| 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 | |