adding ext_asset_template and adding direct env template

source/ext_template/ext_template/assets/__init__.py

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+"""
+Python module serving as a project/extension template.
+"""
+
+from .assets import *

source/ext_template/ext_template/assets/assets/__init__.py

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+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Package containing asset and sensor configurations."""
+
+import os
+import toml
+
+# Conveniences to other module directories via relative paths
+ISAACLAB_ASSETS_EXT_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../"))
+"""Path to the extension source directory."""
+
+ISAACLAB_ASSETS_DATA_DIR = os.path.join(ISAACLAB_ASSETS_EXT_DIR, "data")
+"""Path to the extension data directory."""
+
+##
+# Configuration for different assets.
+##
+
+from .anymal import *
+from .velodyne import *

source/ext_template/ext_template/assets/assets/anymal.py

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+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Configuration for the ANYbotics robots.
+
+The following configuration parameters are available:
+
+* :obj:`ANYMAL_B_CFG`: The ANYmal-B robot with ANYdrives 3.0
+* :obj:`ANYMAL_C_CFG`: The ANYmal-C robot with ANYdrives 3.0
+* :obj:`ANYMAL_D_CFG`: The ANYmal-D robot with ANYdrives 3.0
+
+Reference:
+
+* https://github.com/ANYbotics/anymal_b_simple_description
+* https://github.com/ANYbotics/anymal_c_simple_description
+* https://github.com/ANYbotics/anymal_d_simple_description
+
+"""
+
+import isaaclab.sim as sim_utils
+from isaaclab.actuators import ActuatorNetLSTMCfg, DCMotorCfg
+from isaaclab.assets.articulation import ArticulationCfg
+from isaaclab.sensors import RayCasterCfg
+# from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
+from . import ISAACLAB_ASSETS_DATA_DIR
+
+from .velodyne import VELODYNE_VLP_16_RAYCASTER_CFG
+
+##
+# Configuration - Actuators.
+##
+
+ANYDRIVE_3_SIMPLE_ACTUATOR_CFG = DCMotorCfg(
+    joint_names_expr=[".*HAA", ".*HFE", ".*KFE"],
+    saturation_effort=120.0,
+    effort_limit=80.0,
+    velocity_limit=7.5,
+    stiffness={".*": 40.0},
+    damping={".*": 5.0},
+)
+"""Configuration for ANYdrive 3.x with DC actuator model."""
+
+
+ANYDRIVE_3_LSTM_ACTUATOR_CFG = ActuatorNetLSTMCfg(
+    joint_names_expr=[".*HAA", ".*HFE", ".*KFE"],
+    network_file=f"{ISAACLAB_ASSETS_DATA_DIR}/ActuatorNets/ANYbotics/anydrive_3_lstm_jit.pt",
+    saturation_effort=120.0,
+    effort_limit=80.0,
+    velocity_limit=7.5,
+)
+"""Configuration for ANYdrive 3.0 (used on ANYmal-C) with LSTM actuator model."""
+
+
+ANYMAL_C_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{ISAACLAB_ASSETS_DATA_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd",
+        # usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/ANYbotics/anymal_instanceable.usd",
+        activate_contact_sensors=True,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=False,
+            retain_accelerations=False,
+            linear_damping=0.0,
+            angular_damping=0.0,
+            max_linear_velocity=1000.0,
+            max_angular_velocity=1000.0,
+            max_depenetration_velocity=1.0,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=True, solver_position_iteration_count=4, solver_velocity_iteration_count=0
+        ),
+        # collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.02, rest_offset=0.0),
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        pos=(0.0, 0.0, 0.6),
+        joint_pos={
+            ".*HAA": 0.0,  # all HAA
+            ".*F_HFE": 0.4,  # both front HFE
+            ".*H_HFE": -0.4,  # both hind HFE
+            ".*F_KFE": -0.8,  # both front KFE
+            ".*H_KFE": 0.8,  # both hind KFE
+        },
+    ),
+    actuators={"legs": ANYDRIVE_3_LSTM_ACTUATOR_CFG},
+    soft_joint_pos_limit_factor=0.95,
+)
+"""Configuration of ANYmal-D robot using actuator-net.
+
+Note:
+    Since we don't have a publicly available actuator network for ANYmal-D, we use the same network as ANYmal-C.
+    This may impact the sim-to-real transfer performance.
+"""
+
+
+##
+# Configuration - Sensors.
+##
+
+ANYMAL_LIDAR_CFG = VELODYNE_VLP_16_RAYCASTER_CFG.replace(
+    offset=RayCasterCfg.OffsetCfg(pos=(-0.310, 0.000, 0.159), rot=(0.0, 0.0, 0.0, 1.0))
+)
+"""Configuration for the Velodyne VLP-16 sensor mounted on the ANYmal robot's base."""

source/ext_template/ext_template/assets/assets/velodyne.py

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+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Configuration for Velodyne LiDAR sensors."""
+
+
+from isaaclab.sensors import RayCasterCfg, patterns
+
+##
+# Configuration
+##
+
+VELODYNE_VLP_16_RAYCASTER_CFG = RayCasterCfg(
+    attach_yaw_only=False,
+    pattern_cfg=patterns.LidarPatternCfg(
+        channels=16, vertical_fov_range=(-15.0, 15.0), horizontal_fov_range=(-180.0, 180.0), horizontal_res=0.2
+    ),
+    debug_vis=True,
+    max_distance=100,
+)
+"""Configuration for Velodyne Puck LiDAR (VLP-16) as a :class:`RayCasterCfg`.
+
+Reference: https://velodynelidar.com/wp-content/uploads/2019/12/63-9229_Rev-K_Puck-_Datasheet_Web.pdf
+"""

source/ext_template/ext_template/assets/test/test_valid_configs.py

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+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+# ignore private usage of variables warning
+# pyright: reportPrivateUsage=none
+
+"""Launch Isaac Sim Simulator first."""
+
+from omni.isaac.lab.app import AppLauncher, run_tests
+
+# launch the simulator
+app_launcher = AppLauncher(headless=True)
+simulation_app = app_launcher.app
+
+
+"""Rest everything follows."""
+
+import unittest
+
+import omni.isaac.lab_assets as lab_assets  # noqa: F401
+
+from omni.isaac.lab.assets import AssetBase, AssetBaseCfg
+from omni.isaac.lab.sim import build_simulation_context
+
+
+class TestValidEntitiesConfigs(unittest.TestCase):
+    """Test cases for all registered entities configurations."""
+
+    @classmethod
+    def setUpClass(cls):
+        # load all registered entities configurations from the module
+        cls.registered_entities: dict[str, AssetBaseCfg] = {}
+        # inspect all classes from the module
+        for obj_name in dir(lab_assets):
+            obj = getattr(lab_assets, obj_name)
+            # store all registered entities configurations
+            if isinstance(obj, AssetBaseCfg):
+                cls.registered_entities[obj_name] = obj
+        # print all existing entities names
+        print(">>> All registered entities:", list(cls.registered_entities.keys()))
+
+    """
+    Test fixtures.
+    """
+
+    def test_asset_configs(self):
+        """Check all registered asset configurations."""
+        # iterate over all registered assets
+        for asset_name, entity_cfg in self.registered_entities.items():
+            for device in ("cuda:0", "cpu"):
+                with self.subTest(asset_name=asset_name, device=device):
+                    with build_simulation_context(device=device, auto_add_lighting=True) as sim:
+                        # print the asset name
+                        print(f">>> Testing entity {asset_name} on device {device}")
+                        # name the prim path
+                        entity_cfg.prim_path = "/World/asset"
+                        # create the asset / sensors
+                        entity: AssetBase = entity_cfg.class_type(entity_cfg)  # type: ignore
+
+                        # play the sim
+                        sim.reset()
+
+                        # check asset is initialized successfully
+                        self.assertTrue(entity.is_initialized)
+
+
+if __name__ == "__main__":
+    run_tests()

source/ext_template/ext_template/tasks/direct/__init__.py

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+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""
+Direct workflow environments.
+"""
+
+import gymnasium as gym

source/ext_template/ext_template/tasks/direct/anymal_c/__init__.py

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+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""
+Ant locomotion environment.
+"""
+
+import gymnasium as gym
+
+from . import agents
+
+##
+# Register Gym environments.
+##
+
+gym.register(
+    id="Template-Isaac-Velocity-Flat-Anymal-C-Direct-v0",
+    entry_point=f"{__name__}.anymal_c_env:AnymalCEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.anymal_c_env_cfg:AnymalCFlatEnvCfg",
+        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_flat_ppo_cfg.yaml",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalCFlatPPORunnerCfg",
+        "skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
+    },
+)
+
+gym.register(
+    id="Template-Isaac-Velocity-Rough-Anymal-C-Direct-v0",
+    entry_point=f"{__name__}.anymal_c_env:AnymalCEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.anymal_c_env_cfg:AnymalCRoughEnvCfg",
+        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_rough_ppo_cfg.yaml",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalCRoughPPORunnerCfg",
+        "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
+    },
+)

source/ext_template/ext_template/tasks/direct/anymal_c/agents/__init__.py

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+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause

source/ext_template/ext_template/tasks/direct/anymal_c/agents/rl_games_flat_ppo_cfg.yaml

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+params:
+  seed: 42
+
+  # environment wrapper clipping
+  env:
+    clip_actions: 1.0
+
+  algo:
+    name: a2c_continuous
+
+  model:
+    name: continuous_a2c_logstd
+
+  network:
+    name: actor_critic
+    separate: False
+    space:
+      continuous:
+        mu_activation: None
+        sigma_activation: None
+
+        mu_init:
+          name: default
+        sigma_init:
+          name: const_initializer
+          val: 0
+        fixed_sigma: True
+    mlp:
+      units: [128, 128, 128]
+      activation: elu
+      d2rl: False
+
+      initializer:
+        name: default
+      regularizer:
+        name: None
+
+  load_checkpoint: False # flag which sets whether to load the checkpoint
+  load_path: '' # path to the checkpoint to load
+
+  config:
+    name: anymal_c_flat_direct
+    env_name: rlgpu
+    device: 'cuda:0'
+    device_name: 'cuda:0'
+    multi_gpu: False
+    ppo: True
+    mixed_precision: True
+    normalize_input: False
+    normalize_value: True
+    value_bootstrap: True
+    num_actors: -1  # configured from the script (based on num_envs)
+    reward_shaper:
+      scale_value: 0.6
+    normalize_advantage: True
+    gamma: 0.99
+    tau: 0.95
+    learning_rate: 1e-3
+    lr_schedule: adaptive
+    schedule_type: legacy
+    kl_threshold: 0.01
+    score_to_win: 20000
+    max_epochs: 1500
+    save_best_after: 100
+    save_frequency: 50
+    grad_norm: 1.0
+    entropy_coef: 0.005
+    truncate_grads: True
+    e_clip: 0.2
+    horizon_length: 24
+    minibatch_size: 24576
+    mini_epochs: 5
+    critic_coef: 2.0
+    clip_value: True
+    seq_length: 4
+    bounds_loss_coef: 0.0