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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 + ) diff --git a/envs/so101_clean_toytable.py b/envs/so101_clean_toytable.py new file mode 100644 index 0000000000000000000000000000000000000000..6282f23c64ee01f0967dd16b9621c6608439b6ba --- /dev/null +++ b/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 + ) diff --git a/envs/so101_lift_cube.py b/envs/so101_lift_cube.py new file mode 100644 index 0000000000000000000000000000000000000000..b0fa5659bc18af7093fc0cb8aa8e5d169e7fb6da --- /dev/null +++ b/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 + ) diff --git a/envs/so101_pick_orange.py b/envs/so101_pick_orange.py new file mode 100644 index 0000000000000000000000000000000000000000..5b9421c2a2f1e61a6fbe4e36a220f5def1982006 --- /dev/null +++ b/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 + )