| Simple Agents |
| ============= |
|
|
| Workflows |
| --------- |
|
|
| With Isaac Lab, we also provide a suite of benchmark environments included |
| in the ``isaaclab_tasks`` extension. We use the OpenAI Gym registry |
| to register these environments. For each environment, we provide a default |
| configuration file that defines the scene, observations, rewards and action spaces. |
|
|
| The list of environments available registered with OpenAI Gym can be found by running: |
|
|
| .. tab-set:: |
| :sync-group: os |
|
|
| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
|
|
| .. code:: bash |
|
|
| ./isaaclab.sh -p scripts/environments/list_envs.py |
|
|
| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
|
|
| .. code:: batch |
|
|
| isaaclab.bat -p scripts\environments\list_envs.py |
|
|
| Dummy agents |
| ~~~~~~~~~~~~ |
|
|
| These include dummy agents that output zero or random agents. They are |
| useful to ensure that the environments are configured correctly. |
|
|
| - Zero-action agent on the Cart-pole example |
|
|
| .. tab-set:: |
| :sync-group: os |
|
|
| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
|
|
| .. code:: bash |
|
|
| ./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Cartpole-v0 --num_envs 32 |
|
|
| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
|
|
| .. code:: batch |
|
|
| isaaclab.bat -p scripts\environments\zero_agent.py --task Isaac-Cartpole-v0 --num_envs 32 |
|
|
| - Random-action agent on the Cart-pole example: |
|
|
| .. tab-set:: |
| :sync-group: os |
|
|
| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
|
|
| .. code:: bash |
|
|
| ./isaaclab.sh -p scripts/environments/random_agent.py --task Isaac-Cartpole-v0 --num_envs 32 |
|
|
| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
|
|
| .. code:: batch |
|
|
| isaaclab.bat -p scripts\environments\random_agent.py --task Isaac-Cartpole-v0 --num_envs 32 |
|
|
|
|
| State machine |
| ~~~~~~~~~~~~~ |
|
|
| We include examples on hand-crafted state machines for the environments. These |
| help in understanding the environment and how to use the provided interfaces. |
| The state machines are written in `warp <https://github.com/NVIDIA/warp>`__ which |
| allows efficient execution for large number of environments using CUDA kernels. |
|
|
| - Picking up a cube and placing it at a desired pose with a robotic arm: |
|
|
| .. tab-set:: |
| :sync-group: os |
|
|
| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
|
|
| .. code:: bash |
|
|
| ./isaaclab.sh -p scripts/environments/state_machine/lift_cube_sm.py --num_envs 32 |
|
|
| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
|
|
| .. code:: batch |
|
|
| isaaclab.bat -p scripts\environments\state_machine\lift_cube_sm.py --num_envs 32 |
|
|
| - Picking up a deformable teddy bear and placing it at a desired pose with a robotic arm: |
|
|
| .. tab-set:: |
| :sync-group: os |
|
|
| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
|
|
| .. code:: bash |
|
|
| ./isaaclab.sh -p scripts/environments/state_machine/lift_teddy_bear.py |
|
|
| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
|
|
| .. code:: batch |
|
|
| isaaclab.bat -p scripts\environments\state_machine\lift_teddy_bear.py |
|
|
