Renames exts to source and update extensions for Isaac Lab 2.0 and Is…

.vscode/tools/setup_vscode.py

@@ -111,8 +111,8 @@ def overwrite_python_analysis_extra_paths(isaaclab_settings: str) -> str:
         )
 
     # add the path names that are in the Isaac Lab extensions directory
-    isaaclab_extensions = os.listdir(os.path.join(PROJECT_DIR, "exts"))
-    path_names.extend(['"${workspaceFolder}/exts/' + ext + '"' for ext in isaaclab_extensions])
+    isaaclab_extensions = os.listdir(os.path.join(PROJECT_DIR, "source"))
+    path_names.extend(['"${workspaceFolder}/source/' + ext + '"' for ext in isaaclab_extensions])
 
     # combine them into a single string
     path_names = ",\n\t\t".expandtabs(4).join(path_names)

README.md

@@ -1,7 +1,7 @@
 # Template for Isaac Lab Projects
 
-[![IsaacSim](https://img.shields.io/badge/IsaacSim-4.2.0-silver.svg)](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html)
-[![Isaac Lab](https://img.shields.io/badge/IsaacLab-1.2.0-silver)](https://isaac-sim.github.io/IsaacLab)
+[![IsaacSim](https://img.shields.io/badge/IsaacSim-4.5.0-silver.svg)](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html)
+[![Isaac Lab](https://img.shields.io/badge/IsaacLab-2.0.0-silver)](https://isaac-sim.github.io/IsaacLab)
 [![Python](https://img.shields.io/badge/python-3.10-blue.svg)](https://docs.python.org/3/whatsnew/3.10.html)
 [![Linux platform](https://img.shields.io/badge/platform-linux--64-orange.svg)](https://releases.ubuntu.com/20.04/)
 [![Windows platform](https://img.shields.io/badge/platform-windows--64-orange.svg)](https://www.microsoft.com/en-us/)
@@ -21,9 +21,9 @@ This repository serves as a template for building projects or extensions based o
 
 ## Installation
 
-- Install Isaac Lab by following the [installation guide](https://isaac-sim.github.io/IsaacLab/source/setup/installation/index.html). We recommend using the conda installation as it simplifies calling Python scripts from the terminal.
+- Install Isaac Lab by following the [installation guide](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/index.html). We recommend using the conda installation as it simplifies calling Python scripts from the terminal.
 
-- Clone the repository separately from the Isaac Lab installation (i.e. outside the `IsaacLab` directory):
+- Clone this repository separately from the Isaac Lab installation (i.e. outside the `IsaacLab` directory):
 
 ```bash
 # Option 1: HTTPS
@@ -45,7 +45,7 @@ python scripts/rename_template.py your_fancy_extension_name
 - Using a python interpreter that has Isaac Lab installed, install the library
 
 ```bash
-python -m pip install -e exts/ext_template
+python -m pip install -e source/ext_template
 ```
 
 - Verify that the extension is correctly installed by running the following command:
@@ -64,15 +64,15 @@ If everything executes correctly, it should create a file .python.env in the `.v
 
 ### Setup as Omniverse Extension (Optional)
 
-We provide an example UI extension that will load upon enabling your extension defined in `exts/ext_template/ext_template/ui_extension_example.py`. For more information on UI extensions, enable and check out the source code of the `omni.isaac.ui_template` extension and refer to the introduction on [Isaac Sim Workflows 1.2.3. GUI](https://docs.omniverse.nvidia.com/isaacsim/latest/introductory_tutorials/tutorial_intro_workflows.html#gui).
+We provide an example UI extension that will load upon enabling your extension defined in `source/ext_template/ext_template/ui_extension_example.py`.
 
 To enable your extension, follow these steps:
 
 1. **Add the search path of your repository** to the extension manager:
     - Navigate to the extension manager using `Window` -> `Extensions`.
     - Click on the **Hamburger Icon** (☰), then go to `Settings`.
-    - In the `Extension Search Paths`, enter the absolute path to `IsaacLabExtensionTemplate/exts`
-    - If not already present, in the `Extension Search Paths`, enter the path that leads to Isaac Lab's extension directory directory (`IsaacLab/source/extensions`)
+    - In the `Extension Search Paths`, enter the absolute path to `IsaacLabExtensionTemplate/source`
+    - If not already present, in the `Extension Search Paths`, enter the path that leads to Isaac Lab's extension directory directory (`IsaacLab/source`)
     - Click on the **Hamburger Icon** (☰), then click `Refresh`.
 
 2. **Search and enable your extension**:
@@ -84,7 +84,7 @@ To enable your extension, follow these steps:
 ### Building Isaac Lab Base Image
 
 Currently, we don't have the Docker for Isaac Lab publicly available. Hence, you'd need to build the docker image
-for Isaac Lab locally by following the steps [here](https://isaac-sim.github.io/IsaacLab/source/deployment/index.html).
+for Isaac Lab locally by following the steps [here](https://isaac-sim.github.io/IsaacLab/main/source/deployment/index.html).
 
 Once you have built the base Isaac Lab image, you can check it exists by doing:
 
@@ -177,7 +177,7 @@ In some VsCode versions, the indexing of part of the extensions is missing. In t
 ```json
 {
     "python.analysis.extraPaths": [
-        "<path-to-ext-repo>/exts/ext_template"
+        "<path-to-ext-repo>/source/ext_template"
     ]
 }
 ```

docker/Dockerfile

@@ -13,7 +13,7 @@ COPY ../ ${DOCKER_ISAACLAB_EXTENSION_TEMPLATE_PATH}
 
 # # Install whatever you need as additional dependencies.
 RUN bash -i -c "source ${HOME}/.bashrc && \
-    cd ${DOCKER_ISAACLAB_EXTENSION_TEMPLATE_PATH}/exts/ext_template && \
+    cd ${DOCKER_ISAACLAB_EXTENSION_TEMPLATE_PATH}/source/ext_template && \
     pip install -e ."
 
 # make working directory as the Isaac Lab directory

pyproject.toml

@@ -39,8 +39,7 @@ extra_standard_library = [
     "psutil",
 ]
 known_thirdparty = [
-    "omni.isaac.core",
-    "omni.replicator.isaac",
+    "isaacsim.core.api",
     "omni.replicator.core",
     "pxr",
     "omni.kit.*",
@@ -49,9 +48,11 @@ known_thirdparty = [
     "Semantics",
 ]
 known_isaaclabparty = [
-    "omni.isaac.lab",
-    "omni.isaac.lab_tasks",
-    "omni.isaac.lab_assets"
+    "isaaclab",
+    "isaaclab_tasks",
+    "isaaclab_assets",
+    "isaaclab_mimic",
+    "isaaclab_rl"
 ]
 
 # Modify the following to include the package names of your first-party code

scripts/list_envs.py

@@ -7,7 +7,7 @@
 
 """Launch Isaac Sim Simulator first."""
 
-from omni.isaac.lab.app import AppLauncher
+from isaaclab.app import AppLauncher
 
 # launch omniverse app
 app_launcher = AppLauncher(headless=True)

scripts/rename_template.py

@@ -41,10 +41,12 @@ def rename_file_contents(root_dir_path: str, old_name: str, new_name: str, exclu
     if proceed.lower() == "y":
         # rename the ext_template folder
         os.rename(
-            os.path.join(root_dir_path, "exts", "ext_template", "ext_template"),
-            os.path.join(root_dir_path, "exts", "ext_template", new_name),
+            os.path.join(root_dir_path, "source", "ext_template", "ext_template"),
+            os.path.join(root_dir_path, "source", "ext_template", new_name),
+        )
+        os.rename(
+            os.path.join(root_dir_path, "source", "ext_template"), os.path.join(root_dir_path, "source", new_name)
         )
-        os.rename(os.path.join(root_dir_path, "exts", "ext_template"), os.path.join(root_dir_path, "exts", new_name))
         # rename the file contents
         rename_file_contents(root_dir_path, old_name, new_name, exclude_dirs=[".git"])
     else:

scripts/rsl_rl/cli_args.py

@@ -4,7 +4,7 @@
 from typing import TYPE_CHECKING
 
 if TYPE_CHECKING:
-    from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import RslRlOnPolicyRunnerCfg
+    from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg
 
 
 def add_rsl_rl_args(parser: argparse.ArgumentParser):
@@ -43,7 +43,7 @@ def parse_rsl_rl_cfg(task_name: str, args_cli: argparse.Namespace) -> RslRlOnPol
     Returns:
         The parsed configuration for RSL-RL agent based on inputs.
     """
-    from omni.isaac.lab_tasks.utils.parse_cfg import load_cfg_from_registry
+    from isaaclab_tasks.utils.parse_cfg import load_cfg_from_registry
 
     # load the default configuration
     rslrl_cfg: RslRlOnPolicyRunnerCfg = load_cfg_from_registry(task_name, "rsl_rl_cfg_entry_point")

scripts/rsl_rl/play.py

@@ -4,7 +4,7 @@
 
 import argparse
 
-from omni.isaac.lab.app import AppLauncher
+from isaaclab.app import AppLauncher
 
 # local imports
 import cli_args  # isort: skip
@@ -39,15 +39,10 @@
 
 from rsl_rl.runners import OnPolicyRunner
 
-from omni.isaac.lab.envs import DirectMARLEnv, multi_agent_to_single_agent
-from omni.isaac.lab.utils.dict import print_dict
-from omni.isaac.lab_tasks.utils import get_checkpoint_path, parse_env_cfg
-from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import (
-    RslRlOnPolicyRunnerCfg,
-    RslRlVecEnvWrapper,
-    export_policy_as_jit,
-    export_policy_as_onnx,
-)
+from isaaclab.envs import DirectMARLEnv, multi_agent_to_single_agent
+from isaaclab.utils.dict import print_dict
+from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlVecEnvWrapper, export_policy_as_jit, export_policy_as_onnx
+from isaaclab_tasks.utils import get_checkpoint_path, parse_env_cfg
 
 # Import extensions to set up environment tasks
 import ext_template.tasks  # noqa: F401

scripts/rsl_rl/train.py

@@ -10,7 +10,7 @@
 import argparse
 import sys
 
-from omni.isaac.lab.app import AppLauncher
+from isaaclab.app import AppLauncher
 
 # local imports
 import cli_args  # isort: skip
@@ -51,18 +51,18 @@
 
 from rsl_rl.runners import OnPolicyRunner
 
-from omni.isaac.lab.envs import (
+from isaaclab.envs import (
     DirectMARLEnv,
     DirectMARLEnvCfg,
     DirectRLEnvCfg,
     ManagerBasedRLEnvCfg,
     multi_agent_to_single_agent,
 )
-from omni.isaac.lab.utils.dict import print_dict
-from omni.isaac.lab.utils.io import dump_pickle, dump_yaml
-from omni.isaac.lab_tasks.utils import get_checkpoint_path
-from omni.isaac.lab_tasks.utils.hydra import hydra_task_config
-from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlVecEnvWrapper
+from isaaclab.utils.dict import print_dict
+from isaaclab.utils.io import dump_pickle, dump_yaml
+from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlVecEnvWrapper
+from isaaclab_tasks.utils import get_checkpoint_path
+from isaaclab_tasks.utils.hydra import hydra_task_config
 
 # Import extensions to set up environment tasks
 import ext_template.tasks  # noqa: F401

exts/ext_template/config/extension.toml → source/ext_template/config/extension.toml

@@ -15,9 +15,11 @@ repository = "https://github.com/isaac-sim/IsaacLabExtensionTemplate.git"
 keywords = ["extension", "template", "isaaclab"]
 
 [dependencies]
-"omni.isaac.lab" = {}
-"omni.isaac.lab_assets" = {}
-"omni.isaac.lab_tasks" = {}
+"isaaclab" = {}
+"isaaclab_assets" = {}
+"isaclab_mimic" = {}
+"isaaclab_rl" = {}
+"isaaclab_tasks" = {}
 # NOTE: Add additional dependencies here
 
 [[python.module]]

exts/ext_template/ext_template/tasks/__init__.py → source/ext_template/ext_template/tasks/__init__.py

@@ -3,7 +3,7 @@
 import os
 import toml
 
-from omni.isaac.lab_tasks.utils import import_packages
+from isaaclab_tasks.utils import import_packages
 
 ##
 # Register Gym environments.

exts/ext_template/ext_template/tasks/locomotion/velocity/config/anymal_d/__init__.py → source/ext_template/ext_template/tasks/locomotion/velocity/config/anymal_d/__init__.py

@@ -8,7 +8,7 @@
 
 gym.register(
     id="Template-Isaac-Velocity-Flat-Anymal-D-v0",
-    entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.AnymalDFlatEnvCfg,
@@ -18,7 +18,7 @@
 
 gym.register(
     id="Template-Isaac-Velocity-Flat-Anymal-D-Play-v0",
-    entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": flat_env_cfg.AnymalDFlatEnvCfg_PLAY,
@@ -28,7 +28,7 @@
 
 gym.register(
     id="Template-Isaac-Velocity-Rough-Anymal-D-v0",
-    entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.AnymalDRoughEnvCfg,
@@ -38,7 +38,7 @@
 
 gym.register(
     id="Template-Isaac-Velocity-Rough-Anymal-D-Play-v0",
-    entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": rough_env_cfg.AnymalDRoughEnvCfg_PLAY,

exts/ext_template/ext_template/tasks/locomotion/velocity/config/anymal_d/agents/rsl_rl_ppo_cfg.py → source/ext_template/ext_template/tasks/locomotion/velocity/config/anymal_d/agents/rsl_rl_ppo_cfg.py

@@ -1,9 +1,5 @@
-from omni.isaac.lab.utils import configclass
-from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import (
-    RslRlOnPolicyRunnerCfg,
-    RslRlPpoActorCriticCfg,
-    RslRlPpoAlgorithmCfg,
-)
+from isaaclab.utils import configclass
+from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg
 
 
 @configclass

exts/ext_template/ext_template/tasks/locomotion/velocity/config/anymal_d/flat_env_cfg.py → source/ext_template/ext_template/tasks/locomotion/velocity/config/anymal_d/flat_env_cfg.py

@@ -1,4 +1,4 @@
-from omni.isaac.lab.utils import configclass
+from isaaclab.utils import configclass
 
 from .rough_env_cfg import AnymalDRoughEnvCfg
 

exts/ext_template/ext_template/tasks/locomotion/velocity/config/anymal_d/rough_env_cfg.py → source/ext_template/ext_template/tasks/locomotion/velocity/config/anymal_d/rough_env_cfg.py

@@ -1,11 +1,11 @@
-from omni.isaac.lab.utils import configclass
+from isaaclab.utils import configclass
 
 from ext_template.tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg
 
 ##
 # Pre-defined configs
 ##
-from omni.isaac.lab_assets.anymal import ANYMAL_D_CFG  # isort: skip
+from isaaclab_assets.robots.anymal import ANYMAL_D_CFG  # isort: skip
 
 
 @configclass

exts/ext_template/ext_template/tasks/locomotion/velocity/mdp/__init__.py → source/ext_template/ext_template/tasks/locomotion/velocity/mdp/__init__.py

@@ -1,6 +1,6 @@
 """This sub-module contains the functions that are specific to the locomotion environments."""
 
-from omni.isaac.lab.envs.mdp import *  # noqa: F401, F403
+from isaaclab.envs.mdp import *  # noqa: F401, F403
 
 from .curriculums import *  # noqa: F401, F403
 from .rewards import *  # noqa: F401, F403

exts/ext_template/ext_template/tasks/locomotion/velocity/mdp/curriculums.py → source/ext_template/ext_template/tasks/locomotion/velocity/mdp/curriculums.py

@@ -1,6 +1,6 @@
 """Common functions that can be used to create curriculum for the learning environment.
 
-The functions can be passed to the :class:`omni.isaac.lab.managers.CurriculumTermCfg` object to enable
+The functions can be passed to the :class:`isaaclab.managers.CurriculumTermCfg` object to enable
 the curriculum introduced by the function.
 """
 
@@ -10,12 +10,12 @@
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-from omni.isaac.lab.assets import Articulation
-from omni.isaac.lab.managers import SceneEntityCfg
-from omni.isaac.lab.terrains import TerrainImporter
+from isaaclab.assets import Articulation
+from isaaclab.managers import SceneEntityCfg
+from isaaclab.terrains import TerrainImporter
 
 if TYPE_CHECKING:
-    from omni.isaac.lab.envs import RLTaskEnv
+    from isaaclab.envs import RLTaskEnv
 
 
 def terrain_levels_vel(
@@ -28,7 +28,7 @@ def terrain_levels_vel(
 
     .. note::
         It is only possible to use this term with the terrain type ``generator``. For further information
-        on different terrain types, check the :class:`omni.isaac.lab.terrains.TerrainImporter` class.
+        on different terrain types, check the :class:`isaaclab.terrains.TerrainImporter` class.
 
     Returns:
         The mean terrain level for the given environment ids.

exts/ext_template/ext_template/tasks/locomotion/velocity/mdp/rewards.py → source/ext_template/ext_template/tasks/locomotion/velocity/mdp/rewards.py

@@ -3,11 +3,11 @@
 import torch
 from typing import TYPE_CHECKING
 
-from omni.isaac.lab.managers import SceneEntityCfg
-from omni.isaac.lab.sensors import ContactSensor
+from isaaclab.managers import SceneEntityCfg
+from isaaclab.sensors import ContactSensor
 
 if TYPE_CHECKING:
-    from omni.isaac.lab.envs import ManagerBasedRLEnv
+    from isaaclab.envs import ManagerBasedRLEnv
 
 
 def feet_air_time(