From 4a507dd3d97c1e9c8a46c8c346978acbaa04fb05 Mon Sep 17 00:00:00 2001 From: fan-ziqi Date: Sun, 1 Dec 2024 11:07:02 +0800 Subject: [PATCH] docs: fix entry_point and kwargs --- .../omni.isaac.lab_tasks/docs/README.md | 18 ++++++++++++++---- 1 file changed, 14 insertions(+), 4 deletions(-) diff --git a/source/extensions/omni.isaac.lab_tasks/docs/README.md b/source/extensions/omni.isaac.lab_tasks/docs/README.md index fe225ca25a8..ce9dfdb77d0 100644 --- a/source/extensions/omni.isaac.lab_tasks/docs/README.md +++ b/source/extensions/omni.isaac.lab_tasks/docs/README.md @@ -32,16 +32,26 @@ The environments are then registered in the `omni/isaac/lab_tasks/locomotion/vel ```python gym.register( id="Isaac-Velocity-Rough-Anymal-C-v0", - entry_point="omni.isaac.lab.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv", disable_env_checker=True, - kwargs={"env_cfg_entry_point": f"{__name__}.rough_env_cfg:AnymalCRoughEnvCfg"}, + kwargs={ + "env_cfg_entry_point": f"{__name__}.rough_env_cfg:AnymalCRoughEnvCfg", + "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_rough_ppo_cfg.yaml", + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalCRoughPPORunnerCfg", + "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml", + }, ) gym.register( id="Isaac-Velocity-Flat-Anymal-C-v0", - entry_point="omni.isaac.lab.envs:RLTaskEnv", + entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv", disable_env_checker=True, - kwargs={"env_cfg_entry_point": f"{__name__}.flat_env_cfg:AnymalCFlatEnvCfg"}, + kwargs={ + "env_cfg_entry_point": f"{__name__}.flat_env_cfg:AnymalCFlatEnvCfg", + "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalCFlatPPORunnerCfg", + "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_flat_ppo_cfg.yaml", + "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml", + }, ) ```