IsaacLabWrapper

torchrl.envs.IsaacLabWrapper(*args, **kwargs)

A wrapper for IsaacLab environments.

Parameters:

• env (scripts_isaaclab.envs.ManagerBasedRLEnv or equivalent) – the environment instance to wrap.

• categorical_action_encoding (bool, optional) – if True, categorical specs will be converted to the TorchRL equivalent (torchrl.data.Categorical), otherwise a one-hot encoding will be used (torchrl.data.OneHot). Defaults to False.

• allow_done_after_reset (bool, optional) – if True, it is tolerated for envs to be done just after reset() is called. Defaults to False.

For other arguments, see the torchrl.envs.GymWrapper documentation.

Refer to the Isaac Lab doc for installation instructions.

Example

>>> # This code block ensures that the Isaac app is started in headless mode
>>> from scripts_isaaclab.app import AppLauncher
>>> import argparse

>>> parser = argparse.ArgumentParser(description="Train an RL agent with TorchRL.")
>>> AppLauncher.add_app_launcher_args(parser)
>>> args_cli, hydra_args = parser.parse_known_args(["--headless"])
>>> app_launcher = AppLauncher(args_cli)

>>> # Imports and env
>>> import gymnasium as gym
>>> import isaaclab_tasks  # noqa: F401
>>> from isaaclab_tasks.manager_based.classic.ant.ant_env_cfg import AntEnvCfg
>>> from torchrl.envs.libs.isaac_lab import IsaacLabWrapper

>>> env = gym.make("Isaac-Ant-v0", cfg=AntEnvCfg())
>>> env = IsaacLabWrapper(env)