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Toni-SM / skrl

Modular reinforcement learning library (on PyTorch and JAX) with support for NVIDIA Isaac Gym, Omniverse Isaac Gym and Isaac Lab
https://skrl.readthedocs.io/
MIT License
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Rename isaacgym env loaders #21

Closed juhannc closed 1 year ago

juhannc commented 1 year ago

The function load_isaacgym_env_preview3 works with IsaacGym Preview 3 and 4, well, mostly, see #20. It will probably also (mostly) work with the upcoming versions given all the work NVIDIA put into separating the envs from the isaacgym package. Renaming load_isaacgym_env_preview3 to something like load_isaacgym_env_preview3_4 or load_isaacgym_env_preview3_and_up.

Thus, I'd propose a new naming scheme which is more clear for users of Preview 4 (and possible other upcoming previews).

My proposal is renaming load_isaacgym_env_preview3 to load_isaacgym_env_preview and load_isaacgym_env_preview2 to load_isaacgym_env_preview_legacy.

Obviously, combining the code of both functions into one which can handle all current and future preview release would be the easiest solution, for end-users that is.

I'd be happy to implement those changes but wanted to discuss it first.

Cheers 🎉

PS: All this might change once IsaacGym is out of preview, or a future previews breaks everything again.

Toni-SM commented 1 year ago

Hi @JohannLange

Many thanks for trying this library.

Yes, the load_isaacgym_env_preview3 works with preview 4 too...

The support for Isaac Gym preview 4 is already implemented since the release of this preview (6 days ago) in the develop branch (https://github.com/Toni-SM/skrl/tree/develop/skrl/envs/torch) You can find information in the documentation (develop branch: https://skrl.readthedocs.io/en/develop/modules/skrl.envs.isaac_gym.html).

I generalized the load_isaacgym_env_preview3 method and created the load_isaacgym_env_preview4 (an alias of the previous one).

I was waiting for the Isaac Gym teams to make the announcement of the new preview version, to announce the skrl support for Isaac Gym preview 4. However. I am going to merge with the main branch today and communicate the update in the Forum (together with other improvements of the library)

juhannc commented 1 year ago

Ahh I didn‘t see the development on the develop branch, awesome!

In that case, #20 is probably also obsolete…