删除.venv

重构为RL和IL两部分内容。

scripts/environments/export_IODescriptors.py

@@ -0,0 +1,101 @@
+# 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 an environment with random action agent."""
+
+"""Launch Isaac Sim Simulator first."""
+
+import argparse
+import os
+
+from isaaclab.app import AppLauncher
+
+# add argparse arguments
+parser = argparse.ArgumentParser(description="Random agent for Isaac Lab environments.")
+parser.add_argument("--task", type=str, default=None, help="Name of the task.")
+parser.add_argument("--output_dir", type=str, default=None, help="Path to the output directory.")
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
+args_cli = parser.parse_args()
+args_cli.headless = True
+
+# launch omniverse app
+app_launcher = AppLauncher(args_cli)
+simulation_app = app_launcher.app
+
+"""Rest everything follows."""
+
+import gymnasium as gym
+import torch
+
+import isaaclab_tasks  # noqa: F401
+from isaaclab_tasks.utils import parse_env_cfg
+
+# PLACEHOLDER: Extension template (do not remove this comment)
+
+
+def main():
+    """Random actions agent with Isaac Lab environment."""
+    # create environment configuration
+    env_cfg = parse_env_cfg(args_cli.task, device=args_cli.device, num_envs=1, use_fabric=True)
+    # 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()
+
+    outs = env.unwrapped.get_IO_descriptors
+    out_observations = outs["observations"]
+    out_actions = outs["actions"]
+    out_articulations = outs["articulations"]
+    out_scene = outs["scene"]
+    # Make a yaml file with the output
+    import yaml
+
+    name = args_cli.task.lower().replace("-", "_")
+    name = name.replace(" ", "_")
+
+    if not os.path.exists(args_cli.output_dir):
+        os.makedirs(args_cli.output_dir)
+
+    with open(os.path.join(args_cli.output_dir, f"{name}_IO_descriptors.yaml"), "w") as f:
+        print(f"[INFO]: Exporting IO descriptors to {os.path.join(args_cli.output_dir, f'{name}_IO_descriptors.yaml')}")
+        yaml.safe_dump(outs, f)
+
+    for k in out_actions:
+        print(f"--- Action term: {k['name']} ---")
+        k.pop("name")
+        for k1, v1 in k.items():
+            print(f"{k1}: {v1}")
+
+    for obs_group_name, obs_group in out_observations.items():
+        print(f"--- Obs group: {obs_group_name} ---")
+        for k in obs_group:
+            print(f"--- Obs term: {k['name']} ---")
+            k.pop("name")
+            for k1, v1 in k.items():
+                print(f"{k1}: {v1}")
+
+    for articulation_name, articulation_data in out_articulations.items():
+        print(f"--- Articulation: {articulation_name} ---")
+        for k1, v1 in articulation_data.items():
+            print(f"{k1}: {v1}")
+
+    for k1, v1 in out_scene.items():
+        print(f"{k1}: {v1}")
+
+    env.step(torch.zeros(env.action_space.shape, device=env.unwrapped.device))
+    env.close()
+
+
+if __name__ == "__main__":
+    # run the main function
+    main()
+    # close sim app
+    simulation_app.close()