Adds a Franka stacking ManagerBasedRLEnv

CONTRIBUTORS.md

@@ -64,6 +64,7 @@ Guidelines for modifications:
 * Nuralem Abizov
 * Oyindamola Omotuyi
 * Özhan Özen
+* Peter Du
 * Qian Wan
 * Qinxi Yu
 * René Zurbrügg

docs/source/overview/environments.rst

@@ -109,6 +109,8 @@ for the reach environment:
     +--------------------+-------------------------+-----------------------------------------------------------------------------+
     | |lift-cube|        | |lift-cube-link|        | Pick a cube and bring it to a sampled target position with the Franka robot |
     +--------------------+-------------------------+-----------------------------------------------------------------------------+
+    | |stack-cube|       | |stack-cube-link|       | Stack three cubes (bottom to top: blue, red, green) with the Franka robot   |
+    +--------------------+-------------------------+-----------------------------------------------------------------------------+
     | |cabi-franka|      | |cabi-franka-link|      | Grasp the handle of a cabinet's drawer and open it with the Franka robot    |
     |                    |                         |                                                                             |
     |                    | |franka-direct-link|    |                                                                             |
@@ -132,6 +134,7 @@ for the reach environment:
 .. |cabi-franka| image:: ../_static/tasks/manipulation/franka_open_drawer.jpg
 .. |cube-allegro| image:: ../_static/tasks/manipulation/allegro_cube.jpg
 .. |cube-shadow| image:: ../_static/tasks/manipulation/shadow_cube.jpg
+.. |stack-franka| image:: ../_static/tasks/manipulation/franka_stack.jpg
 
 .. |reach-franka-link| replace:: `Isaac-Reach-Franka-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/franka/joint_pos_env_cfg.py>`__
 .. |reach-ur10-link| replace:: `Isaac-Reach-UR10-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/ur_10/joint_pos_env_cfg.py>`__
@@ -142,6 +145,7 @@ for the reach environment:
 .. |franka-direct-link| replace:: `Isaac-Franka-Cabinet-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/franka_cabinet/franka_cabinet_env.py>`__
 .. |cube-allegro-link| replace:: `Isaac-Repose-Cube-Allegro-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/inhand/config/allegro_hand/allegro_env_cfg.py>`__
 .. |allegro-direct-link| replace:: `Isaac-Repose-Cube-Allegro-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/allegro_hand/allegro_hand_env_cfg.py>`__
+.. |stack-cube-link| replace:: `Isaac-Stack-Cube-Franka-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/stack/config/franka/stack_joint_pos_env_cfg.py>`__
 
 .. |cube-shadow-link| replace:: `Isaac-Repose-Cube-Shadow-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__
 .. |cube-shadow-ff-link| replace:: `Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__

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

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.10.13"
+version = "0.10.14"
 
 # Description
 title = "Isaac Lab Environments"

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

@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.10.14 (2024-12-03)
+~~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added ``Isaac-Stack-Cube-Franka-IK-Rel-v0`` and ``Isaac-Stack-Cube-Instance-Randomize-Franka-IK-Rel-v0`` environments
+  as manager-based RL envs that implement a three cube stacking task.
+
 0.10.13 (2024-10-30)
 ~~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/stack/__init__.py

@@ -0,0 +1,9 @@
+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Configurations for the object stack environments."""
+
+# We leave this file empty since we don't want to expose any configs in this package directly.
+# We still need this file to import the "config" module in the parent package.

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/stack/config/__init__.py

@@ -0,0 +1,9 @@
+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Configurations for the object stack environments."""
+
+# We leave this file empty since we don't want to expose any configs in this package directly.
+# We still need this file to import the "config" module in the parent package.

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/stack/config/franka/__init__.py

@@ -0,0 +1,64 @@
+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+import gymnasium as gym
+import os
+
+from . import (
+    agents,
+    stack_ik_rel_env_cfg,
+    stack_ik_rel_instance_randomize_env_cfg,
+    stack_joint_pos_env_cfg,
+    stack_joint_pos_instance_randomize_env_cfg,
+)
+
+##
+# Register Gym environments.
+##
+
+##
+# Joint Position Control
+##
+
+gym.register(
+    id="Isaac-Stack-Cube-Franka-v0",
+    entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
+    kwargs={
+        "env_cfg_entry_point": stack_joint_pos_env_cfg.FrankaCubeStackEnvCfg,
+    },
+    disable_env_checker=True,
+)
+
+gym.register(
+    id="Isaac-Stack-Cube-Instance-Randomize-Franka-v0",
+    entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
+    kwargs={
+        "env_cfg_entry_point": stack_joint_pos_instance_randomize_env_cfg.FrankaCubeStackInstanceRandomizeEnvCfg,
+    },
+    disable_env_checker=True,
+)
+
+
+##
+# Inverse Kinematics - Relative Pose Control
+##
+
+gym.register(
+    id="Isaac-Stack-Cube-Franka-IK-Rel-v0",
+    entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
+    kwargs={
+        "env_cfg_entry_point": stack_ik_rel_env_cfg.FrankaCubeStackEnvCfg,
+        "robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc_rnn_low_dim.json"),
+    },
+    disable_env_checker=True,
+)
+
+gym.register(
+    id="Isaac-Stack-Cube-Instance-Randomize-Franka-IK-Rel-v0",
+    entry_point="omni.isaac.lab.envs:ManagerBasedRLEnv",
+    kwargs={
+        "env_cfg_entry_point": stack_ik_rel_instance_randomize_env_cfg.FrankaCubeStackInstanceRandomizeEnvCfg,
+    },
+    disable_env_checker=True,
+)

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/stack/config/franka/agents/__init__.py

@@ -0,0 +1,4 @@
+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/stack/config/franka/agents/robomimic/bc_rnn_low_dim.json

@@ -0,0 +1,101 @@
+{
+    "algo_name": "bc",
+    "experiment": {
+        "name": "bc",
+        "validate": false,
+        "logging": {
+            "terminal_output_to_txt": true,
+            "log_tb": true
+        },
+        "save": {
+            "enabled": true,
+            "every_n_seconds": null,
+            "every_n_epochs": 100,
+            "epochs": [],
+            "on_best_validation": false,
+            "on_best_rollout_return": false,
+            "on_best_rollout_success_rate": true
+        },
+        "epoch_every_n_steps": 100,
+        "env": null,
+        "additional_envs": null,
+        "render": false,
+        "render_video": false,
+        "rollout": {
+            "enabled": false
+        }
+    },
+    "train": {
+        "data": null,
+        "num_data_workers": 4,
+        "hdf5_cache_mode": "all",
+        "hdf5_use_swmr": true,
+        "hdf5_normalize_obs": false,
+        "hdf5_filter_key": null,
+        "hdf5_validation_filter_key": null,
+        "seq_length": 10,
+        "dataset_keys": [
+            "actions"
+        ],
+        "goal_mode": null,
+        "cuda": true,
+        "batch_size": 100,
+        "num_epochs": 2000,
+        "seed": 101
+    },
+    "algo": {
+        "optim_params": {
+            "policy": {
+                "optimizer_type": "adam",
+                "learning_rate": {
+                    "initial": 0.001,
+                    "decay_factor": 0.1,
+                    "epoch_schedule": [],
+                    "scheduler_type": "multistep"
+                },
+                "regularization": {
+                    "L2": 0.0
+                }
+            }
+        },
+        "loss": {
+            "l2_weight": 1.0,
+            "l1_weight": 0.0,
+            "cos_weight": 0.0
+        },
+        "actor_layer_dims": [],
+        "gmm": {
+            "enabled": true,
+            "num_modes": 5,
+            "min_std": 0.0001,
+            "std_activation": "softplus",
+            "low_noise_eval": true
+        },
+        "rnn": {
+            "enabled": true,
+            "horizon": 10,
+            "hidden_dim": 400,
+            "rnn_type": "LSTM",
+            "num_layers": 2,
+            "open_loop": false,
+            "kwargs": {
+                "bidirectional": false
+            }
+        }
+    },
+    "observation": {
+        "modalities": {
+            "obs": {
+                "low_dim": [
+                    "eef_pos",
+                    "eef_quat",
+                    "gripper_pos",
+                    "object"
+                ],
+                "rgb": [],
+                "depth": [],
+                "scan": []
+            }
+        }
+    }
+}

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_env_cfg.py

@@ -0,0 +1,36 @@
+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from omni.isaac.lab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
+from omni.isaac.lab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
+from omni.isaac.lab.utils import configclass
+
+from . import stack_joint_pos_env_cfg
+
+##
+# Pre-defined configs
+##
+from omni.isaac.lab_assets.franka import FRANKA_PANDA_HIGH_PD_CFG  # isort: skip
+
+
+@configclass
+class FrankaCubeStackEnvCfg(stack_joint_pos_env_cfg.FrankaCubeStackEnvCfg):
+    def __post_init__(self):
+        # post init of parent
+        super().__post_init__()
+
+        # Set Franka as robot
+        # We switch here to a stiffer PD controller for IK tracking to be better.
+        self.scene.robot = FRANKA_PANDA_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+
+        # Set actions for the specific robot type (franka)
+        self.actions.arm_action = DifferentialInverseKinematicsActionCfg(
+            asset_name="robot",
+            joint_names=["panda_joint.*"],
+            body_name="panda_hand",
+            controller=DifferentialIKControllerCfg(command_type="pose", use_relative_mode=True, ik_method="dls"),
+            scale=0.5,
+            body_offset=DifferentialInverseKinematicsActionCfg.OffsetCfg(pos=[0.0, 0.0, 0.107]),
+        )

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_instance_randomize_env_cfg.py

@@ -0,0 +1,38 @@
+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from omni.isaac.lab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
+from omni.isaac.lab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
+from omni.isaac.lab.utils import configclass
+
+from . import stack_joint_pos_instance_randomize_env_cfg
+
+##
+# Pre-defined configs
+##
+from omni.isaac.lab_assets.franka import FRANKA_PANDA_HIGH_PD_CFG  # isort: skip
+
+
+@configclass
+class FrankaCubeStackInstanceRandomizeEnvCfg(
+    stack_joint_pos_instance_randomize_env_cfg.FrankaCubeStackInstanceRandomizeEnvCfg
+):
+    def __post_init__(self):
+        # post init of parent
+        super().__post_init__()
+
+        # Set Franka as robot
+        # We switch here to a stiffer PD controller for IK tracking to be better.
+        self.scene.robot = FRANKA_PANDA_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+
+        # Set actions for the specific robot type (franka)
+        self.actions.arm_action = DifferentialInverseKinematicsActionCfg(
+            asset_name="robot",
+            joint_names=["panda_joint.*"],
+            body_name="panda_hand",
+            controller=DifferentialIKControllerCfg(command_type="pose", use_relative_mode=True, ik_method="dls"),
+            scale=0.5,
+            body_offset=DifferentialInverseKinematicsActionCfg.OffsetCfg(pos=[0.0, 0.0, 0.107]),
+        )