Update generator Isaac Lab API and set time_limit_bootstrap to False …

…by default
Toni-SM · Jan 20, 2025 · 18a7635 · 18a7635
1 parent 36954ef
commit 18a7635
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Showing 5 changed files with 7 additions and 7 deletions.
diff --git a/docs/source/examples/isaaclab/generator/isaaclab_generator.py b/docs/source/examples/isaaclab/generator/isaaclab_generator.py
@@ -1,7 +1,7 @@
 import os
 os.environ["HEADLESS"] = "1"
 
-from omni.isaac.lab.app import AppLauncher
+from isaaclab.app import AppLauncher
 
 app_launcher = AppLauncher()
 simulation_app = app_launcher.app
@@ -15,8 +15,8 @@
 from jinja2 import Template
 from prettytable import PrettyTable
 
-from omni.isaac.lab.utils import class_to_dict
-from omni.isaac.lab_tasks.utils import load_cfg_from_registry
+from isaaclab.utils import class_to_dict
+from isaaclab_tasks.utils import load_cfg_from_registry
 
 from skrl.utils.model_instantiators.torch import deterministic_model, gaussian_model, shared_model
 

diff --git a/docs/source/examples/isaaclab/generator/templates/ppo_rl_games_yaml b/docs/source/examples/isaaclab/generator/templates/ppo_rl_games_yaml
@@ -67,7 +67,7 @@ agent:
   value_loss_scale: {{ params.config.critic_coef / 2 }}
   kl_threshold: {{ params.config.kl_threshold if params.config.lr_schedule != "adaptive" else 0.0 }}
   rewards_shaper_scale: {{ params.config.reward_shaper.scale_value }}
-  time_limit_bootstrap: True
+  time_limit_bootstrap: False
   # logging and checkpoint
   experiment:
     directory: "{{ params.config.name }}"

diff --git a/docs/source/examples/isaaclab/generator/templates/ppo_rsl_rl_yaml b/docs/source/examples/isaaclab/generator/templates/ppo_rsl_rl_yaml
@@ -67,7 +67,7 @@ agent:
   value_loss_scale: {{ algorithm.value_loss_coef }}
   kl_threshold: {{ algorithm.desired_kl if algorithm.schedule != "adaptive" else 0.0 }}
   rewards_shaper_scale: 1.0
-  time_limit_bootstrap: True
+  time_limit_bootstrap: False
   # logging and checkpoint
   experiment:
     directory: "{{ experiment_name }}"

diff --git a/docs/source/examples/isaaclab/generator/templates/ppo_skrl_py_jax b/docs/source/examples/isaaclab/generator/templates/ppo_skrl_py_jax
@@ -113,7 +113,7 @@ cfg["rewards_shaper"] = None
 {% else %}
 cfg["rewards_shaper"] = lambda rewards, *args, **kwargs: rewards * {{ agent.rewards_shaper_scale }}
 {% endif %}
-cfg["time_limit_bootstrap"] = True
+cfg["time_limit_bootstrap"] = False
 {% if agent.state_preprocessor == "RunningStandardScaler" %}
 cfg["state_preprocessor"] = RunningStandardScaler
 cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}

diff --git a/docs/source/examples/isaaclab/generator/templates/ppo_skrl_py_torch b/docs/source/examples/isaaclab/generator/templates/ppo_skrl_py_torch
@@ -82,7 +82,7 @@ cfg["rewards_shaper"] = None
 {% else %}
 cfg["rewards_shaper"] = lambda rewards, *args, **kwargs: rewards * {{ agent.rewards_shaper_scale }}
 {% endif %}
-cfg["time_limit_bootstrap"] = True
+cfg["time_limit_bootstrap"] = False
 {% if agent.state_preprocessor == "RunningStandardScaler" %}
 cfg["state_preprocessor"] = RunningStandardScaler
 cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}