Add digit locomotion examples

source/isaaclab_assets/isaaclab_assets/robots/agility.py

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+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+import isaaclab.sim as sim_utils
+from isaaclab.actuators import ImplicitActuatorCfg
+from isaaclab.assets.articulation import ArticulationCfg
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
+
+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,
+        ),
+    },
+)

source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/__init__.py

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+# 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

source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/__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/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/__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/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/digit/__init__.py

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+# 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-Tracking-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-Tracking-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",
+    },
+)

source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/digit/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/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/digit/agents/rsl_rl_ppo_cfg.py

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+# 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,
+    )

source/isaaclab_tasks/isaaclab_tasks/manager_based/loco_manipulation/tracking/config/digit/loco_manip_env_cfg.py

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+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+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
+from isaaclab.managers import SceneEntityCfg
+from isaaclab.utils import configclass
+from isaaclab.utils.noise import AdditiveUniformNoiseCfg as Unoise
+
+import isaaclab_tasks.manager_based.locomotion.velocity.mdp as mdp
+import isaaclab_tasks.manager_based.manipulation.reach.mdp as manipulation_mdp
+from isaaclab_tasks.manager_based.locomotion.velocity.config.digit.rough_env_cfg import DigitRewards, DigitRoughEnvCfg
+
+
+@configclass
+class DigitLocoManipRewards(DigitRewards):
+    joint_deviation_arms = None
+
+    joint_vel_hip_yaw = RewTerm(
+        func=mdp.joint_vel_l2,
+        weight=-0.001,
+        params={"asset_cfg": SceneEntityCfg("robot", joint_names=[".*_leg_hip_yaw"])},
+    )
+
+    left_ee_pos_tracking = RewTerm(
+        func=manipulation_mdp.position_command_error,
+        weight=-2.0,
+        params={
+            "asset_cfg": SceneEntityCfg("robot", body_names="left_arm_wrist_yaw"),
+            "command_name": "left_ee_pose",
+        },
+    )
+
+    left_ee_pos_tracking_fine_grained = RewTerm(
+        func=manipulation_mdp.position_command_error_tanh,
+        params={
+            "asset_cfg": SceneEntityCfg("robot", body_names="left_arm_wrist_yaw"),
+            "std": 0.05,
+            "command_name": "left_ee_pose",
+        },
+        weight=2.0,
+    )
+
+    left_end_effector_orientation_tracking = RewTerm(
+        func=manipulation_mdp.orientation_command_error,
+        weight=-0.2,
+        params={
+            "asset_cfg": SceneEntityCfg("robot", body_names="left_arm_wrist_yaw"),
+            "command_name": "left_ee_pose",
+        },
+    )
+
+    right_ee_pos_tracking = RewTerm(
+        func=manipulation_mdp.position_command_error,
+        weight=-2.0,
+        params={
+            "asset_cfg": SceneEntityCfg("robot", body_names="right_arm_wrist_yaw"),
+            "command_name": "right_ee_pose",
+        },
+    )
+
+    right_ee_pos_tracking_fine_grained = RewTerm(
+        func=manipulation_mdp.position_command_error_tanh,
+        params={
+            "asset_cfg": SceneEntityCfg("robot", body_names="right_arm_wrist_yaw"),
+            "std": 0.05,
+            "command_name": "right_ee_pose",
+        },
+        weight=2.0,
+    )
+
+    right_end_effector_orientation_tracking = RewTerm(
+        func=manipulation_mdp.orientation_command_error,
+        weight=-0.2,
+        params={
+            "asset_cfg": SceneEntityCfg("robot", body_names="right_arm_wrist_yaw"),
+            "command_name": "right_ee_pose",
+        },
+    )
+
+
+@configclass
+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),
+        )
+        projected_gravity = ObsTerm(
+            func=mdp.projected_gravity,
+            noise=Unoise(n_min=-0.05, n_max=0.05),
+        )
+        velocity_commands = ObsTerm(
+            func=mdp.generated_commands,
+            params={"command_name": "base_velocity"},
+        )
+        left_ee_pose_command = ObsTerm(
+            func=mdp.generated_commands,
+            params={"command_name": "left_ee_pose"},
+        )
+        right_ee_pose_command = ObsTerm(
+            func=mdp.generated_commands,
+            params={"command_name": "right_ee_pose"},
+        )
+        joint_pos = ObsTerm(
+            func=mdp.joint_pos_rel,
+            params={"asset_cfg": SceneEntityCfg("robot", joint_names=LEG_JOINT_NAMES + ARM_JOINT_NAMES)},
+            noise=Unoise(n_min=-0.01, n_max=0.01),
+        )
+        joint_vel = ObsTerm(
+            func=mdp.joint_vel_rel,
+            params={"asset_cfg": SceneEntityCfg("robot", joint_names=LEG_JOINT_NAMES + ARM_JOINT_NAMES)},
+            noise=Unoise(n_min=-1.5, n_max=1.5),
+        )
+        actions = ObsTerm(func=mdp.last_action)
+
+        def __post_init__(self):
+            self.enable_corruption = True
+            self.concatenate_terms = True
+
+    policy = PolicyCfg()
+
+
+@configclass
+class DigitLocoManipCommands:
+    base_velocity = mdp.UniformVelocityCommandCfg(
+        asset_name="robot",
+        resampling_time_range=(10.0, 10.0),
+        rel_standing_envs=0.25,
+        rel_heading_envs=1.0,
+        heading_command=True,
+        debug_vis=True,
+        ranges=mdp.UniformVelocityCommandCfg.Ranges(
+            lin_vel_x=(-1.0, 1.0),
+            lin_vel_y=(-1.0, 1.0),
+            ang_vel_z=(-1.0, 1.0),
+            heading=(-math.pi, math.pi),
+        ),
+    )
+
+    left_ee_pose = mdp.UniformPoseCommandCfg(
+        asset_name="robot",
+        body_name="left_arm_wrist_yaw",
+        resampling_time_range=(1.0, 3.0),
+        debug_vis=True,
+        ranges=mdp.UniformPoseCommandCfg.Ranges(
+            pos_x=(0.25, 0.45),
+            pos_y=(0.15, 0.3),
+            pos_z=(-0.05, 0.15),
+            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_pose = mdp.UniformPoseCommandCfg(
+        asset_name="robot",
+        body_name="right_arm_wrist_yaw",
+        resampling_time_range=(1.0, 3.0),
+        debug_vis=True,
+        ranges=mdp.UniformPoseCommandCfg.Ranges(
+            pos_x=(0.25, 0.45),
+            pos_y=(-0.3, -0.15),
+            pos_z=(-0.05, 0.15),
+            roll=(-0.1, 0.1),
+            pitch=(-0.1, 0.1),
+            yaw=(-math.pi / 2.0 - 0.1, -math.pi / 2.0 + 0.1),
+        ),
+    )
+
+
+@configclass
+class DigitLocoManipEnvCfg(DigitRoughEnvCfg):
+    rewards: DigitLocoManipRewards = DigitLocoManipRewards()
+    observations: DigitLocoManipObservations = DigitLocoManipObservations()
+    commands: DigitLocoManipCommands = DigitLocoManipCommands()
+
+    def __post_init__(self):
+        super().__post_init__()
+
+        self.episode_length_s = 14.0
+
+        # Rewards:
+        self.rewards.flat_orientation_l2.weight = -10.5
+        self.rewards.termination_penalty.weight = -100.0
+
+        # Commands
+        self.commands.base_velocity.ranges.lin_vel_x = (0.0, 0.8)
+        self.commands.base_velocity.ranges.lin_vel_y = (0.0, 0.0)
+        self.commands.base_velocity.ranges.ang_vel_z = (-1.0, 1.0)
+
+        # Change terrain to flat.
+        self.scene.terrain.terrain_type = "plane"
+        self.scene.terrain.terrain_generator = None
+        # Remove height scanner.
+        self.scene.height_scanner = None
+        self.observations.policy.height_scan = None
+        # Remove terrain curriculum.
+        self.curriculum.terrain_levels = None
+
+
+class DigitLocoManipEnvCfg_PLAY(DigitLocoManipEnvCfg):
+
+    def __post_init__(self) -> None:
+        super().__post_init__()
+
+        # Make a smaller scene for play.
+        self.scene.num_envs = 50
+        self.scene.env_spacing = 2.5
+        # Disable randomization for play.
+        self.observations.policy.enable_corruption = False
+        # Remove random pushing.
+        self.randomization.base_external_force_torque = None
+        self.randomization.push_robot = None