Adds OperationSpaceController to docs and tests and implement corresponding action/action_cfg classes
#913
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ozhanozen
requested review from
jsmith-bdai,
Dhoeller19,
kellyguo11 and
Mayankm96
as code owners
source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/task_space_actions.py
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source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/task_space_actions.py
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@Dhoeller19, I have created this PR to replace #879 but haven't worked much on it yet. It is far from complete at the moment. I am currently working on it and will ping once it reaches a state worth reviewing. Sorry for the confusion. |
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Converted to a draft util ready for full review. @ozhanozen i will continue to work with you on this branch. Thanks for doing this! |
@jtigue-bdai, Thanks a lot! I have addressed all your comments, updated the changelog, and marked the PR as ready for review. |
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Hi @jtigue-bdai, I’ve addressed the comments (primarily regarding docstrings) currently marked as unresolved. Would it be okay if I go ahead and mark them as resolved? I’ve also merged the latest changes from main and updated the relevant documentation. The CHANGELOG entries remain as [unreleased], assuming the version/date will be finalized when merging to main. On a separate branch, I’ve implemented the nullspace controller feature for OSC and successfully deployed a trained policy on a real robot to test it. It’s working well, and I observed it significantly improves learning. I’ll create a new PR for it once this one is merged. Thanks again for your review and feedback! 😊 |
kellyguo11
changed the title
OperationSpaceController to docs and tests and implement corresponding action/action_cfg classesOperationSpaceController to docs and tests and implement corresponding action/action_cfg classes
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Thanks a lot for the addition! Could you please help update the image from .png to .jpg (jpg takes up less storage), and add the new environment to the docs (https://isaac-sim.github.io/IsaacLab/main/source/overview/environments.html#single-agent and https://isaac-sim.github.io/IsaacLab/main/source/overview/environments.html#comprehensive-list-of-environments)? Also looks like it'll need another rebase. feel free to update the version number based on the current main, I don't seem to have write access to update the file, but I can merge it in once everything is ready. thanks! |
...ac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/franka/__init__.py
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Changes from "Isaac-Reach-Franka-Play-OSC-v0" to "Isaac-Reach-Franka-OSC-Play-v0" Co-authored-by: Kelly Guo <[email protected]> Signed-off-by: Özhan Özen <[email protected]>
…ifferentialInverseKinematicsAction
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Hi @kellyguo11 , Thank you for the feedback on the PR and for merging it! While I noticed an issue related to the new clip ranges implementation (#1476) which I wanted to mention here, I wasn’t able to raise it before the PR was merged. I’ve now created a new issue (#1548) detailing my concerns and proposed solutions. Please let me know if you have any thoughts on it when convenient. |
# Description This PR adds an option to enable null-space control within `OperationSpaceController` (following the discussions in #913). ## Details Currently, `OperationSpaceController` controls only the task space, which results in joint movements within the null-space of redundant robotic manipulators. In general, it is desirable to have some control over the robot null-space, e.g., to prevent the joints from going near their limits. Hence, the PR adds the following: - An optional nullspace (position) control integrated into `OperationSpaceController`. This controller attracts the robot joints to provided targets whereas possible, in parallel to the task-space target. - Test cases for `OperationSpaceController` that use null-space control. - Updates to the related tutorial script and documentation to use and describe null-space control. - Integration of (optional) null-space control to `OperationSpaceControllerAction` with predefined joint targets, e.g., default joint positions, joint centers, zero joint position. - Integration of null-space control to `"Isaac-Reach-Franka-OSC-v0"` manager-based environment. Null-space control utilizes either the dynamically consistent Jacobian inverse or the Moore–Penrose inverse, depending on whether the full inertia matrix is available. ## Type of change - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## 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 - [x] 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: Özhan Özen <[email protected]> Co-authored-by: Kelly Guo <[email protected]>
Description
This PR adds the
OperationalSpaceControllerto the docs and provides some tests for its parametric features. Moreover, it implements the correspondingOperationalSpaceControllerActionandOperationalSpaceControllerActionCfgclasses so they can be used with manager-based environments.Fixes #873
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there``