Adds dummy agents to the external task template generator (#2221)

# Description

Adds the dummy agents when generating an Isaac Lab's external project.
Useful when debugging!

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

docs/source/overview/developer-guide/template.rst

@@ -179,3 +179,45 @@ Here are some general commands to get started with it:
         .. code-block:: batch
 
           python scripts\reinforcement_learning\<specific-rl-library>\train.py --task=<Task-Name>
+
+* Run a task with dummy agents.
+
+  These include dummy agents that output zero or random agents. They are useful to ensure that the environments are configured correctly.
+
+  * Zero-action agent
+
+    .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+          :sync: linux
+
+          .. code-block:: bash
+
+            python scripts/zero_agent.py --task=<Task-Name>
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+          :sync: windows
+
+          .. code-block:: batch
+
+            python scripts\zero_agent.py --task=<Task-Name>
+
+  * Random-action agent
+
+    .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+          :sync: linux
+
+          .. code-block:: bash
+
+            python scripts/random_agent.py --task=<Task-Name>
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+          :sync: windows
+
+          .. code-block:: batch
+
+            python scripts\random_agent.py --task=<Task-Name>

scripts/environments/random_agent.py

@@ -35,6 +35,8 @@ import torch
 import isaaclab_tasks  # noqa: F401
 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."""

scripts/environments/zero_agent.py

@@ -35,6 +35,8 @@ import torch
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils import parse_env_cfg
 
+# PLACEHOLDER: Extension template (do not remove this comment)
+
 
 def main():
     """Zero actions agent with Isaac Lab environment."""

tools/template/generator.py

@@ -195,6 +195,15 @@ def _external(specification: dict) -> None:
         src=os.path.join(ROOT_DIR, "scripts", "environments", "list_envs.py"),
         dst=os.path.join(dir, "list_envs.py"),
     )
+    for script in ["zero_agent.py", "random_agent.py"]:
+        _replace_in_file(
+            [(
+                "# PLACEHOLDER: Extension template (do not remove this comment)",
+                f"import {name}.tasks  # noqa: F401",
+            )],
+            src=os.path.join(ROOT_DIR, "scripts", "environments", script),
+            dst=os.path.join(dir, script),
+        )
     # # docker files
     # print("  |-- Copying docker files...")
     # dir = os.path.join(project_dir, "docker")

tools/template/templates/external/README.md

@@ -44,6 +44,23 @@ It allows you to develop in an isolated environment, outside of the core Isaac L
         python scripts/<RL_LIBRARY>/train.py --task=<TASK_NAME>
         ```
 
+    - Running a task with dummy agents:
+
+        These include dummy agents that output zero or random agents. They are useful to ensure that the environments are configured correctly.
+
+        - Zero-action agent
+
+            ```bash
+            # use 'FULL_PATH_TO_isaaclab.sh|bat -p' instead of 'python' if Isaac Lab is not installed in Python venv or conda
+            python scripts/zero_agent.py --task=<TASK_NAME>
+            ```
+        - Random-action agent
+
+            ```bash
+            # use 'FULL_PATH_TO_isaaclab.sh|bat -p' instead of 'python' if Isaac Lab is not installed in Python venv or conda
+            python scripts/random_agent.py --task=<TASK_NAME>
+            ```
+
 ### Set up IDE (Optional)
 
 To setup the IDE, please follow these instructions: