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Adds Factory contact-rich manipulation tasks to IsaacLab (#1520)
# Description This MR adds new tasks for contact-rich manipulation based on the Factory line of work. Tasks include peg insertion, gear meshing, and nut threading. ## Type of change - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## Screenshots <img src="https://github.com/user-attachments/assets/c8c32592-8972-4b1e-be7c-51b0313393bf" alt="peg_insertion" height="200"/> <img src="https://github.com/user-attachments/assets/437baf31-f9cb-4a27-94ac-5f21e2309089" alt="gear_meshing" height="200"/> <img src="https://github.com/user-attachments/assets/bccdf71b-cd5f-45f7-b4ca-71616885ef48" alt="nut_threading" height="200"/> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] 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 - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Kelly Guo <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: Iretiayo Akinola <[email protected]> Co-authored-by: Kelly Guo <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
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Dec 17, 2024
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44 changes: 44 additions & 0 deletions
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source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/factory/__init__.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,44 @@ | ||
| # Copyright (c) 2022-2024, The Isaac Lab Project Developers. | ||
| # All rights reserved. | ||
| # | ||
| # SPDX-License-Identifier: BSD-3-Clause | ||
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| import gymnasium as gym | ||
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| from . import agents | ||
| from .factory_env import FactoryEnv | ||
| from .factory_env_cfg import FactoryTaskGearMeshCfg, FactoryTaskNutThreadCfg, FactoryTaskPegInsertCfg | ||
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| ## | ||
| # Register Gym environments. | ||
| ## | ||
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| gym.register( | ||
| id="Isaac-Factory-PegInsert-Direct-v0", | ||
| entry_point="omni.isaac.lab_tasks.direct.factory:FactoryEnv", | ||
| disable_env_checker=True, | ||
| kwargs={ | ||
| "env_cfg_entry_point": FactoryTaskPegInsertCfg, | ||
| "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml", | ||
| }, | ||
| ) | ||
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| gym.register( | ||
| id="Isaac-Factory-GearMesh-Direct-v0", | ||
| entry_point="omni.isaac.lab_tasks.direct.factory:FactoryEnv", | ||
| disable_env_checker=True, | ||
| kwargs={ | ||
| "env_cfg_entry_point": FactoryTaskGearMeshCfg, | ||
| "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml", | ||
| }, | ||
| ) | ||
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| gym.register( | ||
| id="Isaac-Factory-NutThread-Direct-v0", | ||
| entry_point="omni.isaac.lab_tasks.direct.factory:FactoryEnv", | ||
| disable_env_checker=True, | ||
| kwargs={ | ||
| "env_cfg_entry_point": FactoryTaskNutThreadCfg, | ||
| "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml", | ||
| }, | ||
| ) |
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...ce/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/factory/agents/__init__.py
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,4 @@ | ||
| # Copyright (c) 2022-2024, The Isaac Lab Project Developers. | ||
| # All rights reserved. | ||
| # | ||
| # SPDX-License-Identifier: BSD-3-Clause |
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...ons/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/factory/agents/rl_games_ppo_cfg.yaml
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| Original file line number | Diff line number | Diff line change |
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| params: | ||
| seed: 0 | ||
| algo: | ||
| name: a2c_continuous | ||
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| env: | ||
| clip_actions: 1.0 | ||
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| model: | ||
| name: continuous_a2c_logstd | ||
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| network: | ||
| name: actor_critic | ||
| separate: False | ||
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| space: | ||
| continuous: | ||
| mu_activation: None | ||
| sigma_activation: None | ||
| mu_init: | ||
| name: default | ||
| sigma_init: | ||
| name: const_initializer | ||
| val: 0 | ||
| fixed_sigma: False | ||
| mlp: | ||
| units: [512, 128, 64] | ||
| activation: elu | ||
| d2rl: False | ||
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| initializer: | ||
| name: default | ||
| regularizer: | ||
| name: None | ||
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| rnn: | ||
| name: lstm | ||
| units: 1024 | ||
| layers: 2 | ||
| before_mlp: True | ||
| concat_input: True | ||
| layer_norm: True | ||
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| load_checkpoint: False | ||
| load_path: "" | ||
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| config: | ||
| name: Factory | ||
| device: cuda:0 | ||
| full_experiment_name: test | ||
| env_name: rlgpu | ||
| multi_gpu: False | ||
| ppo: True | ||
| mixed_precision: True | ||
| normalize_input: True | ||
| normalize_value: True | ||
| value_bootstrap: True | ||
| num_actors: 128 | ||
| reward_shaper: | ||
| scale_value: 1.0 | ||
| normalize_advantage: True | ||
| gamma: 0.995 | ||
| tau: 0.95 | ||
| learning_rate: 1.0e-4 | ||
| lr_schedule: adaptive | ||
| schedule_type: standard | ||
| kl_threshold: 0.008 | ||
| score_to_win: 20000 | ||
| max_epochs: 200 | ||
| save_best_after: 10 | ||
| save_frequency: 100 | ||
| print_stats: True | ||
| grad_norm: 1.0 | ||
| entropy_coef: 0.0 # 0.0001 # 0.0 | ||
| truncate_grads: True | ||
| e_clip: 0.2 | ||
| horizon_length: 128 | ||
| minibatch_size: 512 # batch size = num_envs * horizon_length; minibatch_size = batch_size / num_minibatches | ||
| mini_epochs: 4 | ||
| critic_coef: 2 | ||
| clip_value: True | ||
| seq_length: 128 | ||
| bounds_loss_coef: 0.0001 | ||
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| central_value_config: | ||
| minibatch_size: 512 | ||
| mini_epochs: 4 | ||
| learning_rate: 1e-4 | ||
| lr_schedule: adaptive | ||
| kl_threshold: 0.008 | ||
| clip_value: True | ||
| normalize_input: True | ||
| truncate_grads: True | ||
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| network: | ||
| name: actor_critic | ||
| central_value: True | ||
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| mlp: | ||
| units: [512, 128, 64] | ||
| activation: elu | ||
| d2rl: False | ||
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| initializer: | ||
| name: default | ||
| regularizer: | ||
| name: None | ||
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| rnn: | ||
| name: lstm | ||
| units: 1024 | ||
| layers: 2 | ||
| before_mlp: True | ||
| concat_input: True | ||
| layer_norm: True | ||
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| player: | ||
| deterministic: False |
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