Ashwinvk/dp cable insertion leapp export

scripts/reinforcement_learning/leapp/deploy.py

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+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Deploy a LEAPP-exported policy in an Isaac Lab simulation."""
+
+"""Launch Isaac Sim Simulator first."""
+
+import argparse
+import sys
+
+from isaaclab.app import AppLauncher
+
+parser = argparse.ArgumentParser(description="Deploy a LEAPP-exported policy in simulation.")
+parser.add_argument("--task", type=str, default=None, help="Name of the registered Isaac Lab task.")
+parser.add_argument("--leapp_model", type=str, default=None, help="Path to the LEAPP .yaml pipeline description.")
+parser.add_argument("--seed", type=int, default=None, help="Seed for the environment.")
+AppLauncher.add_app_launcher_args(parser)
+args_cli, hydra_args = parser.parse_known_args()
+
+if args_cli.task is None or args_cli.leapp_model is None:
+    missing_args = []
+    if args_cli.task is None:
+        missing_args.append("--task")
+    if args_cli.leapp_model is None:
+        missing_args.append("--leapp_model")
+    parser.error(f"the following arguments are required: {', '.join(missing_args)}")
+
+sys.argv = [sys.argv[0]] + hydra_args
+
+app_launcher = AppLauncher(args_cli)
+simulation_app = app_launcher.app
+
+"""Rest everything follows."""
+
+import torch
+
+from isaaclab.envs.leapp_deployment_env import LeappDeploymentEnv
+
+import isaaclab_tasks  # noqa: F401
+from isaaclab_tasks.utils.parse_cfg import load_cfg_from_registry
+
+
+def main():
+    # ── Load env config from gym registry ─────────────────────────
+    task_name = args_cli.task.split(":")[-1]
+    env_cfg = load_cfg_from_registry(task_name, "env_cfg_entry_point")
+
+    if args_cli.seed is not None:
+        env_cfg.seed = args_cli.seed
+    if args_cli.device is not None:
+        env_cfg.sim.device = args_cli.device
+
+    # ── Create deploy env ─────────────────────────────────────────
+    env = LeappDeploymentEnv(env_cfg, args_cli.leapp_model)
+
+    if getattr(args_cli, "headless", False):
+        print(
+            "[WARN]: Running deploy without a viewport. This happens when headless mode is active, "
+            "including the default case where no visualizer was selected. The policy may be "
+            "stepping normally, but no viewport will appear unless you specify the "
+            "`--visualizer` field."
+        )
+
+    print(f"[INFO]: Deploying task '{task_name}' with LEAPP model: {args_cli.leapp_model}")
+    print(f"[INFO]: Num envs: {env.num_envs}, decimation: {env.cfg.decimation}, step_dt: {env.step_dt:.4f}s")
+
+    # ── Run loop ──────────────────────────────────────────────────
+    env.reset()
+    try:
+        with torch.inference_mode():
+            while simulation_app.is_running():
+                env.step()
+        env.close()
+    except KeyboardInterrupt:
+        pass
+
+
+if __name__ == "__main__":
+    main()
+    simulation_app.close()