add imitation learning

Author: NathanWu7

scripts/environments/list_envs.py

@@ -0,0 +1,64 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""
+Script to print all the available environments in Isaac Lab.
+
+The script iterates over all registered environments and stores the details in a table.
+It prints the name of the environment, the entry point and the config file.
+
+All the environments are registered in the `isaaclab_tasks` extension. They start
+with `Isaac` in their name.
+"""
+
+"""Launch Isaac Sim Simulator first."""
+
+from isaaclab.app import AppLauncher
+
+# launch omniverse app
+app_launcher = AppLauncher(headless=True)
+simulation_app = app_launcher.app
+
+
+"""Rest everything follows."""
+
+import gymnasium as gym
+from prettytable import PrettyTable
+
+import isaaclab_tasks  # noqa: F401
+
+
+def main():
+    """Print all environments registered in `isaaclab_tasks` extension."""
+    # print all the available environments
+    table = PrettyTable(["S. No.", "Task Name", "Entry Point", "Config"])
+    table.title = "Available Environments in Isaac Lab"
+    # set alignment of table columns
+    table.align["Task Name"] = "l"
+    table.align["Entry Point"] = "l"
+    table.align["Config"] = "l"
+
+    # count of environments
+    index = 0
+    # acquire all Isaac environments names
+    for task_spec in gym.registry.values():
+        if "Isaac" in task_spec.id:
+            # add details to table
+            table.add_row([index + 1, task_spec.id, task_spec.entry_point, task_spec.kwargs["env_cfg_entry_point"]])
+            # increment count
+            index += 1
+
+    print(table)
+
+
+if __name__ == "__main__":
+    try:
+        # run the main function
+        main()
+    except Exception as e:
+        raise e
+    finally:
+        # close the app
+        simulation_app.close()

scripts/environments/random_agent.py

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+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Script to an environment with random action agent."""
+
+"""Launch Isaac Sim Simulator first."""
+
+import argparse
+
+from isaaclab.app import AppLauncher
+
+# add argparse arguments
+parser = argparse.ArgumentParser(description="Random 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
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
+args_cli = parser.parse_args()
+
+# 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
+
+
+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=args_cli.num_envs, use_fabric=not args_cli.disable_fabric
+    )
+    # 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
+    while simulation_app.is_running():
+        # run everything in inference mode
+        with torch.inference_mode():
+            # sample actions from -1 to 1
+            actions = 2 * torch.rand(env.action_space.shape, device=env.unwrapped.device) - 1
+            # apply actions
+            env.step(actions)
+
+    # close the simulator
+    env.close()
+
+
+if __name__ == "__main__":
+    # run the main function
+    main()
+    # close sim app
+    simulation_app.close()