Publishing code with IsaacLab

[fl1ps1de5]

Hey there!

I am working on a paper in RL, and have written code that extensively uses IsaacLab

The structure of the code is a bit strange as I have also written a class that contains a learning algorithm

I am wondering if anyone can be in contact with my about the best way to go about publishing this code

At the moment, I have structured my code as follows:

• IsaacLab/
  • source/
    • standalone/
      • hybrid/ (created by me)
        • run.py (the actual runner script that launches isaacsim/lab)
        • trainer.py (the trainer class - it is used to refine a policy that has been trained up to x/2 timesteps with some other learning alg)
        • utils/
          • adam.py
          • etc etc etc
    • workflows/
      • skrl/
        • train.py
        • play.py

One of the complexities in my use case is the fact that trainer.py relies on a checkpoint produced by the user using skrl/train.py

If anyone could provide clarity of the best way for me to publish my code and make it reproducible I would really appreciate that

The most basic way would just be to publish my code as a fork of the IsaacLab repo but Im not 100% sure if thats allowed or good practice

Thanks in advance!

[RandomOakForest]

Thank you for your interest in Isaac Lab. You may use a fork, just keep the license files as in the repo.

[fl1ps1de5]

Thanks for the response.

Does the project structure displayed in my OG post seem reasonable?

On the other hand, would creating an extension for IsaacLab seem more fitting for something like this? Or even publishing as a standalone repo?

Just want to be aware of the best practice. Thanks a ton.

[kellyguo11]

Hi there, we generally recommend the extension template for standalone projects like the one you proposed. This method helps isolate the code specific for your project from the core isaac lab code. You can choose to host the repo based on your preference, it can either be a fork or as a completely new repository, as long as the original licenses are specified on the isaac lab code.