Reorganizes configuration files for locomotion velocity environment (i…

…saac-sim#220)

# Description

This MR does the following:

* Changes the way environment and agent configs are handled. These are
now moved to their respective `env` folder.
* Replaces YAML file with configclasses for rsl_rl library
* Adds examples of other robots for locomotion-velocity task: anymal-b,
unitree-a1, and anymal-d (placeholder)

The new environment folder structure is as follows:

```
my_task (folder)
   |- mdp  (folder where all user's task-specific terms are stored)
   |- config
       |- robot_name_1  (folder)
            |- robot_specific_env_cfg.py
            | agents (folder)
                |- rsl_rl_cfg.py
                |- sb3_cfg.py
                |- ....
            |- __init__.py (register robot-specific tasks)
       |- robot_name_2 (folder)  
   |- my_task_env_cfg.py (base env config)
   |- my_task_env.py (base env -- optional -- should normally use RLEnv)
```

Fixes isaac-sim#142 

## Type of change

- New feature (non-breaking change which adds functionality)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] 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
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

---------

Co-authored-by: Nikita Rudin <[email protected]>

source/extensions/omni.isaac.orbit/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.9.29"
+version = "0.9.30"
 
 # Description
 title = "ORBIT framework for Robot Learning"

source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst

@@ -1,6 +1,18 @@
 Changelog
 ---------
 
+0.9.30 (2023-11-01)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Added skipping of None values in the :class:`InteractiveScene` class when creating the scene from configuration
+  objects. Earlier, it was throwing an error when the user passed a None value for a scene element.
+* Added ``kwargs`` to the :class:`RLEnv` class to allow passing additional arguments from gym registry function.
+  This is now needed since the registry function passes args beyond the ones specified in the constructor.
+
+
 0.9.29 (2023-11-01)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/config/unitree.py

@@ -28,7 +28,7 @@
 UNITREE_A1_CFG = ArticulationCfg(
     spawn=sim_utils.UsdFileCfg(
         usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/Unitree/A1/a1_instanceable.usd",
-        activate_contact_sensors=False,
+        activate_contact_sensors=True,
         rigid_props=sim_utils.RigidBodyPropertiesCfg(
             disable_gravity=False,
             retain_accelerations=False,
@@ -49,10 +49,11 @@
             ".*R_hip_joint": -0.1,
             "F[L,R]_thigh_joint": 0.8,
             "R[L,R]_thigh_joint": 1.0,
-            ".*_calf_joint": -1.8,
+            ".*_calf_joint": -1.5,
         },
         joint_vel={".*": 0.0},
     ),
+    soft_joint_pos_limit_factor=0.9,
     actuators={
         "base_legs": DCMotorCfg(
             joint_names_expr=[".*"],

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_env.py

@@ -78,7 +78,7 @@ class RLEnv(BaseEnv, gym.Env):
     cfg: RLEnvCfg
     """Configuration for the environment."""
 
-    def __init__(self, cfg: RLEnvCfg):
+    def __init__(self, cfg: RLEnvCfg, **kwargs):
         # initialize the base class to setup the scene.
         super().__init__(cfg=cfg)
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/scene/interactive_scene.py

@@ -327,7 +327,7 @@ def _add_entities_from_cfg(self):
         for asset_name, asset_cfg in self.cfg.__dict__.items():
             # skip keywords
             # note: easier than writing a list of keywords: [num_envs, env_spacing, lazy_sensor_update]
-            if asset_name in InteractiveSceneCfg.__dataclass_fields__:
+            if asset_name in InteractiveSceneCfg.__dataclass_fields__ or asset_cfg is None:
                 continue
             # resolve regex
             asset_cfg.prim_path = asset_cfg.prim_path.format(ENV_REGEX_NS=self.env_regex_ns)

source/extensions/omni.isaac.orbit_envs/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.4.3"
+version = "0.5.0"
 
 # Description
 title = "ORBIT Environments"