Adds RSL-RL symmetry example for cartpole and ANYmal locomotion

[Mayankm96]

Description

This MR introduces the following:

• An agent argument to all scripts to allow selecting different entry points (each then get resolved to their respective settings file).
• Symmetry function for ANYmal robot for the locomotion task and cartpole balancing task
• Documentation on how to configure RL training agent using gym resgistry

Fixes #2835

Type of change

• New feature (non-breaking change which adds functionality)
• This change requires a documentation update

Screenshots

Cartpole

# without symmetry
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Cartpole-v0 --headless --agent rsl_rl_with_symmetry_cfg_entry_point --run_name ppo_with_no_symmetry agent.algorithm.symmetry_cfg.use_data_augmentation=false

# with symmetry
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Cartpole-v0--headless --agent rsl_rl_with_symmetry_cfg_entry_point --run_name ppo_with_symmetry_data_augmentation  agent.algorithm.symmetry_cfg.use_data_augmentation=true

Isaac-Cartpole-v0 (pink w/o symmetry, blue w/ symmetry)

Locomotion

# without symmetry
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Velocity-Rough-Anymal-D-v0 --headless --agent rsl_rl_with_symmetry_cfg_entry_point --run_name ppo_with_no_symmetry agent.algorithm.symmetry_cfg.use_data_augmentation=false

# with symmetry
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Velocity-Rough-Anymal-D-v0 --headless --agent rsl_rl_with_symmetry_cfg_entry_point --run_name ppo_with_symmetry_data_augmentation  agent.algorithm.symmetry_cfg.use_data_augmentation=true

Isaac-Velocity-Rough-Anymal-D-v0 (green w/o symmetry, purple w/ symmetry)

Checklist

• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• 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
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[Mayankm96]

@Toni-SM for skrl it seems you have users specify the agent/algorithm name. I didn't want to change the behavior there but if you think above solution is generic (or also not - we can discuss), let me know how to proceed for skrl with it.

[Mayankm96]

@T-K-233 , I see you were working on something similar in #2836. Let me know your thoughts on the approach in this MR.

[Toni-SM]

@Toni-SM for skrl it seems you have users specify the agent/algorithm name. I didn't want to change the behavior there but if you think above solution is generic (or also not - we can discuss), let me know how to proceed for skrl with it.

While this solution is more generic and doesn't require any code update if a new agent/algorithm is added... at the same time is more tedious to type:

--agent rl_games_cfg_entry_point vs --agent PPO

Up to you... I am fine with the proposed change

[ClemensSchwarke]

Why do you create a new entry point instead of a new task?

[Mayankm96]

Why do you create a new entry point instead of a new task?

To avoid having a lot of duplications in the gym registry for every setting. If there are different algorithms (SAC, PPO etc) I think allowing users to pass entry point cfg makes it easier to scale.

[github-actions]

Test Results Summary

2 419 tests   2 011 ✅  2h 15m 57s ⏱️
   90 suites    408 💤
    1 files        0 ❌

Results for commit 6e261f0.

♻️ This comment has been updated with latest results.

[ooctipus]

This is very nice!

[ooctipus]

Do we need to update CHANGELOG or extension.toml for this one?