add envs implements.

.gitattributes

@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+assets/** filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -0,0 +1,65 @@
+# C++
+**/cmake-build*/
+**/build*/
+**/*.so
+**/*.log*
+
+# Omniverse
+**/*.dmp
+**/.thumbs
+
+# Python
+.DS_Store
+**/*.egg-info/
+**/__pycache__/
+**/.pytest_cache/
+**/*.pyc
+**/*.pb
+
+# Docker/Singularity
+**/*.sif
+docker/cluster/exports/
+docker/.container.cfg
+
+# IDE
+**/.idea/
+**/.vscode/
+# Don't ignore the top-level .vscode directory as it is
+# used to configure VS Code settings
+!.vscode
+
+# Outputs
+**/output/*
+**/outputs/*
+**/videos/*
+**/wandb/*
+**/.neptune/*
+docker/artifacts/
+*.tmp
+
+# Doc Outputs
+**/docs/_build/*
+**/generated/*
+
+# Isaac-Sim packman
+_isaac_sim*
+_repo
+_build
+.lastformat
+
+# RL-Games
+**/runs/*
+**/logs/*
+**/recordings/*
+
+# Pre-Trained Checkpoints
+/.pretrained_checkpoints/
+
+# Teleop Recorded Dataset
+/datasets/
+
+# Tests
+tests/
+
+# Docker history
+.isaac-lab-docker-history

envs/bi_so101_fold_cloth.py

@@ -0,0 +1,34 @@
+import os
+import os
+from pathlib import Path
+from huggingface_hub import snapshot_download
+
+
+def make_env(n_envs: int = 1, use_async_envs: bool = False):
+    """
+    Create vectorized environments for leisaac task.
+
+    Args:
+        n_envs: Number of parallel environments
+        use_async_envs: Whether to use AsyncVectorEnv or SyncVectorEnv
+            (not use now)
+
+    Returns:
+        ManagerBasedRLEnv or DirectRLEnv inherit from gym.Env implemented in IsaacLab
+    """
+
+    # download assets from huggingface first
+    snapshot_download(repo_id='LightwheelAI/leisaac_env', revision=None, cache_dir=None)
+
+    # set environment variable for leisaac asset
+    assets_root = Path(__file__).parent.parent / 'assets'
+    os.environ['LEISAAC_ASSETS_ROOT'] = str(assets_root)
+
+    from isaaclab.app import AppLauncher
+    _ = AppLauncher({"enable_cameras": True})
+
+    from leisaac.utils.envhub_utils import export_env
+
+    return export_env(
+        'LeIsaac-SO101-FoldCloth-BiArm-Direct-v0', device="cuda:0", num_envs=n_envs
+    )

envs/so101_clean_toytable.py

@@ -0,0 +1,33 @@
+import os
+from pathlib import Path
+from huggingface_hub import snapshot_download
+
+
+def make_env(n_envs: int = 1, use_async_envs: bool = False):
+    """
+    Create vectorized environments for leisaac task.
+
+    Args:
+        n_envs: Number of parallel environments
+        use_async_envs: Whether to use AsyncVectorEnv or SyncVectorEnv
+            (not use now)
+
+    Returns:
+        ManagerBasedRLEnv or DirectRLEnv inherit from gym.Env implemented in IsaacLab
+    """
+
+    # download assets from huggingface first
+    snapshot_download(repo_id='LightwheelAI/leisaac_env', revision=None, cache_dir=None)
+
+    # set environment variable for leisaac asset
+    assets_root = Path(__file__).parent.parent / 'assets'
+    os.environ['LEISAAC_ASSETS_ROOT'] = str(assets_root)
+
+    from isaaclab.app import AppLauncher
+    _ = AppLauncher({"enable_cameras": True})
+
+    from leisaac.utils.envhub_utils import export_env
+
+    return export_env(
+        'LeIsaac-SO101-CleanToyTable-v0', device="cpu", num_envs=n_envs
+    )

envs/so101_lift_cube.py

@@ -0,0 +1,33 @@
+import os
+from pathlib import Path
+from huggingface_hub import snapshot_download
+
+
+def make_env(n_envs: int = 1, use_async_envs: bool = False):
+    """
+    Create vectorized environments for leisaac task.
+
+    Args:
+        n_envs: Number of parallel environments
+        use_async_envs: Whether to use AsyncVectorEnv or SyncVectorEnv
+            (not use now)
+
+    Returns:
+        ManagerBasedRLEnv or DirectRLEnv inherit from gym.Env implemented in IsaacLab
+    """
+
+    # download assets from huggingface first
+    snapshot_download(repo_id='LightwheelAI/leisaac_env', revision=None, cache_dir=None)
+
+    # set environment variable for leisaac asset
+    assets_root = Path(__file__).parent.parent / 'assets'
+    os.environ['LEISAAC_ASSETS_ROOT'] = str(assets_root)
+
+    from isaaclab.app import AppLauncher
+    _ = AppLauncher({"enable_cameras": True})
+
+    from leisaac.utils.envhub_utils import export_env
+
+    return export_env(
+        'LeIsaac-SO101-LiftCube-v0', device="cuda:0", num_envs=n_envs
+    )

envs/so101_pick_orange.py

@@ -0,0 +1,33 @@
+import os
+from pathlib import Path
+from huggingface_hub import snapshot_download
+
+
+def make_env(n_envs: int = 1, use_async_envs: bool = False):
+    """
+    Create vectorized environments for leisaac task.
+
+    Args:
+        n_envs: Number of parallel environments
+        use_async_envs: Whether to use AsyncVectorEnv or SyncVectorEnv
+            (not use now)
+
+    Returns:
+        ManagerBasedRLEnv or DirectRLEnv inherit from gym.Env implemented in IsaacLab
+    """
+
+    # download assets from huggingface first
+    snapshot_download(repo_id='LightwheelAI/leisaac_env', revision=None, cache_dir=None)
+
+    # set environment variable for leisaac asset
+    assets_root = Path(__file__).parent.parent / 'assets'
+    os.environ['LEISAAC_ASSETS_ROOT'] = str(assets_root)
+
+    from isaaclab.app import AppLauncher
+    _ = AppLauncher({"enable_cameras": True})
+
+    from leisaac.utils.envhub_utils import export_env
+
+    return export_env(
+        'LeIsaac-SO101-PickOrange-v0', device="cuda:0", num_envs=n_envs
+    )