[Cartpole] Remove deprecated task IDs

.github/workflows/test-multi-gpu.yaml

@@ -47,14 +47,14 @@ jobs:
           # PhysX + Isaac RTX renderer
           - physics: physx
             renderer: isaac-rtx
-            task: Isaac-Cartpole-Camera-Presets-Direct-v0
+            task: Isaac-Cartpole-Camera-Direct-v0
             extra_args: ""
             trainer: skrl
 
           # PhysX + Newton Warp renderer (hybrid)
           - physics: physx
             renderer: newton-warp
-            task: Isaac-Cartpole-Camera-Presets-Direct-v0
+            task: Isaac-Cartpole-Camera-Direct-v0
             extra_args: "env.tiled_camera.renderer_cfg=newton_renderer"
             trainer: skrl
 
@@ -67,14 +67,14 @@ jobs:
           # Newton + Newton Warp renderer
           - physics: newton
             renderer: newton-warp
-            task: Isaac-Cartpole-Camera-Presets-Direct-v0
+            task: Isaac-Cartpole-Camera-Direct-v0
             extra_args: "+sim=newton env.tiled_camera.renderer_cfg=newton_renderer"
             trainer: skrl
 
           # Newton + Isaac RTX renderer (hybrid)
           - physics: newton
             renderer: isaac-rtx
-            task: Isaac-Cartpole-Camera-Presets-Direct-v0
+            task: Isaac-Cartpole-Camera-Direct-v0
             extra_args: "+sim=newton"
             trainer: skrl
 

docs/source/features/reproducibility.rst

@@ -41,7 +41,7 @@ To enable deterministic RTX settings from the app launcher, pass ``--determinist
 .. code-block:: bash
 
   ./isaaclab.sh -p scripts/reinforcement_learning/rl_games/train.py \
-    --task Isaac-Cartpole-RGB-v0 --enable_cameras --headless --deterministic
+    --task Isaac-Cartpole-Camera-v0 --enable_cameras --headless --deterministic
 
 For results on our determinacy testing for RL training, please check the GitHub Pull Request `#940`_.
 

docs/source/how-to/optimize_stage_creation.rst

@@ -82,22 +82,8 @@ Limitations
     1.  Isaac-Ant-Direct-v0
     2.  Isaac-Ant-v0
     3.  Isaac-Cartpole-Direct-v0
-    4.  Isaac-Cartpole-Showcase-Box-Box-Direct-v0
-    5.  Isaac-Cartpole-Showcase-Box-Discrete-Direct-v0
-    6.  Isaac-Cartpole-Showcase-Box-MultiDiscrete-Direct-v0
-    7.  Isaac-Cartpole-Showcase-Dict-Box-Direct-v0
-    8.  Isaac-Cartpole-Showcase-Dict-Discrete-Direct-v0
-    9.  Isaac-Cartpole-Showcase-Dict-MultiDiscrete-Direct-v0
-    10. Isaac-Cartpole-Showcase-Discrete-Box-Direct-v0
-    11. Isaac-Cartpole-Showcase-Discrete-Discrete-Direct-v0
-    12. Isaac-Cartpole-Showcase-Discrete-MultiDiscrete-Direct-v0
-    13. Isaac-Cartpole-Showcase-MultiDiscrete-Box-Direct-v0
-    14. Isaac-Cartpole-Showcase-MultiDiscrete-Discrete-Direct-v0
-    15. Isaac-Cartpole-Showcase-MultiDiscrete-MultiDiscrete-Direct-v0
-    16. Isaac-Cartpole-Showcase-Tuple-Box-Direct-v0
-    17. Isaac-Cartpole-Showcase-Tuple-Discrete-Direct-v0
-    18. Isaac-Cartpole-Showcase-Tuple-MultiDiscrete-Direct-v0
-    19. Isaac-Cartpole-v0
+    4.  Isaac-Cartpole-Showcase-Direct-v0
+    5.  Isaac-Cartpole-v0
     20. Isaac-Factory-GearMesh-Direct-v0
     21. Isaac-Factory-NutThread-Direct-v0
     22. Isaac-Factory-PegInsert-Direct-v0

docs/source/overview/core-concepts/sensors/camera.rst

@@ -149,13 +149,13 @@ The active preset is selected at launch via the ``presets=`` CLI argument:
 .. code-block:: bash
 
    # Use Newton Warp renderer
-   python train.py task=Isaac-Cartpole-RGB-Camera-Direct-v0 presets=newton_renderer
+   python train.py task=Isaac-Cartpole-Camera-Direct-v0 presets=newton_renderer
 
    # Use OVRTX renderer
-   python train.py task=Isaac-Cartpole-RGB-Camera-Direct-v0 presets=ovrtx_renderer
+   python train.py task=Isaac-Cartpole-Camera-Direct-v0 presets=ovrtx_renderer
 
    # Use default (Isaac RTX)
-   python train.py task=Isaac-Cartpole-RGB-Camera-Direct-v0
+   python train.py task=Isaac-Cartpole-Camera-Direct-v0
 
 
 Accessing camera data
@@ -174,7 +174,7 @@ When using the RTX renderer, add ``--enable_cameras`` when launching:
 .. code-block:: shell
 
     python scripts/reinforcement_learning/rl_games/train.py \
-        --task=Isaac-Cartpole-RGB-Camera-Direct-v0 --headless --enable_cameras
+        --task=Isaac-Cartpole-Camera-Direct-v0 --headless --enable_cameras
 
 
 Annotators (RTX only)

docs/source/overview/environments.rst

@@ -69,9 +69,10 @@ Classic environments that are based on IsaacGymEnvs implementation of MuJoCo-sty
     |                  |                             |                                                                         | ``segmentation``,            |
     |                  |                             |                                                                         | ``simple_shading_*``         |
     +------------------+-----------------------------+-------------------------------------------------------------------------+------------------------------+
-    | |cartpole|       | |cartpole-resnet-link|      | Move the cart to keep the pole upwards in the classic cartpole control  | ``newton_mjwarp``, ``physx`` |
-    |                  |                             | based off of features extracted from perceptive inputs with pre-trained |                              |
-    |                  | |cartpole-theia-link|       | frozen vision encoders. Requires running with ``--enable_cameras``.     |                              |
+    | |cartpole|       | |cartpole-camera-link|      | Move the cart to keep the pole upwards in the classic cartpole control  | ``newton_mjwarp``, ``physx`` |
+    |                  |                             | from raw RGB/depth observations or features extracted by pre-trained    | ``rgb``, ``depth``,          |
+    |                  |                             | frozen vision encoders. Select pipeline via ``presets=``. Requires      | ``resnet18``,                |
+    |                  |                             | running with ``--enable_cameras``.                                      | ``theia_tiny``               |
     +------------------+-----------------------------+-------------------------------------------------------------------------+------------------------------+
 
 .. |humanoid| image:: ../_static/tasks/classic/humanoid.jpg
@@ -81,9 +82,8 @@ Classic environments that are based on IsaacGymEnvs implementation of MuJoCo-sty
 .. |humanoid-link| replace:: `Isaac-Humanoid-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/humanoid/humanoid_env_cfg.py>`__
 .. |ant-link| replace:: `Isaac-Ant-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/ant/ant_env_cfg.py>`__
 .. |cartpole-link| replace:: `Isaac-Cartpole-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py>`__
-.. |cartpole-camera-presets| replace:: `Isaac-Cartpole-Camera-Presets-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_camera_presets_env_cfg.py>`__
-.. |cartpole-resnet-link| replace:: `Isaac-Cartpole-RGB-ResNet18-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
-.. |cartpole-theia-link| replace:: `Isaac-Cartpole-RGB-TheiaTiny-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
+.. |cartpole-camera-presets| replace:: `Isaac-Cartpole-Camera-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_camera_presets_env_cfg.py>`__
+.. |cartpole-camera-link| replace:: `Isaac-Cartpole-Camera-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
 
 
 .. |humanoid-direct-link| replace:: `Isaac-Humanoid-Direct-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/direct/humanoid/humanoid_env.py>`__
@@ -783,146 +783,31 @@ inferencing, including reading from an already trained checkpoint and disabling
       - Direct
       - **rl_games** (PPO), **skrl** (IPPO, PPO, MAPPO)
       -
-    * - Isaac-Cartpole-Camera-Showcase-Box-Box-Direct-v0 (Requires running with ``--enable_cameras``)
-      -
-      - Direct
-      - **skrl** (PPO)
-      - ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer``
-    * - Isaac-Cartpole-Camera-Showcase-Box-Discrete-Direct-v0 (Requires running with ``--enable_cameras``)
-      -
-      - Direct
-      - **skrl** (PPO)
-      - ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer``
-    * - Isaac-Cartpole-Camera-Showcase-Box-MultiDiscrete-Direct-v0 (Requires running with ``--enable_cameras``)
-      -
-      - Direct
-      - **skrl** (PPO)
-      - ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer``
-    * - Isaac-Cartpole-Camera-Showcase-Dict-Box-Direct-v0 (Requires running with ``--enable_cameras``)
-      -
-      - Direct
-      - **skrl** (PPO)
-      - ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer``
-    * - Isaac-Cartpole-Camera-Showcase-Dict-Discrete-Direct-v0 (Requires running with ``--enable_cameras``)
-      -
-      - Direct
-      - **skrl** (PPO)
-      - ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer``
-    * - Isaac-Cartpole-Camera-Showcase-Dict-MultiDiscrete-Direct-v0 (Requires running with ``--enable_cameras``)
-      -
-      - Direct
-      - **skrl** (PPO)
-      - ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer``
-    * - Isaac-Cartpole-Camera-Showcase-Tuple-Box-Direct-v0 (Requires running with ``--enable_cameras``)
-      -
-      - Direct
-      - **skrl** (PPO)
-      - ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer``
-    * - Isaac-Cartpole-Camera-Showcase-Tuple-Discrete-Direct-v0 (Requires running with ``--enable_cameras``)
-      -
-      - Direct
-      - **skrl** (PPO)
-      - ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer``
-    * - Isaac-Cartpole-Camera-Showcase-Tuple-MultiDiscrete-Direct-v0 (Requires running with ``--enable_cameras``)
-      -
-      - Direct
-      - **skrl** (PPO)
-      - ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer``
-    * - Isaac-Cartpole-Camera-Presets-Direct-v0 (Requires running with ``--enable_cameras``)
+    * - Isaac-Cartpole-Camera-Direct-v0 (Requires running with ``--enable_cameras``)
       -
       - Direct
       - **rl_games** (PPO), **skrl** (PPO)
       - ``newton_mjwarp``, ``physx``, ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer``, ``rgb``, ``depth``, ``albedo``, ``semantic_segmentation``, ``simple_shading_constant_diffuse``, ``simple_shading_diffuse_mdl``, ``simple_shading_full_mdl``
-    * - Isaac-Cartpole-Direct-v0
+    * - Isaac-Cartpole-Camera-Showcase-Direct-v0 (Requires running with ``--enable_cameras``)
       -
       - Direct
-      - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO), **sb3** (PPO)
-      - ``newton_mjwarp``, ``physx``, ``ovphysx``
-    * - Isaac-Cartpole-RGB-ResNet18-v0 (Requires running with ``--enable_cameras``)
-      -
-      - Manager Based
-      - **rl_games** (PPO)
-      - ``newton_mjwarp``, ``physx``
-    * - Isaac-Cartpole-RGB-TheiaTiny-v0 (Requires running with ``--enable_cameras``)
+      - **skrl** (PPO)
+      - ``newton_renderer``, ``ovrtx_renderer``, ``isaacsim_rtx_renderer``, ``box_box``, ``box_discrete``, ``box_multidiscrete``, ``dict_box``, ``dict_discrete``, ``dict_multidiscrete``, ``tuple_box``, ``tuple_discrete``, ``tuple_multidiscrete``
+    * - Isaac-Cartpole-Camera-v0 (Requires running with ``--enable_cameras``)
       -
       - Manager Based
       - **rl_games** (PPO)
-      - ``newton_mjwarp``, ``physx``
-    * - Isaac-Cartpole-Showcase-Box-Box-Direct-v0
-      -
-      - Direct
-      - **skrl** (PPO)
-      - ``newton_mjwarp``, ``physx``, ``ovphysx``
-    * - Isaac-Cartpole-Showcase-Box-Discrete-Direct-v0
-      -
-      - Direct
-      - **skrl** (PPO)
-      - ``newton_mjwarp``, ``physx``, ``ovphysx``
-    * - Isaac-Cartpole-Showcase-Box-MultiDiscrete-Direct-v0
-      -
-      - Direct
-      - **skrl** (PPO)
-      - ``newton_mjwarp``, ``physx``, ``ovphysx``
-    * - Isaac-Cartpole-Showcase-Dict-Box-Direct-v0
-      -
-      - Direct
-      - **skrl** (PPO)
-      - ``newton_mjwarp``, ``physx``, ``ovphysx``
-    * - Isaac-Cartpole-Showcase-Dict-Discrete-Direct-v0
-      -
-      - Direct
-      - **skrl** (PPO)
-      - ``newton_mjwarp``, ``physx``, ``ovphysx``
-    * - Isaac-Cartpole-Showcase-Dict-MultiDiscrete-Direct-v0
-      -
-      - Direct
-      - **skrl** (PPO)
-      - ``newton_mjwarp``, ``physx``, ``ovphysx``
-    * - Isaac-Cartpole-Showcase-Discrete-Box-Direct-v0
-      -
-      - Direct
-      - **skrl** (PPO)
-      - ``newton_mjwarp``, ``physx``, ``ovphysx``
-    * - Isaac-Cartpole-Showcase-Discrete-Discrete-Direct-v0
-      -
-      - Direct
-      - **skrl** (PPO)
-      - ``newton_mjwarp``, ``physx``, ``ovphysx``
-    * - Isaac-Cartpole-Showcase-Discrete-MultiDiscrete-Direct-v0
-      -
-      - Direct
-      - **skrl** (PPO)
-      - ``newton_mjwarp``, ``physx``, ``ovphysx``
-    * - Isaac-Cartpole-Showcase-MultiDiscrete-Box-Direct-v0
-      -
-      - Direct
-      - **skrl** (PPO)
-      - ``newton_mjwarp``, ``physx``, ``ovphysx``
-    * - Isaac-Cartpole-Showcase-MultiDiscrete-Discrete-Direct-v0
-      -
-      - Direct
-      - **skrl** (PPO)
-      - ``newton_mjwarp``, ``physx``, ``ovphysx``
-    * - Isaac-Cartpole-Showcase-MultiDiscrete-MultiDiscrete-Direct-v0
-      -
-      - Direct
-      - **skrl** (PPO)
-      - ``newton_mjwarp``, ``physx``, ``ovphysx``
-    * - Isaac-Cartpole-Showcase-Tuple-Box-Direct-v0
-      -
-      - Direct
-      - **skrl** (PPO)
-      - ``newton_mjwarp``, ``physx``, ``ovphysx``
-    * - Isaac-Cartpole-Showcase-Tuple-Discrete-Direct-v0
+      - ``newton_mjwarp``, ``physx``, ``rgb``, ``depth``, ``resnet18``, ``theia_tiny``
+    * - Isaac-Cartpole-Direct-v0
       -
       - Direct
-      - **skrl** (PPO)
+      - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO), **sb3** (PPO)
       - ``newton_mjwarp``, ``physx``, ``ovphysx``
-    * - Isaac-Cartpole-Showcase-Tuple-MultiDiscrete-Direct-v0
+    * - Isaac-Cartpole-Showcase-Direct-v0
       -
       - Direct
       - **skrl** (PPO)
-      - ``newton_mjwarp``, ``physx``, ``ovphysx``
+      - ``newton_mjwarp``, ``physx``, ``ovphysx``, ``box_box``, ``box_discrete``, ``box_multidiscrete``, ``discrete_box``, ``discrete_discrete``, ``discrete_multidiscrete``, ``multidiscrete_box``, ``multidiscrete_discrete``, ``multidiscrete_multidiscrete``, ``dict_box``, ``dict_discrete``, ``dict_multidiscrete``, ``tuple_box``, ``tuple_discrete``, ``tuple_multidiscrete``
     * - Isaac-Cartpole-v0
       -
       - Manager Based

docs/source/overview/reinforcement-learning/performance_benchmarks.rst

@@ -24,7 +24,7 @@ Memory Consumption
 +====================================+================+===================+==========+===========+
 | Isaac-Cartpole-Direct-v0           | |cartpole|     | 4096              | 3.7      | 3.3       |
 +------------------------------------+----------------+-------------------+----------+-----------+
-| Isaac-Cartpole-RGB-Camera-Direct-v0| |cartpole-cam| | 1024              | 7.5      | 16.7      |
+| Isaac-Cartpole-Camera-Direct-v0    | |cartpole-cam| | 1024              | 7.5      | 16.7      |
 +------------------------------------+----------------+-------------------+----------+-----------+
 | Isaac-Velocity-Rough-G1-v0         | |g1|           | 4096              | 6.5      | 6.1       |
 +------------------------------------+----------------+-------------------+----------+-----------+
@@ -57,7 +57,7 @@ CPU: AMD Ryzen 9 7950X 16-Core Processor
 +=====================================+===================+==============+===================+====================+
 | Isaac-Cartpole-Direct-v0            | 4096              | 1100000      | 910000            | 510000             |
 +-------------------------------------+-------------------+--------------+-------------------+--------------------+
-| Isaac-Cartpole-RGB-Camera-Direct-v0 | 1024              | 50000        | 45000             | 32000              |
+| Isaac-Cartpole-Camera-Direct-v0     | 1024              | 50000        | 45000             | 32000              |
 +-------------------------------------+-------------------+--------------+-------------------+--------------------+
 | Isaac-Velocity-Rough-G1-v0          | 4096              | 94000        | 88000             | 82000              |
 +-------------------------------------+-------------------+--------------+-------------------+--------------------+
@@ -77,7 +77,7 @@ CPU: Intel(R) Xeon(R) Platinum 8362 CPU @ 2.80GHz
 +=====================================+===================+==============+===================+====================+
 | Isaac-Cartpole-Direct-v0            | 4096              | 620000       | 490000            | 260000             |
 +-------------------------------------+-------------------+--------------+-------------------+--------------------+
-| Isaac-Cartpole-RGB-Camera-Direct-v0 | 1024              | 30000        | 28000             | 21000              |
+| Isaac-Cartpole-Camera-Direct-v0     | 1024              | 30000        | 28000             | 21000              |
 +-------------------------------------+-------------------+--------------+-------------------+--------------------+
 | Isaac-Velocity-Rough-G1-v0          | 4096              | 72000        | 64000             | 62000              |
 +-------------------------------------+-------------------+--------------+-------------------+--------------------+
@@ -97,7 +97,7 @@ CPU: Intel(R) Xeon(R) Platinum 8362 CPU @ 2.80GHz
 +=====================================+===================+==============+===================+====================+
 | Isaac-Cartpole-Direct-v0            | 4096              | 2700000      | 2100000           | 950000             |
 +-------------------------------------+-------------------+--------------+-------------------+--------------------+
-| Isaac-Cartpole-RGB-Camera-Direct-v0 | 1024              | 130000       | 120000            | 90000              |
+| Isaac-Cartpole-Camera-Direct-v0     | 1024              | 130000       | 120000            | 90000              |
 +-------------------------------------+-------------------+--------------+-------------------+--------------------+
 | Isaac-Velocity-Rough-G1-v0          | 4096              | 290000       | 270000            | 250000             |
 +-------------------------------------+-------------------+--------------+-------------------+--------------------+
@@ -117,7 +117,7 @@ CPU: Intel(R) Xeon(R) Platinum 8362 CPU @ 2.80GHz
 +=====================================+===================+==============+===================+====================+
 | Isaac-Cartpole-Direct-v0            | 4096              | 10200000     | 8200000           | 3500000            |
 +-------------------------------------+-------------------+--------------+-------------------+--------------------+
-| Isaac-Cartpole-RGB-Camera-Direct-v0 | 1024              | 530000       | 490000            | 260000             |
+| Isaac-Cartpole-Camera-Direct-v0     | 1024              | 530000       | 490000            | 260000             |
 +-------------------------------------+-------------------+--------------+-------------------+--------------------+
 | Isaac-Velocity-Rough-G1-v0          | 4096              | 1200000      | 1100000           | 960000             |
 +-------------------------------------+-------------------+--------------+-------------------+--------------------+