Initial commit

2026-09-10 10:51:21 +08:00
commit 35621dde47
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+# 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
+
+"""Script to run an environment with zero action agent."""
+
+import argparse
+import contextlib
+import sys
+
+import gymnasium as gym
+import torch
+
+import isaaclab_tasks  # noqa: F401
+
+with contextlib.suppress(ImportError):
+    import isaaclab_tasks_experimental  # noqa: F401
+from isaaclab_tasks.utils import (
+    add_launcher_args,
+    launch_simulation,
+    resolve_task_config,
+    setup_preset_cli,
+)
+
+# add argparse arguments
+parser = argparse.ArgumentParser(description="Zero agent for Isaac Lab environments.")
+parser.add_argument(
+    "--disable_fabric", action="store_true", default=False, help="Disable fabric and use USD I/O operations."
+)
+parser.add_argument("--num_envs", type=int, default=None, help="Number of environments to simulate.")
+parser.add_argument("--task", type=str, default=None, help="Name of the task.")
+# append AppLauncher cli args
+add_launcher_args(parser)
+# simple agents should open Kit visualizer by default
+parser.set_defaults(visualizer=["kit"])
+args_cli, hydra_args = setup_preset_cli(parser)
+sys.argv = [sys.argv[0]] + hydra_args
+
+import dex_workbench.tasks  # noqa: F401
+MAX_STEPS = 100
+
+
+def main():
+    """Zero actions agent with Isaac Lab environment."""
+
+    torch.manual_seed(42)
+
+    # parse configuration via Hydra (supports preset selection, e.g. env.sim.physics=newton_mjwarp)
+    env_cfg, _ = resolve_task_config(args_cli.task, "")
+
+    with launch_simulation(env_cfg, args_cli):
+        # override with CLI arguments
+        env_cfg.scene.num_envs = args_cli.num_envs if args_cli.num_envs is not None else env_cfg.scene.num_envs
+        env_cfg.sim.device = args_cli.device if args_cli.device is not None else env_cfg.sim.device
+        if args_cli.disable_fabric:
+            env_cfg.sim.use_fabric = False
+
+        # create environment
+        env = gym.make(args_cli.task, cfg=env_cfg)
+
+        # print info (this is vectorized environment)
+        print(f"[INFO]: Gym observation space: {env.observation_space}")
+        print(f"[INFO]: Gym action space: {env.action_space}")
+        # reset environment
+        env.reset()
+        # simulate environment
+        # keep running while any visualizer is open, otherwise fall back to MAX_STEPS
+        sim = env.unwrapped.sim
+        actions = torch.zeros(env.action_space.shape, device=env.unwrapped.device)
+        while True:
+            if sim.visualizers:
+                # visualizer mode: run until the visualizer window is closed
+                if not any(v.is_running() and not v.is_closed for v in sim.visualizers):
+                    break
+            # run everything in inference mode
+            with torch.inference_mode():
+                # apply actions
+                env.step(actions)
+        # close the simulator
+        env.close()
+
+
+if __name__ == "__main__":
+    # run the main function
+    main()