73 lines
2.1 KiB
Python
73 lines
2.1 KiB
Python
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# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
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# All rights reserved.
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#
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# SPDX-License-Identifier: BSD-3-Clause
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"""Script to run an environment with zero action agent."""
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"""Launch Isaac Sim Simulator first."""
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import argparse
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from isaaclab.app import AppLauncher
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# add argparse arguments
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parser = argparse.ArgumentParser(description="Zero agent for Isaac Lab environments.")
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parser.add_argument(
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"--disable_fabric", action="store_true", default=False, help="Disable fabric and use USD I/O operations."
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)
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parser.add_argument("--num_envs", type=int, default=None, help="Number of environments to simulate.")
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parser.add_argument("--task", type=str, default=None, help="Name of the task.")
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# append AppLauncher cli args
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AppLauncher.add_app_launcher_args(parser)
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# parse the arguments
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args_cli = parser.parse_args()
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# launch omniverse app
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app_launcher = AppLauncher(args_cli)
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simulation_app = app_launcher.app
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"""Rest everything follows."""
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import gymnasium as gym
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import torch
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import isaaclab_tasks # noqa: F401
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from isaaclab_tasks.utils import parse_env_cfg
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import FLEXR_v0.tasks # noqa: F401
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def main():
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"""Zero actions agent with Isaac Lab environment."""
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# parse configuration
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env_cfg = parse_env_cfg(
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args_cli.task, device=args_cli.device, num_envs=args_cli.num_envs, use_fabric=not args_cli.disable_fabric
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)
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# create environment
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env = gym.make(args_cli.task, cfg=env_cfg)
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# print info (this is vectorized environment)
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print(f"[INFO]: Gym observation space: {env.observation_space}")
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print(f"[INFO]: Gym action space: {env.action_space}")
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# reset environment
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env.reset()
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# simulate environment
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while simulation_app.is_running():
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# run everything in inference mode
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with torch.inference_mode():
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# compute zero actions
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actions = torch.zeros(env.action_space.shape, device=env.unwrapped.device)
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# apply actions
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env.step(actions)
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# close the simulator
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env.close()
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if __name__ == "__main__":
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# run the main function
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main()
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# close sim app
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simulation_app.close()
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