,7 @@ from isaaclab.assets import Articulation
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.ridgeback_franka import RIDGEBACK_FRANKA_PANDA_CFG  # isort:skip
+from isaaclab_assets.robots.ridgeback_franka import RIDGEBACK_FRANKA_PANDA_CFG  # isort:skip
 
 
 def design_scene():

source/isaaclab/test/envs/check_manager_based_env_anymal_locomotion.py

@@ -54,7 +54,7 @@ from isaaclab.utils.noise import AdditiveUniformNoiseCfg as Unoise
 # Pre-defined configs
 ##
 from isaaclab.terrains.config.rough import ROUGH_TERRAINS_CFG  # isort: skip
-from isaaclab_assets.anymal import ANYMAL_C_CFG  # isort: skip
+from isaaclab_assets.robots.anymal import ANYMAL_C_CFG  # isort: skip
 
 
 ##

source/isaaclab/test/markers/check_markers_visibility.py

@@ -47,7 +47,7 @@ from isaaclab.utils import configclass
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.anymal import ANYMAL_C_CFG  # isort:skip
+from isaaclab_assets.robots.anymal import ANYMAL_C_CFG  # isort:skip
 
 
 @configclass

source/isaaclab/test/scene/check_interactive_scene.py

@@ -39,7 +39,7 @@ from isaaclab.utils.timer import Timer
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.anymal import ANYMAL_C_CFG  # isort: skip
+from isaaclab_assets.robots.anymal import ANYMAL_C_CFG  # isort: skip
 
 
 @configclass

source/isaaclab/test/sensors/check_contact_sensor.py

@@ -49,7 +49,7 @@ from isaaclab.sensors.contact_sensor import ContactSensor, ContactSensorCfg
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.anymal import ANYMAL_C_CFG  # isort:skip
+from isaaclab_assets.robots.anymal import ANYMAL_C_CFG  # isort:skip
 
 
 """

source/isaaclab/test/sensors/test_frame_transformer.py

@@ -31,7 +31,7 @@ from isaaclab.utils import configclass
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.anymal import ANYMAL_C_CFG  # isort:skip
+from isaaclab_assets.robots.anymal import ANYMAL_C_CFG  # isort:skip
 
 
 def quat_from_euler_rpy(roll, pitch, yaw, degrees=False):

source/isaaclab/test/sensors/test_imu.py

@@ -32,7 +32,7 @@ from isaaclab.utils import configclass
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.anymal import ANYMAL_C_CFG  # isort: skip
+from isaaclab_assets.robots.anymal import ANYMAL_C_CFG  # isort: skip
 from isaaclab.utils.assets import NUCLEUS_ASSET_ROOT_DIR  # isort: skip
 
 # offset of imu_link from base_link on anymal_c

source/isaaclab_assets/config/extension.toml

 [package]
 # Semantic Versioning is used: https://semver.org/
-version = "0.1.4"
+version = "0.2.0"
 
 # Description
 title =  "Isaac Lab Assets"

source/isaaclab_assets/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.2.0 (2024-12-27)
+~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Restructured the assets directory into ``robots`` and ``sensors`` subdirectories.
+
+
 0.1.4 (2024-08-21)
 ~~~~~~~~~~~~~~~~~~
 

source/isaaclab_assets/isaaclab_assets/__init__.py

@@ -2,7 +2,6 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
-
 """Package containing asset and sensor configurations."""
 
 import os
@@ -21,22 +20,5 @@ ISAACLAB_ASSETS_METADATA = toml.load(os.path.join(ISAACLAB_ASSETS_EXT_DIR, "conf
 # Configure the module-level variables
 __version__ = ISAACLAB_ASSETS_METADATA["package"]["version"]
 
-
-##
-# Configuration for different assets.
-##
-
-from .allegro import *
-from .ant import *
-from .anymal import *
-from .cart_double_pendulum import *
-from .cartpole import *
-from .franka import *
-from .humanoid import *
-from .kinova import *
-from .quadcopter import *
-from .ridgeback_franka import *
-from .sawyer import *
-from .shadow_hand import *
-from .unitree import *
-from .universal_robots import *
+from .robots import *
+from .sensors import *

source/isaaclab_assets/isaaclab_assets/robots/__init__.py

+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+##
+# Configuration for different assets.
+##
+
+from .allegro import *
+from .ant import *
+from .anymal import *
+from .cart_double_pendulum import *
+from .cartpole import *
+from .franka import *
+from .humanoid import *
+from .kinova import *
+from .quadcopter import *
+from .ridgeback_franka import *
+from .sawyer import *
+from .shadow_hand import *
+from .spot import *
+from .unitree import *
+from .universal_robots import *

source/isaaclab_assets/isaaclab_assets/anymal.py → source/isaaclab_assets/isaaclab_assets/robots/anymal.py

@@ -19,14 +19,14 @@ Reference:
 
 """
 
+from isaaclab_assets.sensors.velodyne import VELODYNE_VLP_16_RAYCASTER_CFG
+
 import isaaclab.sim as sim_utils
 from isaaclab.actuators import ActuatorNetLSTMCfg, DCMotorCfg
 from isaaclab.assets.articulation import ArticulationCfg
 from isaaclab.sensors import RayCasterCfg
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
-from .velodyne import VELODYNE_VLP_16_RAYCASTER_CFG
-
 ##
 # Configuration - Actuators.
 ##

source/isaaclab_assets/isaaclab_assets/sensors/__init__.py

+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+##
+# Configuration for different assets.
+##
+
+from .velodyne import *

source/isaaclab_mimic/setup.py

@@ -6,6 +6,7 @@
 """Installation script for the 'isaaclab_mimic' python package."""
 
 import os
+import platform
 import toml
 
 from setuptools import setup
@@ -15,6 +16,14 @@ 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"))
 
+# Extra dependencies for IL agents
+EXTRAS_REQUIRE = {"robomimic": []}
+
+# Check if the platform is Linux and add the dependency
+if platform.system() == "Linux":
+    EXTRAS_REQUIRE["robomimic"].append("robomimic@git+https://github.com/ARISE-Initiative/robomimic.git")
+
+
 # Installation operation
 setup(
     name="isaaclab_mimic",
@@ -25,6 +34,7 @@ setup(
     version=EXTENSION_TOML_DATA["package"]["version"],
     description=EXTENSION_TOML_DATA["package"]["description"],
     keywords=EXTENSION_TOML_DATA["package"]["keywords"],
+    extras_require=EXTRAS_REQUIRE,
     license="MIT",
     include_package_data=True,
     python_requires=">=3.10",

source/isaaclab_rl/config/extension.toml

+[package]
+
+# Note: Semantic Versioning is used: https://semver.org/
+version = "0.1.0"
+
+# Description
+title = "Isaac Lab RL"
+description="Extension containing collection of wrappers for reinforcement learning."
+readme  = "docs/README.md"
+repository = "https://github.com/isaac-sim/IsaacLab"
+category = "robotics"
+keywords = ["robotics", "rl", "wrappers", "learning"]
+
+[dependencies]
+"isaaclab" = {}
+"isaaclab_assets" = {}
+"isaaclab_tasks" = {}
+
+[python.pipapi]
+requirements = [
+    "h5py",
+    "tensorboard",
+    "stable-baselines3>=2.1",
+    "rl-games==1.6.1",
+    "rsl-rl@git+https://github.com/leggedrobotics/rsl_rl.git",
+    "skrl>=1.3.0"
+]
+
+modules = [
+    "h5py",
+    "tensorboard",
+    "stable_baselines3",
+    "rl_games",
+    "rsl_rl",
+    "skrl"
+]
+
+use_online_index=true
+
+[[python.module]]
+name = "isaaclab_tasks"

source/isaaclab_rl/docs/CHANGELOG.rst

+Changelog
+---------
+
+0.1.0 (2024-12-27)
+~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+Initial version of the extension.
+This extension is split off from ``isaaclab_tasks`` to include the wrapper scripts for the supported RL libraries.
+
+Supported RL libraries are:
+
+* RL Games
+* RSL RL
+* SKRL
+* Stable Baselines3

source/isaaclab_tasks/isaaclab_tasks/utils/wrappers/__init__.py → source/isaaclab_rl/isaaclab_rl/__init__.py

@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""Sub-module for environment wrappers to different learning frameworks.
+"""Module for environment wrappers to different learning frameworks.
 
 Wrappers allow you to modify the behavior of an environment without modifying the environment itself.
 This is useful for modifying the observation space, action space, or reward function. Additionally,
@@ -21,7 +21,7 @@ For instance, to wrap an environment in the `Stable-Baselines3`_ wrapper, you ca
 
 .. code-block:: python
 
-   from isaaclab_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper
+   from isaaclab_rl.sb3 import Sb3VecEnvWrapper
 
    env = Sb3VecEnvWrapper(env)
 

source/isaaclab_tasks/isaaclab_tasks/utils/wrappers/rl_games.py → source/isaaclab_rl/isaaclab_rl/rl_games.py

@@ -12,7 +12,7 @@ for RL-Games :class:`Runner` class:
 
     from rl_games.common import env_configurations, vecenv
 
-    from isaaclab_tasks.utils.wrappers.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper
+    from isaaclab_rl.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper
 
     # configuration parameters
     rl_device = "cuda:0"

source/isaaclab_tasks/isaaclab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py → source/isaaclab_rl/isaaclab_rl/rsl_rl/vecenv_wrapper.py

@@ -9,7 +9,7 @@ The following example shows how to wrap an environment for RSL-RL:
 
 .. code-block:: python
 
-    from isaaclab_tasks.utils.wrappers.rsl_rl import RslRlVecEnvWrapper
+    from isaaclab_rl.rsl_rl import RslRlVecEnvWrapper
 
     env = RslRlVecEnvWrapper(env)
 

source/isaaclab_tasks/isaaclab_tasks/utils/wrappers/sb3.py → source/isaaclab_rl/isaaclab_rl/sb3.py

@@ -9,7 +9,7 @@ The following example shows how to wrap an environment for Stable-Baselines3:
 
 .. code-block:: python
 
-    from isaaclab_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper
+    from isaaclab_rl.sb3 import Sb3VecEnvWrapper
 
     env = Sb3VecEnvWrapper(env)
 

source/isaaclab_tasks/isaaclab_tasks/utils/wrappers/skrl.py → source/isaaclab_rl/isaaclab_rl/skrl.py

@@ -9,7 +9,7 @@ The following example shows how to wrap an environment for skrl:
 
 .. code-block:: python
 
-    from isaaclab_tasks.utils.wrappers.skrl import SkrlVecEnvWrapper
+    from isaaclab_rl.skrl import SkrlVecEnvWrapper
 
     env = SkrlVecEnvWrapper(env, ml_framework="torch")  # or ml_framework="jax"
 

source/isaaclab_rl/pyproject.toml

+[build-system]
+requires = ["setuptools", "wheel", "toml"]
+build-backend = "setuptools.build_meta"

source/isaaclab_rl/setup.py

+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Installation script for the 'isaaclab_rl' python package."""
+
+import itertools
+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"))
+
+# Minimum dependencies required prior to installation
+INSTALL_REQUIRES = [
+    # generic
+    "numpy",
+    "torch==2.5.1",
+    "torchvision>=0.14.1",  # ensure compatibility with torch 1.13.1
+    # 5.26.0 introduced a breaking change, so we restricted it for now.
+    # See issue https://github.com/tensorflow/tensorboard/issues/6808 for details.
+    "protobuf>=3.20.2, < 5.0.0",
+    # configuration management
+    "hydra-core",
+    # data collection
+    "h5py",
+    # basic logger
+    "tensorboard",
+    # video recording
+    "moviepy",
+]
+
+PYTORCH_INDEX_URL = ["https://download.pytorch.org/whl/cu118"]
+
+# Extra dependencies for RL agents
+EXTRAS_REQUIRE = {
+    "sb3": ["stable-baselines3>=2.1"],
+    "skrl": ["skrl>=1.3.0"],
+    "rl-games": ["rl-games==1.6.1", "gym"],  # rl-games still needs gym :(
+    "rsl-rl": ["rsl-rl@git+https://github.com/leggedrobotics/rsl_rl.git"],
+}
+# Add the names with hyphens as aliases for convenience
+EXTRAS_REQUIRE["rl_games"] = EXTRAS_REQUIRE["rl-games"]
+EXTRAS_REQUIRE["rsl_rl"] = EXTRAS_REQUIRE["rsl-rl"]
+
+# Cumulation of all extra-requires
+EXTRAS_REQUIRE["all"] = list(itertools.chain.from_iterable(EXTRAS_REQUIRE.values()))
+# Remove duplicates in the all list to avoid double installations
+EXTRAS_REQUIRE["all"] = list(set(EXTRAS_REQUIRE["all"]))
+
+# Installation operation
+setup(
+    name="isaaclab_rl",
+    author="Isaac Lab Project Developers",
+    maintainer="Isaac Lab Project Developers",
+    url=EXTENSION_TOML_DATA["package"]["repository"],
+    version=EXTENSION_TOML_DATA["package"]["version"],
+    description=EXTENSION_TOML_DATA["package"]["description"],
+    keywords=EXTENSION_TOML_DATA["package"]["keywords"],
+    include_package_data=True,
+    python_requires=">=3.10",
+    install_requires=INSTALL_REQUIRES,
+    dependency_links=PYTORCH_INDEX_URL,
+    extras_require=EXTRAS_REQUIRE,
+    packages=["isaaclab_rl"],
+    classifiers=[
+        "Natural Language :: English",
+        "Programming Language :: Python :: 3.10",
+        "Isaac Sim :: 4.2.0",
+        "Isaac Sim :: 4.1.0",
+    ],
+    zip_safe=False,
+)

source/isaaclab_tasks/test/wrappers/test_rl_games_wrapper.py → source/isaaclab_rl/test/test_rl_games_wrapper.py

@@ -20,12 +20,12 @@ import unittest
 
 import carb
 import omni.usd
+from isaaclab_rl.rl_games import RlGamesVecEnvWrapper
 
 from isaaclab.envs import DirectMARLEnv, multi_agent_to_single_agent
 
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.parse_cfg import parse_env_cfg
-from isaaclab_tasks.utils.wrappers.rl_games import RlGamesVecEnvWrapper
 
 
 class TestRlGamesVecEnvWrapper(unittest.TestCase):

source/isaaclab_tasks/test/wrappers/test_rsl_rl_wrapper.py → source/isaaclab_rl/test/test_rsl_rl_wrapper.py

@@ -20,12 +20,12 @@ import unittest
 
 import carb
 import omni.usd
+from isaaclab_rl.rsl_rl import RslRlVecEnvWrapper
 
 from isaaclab.envs import DirectMARLEnv, multi_agent_to_single_agent
 
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.parse_cfg import parse_env_cfg
-from isaaclab_tasks.utils.wrappers.rsl_rl import RslRlVecEnvWrapper
 
 
 class TestRslRlVecEnvWrapper(unittest.TestCase):

source/isaaclab_tasks/test/wrappers/test_sb3_wrapper.py → source/isaaclab_rl/test/test_sb3_wrapper.py

@@ -21,12 +21,12 @@ import unittest
 
 import carb
 import omni.usd
+from isaaclab_rl.sb3 import Sb3VecEnvWrapper
 
 from isaaclab.envs import DirectMARLEnv, multi_agent_to_single_agent
 
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.parse_cfg import parse_env_cfg
-from isaaclab_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper
 
 
 class TestStableBaselines3VecEnvWrapper(unittest.TestCase):

source/isaaclab_tasks/test/wrappers/test_skrl_wrapper.py → source/isaaclab_rl/test/test_skrl_wrapper.py

@@ -20,12 +20,12 @@ import unittest
 
 import carb
 import omni.usd
+from isaaclab_rl.skrl import SkrlVecEnvWrapper
 
 from isaaclab.envs import DirectMARLEnv, multi_agent_to_single_agent
 
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.parse_cfg import parse_env_cfg
-from isaaclab_tasks.utils.wrappers.skrl import SkrlVecEnvWrapper
 
 
 class TestSKRLVecEnvWrapper(unittest.TestCase):

source/isaaclab_tasks/isaaclab_tasks/direct/allegro_hand/agents/rsl_rl_ppo_cfg.py

@@ -3,9 +3,9 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils import configclass
+from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg
 
-from isaaclab_tasks.utils.wrappers.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg
+from isaaclab.utils import configclass
 
 
 @configclass

source/isaaclab_tasks/isaaclab_tasks/direct/allegro_hand/allegro_hand_env_cfg.py

@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 
-from isaaclab_assets.allegro import ALLEGRO_HAND_CFG
+from isaaclab_assets.robots.allegro import ALLEGRO_HAND_CFG
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import ArticulationCfg, RigidObjectCfg

source/isaaclab_tasks/isaaclab_tasks/direct/ant/agents/rsl_rl_ppo_cfg.py

@@ -3,9 +3,9 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils import configclass
+from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg
 
-from isaaclab_tasks.utils.wrappers.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg
+from isaaclab.utils import configclass
 
 
 @configclass

source/isaaclab_tasks/isaaclab_tasks/direct/ant/ant_env.py

@@ -5,7 +5,7 @@
 
 from __future__ import annotations
 
-from isaaclab_assets.ant import ANT_CFG
+from isaaclab_assets.robots.ant import ANT_CFG
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import ArticulationCfg

source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/agents/rsl_rl_ppo_cfg.py

@@ -3,9 +3,9 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils import configclass
+from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg
 
-from isaaclab_tasks.utils.wrappers.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg
+from isaaclab.utils import configclass
 
 
 @configclass

source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/anymal_c_env_cfg.py

@@ -18,7 +18,7 @@ from isaaclab.utils import configclass
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.anymal import ANYMAL_C_CFG  # isort: skip
+from isaaclab_assets.robots.anymal import ANYMAL_C_CFG  # isort: skip
 from isaaclab.terrains.config.rough import ROUGH_TERRAINS_CFG  # isort: skip
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/cart_double_pendulum_env.py

@@ -9,7 +9,7 @@ import math
 import torch
 from collections.abc import Sequence
 
-from isaaclab_assets.cart_double_pendulum import CART_DOUBLE_PENDULUM_CFG
+from isaaclab_assets.robots.cart_double_pendulum import CART_DOUBLE_PENDULUM_CFG
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import Articulation, ArticulationCfg

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/agents/rsl_rl_ppo_cfg.py

@@ -3,9 +3,9 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils import configclass
+from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg
 
-from isaaclab_tasks.utils.wrappers.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg
+from isaaclab.utils import configclass
 
 
 @configclass

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_camera_env.py

@@ -9,7 +9,7 @@ import math
 import torch
 from collections.abc import Sequence
 
-from isaaclab_assets.cartpole import CARTPOLE_CFG
+from isaaclab_assets.robots.cartpole import CARTPOLE_CFG
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import Articulation, ArticulationCfg

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_env.py

@@ -9,7 +9,7 @@ import math
 import torch
 from collections.abc import Sequence
 
-from isaaclab_assets.cartpole import CARTPOLE_CFG
+from isaaclab_assets.robots.cartpole import CARTPOLE_CFG
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import Articulation, ArticulationCfg