IsaacLabWrapper

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

IsaacLab 環境的包裝器。

引數:

• env (scripts_isaaclab.envs.ManagerBasedRLEnv 或 等價物) – 要包裝的環境例項。

• categorical_action_encoding (bool, optional) – 如果為 True，則分類規範將轉換為 TorchRL 等效項 (torchrl.data.Categorical)，否則將使用獨熱編碼 (torchrl.data.OneHot)。預設為 False。

• allow_done_after_reset (bool, optional) – 如果為 True，則允許在呼叫 reset() 後立即將環境設定為 done。預設為 False。

其他引數，請參閱 torchrl.envs.GymWrapper 文件。

請參考 Isaac Lab 文件以獲取安裝說明。

示例

>>> # 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)