Add bi_so101_clean_toytable_2objects EnvHub env

envs/bi_so101_clean_toytable_2objects.py

@@ -0,0 +1,39 @@
+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
+    """
+
+    # download assets from huggingface first
+    snapshot_download(repo_id="LightwheelAI/leisaac_env", revision=None, cache_dir=None)
+
+    # set environment variable for leisaac asset
+    assets_root = Path(__file__).parent.parent / "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,
+    )