Creating Custom Training Environment in IsaacLab via Extensions
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As mentioned in the "Dive Into IsaacLab" article, the codebase of IsaacLab is significantly larger than other RL frameworks.
It provides a nice abstraction of configuration fragments using the Config class and the notion of Managers. However, this makes editing the environment and implementing custom training logic harder. Jumping across directory structures to access config fragments is common and annoying.
Fortunately, IsaacLab also supports Extensions, which allows us to isolate out the custom scripts into a separate repository. In this article, we will go over how to create such extension and achieve custom training logic.
git clone https://github.com/isaac-sim/IsaacLabExtensionTemplate.git
cd ./IsaacLabExtensionTemplate/
We can rename the template to a custom extension name. Here, we will use g1_demo
as an example:
python scripts/rename_template.py g1_demo
After executing this command, all the ext_template
text inside this repo should be replace to g1_demo
.
We start off by copying the scripts directly from upstream IsaacLab
There's a few difference between the scripts used in IsaacLab versus in the Extension.
# IsaacLab
import omni.isaac.lab_tasks.manager_based.locomotion.velocity.mdp as mdp
# Extension
import g1_demo.tasks.locomotion.velocity.mdp as mdp
# IsaacLab
import omni.isaac.lab_tasks # noqa: F401
# Extension
import g1_demo.tasks # noqa: F401