From Orbit

From Orbit#

Since Orbit was used as basis for Isaac Lab, migrating from Orbit to Isaac Lab is straightforward. The following sections describe the changes that need to be made to your code to migrate from Orbit to Isaac Lab.

Renaming of the launch script#

The script orbit.sh has been renamed to isaaclab.sh.

Updates to extensions#

The extensions omni.isaac.orbit, omni.isaac.orbit_tasks, and omni.isaac.orbit_assets have been renamed to omni.isaac.lab, omni.isaac.lab_tasks, and omni.isaac.lab_assets, respectively. Thus, the new folder structure looks like this:

  • source/extensions/omni.isaac.lab/omni/isaac/lab

  • source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks

  • source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets

The high level imports have to be updated as well:

Orbit

Isaac Lab

from omni.isaac.orbit...

from omni.isaac.lab...

from omni.isaac.orbit_tasks...

from omni.isaac.lab_tasks...

from omni.isaac.orbit_assets...

from omni.isaac.lab_assets...

Updates to class names#

In Isaac Lab, we introduced the concept of task design workflows (see Task Design Workflows). The Orbit code is using the manager-based workflow and the environment specific class names have been updated to reflect this change:

Orbit

Isaac Lab

BaseEnv

omni.isaac.lab.envs.ManagerBasedEnv

BaseEnvCfg

omni.isaac.lab.envs.ManagerBasedEnvCfg

RLTaskEnv

omni.isaac.lab.envs.ManagerBasedRLEnv

RLTaskEnvCfg

omni.isaac.lab.envs.ManagerBasedRLEnvCfg

RLTaskEnvWindow

omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow

Updates to the tasks folder structure#

To support the manager-based and direct workflows, we have added two folders in the tasks extension:

  • source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based

  • source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct

The tasks from Orbit can now be found under the manager_based folder. This change must also be reflected in the imports for your tasks. For example,

from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg ...

should now be:

from omni.isaac.lab_tasks.manager_based.locomotion.velocity.velocity_env_cfg ...

Other Breaking changes#

Offscreen rendering#

The input argument --offscreen_render given to omni.isaac.lab.app.AppLauncher and the environment variable OFFSCREEN_RENDER have been renamed to --enable_cameras and ENABLE_CAMERAS respectively.

Event term distribution configuration#

Some of the event functions in events.py accepted a distribution parameter and a range to sample from. In an effort to support arbitrary distributions, we have renamed the input argument AAA_range to AAA_distribution_params for these functions. Therefore, event term configurations whose functions have a distribution argument should be updated. For example,

add_base_mass = EventTerm(
    func=mdp.randomize_rigid_body_mass,
    mode="startup",
    params={
        "asset_cfg": SceneEntityCfg("robot", body_names="base"),
        "mass_range": (-5.0, 5.0),
        "operation": "add",
    },
)

should now be:

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",
    },
)
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