Merge branch 'main' into feature/hyperparam_tune

docs/index.rst

@@ -128,6 +128,7 @@ Table of Contents
    :maxdepth: 1
    :caption: References
 
+   source/refs/reference_architecture/index
    source/refs/additional_resources
    source/refs/contributing
    source/refs/troubleshooting

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/allegro_hand/__init__.py

@@ -15,15 +15,14 @@
 # Register Gym environments.
 ##
 
-task_entry = "omni.isaac.lab_tasks.direct.allegro_hand"
 inhand_task_entry = "omni.isaac.lab_tasks.direct.inhand_manipulation"
 
 gym.register(
     id="Isaac-Repose-Cube-Allegro-Direct-v0",
     entry_point=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

@@ -15,14 +15,12 @@
 # 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

@@ -15,14 +15,12 @@
 # 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(
     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

@@ -8,150 +8,12 @@
 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

@@ -0,0 +1,149 @@
+# 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

@@ -15,14 +15,12 @@
 # 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",