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kellyguo11 merged 2 commits into from
Jun 11, 2026
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Fixes environment task names in release docs #6126

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6732003
Fixes environment task names in release docs
kellyguo11 Jun 11, 2026
a3140e4
Merge branch 'release/3.0.0-beta2' into doc-env-name
kellyguo11 Jun 11, 2026
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14 changes: 7 additions & 7 deletions docs/source/features/hydra.rst
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Expand Up @@ -25,30 +25,30 @@ As a result, training with hydra arguments can be run with the following syntax:

.. code-block:: shell

./isaaclab.sh train --rl_library rsl_rl --task=Isaac-Cartpole --headless env.actions.joint_effort.scale=10.0 agent.seed=2024
./isaaclab.sh train --rl_library rsl_rl --task=Isaac-Cartpole-v0 --headless env.actions.joint_effort.scale=10.0 agent.seed=2024

.. tab-item:: rl_games
:sync: rl_games

.. code-block:: shell

./isaaclab.sh train --rl_library rl_games --task=Isaac-Cartpole --headless env.actions.joint_effort.scale=10.0 agent.params.seed=2024
./isaaclab.sh train --rl_library rl_games --task=Isaac-Cartpole-v0 --headless env.actions.joint_effort.scale=10.0 agent.params.seed=2024

.. tab-item:: skrl
:sync: skrl

.. code-block:: shell

./isaaclab.sh train --rl_library skrl --task=Isaac-Cartpole --headless env.actions.joint_effort.scale=10.0 agent.seed=2024
./isaaclab.sh train --rl_library skrl --task=Isaac-Cartpole-v0 --headless env.actions.joint_effort.scale=10.0 agent.seed=2024

.. tab-item:: sb3
:sync: sb3

.. code-block:: shell

./isaaclab.sh train --rl_library sb3 --task=Isaac-Cartpole --headless env.actions.joint_effort.scale=10.0 agent.seed=2024
./isaaclab.sh train --rl_library sb3 --task=Isaac-Cartpole-v0 --headless env.actions.joint_effort.scale=10.0 agent.seed=2024

The above command will run training with the task ``Isaac-Cartpole`` in headless mode, and set the
The above command will run training with the task ``Isaac-Cartpole-v0`` in headless mode, and set the
``env.actions.joint_effort.scale`` parameter to 10.0 and the ``agent.seed`` parameter to 2024.

.. note::
Expand Down Expand Up @@ -418,8 +418,8 @@ for that task, grouped by selector type:

.. code-block:: bash

./isaaclab.sh train --rl_library rsl_rl \
--task Isaac-Cartpole-Camera-Direct --help
./isaaclab.sh train --rl_library rl_games \
--task Isaac-Cartpole-Camera-Presets-Direct-v0 --help

.. note::

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2 changes: 1 addition & 1 deletion docs/source/how-to/profile_with_nsys.rst
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Expand Up @@ -43,7 +43,7 @@ The following command shows how to capture a profile for the ``Isaac-Cartpole-v0
--python-functions-trace=scripts/benchmarks/nsys_trace.json \
-o my_profile \
./isaaclab.sh train --rl_library rsl_rl \
--task=Isaac-Cartpole \
--task=Isaac-Cartpole-v0 \
--headless \
--max_iterations=3

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2 changes: 1 addition & 1 deletion docs/source/how-to/record_video.rst
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Expand Up @@ -21,7 +21,7 @@ Example usage:

.. code-block:: shell

./isaaclab.sh train --rl_library rl_games --task=Isaac-Cartpole --headless --video --video_length 100 --video_interval 500
./isaaclab.sh train --rl_library rl_games --task=Isaac-Cartpole-v0 --headless --video --video_length 100 --video_interval 500


The recorded videos will be saved in the same directory as the training checkpoints, under
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4 changes: 2 additions & 2 deletions docs/source/migration/migrating_from_isaacgymenvs.rst
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Expand Up @@ -916,7 +916,7 @@ To launch a training in Isaac Lab, use the command:

.. code-block:: bash

./isaaclab.sh train --rl_library rl_games --task=Isaac-Cartpole-Direct --headless
./isaaclab.sh train --rl_library rl_games --task=Isaac-Cartpole-Direct-v0 --headless

Launching Inferencing
~~~~~~~~~~~~~~~~~~~~~
Expand All @@ -925,7 +925,7 @@ To launch inferencing in Isaac Lab, use the command:

.. code-block:: bash

./isaaclab.sh play --rl_library rl_games --task=Isaac-Cartpole-Direct --num_envs=25 --checkpoint=<path/to/checkpoint>
./isaaclab.sh play --rl_library rl_games --task=Isaac-Cartpole-Direct-v0 --num_envs=25 --checkpoint=<path/to/checkpoint>


Additional Resources
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4 changes: 2 additions & 2 deletions docs/source/migration/migrating_from_omniisaacgymenvs.rst
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Expand Up @@ -983,7 +983,7 @@ To launch a training in Isaac Lab, use the command:

.. code-block:: bash

./isaaclab.sh train --rl_library rl_games --task=Isaac-Cartpole-Direct --headless
./isaaclab.sh train --rl_library rl_games --task=Isaac-Cartpole-Direct-v0 --headless

Launching Inferencing
~~~~~~~~~~~~~~~~~~~~~
Expand All @@ -992,7 +992,7 @@ To launch inferencing in Isaac Lab, use the command:

.. code-block:: bash

./isaaclab.sh play --rl_library rl_games --task=Isaac-Cartpole-Direct --num_envs=25 --checkpoint=<path/to/checkpoint>
./isaaclab.sh play --rl_library rl_games --task=Isaac-Cartpole-Direct-v0 --num_envs=25 --checkpoint=<path/to/checkpoint>


.. _`OmniIsaacGymEnvs`: https://github.com/isaac-sim/OmniIsaacGymEnvs
Expand Down
8 changes: 4 additions & 4 deletions docs/source/migration/migrating_to_isaaclab_3-0.rst
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Expand Up @@ -45,16 +45,16 @@ and play. Instead of launching library-specific scripts under
.. code-block:: bash

# Isaac Lab 2.x/deprecated
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Cartpole --headless
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Cartpole-v0 --headless

# Isaac Lab 3.0
./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole --headless
./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole-v0 --headless

The same pattern applies to the play workflow:

.. code-block:: bash

./isaaclab.sh play --rl_library rsl_rl --task Isaac-Cartpole --checkpoint /PATH/TO/model.pt
./isaaclab.sh play --rl_library rsl_rl --task Isaac-Cartpole-v0 --checkpoint /PATH/TO/model.pt

Supported reinforcement learning libraries are ``rsl_rl``, ``rl_games``, ``skrl``,
``sb3``, and ``rlinf``. The old per-library ``train.py`` and ``play.py`` scripts
Expand All @@ -67,7 +67,7 @@ script path and pass ``--rl_library`` to it:
.. code-block:: bash

python -m torch.distributed.run --nproc_per_node=2 scripts/reinforcement_learning/train.py \
--rl_library rsl_rl --task Isaac-Cartpole --headless --distributed
--rl_library rsl_rl --task Isaac-Cartpole-v0 --headless --distributed


Multi-Backend Architecture
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4 changes: 2 additions & 2 deletions docs/source/overview/core-concepts/physical-backends/newton/kamino-solver.rst
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Expand Up @@ -66,13 +66,13 @@ You can select the preset globally:

.. code-block:: bash

./isaaclab.sh train --rl_library rsl_rl --task=Isaac-Cartpole physics=newton_kamino
./isaaclab.sh train --rl_library rsl_rl --task=Isaac-Cartpole-v0 physics=newton_kamino

or select the physics field directly:

.. code-block:: bash

./isaaclab.sh train --rl_library rsl_rl --task=Isaac-Cartpole env.sim.physics=newton_kamino
./isaaclab.sh train --rl_library rsl_rl --task=Isaac-Cartpole-v0 env.sim.physics=newton_kamino

Use the direct path override when only one task field should use the Kamino preset.
Use ``physics=newton_kamino`` when you want every matching preset field in the task config
Expand Down
2 changes: 1 addition & 1 deletion docs/source/overview/core-concepts/sensors/camera.rst
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Expand Up @@ -174,7 +174,7 @@ When using the RTX renderer, add ``--enable_cameras`` when launching:
.. code-block:: shell

./isaaclab.sh train --rl_library rl_games \
--task=Isaac-Cartpole-Camera-Direct --headless --enable_cameras
--task=Isaac-Cartpole-Camera-Presets-Direct-v0 --headless --enable_cameras


Annotators (RTX only)
Expand Down
12 changes: 6 additions & 6 deletions docs/source/overview/core-concepts/visualization.rst
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Expand Up @@ -70,20 +70,20 @@ Launch visualizers from the command line with ``--visualizer`` (or ``--viz`` ali
.. code-block:: bash

# Launch all visualizers (comma-delimited list, no spaces)
./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole --viz kit,newton,rerun
./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole-v0 --viz kit,newton,rerun

# Launch only the Newton visualizer
./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole --viz newton
./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole-v0 --viz newton

# Launch the Viser web-based visualizer
./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole --viz viser
./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole-v0 --viz viser


To run in headless mode, omit the ``--viz`` argument:

.. code-block:: bash

./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole
./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole-v0

.. note::

Expand Down Expand Up @@ -230,7 +230,7 @@ Note, Kit tiled camera views require launching with ``--enable_cameras``.
- The visualizer displays existing Isaac Lab ``Camera`` sensor output. Generated-camera fields such as ``tiled_cam_eye`` and
``tiled_cam_target_prim_path`` are ignored. Note that the ``tiled_cam_prim_path`` has a default value, but different
environments may require different paths. This mode requires an environment that registers Isaac Lab ``Camera`` sensors
in ``scene.sensors``. For Cartpole, use a camera task such as ``Isaac-Cartpole-Camera``. The plain ``Isaac-Cartpole``
in ``scene.sensors``. For Cartpole, use a camera task such as ``Isaac-Cartpole-Camera-Presets-Direct-v0``. The plain ``Isaac-Cartpole-v0``
task has no ``/World/envs/*/Camera`` sensor, so leave ``tiled_cam_prim_path=None`` to use generated visualizer cameras.

**How to Access the Tiled Camera View in the UI**
Expand Down Expand Up @@ -603,7 +603,7 @@ the num of environments can be overwritten and decreased using ``--num_envs``:

.. code-block:: bash

./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole --viz rerun --num_envs 512
./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole-v0 --viz rerun --num_envs 512


**Rerun Visualizer FPS Control**
Expand Down
8 changes: 4 additions & 4 deletions docs/source/overview/reinforcement-learning/rl_existing_scripts.rst
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Expand Up @@ -18,13 +18,13 @@ See :doc:`/source/features/hydra` for all available names and how the selectors
--task <task-name> --headless physics=newton_mjwarp

# Switch renderer (camera environments)
./isaaclab.sh train --rl_library rsl_rl \
--task Isaac-Cartpole-Camera-Direct --headless \
./isaaclab.sh train --rl_library rl_games \
--task Isaac-Cartpole-Camera-Presets-Direct-v0 --headless \
--enable_cameras renderer=newton_renderer

# Combine selectors freely
./isaaclab.sh train --rl_library rsl_rl \
--task Isaac-Cartpole-Camera-Direct --headless \
./isaaclab.sh train --rl_library rl_games \
--task Isaac-Cartpole-Camera-Presets-Direct-v0 --headless \
--enable_cameras physics=newton_mjwarp renderer=newton_renderer presets=rgb

.. note::
Expand Down
2 changes: 1 addition & 1 deletion docs/source/setup/installation/cloud_installation.rst
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Expand Up @@ -154,7 +154,7 @@ To run Isaac Lab commands, open a terminal on the workstation:
.. code-block:: bash

~/IsaacLab/isaaclab.sh train --rl_library rsl_rl \
--task=Isaac-Cartpole-Direct --headless
--task=Isaac-Cartpole-Direct-v0 --headless


Pausing and Resuming
Expand Down
4 changes: 2 additions & 2 deletions docs/source/setup/installation/kitless_installation.rst
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Expand Up @@ -34,7 +34,7 @@ and kickoff training with MJWarp physics and the Newton visualizer:

# Kickoff training with MJWarp physics and Newton visualizer
./isaaclab.sh train --rl_library rsl_rl \
--task=Isaac-Cartpole-Direct \
--task=Isaac-Cartpole-Direct-v0 \
--num_envs=16 --max_iterations=10 \
physics=newton_mjwarp --visualizer newton

Expand All @@ -49,7 +49,7 @@ and kickoff training with MJWarp physics and the Newton visualizer:

:: Kickoff training with MJWarp physics and Newton visualizer
isaaclab.bat train --rl_library rsl_rl ^
--task=Isaac-Cartpole-Direct ^
--task=Isaac-Cartpole-Direct-v0 ^
--num_envs=16 --max_iterations=10 ^
physics=newton_mjwarp --visualizer newton

Expand Down
12 changes: 6 additions & 6 deletions docs/source/setup/quickstart.rst
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Expand Up @@ -88,19 +88,19 @@ Use the reinforcement learning training command with a **task name** and

# Kit-less: Newton MJWarp physics + Newton visualizer
./isaaclab.sh train --rl_library rsl_rl \
--task=Isaac-Cartpole-Direct \
--task=Isaac-Cartpole-Direct-v0 \
--num_envs=16 --max_iterations=10 \
physics=newton_mjwarp --visualizer newton

# With Isaac Sim: PhysX physics (default renderer)
./isaaclab.sh train --rl_library rsl_rl \
--task=Isaac-Cartpole-Direct \
--task=Isaac-Cartpole-Direct-v0 \
--num_envs=4096 \
physics=physx

# Camera task: typed physics + renderer + domain preset
./isaaclab.sh train --rl_library rsl_rl \
--task=Isaac-Cartpole-Camera-Direct \
./isaaclab.sh train --rl_library rl_games \
--task=Isaac-Cartpole-RGB-Camera-Direct-v0 \
physics=newton_mjwarp renderer=newton_renderer presets=rgb
Comment on lines +102 to 104

@greptile-apps greptile-apps Bot Jun 11, 2026

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P1 Inconsistent camera task name with presets=rgb override

quickstart.rst uses Isaac-Cartpole-RGB-Camera-Direct-v0 while every other updated doc (quickstart_details.rst, hydra.rst, camera.rst, visualization.rst, rl_existing_scripts.rst) uses Isaac-Cartpole-Camera-Presets-Direct-v0 for the same camera + presets example command. Isaac-Cartpole-RGB-Camera-Direct-v0 is a fixed-config RGB task without preset support, so passing presets=rgb as a Hydra override is likely a no-op or undefined behavior here; Isaac-Cartpole-Camera-Presets-Direct-v0 is the task explicitly built for preset selection via Hydra.

Suggested change
./isaaclab.sh train --rl_library rl_games \
--task=Isaac-Cartpole-RGB-Camera-Direct-v0 \
physics=newton_mjwarp renderer=newton_renderer presets=rgb
./isaaclab.sh train --rl_library rl_games \
--task=Isaac-Cartpole-Camera-Presets-Direct-v0 \
physics=newton_mjwarp renderer=newton_renderer presets=rgb


.. tab-item:: :icon:`fa-brands fa-windows` Windows
Expand All @@ -109,12 +109,12 @@ Use the reinforcement learning training command with a **task name** and
.. code-block:: batch

isaaclab.bat train --rl_library rsl_rl ^
--task=Isaac-Cartpole-Direct ^
--task=Isaac-Cartpole-Direct-v0 ^
--num_envs=16 --max_iterations=10 ^
physics=newton_mjwarp --visualizer newton

isaaclab.bat train --rl_library rsl_rl ^
--task=Isaac-Cartpole-Direct ^
--task=Isaac-Cartpole-Direct-v0 ^
--num_envs=4096 ^
physics=physx

Expand Down
10 changes: 5 additions & 5 deletions docs/source/setup/quickstart_details.rst
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Expand Up @@ -34,19 +34,19 @@ options (observation modes, camera configs, etc.). They fold into Hydra override

# Kit-less: Newton MJWarp + Newton visualizer
./isaaclab.sh train --rl_library rsl_rl \
--task=Isaac-Cartpole-Direct \
--task=Isaac-Cartpole-Direct-v0 \
--num_envs=4096 \
physics=newton_mjwarp --visualizer newton

# With Isaac Sim: PhysX
./isaaclab.sh train --rl_library rsl_rl \
--task=Isaac-Cartpole-Direct \
--task=Isaac-Cartpole-Direct-v0 \
--num_envs=4096 \
physics=physx

# Camera task: physics + renderer + domain preset
./isaaclab.sh train --rl_library rsl_rl \
--task=Isaac-Cartpole-Camera-Direct \
./isaaclab.sh train --rl_library rl_games \
--task=Isaac-Cartpole-Camera-Presets-Direct-v0 \
physics=newton_mjwarp renderer=newton_renderer presets=rgb

# OVRTX rendering (kit-less, no Kit visualizer)
Expand All @@ -61,7 +61,7 @@ options (observation modes, camera configs, etc.). They fold into Hydra override
.. code-block:: batch

isaaclab.bat train --rl_library rsl_rl ^
--task=Isaac-Cartpole-Direct ^
--task=Isaac-Cartpole-Direct-v0 ^
--num_envs=4096 ^
physics=newton_mjwarp --visualizer newton

Expand Down
6 changes: 3 additions & 3 deletions docs/source/tutorials/03_envs/configuring_rl_training.rst
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Expand Up @@ -113,20 +113,20 @@ we can use the ``--agent`` argument to specify the configuration instance to use
.. code-block:: bash

# standard PPO training
./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole --headless \
./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole-v0 --headless \
--run_name ppo

* Training with the PPO configuration with symmetry augmentation:

.. code-block:: bash

# PPO training with symmetry augmentation
./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole --headless \
./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole-v0 --headless \
--agent rsl_rl_with_symmetry_cfg_entry_point \
--run_name ppo_with_symmetry_data_augmentation

# you can use hydra to disable symmetry augmentation but enable mirror loss computation
./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole --headless \
./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole-v0 --headless \
--agent rsl_rl_with_symmetry_cfg_entry_point \
--run_name ppo_without_symmetry_data_augmentation \
agent.algorithm.symmetry_cfg.use_data_augmentation=false
Expand Down
2 changes: 1 addition & 1 deletion docs/source/tutorials/03_envs/create_direct_rl_env.rst
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Expand Up @@ -205,7 +205,7 @@ To run training for the direct workflow Cartpole environment, we can use the fol

.. code-block:: bash

./isaaclab.sh train --rl_library rl_games --task=Isaac-Cartpole-Direct
./isaaclab.sh train --rl_library rl_games --task=Isaac-Cartpole-Direct-v0

.. figure:: ../../_static/tutorials/tutorial_create_direct_workflow.jpg
:align: center
Expand Down
8 changes: 4 additions & 4 deletions docs/source/tutorials/03_envs/run_rl_training.rst
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Expand Up @@ -88,7 +88,7 @@ Rendering can still be active for sensor/camera data capture when enabled by the

.. code-block:: bash

./isaaclab.sh train --rl_library sb3 --task Isaac-Cartpole --num_envs 64
./isaaclab.sh train --rl_library sb3 --task Isaac-Cartpole-v0 --num_envs 64


Headless execution with off-screen render
Expand All @@ -100,7 +100,7 @@ in the workflow and pass ``--video`` to record the agent behavior.

.. code-block:: bash

./isaaclab.sh train --rl_library sb3 --task Isaac-Cartpole --num_envs 64 --video
./isaaclab.sh train --rl_library sb3 --task Isaac-Cartpole-v0 --num_envs 64 --video

The videos are saved to the ``logs/sb3/Isaac-Cartpole-v0/<run-dir>/videos/train`` directory. You can open these videos
using any video player.
Expand All @@ -116,7 +116,7 @@ training command as follows:

.. code-block:: bash

./isaaclab.sh train --rl_library sb3 --task Isaac-Cartpole --num_envs 64 --viz kit
./isaaclab.sh train --rl_library sb3 --task Isaac-Cartpole-v0 --num_envs 64 --viz kit

This will open the Kit visualizer window and you can see the agent training in the environment. However, this
can slow down the training process because interactive visual feedback is enabled. As a workaround, you
Expand All @@ -142,7 +142,7 @@ Once the training is complete, you can visualize the trained agent by executing
.. code:: bash

# execute from the root directory of the repository
./isaaclab.sh play --rl_library sb3 --task Isaac-Cartpole --num_envs 32 --viz kit
./isaaclab.sh play --rl_library sb3 --task Isaac-Cartpole-v0 --num_envs 32 --viz kit

The above command will load the latest checkpoint from the ``logs/sb3/Isaac-Cartpole-v0``
directory. You can also specify a specific checkpoint by passing the ``--checkpoint`` flag.
Expand Down
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