IsaacLabWrapper

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

IsaacLab 环境的包装器。

参数:

• env (scripts_isaaclab.envs.ManagerBasedRLEnv 或 等效项) – 要包装的环境实例。

• categorical_action_encoding (bool, optional) – 如果为 True，则分类规范将被转换为 TorchRL 等效项 (torchrl.data.Categorical)，否则将使用独热编码 (torchrl.data.OneHot)。默认为 False。

• allow_done_after_reset (bool, optional) – 如果为 True，则允许在调用 reset() 后立即将环境标记为 done。默认为 False。

有关其他参数，请参阅 torchrl.envs.GymWrapper 文档。

有关安装说明，请参阅 Isaac Lab 文档。

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)