From 25a4cf5755bf5fe6af91c76b1dd80da4577d5a62 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Antonio=20Serrano=20Mu=C3=B1oz?= <toni.semu@gmail.com>
Date: Fri, 21 Jun 2024 12:02:11 -0400
Subject: [PATCH] Rename Orbit examples to Isaac Lab

---
 .../examples/{isaacorbit => isaaclab}/jax_ant_ddpg.py       | 6 +++---
 .../source/examples/{isaacorbit => isaaclab}/jax_ant_ppo.py | 6 +++---
 .../source/examples/{isaacorbit => isaaclab}/jax_ant_sac.py | 6 +++---
 .../source/examples/{isaacorbit => isaaclab}/jax_ant_td3.py | 6 +++---
 .../examples/{isaacorbit => isaaclab}/jax_cartpole_ppo.py   | 6 +++---
 .../examples/{isaacorbit => isaaclab}/jax_humanoid_ppo.py   | 6 +++---
 .../{isaacorbit => isaaclab}/jax_lift_franka_ppo.py         | 6 +++---
 .../{isaacorbit => isaaclab}/jax_reach_franka_ppo.py        | 6 +++---
 .../{isaacorbit => isaaclab}/jax_velocity_anymal_c_ppo.py   | 6 +++---
 .../examples/{isaacorbit => isaaclab}/torch_ant_ddpg.py     | 6 +++---
 .../examples/{isaacorbit => isaaclab}/torch_ant_ppo.py      | 6 +++---
 .../examples/{isaacorbit => isaaclab}/torch_ant_sac.py      | 6 +++---
 .../examples/{isaacorbit => isaaclab}/torch_ant_td3.py      | 6 +++---
 .../examples/{isaacorbit => isaaclab}/torch_cartpole_ppo.py | 6 +++---
 .../examples/{isaacorbit => isaaclab}/torch_humanoid_ppo.py | 6 +++---
 .../{isaacorbit => isaaclab}/torch_lift_franka_ppo.py       | 6 +++---
 .../{isaacorbit => isaaclab}/torch_reach_franka_ppo.py      | 6 +++---
 .../{isaacorbit => isaaclab}/torch_velocity_anymal_c_ppo.py | 6 +++---
 18 files changed, 54 insertions(+), 54 deletions(-)
 rename docs/source/examples/{isaacorbit => isaaclab}/jax_ant_ddpg.py (96%)
 rename docs/source/examples/{isaacorbit => isaaclab}/jax_ant_ppo.py (97%)
 rename docs/source/examples/{isaacorbit => isaaclab}/jax_ant_sac.py (96%)
 rename docs/source/examples/{isaacorbit => isaaclab}/jax_ant_td3.py (96%)
 rename docs/source/examples/{isaacorbit => isaaclab}/jax_cartpole_ppo.py (97%)
 rename docs/source/examples/{isaacorbit => isaaclab}/jax_humanoid_ppo.py (97%)
 rename docs/source/examples/{isaacorbit => isaaclab}/jax_lift_franka_ppo.py (97%)
 rename docs/source/examples/{isaacorbit => isaaclab}/jax_reach_franka_ppo.py (97%)
 rename docs/source/examples/{isaacorbit => isaaclab}/jax_velocity_anymal_c_ppo.py (96%)
 rename docs/source/examples/{isaacorbit => isaaclab}/torch_ant_ddpg.py (96%)
 rename docs/source/examples/{isaacorbit => isaaclab}/torch_ant_ppo.py (97%)
 rename docs/source/examples/{isaacorbit => isaaclab}/torch_ant_sac.py (96%)
 rename docs/source/examples/{isaacorbit => isaaclab}/torch_ant_td3.py (96%)
 rename docs/source/examples/{isaacorbit => isaaclab}/torch_cartpole_ppo.py (96%)
 rename docs/source/examples/{isaacorbit => isaaclab}/torch_humanoid_ppo.py (96%)
 rename docs/source/examples/{isaacorbit => isaaclab}/torch_lift_franka_ppo.py (96%)
 rename docs/source/examples/{isaacorbit => isaaclab}/torch_reach_franka_ppo.py (96%)
 rename docs/source/examples/{isaacorbit => isaaclab}/torch_velocity_anymal_c_ppo.py (96%)

diff --git a/docs/source/examples/isaacorbit/jax_ant_ddpg.py b/docs/source/examples/isaaclab/jax_ant_ddpg.py
similarity index 96%
rename from docs/source/examples/isaacorbit/jax_ant_ddpg.py
rename to docs/source/examples/isaaclab/jax_ant_ddpg.py
index 25fe1a26..e5ff876c 100644
--- a/docs/source/examples/isaacorbit/jax_ant_ddpg.py
+++ b/docs/source/examples/isaaclab/jax_ant_ddpg.py
@@ -19,7 +19,7 @@
 # import the skrl components to build the RL system
 from skrl import config
 from skrl.agents.jax.ddpg import DDPG, DDPG_DEFAULT_CONFIG
-from skrl.envs.loaders.jax import load_isaac_orbit_env
+from skrl.envs.loaders.jax import load_isaaclab_env
 from skrl.envs.wrappers.jax import wrap_env
 from skrl.memories.jax import RandomMemory
 from skrl.models.jax import DeterministicMixin, Model
@@ -69,8 +69,8 @@ def __call__(self, inputs, role):
         return x, {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Ant-v0", num_envs=64)
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Ant-v0", num_envs=64)
 env = wrap_env(env)
 
 device = env.device
diff --git a/docs/source/examples/isaacorbit/jax_ant_ppo.py b/docs/source/examples/isaaclab/jax_ant_ppo.py
similarity index 97%
rename from docs/source/examples/isaacorbit/jax_ant_ppo.py
rename to docs/source/examples/isaaclab/jax_ant_ppo.py
index ba0cc9f3..d7fae830 100644
--- a/docs/source/examples/isaacorbit/jax_ant_ppo.py
+++ b/docs/source/examples/isaaclab/jax_ant_ppo.py
@@ -19,7 +19,7 @@
 # import the skrl components to build the RL system
 from skrl import config
 from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
-from skrl.envs.loaders.jax import load_isaac_orbit_env
+from skrl.envs.loaders.jax import load_isaaclab_env
 from skrl.envs.wrappers.jax import wrap_env
 from skrl.memories.jax import RandomMemory
 from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
@@ -72,8 +72,8 @@ def __call__(self, inputs, role):
         return x, {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Ant-v0")
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Ant-v0")
 env = wrap_env(env)
 
 device = env.device
diff --git a/docs/source/examples/isaacorbit/jax_ant_sac.py b/docs/source/examples/isaaclab/jax_ant_sac.py
similarity index 96%
rename from docs/source/examples/isaacorbit/jax_ant_sac.py
rename to docs/source/examples/isaaclab/jax_ant_sac.py
index 0b87c430..efc6b9a5 100644
--- a/docs/source/examples/isaacorbit/jax_ant_sac.py
+++ b/docs/source/examples/isaaclab/jax_ant_sac.py
@@ -19,7 +19,7 @@
 # import the skrl components to build the RL system
 from skrl import config
 from skrl.agents.jax.sac import SAC, SAC_DEFAULT_CONFIG
-from skrl.envs.loaders.jax import load_isaac_orbit_env
+from skrl.envs.loaders.jax import load_isaaclab_env
 from skrl.envs.wrappers.jax import wrap_env
 from skrl.memories.jax import RandomMemory
 from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
@@ -70,8 +70,8 @@ def __call__(self, inputs, role):
         return x, {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Ant-v0", num_envs=64)
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Ant-v0", num_envs=64)
 env = wrap_env(env)
 
 device = env.device
diff --git a/docs/source/examples/isaacorbit/jax_ant_td3.py b/docs/source/examples/isaaclab/jax_ant_td3.py
similarity index 96%
rename from docs/source/examples/isaacorbit/jax_ant_td3.py
rename to docs/source/examples/isaaclab/jax_ant_td3.py
index c414fda7..633e5026 100644
--- a/docs/source/examples/isaacorbit/jax_ant_td3.py
+++ b/docs/source/examples/isaaclab/jax_ant_td3.py
@@ -19,7 +19,7 @@
 # import the skrl components to build the RL system
 from skrl import config
 from skrl.agents.jax.td3 import TD3, TD3_DEFAULT_CONFIG
-from skrl.envs.loaders.jax import load_isaac_orbit_env
+from skrl.envs.loaders.jax import load_isaaclab_env
 from skrl.envs.wrappers.jax import wrap_env
 from skrl.memories.jax import RandomMemory
 from skrl.models.jax import DeterministicMixin, Model
@@ -69,8 +69,8 @@ def __call__(self, inputs, role):
         return x, {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Ant-v0", num_envs=64)
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Ant-v0", num_envs=64)
 env = wrap_env(env)
 
 device = env.device
diff --git a/docs/source/examples/isaacorbit/jax_cartpole_ppo.py b/docs/source/examples/isaaclab/jax_cartpole_ppo.py
similarity index 97%
rename from docs/source/examples/isaacorbit/jax_cartpole_ppo.py
rename to docs/source/examples/isaaclab/jax_cartpole_ppo.py
index d6d5ef1b..bcee2099 100644
--- a/docs/source/examples/isaacorbit/jax_cartpole_ppo.py
+++ b/docs/source/examples/isaaclab/jax_cartpole_ppo.py
@@ -19,7 +19,7 @@
 # import the skrl components to build the RL system
 from skrl import config
 from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
-from skrl.envs.loaders.jax import load_isaac_orbit_env
+from skrl.envs.loaders.jax import load_isaaclab_env
 from skrl.envs.wrappers.jax import wrap_env
 from skrl.memories.jax import RandomMemory
 from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
@@ -70,8 +70,8 @@ def __call__(self, inputs, role):
         return x, {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Cartpole-v0")
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Cartpole-v0")
 env = wrap_env(env)
 
 device = env.device
diff --git a/docs/source/examples/isaacorbit/jax_humanoid_ppo.py b/docs/source/examples/isaaclab/jax_humanoid_ppo.py
similarity index 97%
rename from docs/source/examples/isaacorbit/jax_humanoid_ppo.py
rename to docs/source/examples/isaaclab/jax_humanoid_ppo.py
index dafdb04b..58d57e86 100644
--- a/docs/source/examples/isaacorbit/jax_humanoid_ppo.py
+++ b/docs/source/examples/isaaclab/jax_humanoid_ppo.py
@@ -19,7 +19,7 @@
 # import the skrl components to build the RL system
 from skrl import config
 from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
-from skrl.envs.loaders.jax import load_isaac_orbit_env
+from skrl.envs.loaders.jax import load_isaaclab_env
 from skrl.envs.wrappers.jax import wrap_env
 from skrl.memories.jax import RandomMemory
 from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
@@ -72,8 +72,8 @@ def __call__(self, inputs, role):
         return x, {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Humanoid-v0")
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Humanoid-v0")
 env = wrap_env(env)
 
 device = env.device
diff --git a/docs/source/examples/isaacorbit/jax_lift_franka_ppo.py b/docs/source/examples/isaaclab/jax_lift_franka_ppo.py
similarity index 97%
rename from docs/source/examples/isaacorbit/jax_lift_franka_ppo.py
rename to docs/source/examples/isaaclab/jax_lift_franka_ppo.py
index b2d24b69..998ab04c 100644
--- a/docs/source/examples/isaacorbit/jax_lift_franka_ppo.py
+++ b/docs/source/examples/isaaclab/jax_lift_franka_ppo.py
@@ -19,7 +19,7 @@
 # import the skrl components to build the RL system
 from skrl import config
 from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
-from skrl.envs.loaders.jax import load_isaac_orbit_env
+from skrl.envs.loaders.jax import load_isaaclab_env
 from skrl.envs.wrappers.jax import wrap_env
 from skrl.memories.jax import RandomMemory
 from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
@@ -72,8 +72,8 @@ def __call__(self, inputs, role):
         return x, {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Lift-Franka-v0")
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Lift-Franka-v0")
 env = wrap_env(env)
 
 device = env.device
diff --git a/docs/source/examples/isaacorbit/jax_reach_franka_ppo.py b/docs/source/examples/isaaclab/jax_reach_franka_ppo.py
similarity index 97%
rename from docs/source/examples/isaacorbit/jax_reach_franka_ppo.py
rename to docs/source/examples/isaaclab/jax_reach_franka_ppo.py
index 2b01af30..701ebf87 100644
--- a/docs/source/examples/isaacorbit/jax_reach_franka_ppo.py
+++ b/docs/source/examples/isaaclab/jax_reach_franka_ppo.py
@@ -19,7 +19,7 @@
 # import the skrl components to build the RL system
 from skrl import config
 from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
-from skrl.envs.loaders.jax import load_isaac_orbit_env
+from skrl.envs.loaders.jax import load_isaaclab_env
 from skrl.envs.wrappers.jax import wrap_env
 from skrl.memories.jax import RandomMemory
 from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
@@ -72,8 +72,8 @@ def __call__(self, inputs, role):
         return x, {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Reach-Franka-v0")
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Reach-Franka-v0")
 env = wrap_env(env)
 
 device = env.device
diff --git a/docs/source/examples/isaacorbit/jax_velocity_anymal_c_ppo.py b/docs/source/examples/isaaclab/jax_velocity_anymal_c_ppo.py
similarity index 96%
rename from docs/source/examples/isaacorbit/jax_velocity_anymal_c_ppo.py
rename to docs/source/examples/isaaclab/jax_velocity_anymal_c_ppo.py
index 0238a6ec..a2457ecd 100644
--- a/docs/source/examples/isaacorbit/jax_velocity_anymal_c_ppo.py
+++ b/docs/source/examples/isaaclab/jax_velocity_anymal_c_ppo.py
@@ -19,7 +19,7 @@
 # import the skrl components to build the RL system
 from skrl import config
 from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
-from skrl.envs.loaders.jax import load_isaac_orbit_env
+from skrl.envs.loaders.jax import load_isaaclab_env
 from skrl.envs.wrappers.jax import wrap_env
 from skrl.memories.jax import RandomMemory
 from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
@@ -72,8 +72,8 @@ def __call__(self, inputs, role):
         return x, {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Velocity-Anymal-C-v0")
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Velocity-Anymal-C-v0")
 env = wrap_env(env)
 
 device = env.device
diff --git a/docs/source/examples/isaacorbit/torch_ant_ddpg.py b/docs/source/examples/isaaclab/torch_ant_ddpg.py
similarity index 96%
rename from docs/source/examples/isaacorbit/torch_ant_ddpg.py
rename to docs/source/examples/isaaclab/torch_ant_ddpg.py
index 7bd90ecc..56e114f3 100644
--- a/docs/source/examples/isaacorbit/torch_ant_ddpg.py
+++ b/docs/source/examples/isaaclab/torch_ant_ddpg.py
@@ -3,7 +3,7 @@
 
 # import the skrl components to build the RL system
 from skrl.agents.torch.ddpg import DDPG, DDPG_DEFAULT_CONFIG
-from skrl.envs.loaders.torch import load_isaac_orbit_env
+from skrl.envs.loaders.torch import load_isaaclab_env
 from skrl.envs.wrappers.torch import wrap_env
 from skrl.memories.torch import RandomMemory
 from skrl.models.torch import DeterministicMixin, Model
@@ -48,8 +48,8 @@ def compute(self, inputs, role):
         return self.net(torch.cat([inputs["states"], inputs["taken_actions"]], dim=1)), {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Ant-v0", num_envs=64)
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Ant-v0", num_envs=64)
 env = wrap_env(env)
 
 device = env.device
diff --git a/docs/source/examples/isaacorbit/torch_ant_ppo.py b/docs/source/examples/isaaclab/torch_ant_ppo.py
similarity index 97%
rename from docs/source/examples/isaacorbit/torch_ant_ppo.py
rename to docs/source/examples/isaaclab/torch_ant_ppo.py
index 25c0809c..9c0d08d7 100644
--- a/docs/source/examples/isaacorbit/torch_ant_ppo.py
+++ b/docs/source/examples/isaaclab/torch_ant_ppo.py
@@ -3,7 +3,7 @@
 
 # import the skrl components to build the RL system
 from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
-from skrl.envs.loaders.torch import load_isaac_orbit_env
+from skrl.envs.loaders.torch import load_isaaclab_env
 from skrl.envs.wrappers.torch import wrap_env
 from skrl.memories.torch import RandomMemory
 from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
@@ -53,8 +53,8 @@ def compute(self, inputs, role):
             return self.value_layer(shared_output), {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Ant-v0")
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Ant-v0")
 env = wrap_env(env)
 
 device = env.device
diff --git a/docs/source/examples/isaacorbit/torch_ant_sac.py b/docs/source/examples/isaaclab/torch_ant_sac.py
similarity index 96%
rename from docs/source/examples/isaacorbit/torch_ant_sac.py
rename to docs/source/examples/isaaclab/torch_ant_sac.py
index b27909c0..089c9d1b 100644
--- a/docs/source/examples/isaacorbit/torch_ant_sac.py
+++ b/docs/source/examples/isaaclab/torch_ant_sac.py
@@ -3,7 +3,7 @@
 
 # import the skrl components to build the RL system
 from skrl.agents.torch.sac import SAC, SAC_DEFAULT_CONFIG
-from skrl.envs.loaders.torch import load_isaac_orbit_env
+from skrl.envs.loaders.torch import load_isaaclab_env
 from skrl.envs.wrappers.torch import wrap_env
 from skrl.memories.torch import RandomMemory
 from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
@@ -49,8 +49,8 @@ def compute(self, inputs, role):
         return self.net(torch.cat([inputs["states"], inputs["taken_actions"]], dim=1)), {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Ant-v0", num_envs=64)
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Ant-v0", num_envs=64)
 env = wrap_env(env)
 
 device = env.device
diff --git a/docs/source/examples/isaacorbit/torch_ant_td3.py b/docs/source/examples/isaaclab/torch_ant_td3.py
similarity index 96%
rename from docs/source/examples/isaacorbit/torch_ant_td3.py
rename to docs/source/examples/isaaclab/torch_ant_td3.py
index 68a0a89b..253c564c 100644
--- a/docs/source/examples/isaacorbit/torch_ant_td3.py
+++ b/docs/source/examples/isaaclab/torch_ant_td3.py
@@ -3,7 +3,7 @@
 
 # import the skrl components to build the RL system
 from skrl.agents.torch.td3 import TD3, TD3_DEFAULT_CONFIG
-from skrl.envs.loaders.torch import load_isaac_orbit_env
+from skrl.envs.loaders.torch import load_isaaclab_env
 from skrl.envs.wrappers.torch import wrap_env
 from skrl.memories.torch import RandomMemory
 from skrl.models.torch import DeterministicMixin, Model
@@ -48,8 +48,8 @@ def compute(self, inputs, role):
         return self.net(torch.cat([inputs["states"], inputs["taken_actions"]], dim=1)), {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Ant-v0", num_envs=64)
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Ant-v0", num_envs=64)
 env = wrap_env(env)
 
 device = env.device
diff --git a/docs/source/examples/isaacorbit/torch_cartpole_ppo.py b/docs/source/examples/isaaclab/torch_cartpole_ppo.py
similarity index 96%
rename from docs/source/examples/isaacorbit/torch_cartpole_ppo.py
rename to docs/source/examples/isaaclab/torch_cartpole_ppo.py
index 627a54ce..e1cc4953 100644
--- a/docs/source/examples/isaacorbit/torch_cartpole_ppo.py
+++ b/docs/source/examples/isaaclab/torch_cartpole_ppo.py
@@ -3,7 +3,7 @@
 
 # import the skrl components to build the RL system
 from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
-from skrl.envs.loaders.torch import load_isaac_orbit_env
+from skrl.envs.loaders.torch import load_isaaclab_env
 from skrl.envs.wrappers.torch import wrap_env
 from skrl.memories.torch import RandomMemory
 from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
@@ -51,8 +51,8 @@ def compute(self, inputs, role):
             return self.value_layer(shared_output), {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Cartpole-v0")
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Cartpole-v0")
 env = wrap_env(env)
 
 device = env.device
diff --git a/docs/source/examples/isaacorbit/torch_humanoid_ppo.py b/docs/source/examples/isaaclab/torch_humanoid_ppo.py
similarity index 96%
rename from docs/source/examples/isaacorbit/torch_humanoid_ppo.py
rename to docs/source/examples/isaaclab/torch_humanoid_ppo.py
index a62bff84..2625732f 100644
--- a/docs/source/examples/isaacorbit/torch_humanoid_ppo.py
+++ b/docs/source/examples/isaaclab/torch_humanoid_ppo.py
@@ -3,7 +3,7 @@
 
 # import the skrl components to build the RL system
 from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
-from skrl.envs.loaders.torch import load_isaac_orbit_env
+from skrl.envs.loaders.torch import load_isaaclab_env
 from skrl.envs.wrappers.torch import wrap_env
 from skrl.memories.torch import RandomMemory
 from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
@@ -53,8 +53,8 @@ def compute(self, inputs, role):
             return self.value_layer(shared_output), {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Humanoid-v0")
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Humanoid-v0")
 env = wrap_env(env)
 
 device = env.device
diff --git a/docs/source/examples/isaacorbit/torch_lift_franka_ppo.py b/docs/source/examples/isaaclab/torch_lift_franka_ppo.py
similarity index 96%
rename from docs/source/examples/isaacorbit/torch_lift_franka_ppo.py
rename to docs/source/examples/isaaclab/torch_lift_franka_ppo.py
index 9e050ea9..799bc455 100644
--- a/docs/source/examples/isaacorbit/torch_lift_franka_ppo.py
+++ b/docs/source/examples/isaaclab/torch_lift_franka_ppo.py
@@ -3,7 +3,7 @@
 
 # import the skrl components to build the RL system
 from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
-from skrl.envs.loaders.torch import load_isaac_orbit_env
+from skrl.envs.loaders.torch import load_isaaclab_env
 from skrl.envs.wrappers.torch import wrap_env
 from skrl.memories.torch import RandomMemory
 from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
@@ -53,8 +53,8 @@ def compute(self, inputs, role):
             return self.value_layer(shared_output), {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Lift-Franka-v0")
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Lift-Franka-v0")
 env = wrap_env(env)
 
 device = env.device
diff --git a/docs/source/examples/isaacorbit/torch_reach_franka_ppo.py b/docs/source/examples/isaaclab/torch_reach_franka_ppo.py
similarity index 96%
rename from docs/source/examples/isaacorbit/torch_reach_franka_ppo.py
rename to docs/source/examples/isaaclab/torch_reach_franka_ppo.py
index 5112893d..a0bad78c 100644
--- a/docs/source/examples/isaacorbit/torch_reach_franka_ppo.py
+++ b/docs/source/examples/isaaclab/torch_reach_franka_ppo.py
@@ -3,7 +3,7 @@
 
 # import the skrl components to build the RL system
 from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
-from skrl.envs.loaders.torch import load_isaac_orbit_env
+from skrl.envs.loaders.torch import load_isaaclab_env
 from skrl.envs.wrappers.torch import wrap_env
 from skrl.memories.torch import RandomMemory
 from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
@@ -53,8 +53,8 @@ def compute(self, inputs, role):
             return self.value_layer(shared_output), {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Reach-Franka-v0")
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Reach-Franka-v0")
 env = wrap_env(env)
 
 device = env.device
diff --git a/docs/source/examples/isaacorbit/torch_velocity_anymal_c_ppo.py b/docs/source/examples/isaaclab/torch_velocity_anymal_c_ppo.py
similarity index 96%
rename from docs/source/examples/isaacorbit/torch_velocity_anymal_c_ppo.py
rename to docs/source/examples/isaaclab/torch_velocity_anymal_c_ppo.py
index 446882b4..a17a24e8 100644
--- a/docs/source/examples/isaacorbit/torch_velocity_anymal_c_ppo.py
+++ b/docs/source/examples/isaaclab/torch_velocity_anymal_c_ppo.py
@@ -3,7 +3,7 @@
 
 # import the skrl components to build the RL system
 from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
-from skrl.envs.loaders.torch import load_isaac_orbit_env
+from skrl.envs.loaders.torch import load_isaaclab_env
 from skrl.envs.wrappers.torch import wrap_env
 from skrl.memories.torch import RandomMemory
 from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
@@ -53,8 +53,8 @@ def compute(self, inputs, role):
             return self.value_layer(shared_output), {}
 
 
-# load and wrap the Isaac Orbit environment
-env = load_isaac_orbit_env(task_name="Isaac-Velocity-Anymal-C-v0")
+# load and wrap the Isaac Lab environment
+env = load_isaaclab_env(task_name="Isaac-Velocity-Anymal-C-v0")
 env = wrap_env(env)
 
 device = env.device