Add digit locomotion examples

source/isaaclab_assets/isaaclab_assets/robots/agility.py

@@ -0,0 +1,52 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# 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.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,
+        ),
+        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

source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/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-Velocity-Flat-Digit-v0",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.flat_env_cfg:DigitFlatEnvCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:DigitFlatPPORunnerCfg",
+    },
+)
+
+
+gym.register(
+    id="Isaac-Velocity-Flat-Digit-Play-v0",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.flat_env_cfg:DigitFlatEnvCfg_PLAY",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:DigitFlatPPORunnerCfg",
+    },
+)
+
+
+gym.register(
+    id="Isaac-Velocity-Rough-Digit-v0",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.rough_env_cfg:DigitRoughEnvCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:DigitRoughPPORunnerCfg",
+    },
+)
+
+
+gym.register(
+    id="Isaac-Velocity-Rough-Digit-Play-v0",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.rough_env_cfg:DigitRoughEnvCfg_PLAY",
+        "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",
+    },
+)

source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/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/locomotion/velocity/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 DigitRoughPPORunnerCfg(RslRlOnPolicyRunnerCfg):
+    num_steps_per_env = 24
+    max_iterations = 3000
+    save_interval = 50
+    experiment_name = "digit_rough"
+    empirical_normalization = False
+    policy = RslRlPpoActorCriticCfg(
+        init_noise_std=1.0,
+        actor_hidden_dims=[512, 256, 128],
+        critic_hidden_dims=[512, 256, 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,
+    )
+
+
+@configclass
+class DigitFlatPPORunnerCfg(DigitRoughPPORunnerCfg):
+    def __post_init__(self):
+        super().__post_init__()
+
+        self.max_iterations = 2000
+        self.experiment_name = "digit_flat"
+
+        self.policy.actor_hidden_dims = [128, 128, 128]
+        self.policy.critic_hidden_dims = [128, 128, 128]
+
+
+@configclass
+class DigitLocoManipPPORunnerCfg(DigitRoughPPORunnerCfg):
+    def __post_init__(self):
+        super().__post_init__()
+
+        self.max_iterations = 2000
+        self.experiment_name = "digit_loco_manip"
+
+        self.policy.actor_hidden_dims = [256, 128, 128]
+        self.policy.critic_hidden_dims = [256, 128, 128]

source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/flat_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
+
+from isaaclab.utils import configclass
+
+from .rough_env_cfg import DigitRoughEnvCfg
+
+
+@configclass
+class DigitFlatEnvCfg(DigitRoughEnvCfg):
+    def __post_init__(self):
+        super().__post_init__()
+
+        # 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 DigitFlatEnvCfg_PLAY(DigitFlatEnvCfg):
+
+    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
+        self.randomization.reset_base.params = {
+            "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),
+                "z": (-0.0, 0.0),
+                "roll": (-0.0, 0.0),
+                "pitch": (-0.0, 0.0),
+                "yaw": (-0.0, 0.0),
+            },
+        }
+
+        self.commands.base_velocity.ranges.heading = (0.0, 0.0)