OmniReset Distillation/Transfer

.vscode/.gitignore

@@ -4,6 +4,7 @@
 
 # Note: These files are kept for development purposes only.
 !tools/settings.template.json
+!tools/launch.template.json
 !tools/setup_vscode.py
 !extensions.json
 !launch.json

.vscode/tools/launch.template.json

@@ -0,0 +1,57 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Python: Current File",
+            "type": "python",
+            "request": "launch",
+            "program": "${file}",
+            "console": "integratedTerminal"
+        },
+        {
+            "name": "Python: Attach (windows-x86_64/linux-x86_64)",
+            "type": "python",
+            "request": "attach",
+            "port": 3000,
+            "host": "localhost"
+        },
+        {
+            "name": "Python: Train Environment",
+            "type": "python",
+            "request": "launch",
+            "args" : ["--task", "Isaac-Reach-Franka-v0", "--headless"],
+            "program": "${workspaceFolder}/scripts/reinforcement_learning/rsl_rl/train.py",
+            "console": "integratedTerminal"
+        },
+        {
+            "name": "Python: Play Environment",
+            "type": "python",
+            "request": "launch",
+            "args" : ["--task", "Isaac-Reach-Franka-v0", "--num_envs", "32"],
+            "program": "${workspaceFolder}/scripts/reinforcement_learning/rsl_rl/play.py",
+            "console": "integratedTerminal"
+        },
+        {
+            "name": "Python: SinglePytest",
+            "type": "python",
+            "request": "launch",
+            "module": "pytest",
+            "args": [
+              "${file}"
+            ],
+            "console": "integratedTerminal"
+        },
+        {
+            "name": "Python: ALL Pytest",
+            "type": "python",
+            "request": "launch",
+            "module": "pytest",
+            "args": ["source/isaaclab/test"],
+            "console": "integratedTerminal",
+            "justMyCode": false
+        }
+    ]
+}

docs/source/overview/uw_environments.rst

@@ -83,12 +83,12 @@ Environments based on fixed-arm manipulation tasks.
 .. |ext-nut-thread-franka-link| replace:: `UW-Nut-Thread-Franka-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/factory_extension/nutthread_env_cfg.py>`__
 .. |ext-gear-mesh-franka-link| replace:: `UW-Gear-Mesh-Franka-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/factory_extension/gearmesh_env_cfg.py>`__
 .. |ext-peg-insert-franka-link| replace:: `UW-Peg-Insert-Franka-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/factory_extension/peginsert_env_cfg.py>`__
-.. |omnireset-ur5e-drawer-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/reset_states/config/ur5e_robotiq_2f85/rl_state_cfg.py>`__
-.. |omnireset-ur5e-fbleg-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/reset_states/config/ur5e_robotiq_2f85/rl_state_cfg.py>`__
-.. |omnireset-ur5e-peg-insert-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/reset_states/config/ur5e_robotiq_2f85/rl_state_cfg.py>`__
-.. |omnireset-ur5e-rectangle-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/reset_states/config/ur5e_robotiq_2f85/rl_state_cfg.py>`__
-.. |omnireset-ur5e-cupcake-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/reset_states/config/ur5e_robotiq_2f85/rl_state_cfg.py>`__
-.. |omnireset-ur5e-cube-stack-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/reset_states/config/ur5e_robotiq_2f85/rl_state_cfg.py>`__
+.. |omnireset-ur5e-drawer-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/omnireset/config/ur5e_robotiq_2f85/rl_state_cfg.py>`__
+.. |omnireset-ur5e-fbleg-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/omnireset/config/ur5e_robotiq_2f85/rl_state_cfg.py>`__
+.. |omnireset-ur5e-peg-insert-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/omnireset/config/ur5e_robotiq_2f85/rl_state_cfg.py>`__
+.. |omnireset-ur5e-rectangle-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/omnireset/config/ur5e_robotiq_2f85/rl_state_cfg.py>`__
+.. |omnireset-ur5e-cupcake-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/omnireset/config/ur5e_robotiq_2f85/rl_state_cfg.py>`__
+.. |omnireset-ur5e-cube-stack-link| replace:: `OmniReset-Ur5eRobotiq2f85-RelCartesianOSC-State-v0 <https://github.com/uw-lab/UWLab/blob/main/source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/omnireset/config/ur5e_robotiq_2f85/rl_state_cfg.py>`__
 
 
 Locomotion