Merge dexsuite into lift

.github/workflows/build.yaml

@@ -774,8 +774,8 @@ jobs:
         extra-pip-packages: "pytetwild[all]>=0.3.0,<0.4"
         include-files: >-
           test_rendering_cartpole.py,
-          test_rendering_dexsuite_kuka_hetero.py,
-          test_rendering_dexsuite_kuka_homo.py,
+          test_rendering_lift_kuka_hetero.py,
+          test_rendering_lift_kuka_homo.py,
           test_rendering_franka_cloth.py,
           test_rendering_franka_soft.py,
           test_rendering_registered_tasks.py,
@@ -824,8 +824,8 @@ jobs:
         wheelhouse-packages: ${{ env.USE_OVPHYSX_WHEELHOUSE == 'true' && 'ovphysx' || '' }}
         include-files: >-
           test_rendering_cartpole_kitless.py,
-          test_rendering_dexsuite_kuka_hetero_kitless.py,
-          test_rendering_dexsuite_kuka_homo_kitless.py,
+          test_rendering_lift_kuka_hetero_kitless.py,
+          test_rendering_lift_kuka_homo_kitless.py,
           test_rendering_franka_cloth_kitless.py,
           test_rendering_franka_soft_kitless.py,
           test_rendering_shadow_hand_kitless.py

docs/source/_static/css/environment-browser.js

@@ -27,7 +27,6 @@
         ["Isaac-Humanoid-Direct-Warp-v0", "rl_games,rsl_rl,skrl", "", "", ""],
         ["Isaac-Humanoid-Warp-v0", "rl_games,rsl_rl,skrl,sb3", "", "", ""],
         ["Isaac-Lift-Cloth-Franka", "rsl_rl", "newton_mjwarp_vbd_proxy", "", ""],
-        ["Isaac-Lift-Cube-Franka", "rl_games,rsl_rl,skrl,sb3", "", "", ""],
         ["Isaac-Lift-Franka", "rsl_rl", "newton_mjwarp,physx", "", "cube,shapes"],
         ["Isaac-Lift-KukaAllegro", "rsl_rl", "newton_mjwarp,ovphysx,physx", "", "cube,shapes"],
         ["Isaac-Lift-KukaAllegro-Camera", "rsl_rl", "newton_mjwarp,ovphysx,physx", "isaacsim_rtx,newton_renderer,ovrtx,rtx", "albedo128,albedo256,albedo64,cube,depth128,depth256,depth64,duo_camera,raycaster_depth128,raycaster_depth256,raycaster_depth64,rgb128,rgb256,rgb64,semantic_segmentation128,semantic_segmentation256,semantic_segmentation64,shapes,simple_shading_constant_diffuse128,simple_shading_constant_diffuse256,simple_shading_constant_diffuse64,simple_shading_diffuse_mdl128,simple_shading_diffuse_mdl256,simple_shading_diffuse_mdl64,simple_shading_full_mdl128,simple_shading_full_mdl256,simple_shading_full_mdl64,single_camera"],

docs/source/how-to/transfer_policies_between_physx_and_newton.rst

@@ -234,7 +234,7 @@ in MJWarp:
        physics=isaacsim_physx
 
    # Replace RUN_DIRECTORY and ITERATION with the values produced by training.
-   PHYSX_CHECKPOINT="/absolute/path/to/logs/rsl_rl/dexsuite_franka/RUN_DIRECTORY/model_ITERATION.pt"
+   PHYSX_CHECKPOINT="/absolute/path/to/logs/rsl_rl/lift_franka/RUN_DIRECTORY/model_ITERATION.pt"
 
    # PP: reproduce the PhysX source baseline.
    uv run isaaclab play --rl_library rsl_rl \
@@ -262,7 +262,7 @@ PhysX:
        physics=newton_mjwarp
 
    # Replace RUN_DIRECTORY and ITERATION with the values produced by training.
-   MJWARP_CHECKPOINT="/absolute/path/to/logs/rsl_rl/dexsuite_franka/RUN_DIRECTORY/model_ITERATION.pt"
+   MJWARP_CHECKPOINT="/absolute/path/to/logs/rsl_rl/lift_franka/RUN_DIRECTORY/model_ITERATION.pt"
 
    # NN: reproduce the MJWarp source baseline.
    uv run isaaclab play --rl_library rsl_rl \

docs/source/overview/core-concepts/physical-backends/newton/mjwarp-solver.rst

@@ -229,7 +229,7 @@ dense-manipulation patterns. Then configure
 :class:`~isaaclab_newton.physics.NewtonCollisionPipelineCfg` on
 :class:`~isaaclab_newton.physics.NewtonCfg`. The maintained rough-terrain presets use
 ``default_shape_cfg.margin=0.01`` and raise ``max_triangle_pairs`` from ``1_000_000`` to
-``2_500_000``; the Dexsuite pattern raises ``rigid_contact_max`` for its unusually dense scene.
+``2_500_000``; the Lift pattern raises ``rigid_contact_max`` for its unusually dense scene.
 Increase those capacities only in response to the matching overflow or missing-contact evidence.
 
 ``collision_decimation=0`` collides once per physics tick. A positive value re-collides every N

docs/source/overview/core-concepts/physical-backends/newton/supported-features.rst

@@ -78,7 +78,7 @@ Manager-based workflows:
 * Locomotion velocity, flat terrain: A1, AnymalB, AnymalC, AnymalD, Cassie,
   Unitree G1, Go1, Go2, Unitree H1, Spot
 * Locomotion velocity, rough terrain: AnymalC, Cassie, Go1, Go2
-* Manipulation: reach (Franka, UR10), cabinet, dexsuite
+* Manipulation: reach (Franka, UR10), cabinet, lift and reorient (Franka, KukaAllegro)
 * Manipulation lift with deformable objects: Franka soft-body lift, Franka cloth
   lift (via MJWarp and VBD proxy coupling)
 

docs/source/overview/environments.rst

@@ -117,7 +117,7 @@ for all available backend names and how the typed selectors work.
 
 .. note::
 
-   The DexSuite Kuka Allegro tasks use the homogeneous ``cube`` object preset with
+   The KukaAllegro lift and reorient tasks use the homogeneous ``cube`` object preset with
    ``physics=ovphysx``. The heterogeneous ``shapes`` preset is not supported with
    OvPhysX; selecting both causes configuration validation to fail. Use
    ``presets=cube`` or choose another supported physics backend.
@@ -386,7 +386,7 @@ for the lift-cube environment:
 .. |reach-franka-link| replace:: :isaaclab-source:`Isaac-Reach-Franka <source/isaaclab_tasks/isaaclab_tasks/core/reach/config/franka/franka_reach_env_cfg.py>`
 .. |reach-ur10-link| replace:: :isaaclab-source:`Isaac-Reach-UR10 <source/isaaclab_tasks/isaaclab_tasks/core/reach/config/ur_10/joint_pos_env_cfg.py>`
 .. |deploy-reach-ur10e-link| replace:: :isaaclab-source:`IsaacContrib-Deploy-Reach-UR10e <source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/ur_10e/joint_pos_env_cfg.py>`
-.. |lift-cube-link| replace:: :isaaclab-source:`Isaac-Lift-Cube-Franka <source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka/joint_pos_env_cfg.py>`
+.. |lift-cube-link| replace:: :isaaclab-source:`IsaacContrib-Lift-Cube-Franka <source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/joint_pos_env_cfg.py>`
 .. |lift-cube-ik-abs-link| replace:: :isaaclab-source:`IsaacContrib-Lift-Cube-Franka-IK-Abs <source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/ik_abs_env_cfg.py>`
 .. |lift-cube-ik-rel-link| replace:: :isaaclab-source:`IsaacContrib-Lift-Cube-Franka-IK-Rel <source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/ik_rel_env_cfg.py>`
 .. |lift-soft-franka-link| replace:: :isaaclab-source:`Isaac-Lift-Soft-Franka <source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/franka_soft_env_cfg.py>`
@@ -407,10 +407,10 @@ for the lift-cube environment:
 .. |short-suction-link| replace:: :isaaclab-source:`IsaacContrib-Stack-Cube-UR10-Short-Suction-IK-Rel <source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/ur10_gripper/stack_ik_rel_env_cfg.py>`
 .. |gr1_pp_waist-link| replace:: :isaaclab-source:`IsaacContrib-PickPlace-GR1T2-WaistEnabled-Abs <source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py>`
 .. |galbot_stack-link| replace:: :isaaclab-source:`IsaacContrib-Stack-Cube-Galbot-Left-Arm-Gripper-RmpFlow <source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/galbot/stack_rmp_rel_env_cfg.py>`
-.. |kuka-allegro-lift-link| replace:: :isaaclab-source:`Isaac-Lift-KukaAllegro <source/isaaclab_tasks/isaaclab_tasks/core/dexsuite/config/kuka_allegro/dexsuite_kuka_allegro_env_cfg.py>`
-.. |kuka-allegro-reorient-link| replace:: :isaaclab-source:`Isaac-Reorient-KukaAllegro <source/isaaclab_tasks/isaaclab_tasks/core/dexsuite/config/kuka_allegro/dexsuite_kuka_allegro_env_cfg.py>`
-.. |ka-lift-cam-link| replace:: :isaaclab-source:`Isaac-Lift-KukaAllegro-Camera <source/isaaclab_tasks/isaaclab_tasks/core/dexsuite/config/kuka_allegro/dexsuite_kuka_allegro_camera_env_cfg.py>`
-.. |ka-reorient-cam-link| replace:: :isaaclab-source:`Isaac-Reorient-KukaAllegro-Camera <source/isaaclab_tasks/isaaclab_tasks/core/dexsuite/config/kuka_allegro/dexsuite_kuka_allegro_camera_env_cfg.py>`
+.. |kuka-allegro-lift-link| replace:: :isaaclab-source:`Isaac-Lift-KukaAllegro <source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/kuka_allegro_env_cfg.py>`
+.. |kuka-allegro-reorient-link| replace:: :isaaclab-source:`Isaac-Reorient-KukaAllegro <source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/kuka_allegro_env_cfg.py>`
+.. |ka-lift-cam-link| replace:: :isaaclab-source:`Isaac-Lift-KukaAllegro-Camera <source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/kuka_allegro_camera_env_cfg.py>`
+.. |ka-reorient-cam-link| replace:: :isaaclab-source:`Isaac-Reorient-KukaAllegro-Camera <source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/kuka_allegro_camera_env_cfg.py>`
 .. |cube-shadow-link| replace:: :isaaclab-source:`Isaac-Reorient-Cube-Shadow-Direct <source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_env_cfg.py>`
 .. |cube-shadow-ff-link| replace:: :isaaclab-source:`Isaac-Reorient-Cube-Shadow-OpenAI-FF-Direct <source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_env_cfg.py>`
 .. |cube-shadow-lstm-link| replace:: :isaaclab-source:`Isaac-Reorient-Cube-Shadow-OpenAI-LSTM-Direct <source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_env_cfg.py>`
@@ -1035,10 +1035,6 @@ including disabling runtime perturbations used for training.
       - **rsl_rl** (PPO)
       - | **physics=** ``newton_mjwarp_vbd_proxy``, ``ovphysx``
           | **renderer=** ``isaacsim_rtx``, ``newton_renderer``, ``ovrtx``, ``rtx``
-    * - Isaac-Lift-Cube-Franka
-      - Manager Based
-      - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO), **sb3** (PPO)
-      -
     * - Isaac-Lift-Franka
       - Manager Based
       - **rsl_rl** (PPO)
@@ -1284,6 +1280,10 @@ including disabling runtime perturbations used for training.
       - Direct
       - **skrl** (AMP)
       -
+    * - IsaacContrib-Lift-Cube-Franka
+      - Manager Based
+      - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO), **sb3** (PPO)
+      -
     * - IsaacContrib-Lift-Cube-Franka-IK-Abs
       - Manager Based
       -

scripts/benchmarks/benchmark_hydra_resolve.py

@@ -63,7 +63,7 @@ class Case:
     Case("cartpole_manager", "Isaac-Cartpole"),
     Case("cartpole_camera_presets", "Isaac-Cartpole-Camera-Direct", "rl_games_cfg_entry_point"),
     Case("anymal_rough", "IsaacContrib-Velocity-Rough-AnymalC"),
-    Case("franka_lift_cube", "Isaac-Lift-Cube-Franka"),
+    Case("franka_lift_cube", "IsaacContrib-Lift-Cube-Franka"),
     Case(
         "cartpole_camera_newton_ovrtx",
         "Isaac-Cartpole-Camera-Direct",
@@ -81,7 +81,7 @@ class Case:
     Case("ant_manager", "Isaac-Ant"),
     Case("humanoid_manager", "Isaac-Humanoid", "rsl_rl_cfg_entry_point"),
     Case("franka_reach", "Isaac-Reach-Franka"),
-    Case("franka_lift_cube_agent", "Isaac-Lift-Cube-Franka", "sb3_cfg_entry_point"),
+    Case("franka_lift_cube_agent", "IsaacContrib-Lift-Cube-Franka", "sb3_cfg_entry_point"),
     Case("kuka_allegro_lift", "Isaac-Lift-KukaAllegro", "rsl_rl_cfg_entry_point"),
     Case(
         "kuka_allegro_lift_single_camera",

scripts/benchmarks/benchmark_lazy_export.py

@@ -50,7 +50,7 @@
     "Isaac-Humanoid",
     "Isaac-Velocity-Flat-AnymalD",
     "Isaac-Reach-Franka",
-    "Isaac-Lift-Cube-Franka",
+    "IsaacContrib-Lift-Cube-Franka",
     "Isaac-Reorient-KukaAllegro",
     "IsaacContrib-Navigation-Flat-AnymalC",
     "IsaacContrib-Stack-Cube-Franka",

scripts/environments/state_machine/lift_cube_sm.py

@@ -47,7 +47,7 @@
 from isaaclab.assets.rigid_object.rigid_object_data import RigidObjectData
 
 import isaaclab_tasks  # noqa: F401
-from isaaclab_tasks.core.lift.lift_env_cfg import LiftEnvCfg
+from isaaclab_tasks.contrib.lift.lift_env_cfg import LiftEnvCfg
 from isaaclab_tasks.utils.parse_cfg import parse_env_cfg
 
 # initialize warp

source/isaaclab/changelog.d/mhaiderbhai-unify-lift.skip

@@ -0,0 +1 @@
+Test-only: updated the lift task IDs renamed by this PR.

source/isaaclab/test/envs/test_action_state_recorder_term_task_integration.py

@@ -90,7 +90,7 @@ def check_initial_state_recorder_term(env):
         assert are_states_equal, output_log
 
 
-@pytest.mark.parametrize("task_name", ["Isaac-Lift-Cube-Franka"])
+@pytest.mark.parametrize("task_name", ["IsaacContrib-Lift-Cube-Franka"])
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("num_envs", [1, 2])
 def test_action_state_recorder_terms(task_name, device, num_envs, temp_dir):

source/isaaclab_physx/changelog.d/mhaiderbhai-unify-lift.skip

@@ -0,0 +1 @@
+Test-only: updated the lift task IDs renamed by this PR.

source/isaaclab_physx/test/sim/test_cloner.py

@@ -235,7 +235,7 @@ def test_physx_replicate_isolated_source_loaded_without_replication(sim, device)
 def test_physx_replicate_heterogeneous_isolated_sources(sim, device):
     """physx_replicate handles heterogeneous sources excluding self from world lists.
 
-    This is the Dexsuite scenario: multiple object types, each with a designated proto-env.
+    This is the Lift scenario: multiple object types, each with a designated proto-env.
     With ``exclude_self_replication=True`` (default), self is removed from the world list
     only when the source also maps to other environments.  Self-only sources keep self so
     that ``rep.replicate()`` still fires and the source prim gets its physics body (since

source/isaaclab_rl/changelog.d/mhaiderbhai-unify-lift.skip

@@ -0,0 +1 @@
+Test-only: updated the lift task IDs renamed by this PR.

source/isaaclab_rl/test/export/leapp_initialized_checkpoints.py

@@ -299,7 +299,7 @@ def main(argv: Sequence[str] | None = None) -> None:
         python leapp_initialized_checkpoints.py --checkpoint_root /tmp/ckpt \\
             --preset newton_mjwarp \\
             --spec rsl_rl Isaac-Cartpole \\
-            --spec rsl_rl Isaac-Lift-Cube-Franka _
+            --spec rsl_rl IsaacContrib-Lift-Cube-Franka _
     """
     import argparse
     import os

source/isaaclab_rl/test/export/test_leapp_export_flow.py

@@ -68,7 +68,7 @@ def agent_cfg_entry_points(self) -> tuple[str, ...]:
             # binary gripper + cabinet articulation
             "Isaac-Open-Drawer-Franka",
             # classic lift: object_position_in_robot_root_frame + quat math
-            "Isaac-Lift-Cube-Franka",
+            "IsaacContrib-Lift-Cube-Franka",
             # history buffers + Object-cloud / contact observations
             "Isaac-Lift-KukaAllegro",
             # manager-based locomotion with contact-rich body observations
@@ -105,7 +105,7 @@ def agent_cfg_entry_points(self) -> tuple[str, ...]:
 _SIM_PRESET = "newton_mjwarp"
 
 # These tasks reject any preset token; export uses their authored default backend.
-_TASKS_WITHOUT_PRESET = frozenset({"Isaac-Lift-Cube-Franka"})
+_TASKS_WITHOUT_PRESET = frozenset({"IsaacContrib-Lift-Cube-Franka"})
 
 
 def _ensure_text(output: str | bytes | None) -> str:

source/isaaclab_rl/test/export/test_rsl_rl_export_flow.py

@@ -70,10 +70,10 @@
     "Isaac-Reach-Franka",
     "Isaac-Reach-UR10",
     # Manipulation Lift
-    "Isaac-Lift-Cube-Franka",
+    "Isaac-Lift-Franka",
     # Manipulation Cabinet
     "Isaac-Open-Drawer-Franka",
-    # Dexsuite
+    # Dexterous manipulation
     "Isaac-Reorient-KukaAllegro",
     "Isaac-Lift-KukaAllegro",
 ]

source/isaaclab_tasks/changelog.d/mhaiderbhai-unify-lift.major.rst

@@ -0,0 +1,16 @@
+Changed
+^^^^^^^
+
+* **Breaking:** Merged the ``isaaclab_tasks.core.dexsuite`` package into
+  :mod:`isaaclab_tasks.core.lift`, so the dexterous lift and reorient tasks share one package and
+  MDP module. Task IDs and training behavior were unchanged, but environment configuration entry
+  points moved and the ``Dexsuite`` class-name prefix was removed. For example,
+  ``isaaclab_tasks.core.dexsuite.config.franka.dexsuite_franka_env_cfg:DexsuiteFrankaLiftEnvCfg``
+  became ``isaaclab_tasks.core.lift.config.franka.franka_env_cfg:FrankaLiftEnvCfg``.
+* **Breaking:** Moved the tutorial single-cube Franka lift task to :mod:`isaaclab_tasks.contrib.lift`.
+  Use ``--task IsaacContrib-Lift-Cube-Franka`` instead of
+  ``--task Isaac-Lift-Cube-Franka``. The rigid tutorial MDP terms moved with it; deformable
+  Lift terms remain in :mod:`isaaclab_tasks.core.lift.mdp`.
+* **Breaking:** Renamed the dexterous RSL-RL experiment directories from
+  ``dexsuite_franka`` and ``dexsuite_kuka_allegro*`` to ``lift_franka`` and
+  ``lift_kuka_allegro*``. Update existing checkpoint paths under ``logs/rsl_rl/dexsuite_*``.

source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/__init__.py

@@ -4,12 +4,29 @@
 # SPDX-License-Identifier: BSD-3-Clause
 import gymnasium as gym
 
-from isaaclab_tasks.core.lift.config.franka import agents
+from isaaclab_tasks.contrib.lift.config.franka import agents
 
 ##
 # Register Gym environments.
 ##
 
+##
+# Joint Position Control
+##
+
+gym.register(
+    id="IsaacContrib-Lift-Cube-Franka",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:FrankaCubeLiftEnvCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:LiftCubePPORunnerCfg",
+        "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
+        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
+        "sb3_cfg_entry_point": f"{agents.__name__}:sb3_ppo_cfg.yaml",
+    },
+    disable_env_checker=True,
+)
+
 ##
 # Inverse Kinematics - Absolute Pose Control
 ##

source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka/agents/rl_games_ppo_cfg.yaml → source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/agents/rl_games_ppo_cfg.yaml

@@ -45,7 +45,7 @@ params:
   load_path: '' # path to the checkpoint to load
 
   config:
-    name: franka_lift
+    name: lift_cube_franka
     env_name: rlgpu
     device: 'cuda:0'
     device_name: 'cuda:0'

source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/agents/rsl_rl_ppo_cfg.py

@@ -0,0 +1,41 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from isaaclab.utils.configclass import configclass
+
+from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
+
+
+@configclass
+class LiftCubePPORunnerCfg(RslRlOnPolicyRunnerCfg):
+    num_steps_per_env = 24
+    max_iterations = 1500
+    save_interval = 50
+    experiment_name = "lift_cube_franka"
+    actor = RslRlMLPModelCfg(
+        hidden_dims=[256, 128, 64],
+        activation="elu",
+        obs_normalization=False,
+        distribution_cfg=RslRlMLPModelCfg.GaussianDistributionCfg(init_std=1.0),
+    )
+    critic = RslRlMLPModelCfg(
+        hidden_dims=[256, 128, 64],
+        activation="elu",
+        obs_normalization=False,
+    )
+    algorithm = RslRlPpoAlgorithmCfg(
+        value_loss_coef=1.0,
+        use_clipped_value_loss=True,
+        clip_param=0.2,
+        entropy_coef=0.006,
+        num_learning_epochs=5,
+        num_mini_batches=4,
+        learning_rate=1.0e-4,
+        schedule="adaptive",
+        gamma=0.98,
+        lam=0.95,
+        desired_kl=0.01,
+        max_grad_norm=1.0,
+    )

source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka/agents/skrl_ppo_cfg.yaml → source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/agents/skrl_ppo_cfg.yaml

@@ -71,7 +71,7 @@ agent:
   time_limit_bootstrap: False
   # logging and checkpoint
   experiment:
-    directory: "franka_lift"
+    directory: "lift_cube_franka"
     experiment_name: ""
     write_interval: auto
     checkpoint_interval: auto

source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/ik_abs_env_cfg.py

@@ -7,7 +7,7 @@
 from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
 from isaaclab.utils.configclass import configclass
 
-from isaaclab_tasks.core.lift.config.franka import joint_pos_env_cfg
+from isaaclab_tasks.contrib.lift.config.franka import joint_pos_env_cfg
 
 ##
 # Pre-defined configs

source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/ik_rel_env_cfg.py

@@ -7,7 +7,7 @@
 from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
 from isaaclab.utils.configclass import configclass
 
-from isaaclab_tasks.core.lift.config.franka import joint_pos_env_cfg
+from isaaclab_tasks.contrib.lift.config.franka import joint_pos_env_cfg
 
 ##
 # Pre-defined configs

source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka/joint_pos_env_cfg.py → source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/joint_pos_env_cfg.py

@@ -11,8 +11,8 @@
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 from isaaclab.utils.configclass import configclass
 
-from isaaclab_tasks.core.lift import mdp
-from isaaclab_tasks.core.lift.lift_env_cfg import LiftEnvCfg
+from isaaclab_tasks.contrib.lift import mdp
+from isaaclab_tasks.contrib.lift.lift_env_cfg import LiftEnvCfg
 
 ##
 # Pre-defined configs