File size: 2,242 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 | # 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
"""
This script demonstrates how to run the RL environment for the cartpole balancing task.
.. code-block:: bash
./isaaclab.sh -p scripts/tutorials/03_envs/run_cartpole_rl_env.py --num_envs 32
"""
"""Launch Isaac Sim Simulator first."""
import argparse
from isaaclab.app import AppLauncher
# add argparse arguments
parser = argparse.ArgumentParser(description="Tutorial on running the cartpole RL environment.")
parser.add_argument("--num_envs", type=int, default=16, help="Number of environments to spawn.")
# append AppLauncher cli args
AppLauncher.add_app_launcher_args(parser)
# parse the arguments
args_cli = parser.parse_args()
# launch omniverse app
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app
"""Rest everything follows."""
import torch
from isaaclab.envs import ManagerBasedRLEnv
from isaaclab_tasks.manager_based.classic.cartpole.cartpole_env_cfg import CartpoleEnvCfg
def main():
"""Main function."""
# create environment configuration
env_cfg = CartpoleEnvCfg()
env_cfg.scene.num_envs = args_cli.num_envs
env_cfg.sim.device = args_cli.device
# setup RL environment
env = ManagerBasedRLEnv(cfg=env_cfg)
# simulate physics
count = 0
while simulation_app.is_running():
with torch.inference_mode():
# reset
if count % 300 == 0:
count = 0
env.reset()
print("-" * 80)
print("[INFO]: Resetting environment...")
# sample random actions
joint_efforts = torch.randn_like(env.action_manager.action)
# step the environment
obs, rew, terminated, truncated, info = env.step(joint_efforts)
# print current orientation of pole
print("[Env 0]: Pole joint: ", obs["policy"][0][1].item())
# update counter
count += 1
# close the environment
env.close()
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()
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