Address MR comments

isaac-sim · Feb 18, 2025 · 3159e03 · 3159e03
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diff --git a/source/isaaclab_assets/isaaclab_assets/robots/agility.py b/source/isaaclab_assets/isaaclab_assets/robots/agility.py
@@ -3,50 +3,37 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-import pathlib
-from typing import Literal
-
 import isaaclab.sim as sim_utils
-from isaaclab.actuators import IdealPDActuatorCfg, ImplicitActuatorCfg
+from isaaclab.actuators import ImplicitActuatorCfg
 from isaaclab.assets.articulation import ArticulationCfg
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 
-FILE_DIR = pathlib.Path(__file__).parent
-
-
-def get_digit_articulation_cfg(
-    fixed_base: bool = False,
-    actuator_type: Literal["explicit", "implicit"] = "implicit",
-) -> ArticulationCfg:
-    """
-    Get an articulation config for a Agility Digit robot.
-    The robot can be made hanging in the air with the parameter `fixed_base`.
-    """
-    if actuator_type == "implicit":
-        ActuatorCfg = ImplicitActuatorCfg
-    elif actuator_type == "explicit":
-        ActuatorCfg = IdealPDActuatorCfg
-
-    articulation_cfg = ArticulationCfg(
-        spawn=sim_utils.UsdFileCfg(
-            usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Agility/Digit/digit_v4.usd",
-            activate_contact_sensors=True,
+LEG_JOINT_NAMES = [
+    ".*_hip_roll",
+    ".*_hip_yaw",
+    ".*_hip_pitch",
+    ".*_knee",
+    ".*_toe_a",
+    ".*_toe_b",
+]
+
+ARM_JOINT_NAMES = [".*_arm_.*"]
+
+
+DIGIT_V4_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Agility/Digit/digit_v4.usd",
+        activate_contact_sensors=True,
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        pos=(0.0, 0.0, 1.05),
+    ),
+    soft_joint_pos_limit_factor=0.9,
+    actuators={
+        "all": ImplicitActuatorCfg(
+            joint_names_expr=".*",
+            stiffness=None,
+            damping=None,
         ),
-        init_state=ArticulationCfg.InitialStateCfg(
-            pos=(0.0, 0.0, 1.05),
-        ),
-        soft_joint_pos_limit_factor=0.9,
-        actuators={
-            "all": ActuatorCfg(
-                joint_names_expr=".*",
-                stiffness=None,
-                damping=None,
-            ),
-        },
-    )
-
-    if fixed_base:
-        articulation_cfg.init_state.pos = (0.0, 0.0, 2.0)
-        articulation_cfg.spawn.articulation_props.fix_root_link = True
-
-    return articulation_cfg
+    },
+)
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/__init__.py
@@ -0,0 +1,8 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Locomotion environments for legged robots."""
+
+from .tracking import *  # noqa
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/__init__.py
@@ -0,0 +1,4 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
diff --git a/...isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/__init__.py b/...isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/__init__.py
@@ -0,0 +1,4 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
diff --git a/...ab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/digit/__init__.py b/...ab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/digit/__init__.py
@@ -0,0 +1,32 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+import gymnasium as gym
+
+from . import agents
+
+##
+# Register Gym environments.
+##
+gym.register(
+    id="Isaac-Velocity-LocoManip-Digit-v0",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.loco_manip_env_cfg:DigitLocoManipEnvCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:DigitLocoManipPPORunnerCfg",
+    },
+)
+
+
+gym.register(
+    id="Isaac-Velocity-LocoManip-Digit-Play-v0",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.loco_manip_env_cfg:DigitLocoManipEnvCfg_PLAY",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:DigitLocoManipPPORunnerCfg",
+    },
+)
diff --git a/...s/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/digit/agents/__init__.py b/...s/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/digit/agents/__init__.py
@@ -0,0 +1,4 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
diff --git a/...clab_tasks/manager_based/loco_manipulation/tracking/config/digit/agents/rsl_rl_ppo_cfg.py b/...clab_tasks/manager_based/loco_manipulation/tracking/config/digit/agents/rsl_rl_ppo_cfg.py
@@ -0,0 +1,37 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg
+
+from isaaclab.utils import configclass
+
+
+@configclass
+class DigitLocoManipPPORunnerCfg(RslRlOnPolicyRunnerCfg):
+    num_steps_per_env = 24
+    max_iterations = 2000
+    save_interval = 50
+    experiment_name = "digit_loco_manip"
+    empirical_normalization = False
+    policy = RslRlPpoActorCriticCfg(
+        init_noise_std=1.0,
+        actor_hidden_dims=[256, 128, 128],
+        critic_hidden_dims=[256, 128, 128],
+        activation="elu",
+    )
+    algorithm = RslRlPpoAlgorithmCfg(
+        value_loss_coef=1.0,
+        use_clipped_value_loss=True,
+        clip_param=0.2,
+        entropy_coef=0.01,
+        num_learning_epochs=5,
+        num_mini_batches=4,
+        learning_rate=1.0e-3,
+        schedule="adaptive",
+        gamma=0.99,
+        lam=0.95,
+        desired_kl=0.01,
+        max_grad_norm=1.0,
+    )
diff --git a/...locity/config/digit/loco_manip_env_cfg.py → ...acking/config/digit/loco_manip_env_cfg.py b/...locity/config/digit/loco_manip_env_cfg.py → ...acking/config/digit/loco_manip_env_cfg.py
@@ -5,6 +5,8 @@
 
 import math
 
+from isaaclab_assets.robots.agility import ARM_JOINT_NAMES, LEG_JOINT_NAMES
+
 from isaaclab.managers import ObservationGroupCfg as ObsGroup
 from isaaclab.managers import ObservationTermCfg as ObsTerm
 from isaaclab.managers import RewardTermCfg as RewTerm
@@ -14,8 +16,7 @@
 
 import isaaclab_tasks.manager_based.locomotion.velocity.mdp as mdp
 import isaaclab_tasks.manager_based.manipulation.reach.mdp as manipulation_mdp
-
-from .rough_env_cfg import ARM_JOINT_NAMES, LEG_JOINT_NAMES, DigitRewards, DigitRoughEnvCfg
+from isaaclab_tasks.manager_based.locomotion.velocity.config.digit.rough_env_cfg import DigitRewards, DigitRoughEnvCfg
 
 
 @configclass
@@ -33,7 +34,7 @@ class DigitLocoManipRewards(DigitRewards):
         weight=-2.0,
         params={
             "asset_cfg": SceneEntityCfg("robot", body_names="left_arm_wrist_yaw"),
-            "command_name": "left_ee_position",
+            "command_name": "left_ee_pose",
         },
     )
 
@@ -42,7 +43,7 @@ class DigitLocoManipRewards(DigitRewards):
         params={
             "asset_cfg": SceneEntityCfg("robot", body_names="left_arm_wrist_yaw"),
             "std": 0.05,
-            "command_name": "left_ee_position",
+            "command_name": "left_ee_pose",
         },
         weight=2.0,
     )
@@ -52,7 +53,7 @@ class DigitLocoManipRewards(DigitRewards):
         weight=-0.2,
         params={
             "asset_cfg": SceneEntityCfg("robot", body_names="left_arm_wrist_yaw"),
-            "command_name": "left_ee_position",
+            "command_name": "left_ee_pose",
         },
     )
 
@@ -61,7 +62,7 @@ class DigitLocoManipRewards(DigitRewards):
         weight=-2.0,
         params={
             "asset_cfg": SceneEntityCfg("robot", body_names="right_arm_wrist_yaw"),
-            "command_name": "right_ee_position",
+            "command_name": "right_ee_pose",
         },
     )
 
@@ -70,7 +71,7 @@ class DigitLocoManipRewards(DigitRewards):
         params={
             "asset_cfg": SceneEntityCfg("robot", body_names="right_arm_wrist_yaw"),
             "std": 0.05,
-            "command_name": "right_ee_position",
+            "command_name": "right_ee_pose",
         },
         weight=2.0,
     )
@@ -80,7 +81,7 @@ class DigitLocoManipRewards(DigitRewards):
         weight=-0.2,
         params={
             "asset_cfg": SceneEntityCfg("robot", body_names="right_arm_wrist_yaw"),
-            "command_name": "right_ee_position",
+            "command_name": "right_ee_pose",
         },
     )
 
@@ -90,8 +91,14 @@ class DigitLocoManipObservations:
 
     @configclass
     class PolicyCfg(ObsGroup):
-        base_lin_vel = ObsTerm(func=mdp.base_lin_vel, noise=Unoise(n_min=-0.1, n_max=0.1),)
-        base_ang_vel = ObsTerm(func=mdp.base_ang_vel, noise=Unoise(n_min=-0.2, n_max=0.2),)
+        base_lin_vel = ObsTerm(
+            func=mdp.base_lin_vel,
+            noise=Unoise(n_min=-0.1, n_max=0.1),
+        )
+        base_ang_vel = ObsTerm(
+            func=mdp.base_ang_vel,
+            noise=Unoise(n_min=-0.2, n_max=0.2),
+        )
         projected_gravity = ObsTerm(
             func=mdp.projected_gravity,
             noise=Unoise(n_min=-0.05, n_max=0.05),
@@ -100,13 +107,13 @@ class PolicyCfg(ObsGroup):
             func=mdp.generated_commands,
             params={"command_name": "base_velocity"},
         )
-        left_ee_pos_command = ObsTerm(
+        left_ee_pose_command = ObsTerm(
             func=mdp.generated_commands,
-            params={"command_name": "left_ee_position"},
+            params={"command_name": "left_ee_pose"},
         )
-        right_ee_pos_command = ObsTerm(
+        right_ee_pose_command = ObsTerm(
             func=mdp.generated_commands,
-            params={"command_name": "right_ee_position"},
+            params={"command_name": "right_ee_pose"},
         )
         joint_pos = ObsTerm(
             func=mdp.joint_pos_rel,
@@ -119,12 +126,10 @@ class PolicyCfg(ObsGroup):
             noise=Unoise(n_min=-1.5, n_max=1.5),
         )
         actions = ObsTerm(func=mdp.last_action)
-        height_scan = ObsTerm(
-            func=mdp.height_scan,
-            params={"sensor_cfg": SceneEntityCfg("height_scanner")},
-            noise=Unoise(n_min=-0.1, n_max=0.1),
-            clip=(-1.0, 1.0),
-        )
+
+        def __post_init__(self):
+            self.enable_corruption = True
+            self.concatenate_terms = True
 
     policy = PolicyCfg()
 
@@ -146,7 +151,7 @@ class DigitLocoManipCommands:
         ),
     )
 
-    left_ee_position = mdp.UniformPoseCommandCfg(
+    left_ee_pose = mdp.UniformPoseCommandCfg(
         asset_name="robot",
         body_name="left_arm_wrist_yaw",
         resampling_time_range=(1.0, 3.0),
@@ -155,13 +160,13 @@ class DigitLocoManipCommands:
             pos_x=(0.25, 0.45),
             pos_y=(0.15, 0.3),
             pos_z=(-0.05, 0.15),
-            roll=(0.0, 0.0),
-            pitch=(0.0, 0.0),
-            yaw=(math.pi / 2.0, math.pi / 2.0),
+            roll=(-0.1, 0.1),
+            pitch=(-0.1, 0.1),
+            yaw=(math.pi / 2.0 - 0.1, math.pi / 2.0 + 0.1),
         ),
     )
 
-    right_ee_position = mdp.UniformPoseCommandCfg(
+    right_ee_pose = mdp.UniformPoseCommandCfg(
         asset_name="robot",
         body_name="right_arm_wrist_yaw",
         resampling_time_range=(1.0, 3.0),
@@ -170,9 +175,9 @@ class DigitLocoManipCommands:
             pos_x=(0.25, 0.45),
             pos_y=(-0.3, -0.15),
             pos_z=(-0.05, 0.15),
-            roll=(0.0, 0.0),
-            pitch=(0.0, 0.0),
-            yaw=(-math.pi / 2.0, -math.pi / 2.0),
+            roll=(-0.1, 0.1),
+            pitch=(-0.1, 0.1),
+            yaw=(-math.pi / 2.0 - 0.1, -math.pi / 2.0 + 0.1),
         ),
     )
 
@@ -221,7 +226,11 @@ def __post_init__(self) -> None:
         self.randomization.base_external_force_torque = None
         self.randomization.push_robot = None
         self.randomization.reset_base.params = {
-            "pose_range": {"x": (-0.0, 0.0), "y": (-0.0, 0.0), "yaw": (-3.1415 * 0, 3.1415 * 0),},
+            "pose_range": {
+                "x": (-0.0, 0.0),
+                "y": (-0.0, 0.0),
+                "yaw": (-3.1415 * 0, 3.1415 * 0),
+            },
             "velocity_range": {
                 "x": (-0.0, 0.0),
                 "y": (-0.0, 0.0),

diff --git a/.../isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/__init__.py b/.../isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/__init__.py
@@ -52,25 +52,3 @@
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:DigitRoughPPORunnerCfg",
     },
 )
-
-
-gym.register(
-    id="Isaac-Velocity-LocoManip-Digit-v0",
-    entry_point="isaaclab.envs:ManagerBasedRLEnv",
-    disable_env_checker=True,
-    kwargs={
-        "env_cfg_entry_point": f"{__name__}.loco_manip_env_cfg:DigitLocoManipEnvCfg",
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:DigitLocoManipPPORunnerCfg",
-    },
-)
-
-
-gym.register(
-    id="Isaac-Velocity-LocoManip-Digit-Play-v0",
-    entry_point="isaaclab.envs:ManagerBasedRLEnv",
-    disable_env_checker=True,
-    kwargs={
-        "env_cfg_entry_point": f"{__name__}.loco_manip_env_cfg:DigitLocoManipEnvCfg_PLAY",
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:DigitLocoManipPPORunnerCfg",
-    },
-)