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bi_so101_clean_toytable_2objects.py

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+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.
+
+    Bi-arm direct: pick torus and cuboid into the box (2 objects).
+
+    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
+    """
+
+    # Scene/robot assets live on the upstream Hub repo; materialize them next to this script so
+    # thin forks (e.g. kd-forge/leisaac_env with only envs/*.py) still resolve LEISAAC_ASSETS_ROOT.
+    repo_root = Path(__file__).resolve().parent.parent
+    assets_root = repo_root / "assets"
+    snapshot_download(
+        repo_id="kd-forge/leisaac_env",
+        local_dir=str(repo_root),
+        allow_patterns=["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-2Objects-BiArm-Direct-v0",
+        device="cuda:0",
+        num_envs=n_envs,
+    )