Merge pull request #79 from MuammerBay/project-scripts

Adds scripts as project's scripts

Author: louislelay

README.md

@@ -3,7 +3,7 @@
 [![uv](https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/astral-sh/uv/main/assets/badge/v0.json)](https://github.com/astral-sh/uv)
 [![Isaac Sim](https://img.shields.io/badge/IsaacSim-5.1.0-76B900.svg)](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html)
 [![Isaac Lab](https://img.shields.io/badge/IsaacLab-2.3.0-8A2BE2.svg)](https://isaac-sim.github.io/IsaacLab/main/index.html)
-[![Python](https://img.shields.io/badge/python-3.11-3776AB.svg)](https://docs.python.org/3/whatsnew/3.11.html)
+[![Python](https://img.shields.io/badge/python-3.11-3776AB.svg)](https://docsthon.org/3/whatsnew/3.11.html)
 
 This repository implements tasks for the SO‑ARM100 and SO‑ARM101 robots using Isaac Lab. It serves as the foundation for several tutorials in the LycheeAI Hub series [Project: SO‑ARM101 × Isaac Sim × Isaac Lab](https://lycheeai-hub.com/project-so-arm101-x-isaac-sim-x-isaac-lab-tutorial-series).
 
@@ -33,28 +33,28 @@ uv sync
 List available environments.
 
 ```bash
-uv run scripts/list_envs.py
+uv run list_envs
 ```
 
 Test with dummy agents.
 
 ```bash
-uv run scripts/zero_agent.py --task SO-ARM100-Reach-Play-v0    # send zero actions
-uv run scripts/random_agent.py --task SO-ARM100-Reach-Play-v0  # send random actions
+uv run zero_agent --task SO-ARM100-Reach-Play-v0    # send zero actions
+uv run random_agent --task SO-ARM100-Reach-Play-v0  # send random actions
 ```
 
 ## Reaching
 
 Train a RL-based IK policy.
 
 ```bash
-uv run scripts/rsl_rl/train.py --task SO-ARM100-Reach-v0 --headless
+uv run train --task SO-ARM100-Reach-v0 --headless
 ```
 
 Evaluate a trained policy.
 
 ```bash
-uv run scripts/rsl_rl/play.py --task SO-ARM100-Reach-Play-v0
+uv run play --task SO-ARM100-Reach-Play-v0
 ```
 
 ## Sim2Real Transfer

pyproject.toml

@@ -13,6 +13,13 @@ dependencies = [
     "torchvision==0.22.0",
 ]
 
+[project.scripts]
+train = "isaac_so_arm101.scripts.rsl_rl.train:main"
+play = "isaac_so_arm101.scripts.rsl_rl.play:main"
+list_envs = "isaac_so_arm101.scripts.list_envs:main"
+zero_agent = "isaac_so_arm101.scripts.zero_agent:main"
+random_agent = "isaac_so_arm101.scripts.random_agent:main"
+
 [tool.uv]
 index-strategy = "unsafe-best-match"
 environments = [

src/isaac_so_arm101/__init__.py

@@ -1,19 +1,3 @@
-# Copyright (c) 2024-2025, Muammer Bay (LycheeAI), Louis Le Lay
-# All rights reserved.
-#
-# SPDX-License-Identifier: BSD-3-Clause
-#
-# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
-# All rights reserved.
-#
-# SPDX-License-Identifier: BSD-3-Clause
-
 """
 Python module serving as a project/extension template.
-"""
-
-# Register Gym environments.
-from .tasks import *
-
-# Register UI extensions.
-from .ui_extension_example import *
+"""

scripts/list_envs.py src/isaac_so_arm101/scripts/list_envs.pyscripts/list_envs.py renamed to src/isaac_so_arm101/scripts/list_envs.py

@@ -1,9 +1,4 @@
-# Copyright (c) 2024-2025, Muammer Bay (LycheeAI), Louis Le Lay
-# All rights reserved.
-#
-# SPDX-License-Identifier: BSD-3-Clause
-#
-# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
@@ -14,8 +9,7 @@
 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 `import isaac_so_arm101.tasks  # noqa: F401
-` extension. They start
+All the environments are registered in the `isaaclab_tasks` extension. They start
 with `Isaac` in their name.
 """
 
@@ -31,13 +25,13 @@
 """Rest everything follows."""
 
 import gymnasium as gym
-import isaac_so_arm101.tasks  # noqa: F401
 from prettytable import PrettyTable
 
+import isaac_so_arm101.tasks  # noqa: F401
+
 
 def main():
-    """Print all environments registered in `import isaac_so_arm101.tasks  # noqa: F401
-` extension."""
+    """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"
@@ -50,7 +44,7 @@ def main():
     index = 0
     # acquire all Isaac environments names
     for task_spec in gym.registry.values():
-        if "SO-ARM100-" in task_spec.id:
+        if "SO-ARM" 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
@@ -60,11 +54,7 @@ def main():
 
 
 if __name__ == "__main__":
-    try:
-        # run the main function
-        main()
-    except Exception as e:
-        raise e
-    finally:
-        # close the app
-        simulation_app.close()
+    # run the main function
+    main()
+    # close sim app
+    simulation_app.close()

scripts/random_agent.py …/isaac_so_arm101/scripts/random_agent.pyscripts/random_agent.py renamed to src/isaac_so_arm101/scripts/random_agent.py scripts/random_agent.py renamed to src/isaac_so_arm101/scripts/random_agent.py

@@ -1,9 +1,4 @@
-# Copyright (c) 2024-2025, Muammer Bay (LycheeAI), Louis Le Lay
-# All rights reserved.
-#
-# SPDX-License-Identifier: BSD-3-Clause
-#
-# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
@@ -35,11 +30,14 @@
 """Rest everything follows."""
 
 import gymnasium as gym
+import torch
+
 import isaaclab_tasks  # noqa: F401
 import isaac_so_arm101.tasks  # noqa: F401
-import torch
 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."""
@@ -72,4 +70,4 @@ def main():
     # run the main function
     main()
     # close sim app
-    simulation_app.close()
+    simulation_app.close()

scripts/rsl_rl/cli_args.py …aac_so_arm101/scripts/rsl_rl/cli_args.pyscripts/rsl_rl/cli_args.py renamed to src/isaac_so_arm101/scripts/rsl_rl/cli_args.py scripts/rsl_rl/cli_args.py renamed to src/isaac_so_arm101/scripts/rsl_rl/cli_args.py

@@ -1,9 +1,4 @@
-# Copyright (c) 2024-2025, Muammer Bay (LycheeAI), Louis Le Lay
-# All rights reserved.
-#
-# SPDX-License-Identifier: BSD-3-Clause
-#
-# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
@@ -93,4 +88,4 @@ def update_rsl_rl_cfg(agent_cfg: RslRlBaseRunnerCfg, args_cli: argparse.Namespac
         agent_cfg.wandb_project = args_cli.log_project_name
         agent_cfg.neptune_project = args_cli.log_project_name
 
-    return agent_cfg
+    return agent_cfg

scripts/rsl_rl/play.py …c/isaac_so_arm101/scripts/rsl_rl/play.pyscripts/rsl_rl/play.py renamed to src/isaac_so_arm101/scripts/rsl_rl/play.py scripts/rsl_rl/play.py renamed to src/isaac_so_arm101/scripts/rsl_rl/play.py

@@ -1,9 +1,4 @@
-# Copyright (c) 2024-2025, Muammer Bay (LycheeAI), Louis Le Lay
-# All rights reserved.
-#
-# SPDX-License-Identifier: BSD-3-Clause
-#
-# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
@@ -18,7 +13,7 @@
 from isaaclab.app import AppLauncher
 
 # local imports
-import cli_args  # isort: skip
+import isaac_so_arm101.scripts.rsl_rl.cli_args as cli_args # isort: skip
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="Train an RL agent with RSL-RL.")
@@ -58,13 +53,13 @@
 
 """Rest everything follows."""
 
+import gymnasium as gym
 import os
 import time
-
-import gymnasium as gym
-import isaaclab_tasks  # noqa: F401
-import isaac_so_arm101.tasks  # noqa: F401
 import torch
+
+from rsl_rl.runners import DistillationRunner, OnPolicyRunner
+
 from isaaclab.envs import (
     DirectMARLEnv,
     DirectMARLEnvCfg,
@@ -75,15 +70,15 @@
 from isaaclab.utils.assets import retrieve_file_path
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.pretrained_checkpoint import get_published_pretrained_checkpoint
-from isaaclab_rl.rsl_rl import (
-    RslRlBaseRunnerCfg,
-    RslRlVecEnvWrapper,
-    export_policy_as_jit,
-    export_policy_as_onnx,
-)
+
+from isaaclab_rl.rsl_rl import RslRlBaseRunnerCfg, RslRlVecEnvWrapper, export_policy_as_jit, export_policy_as_onnx
+
+import isaaclab_tasks  # noqa: F401
+import isaac_so_arm101.tasks  # noqa: F401
 from isaaclab_tasks.utils import get_checkpoint_path
 from isaaclab_tasks.utils.hydra import hydra_task_config
-from rsl_rl.runners import DistillationRunner, OnPolicyRunner
+
+# PLACEHOLDER: Extension template (do not remove this comment)
 
 
 @hydra_task_config(args_cli.task, args_cli.agent)
@@ -118,6 +113,9 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
 
     log_dir = os.path.dirname(resume_path)
 
+    # set the log directory for the environment (works for all environment types)
+    env_cfg.log_dir = log_dir
+
     # create isaac environment
     env = gym.make(args_cli.task, cfg=env_cfg, render_mode="rgb_array" if args_cli.video else None)
 
@@ -208,4 +206,4 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
     # run the main function
     main()
     # close sim app
-    simulation_app.close()
+    simulation_app.close()