File size: 3,246 Bytes
406662d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 | # Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Script to an environment with random action agent."""
"""Launch Isaac Sim Simulator first."""
import argparse
import os
from isaaclab.app import AppLauncher
# add argparse arguments
parser = argparse.ArgumentParser(description="Random agent for Isaac Lab environments.")
parser.add_argument("--task", type=str, default=None, help="Name of the task.")
parser.add_argument("--output_dir", type=str, default=None, help="Path to the output directory.")
# append AppLauncher cli args
AppLauncher.add_app_launcher_args(parser)
# parse the arguments
args_cli = parser.parse_args()
args_cli.headless = True
# launch omniverse app
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app
"""Rest everything follows."""
import gymnasium as gym
import torch
import isaaclab_tasks # noqa: F401
from isaaclab_tasks.utils import parse_env_cfg
# PLACEHOLDER: Extension template (do not remove this comment)
def main():
"""Random actions agent with Isaac Lab environment."""
# create environment configuration
env_cfg = parse_env_cfg(args_cli.task, device=args_cli.device, num_envs=1, use_fabric=True)
# create environment
env = gym.make(args_cli.task, cfg=env_cfg)
# print info (this is vectorized environment)
print(f"[INFO]: Gym observation space: {env.observation_space}")
print(f"[INFO]: Gym action space: {env.action_space}")
# reset environment
env.reset()
outs = env.unwrapped.get_IO_descriptors
out_observations = outs["observations"]
out_actions = outs["actions"]
out_articulations = outs["articulations"]
out_scene = outs["scene"]
# Make a yaml file with the output
import yaml
name = args_cli.task.lower().replace("-", "_")
name = name.replace(" ", "_")
if not os.path.exists(args_cli.output_dir):
os.makedirs(args_cli.output_dir)
with open(os.path.join(args_cli.output_dir, f"{name}_IO_descriptors.yaml"), "w") as f:
print(f"[INFO]: Exporting IO descriptors to {os.path.join(args_cli.output_dir, f'{name}_IO_descriptors.yaml')}")
yaml.safe_dump(outs, f)
for k in out_actions:
print(f"--- Action term: {k['name']} ---")
k.pop("name")
for k1, v1 in k.items():
print(f"{k1}: {v1}")
for obs_group_name, obs_group in out_observations.items():
print(f"--- Obs group: {obs_group_name} ---")
for k in obs_group:
print(f"--- Obs term: {k['name']} ---")
k.pop("name")
for k1, v1 in k.items():
print(f"{k1}: {v1}")
for articulation_name, articulation_data in out_articulations.items():
print(f"--- Articulation: {articulation_name} ---")
for k1, v1 in articulation_data.items():
print(f"{k1}: {v1}")
for k1, v1 in out_scene.items():
print(f"{k1}: {v1}")
env.step(torch.zeros(env.action_space.shape, device=env.unwrapped.device))
env.close()
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()
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