Closed DJT777 closed 2 months ago
Would the modification of this file be appropriate?
# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Configuration for the Franka Emika robots.
The following configurations are available:
* :obj:`FRANKA_PANDA_CFG`: Franka Emika Panda robot with Panda hand
* :obj:`FRANKA_PANDA_HIGH_PD_CFG`: Franka Emika Panda robot with Panda hand with stiffer PD control
Reference: https://github.com/frankaemika/franka_ros
"""
import omni.isaac.lab.sim as sim_utils
from omni.isaac.lab.actuators import ImplicitActuatorCfg
from omni.isaac.lab.assets.articulation import ArticulationCfg
from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR
##
# Configuration
##
UR10_CFG_FRANKA = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/UniversalRobots/UR10/ur10_instanceable.usd",
activate_contact_sensors=False,
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=False,
max_depenetration_velocity=5.0,
),
articulation_props=sim_utils.ArticulationRootPropertiesCfg(
enabled_self_collisions=True, solver_position_iteration_count=8, solver_velocity_iteration_count=0
),
# collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.005, rest_offset=0.0),
),
init_state=ArticulationCfg.InitialStateCfg(
joint_pos={
"shoulder_pan_joint": 0.0,
"shoulder_lift_joint": -1.712,
"elbow_joint": 1.712,
"wrist_1_joint": 0.0,
"wrist_2_joint": 0.0,
"wrist_3_joint": 0.0,
},
pos=(0.0, 0.0, 1), rot=(0,1,0,0)
),
actuators={
"arm": ImplicitActuatorCfg(
joint_names_expr=[".*"],
velocity_limit=100.0,
effort_limit=87.0,
stiffness=800.0,
damping=40.0,
),
},
soft_joint_pos_limit_factor=1.0,
)
Hello!
I'd like to change the target post in the reaching environments, such as in the UR10 environment using RSL-RL.
Currently we are able to reach towards the locations on the table in "front" of the robot. However, I'd like to modify it so that it can reach towards locations 360 degrees around the robot.
Are there any limits I would have to adjust?
Currently I am working with modifying the pose ranges here by modifying the x coordinate range to come from a list of tuples. Ideally I'd like to expand this towards having more ranges for the y and z coordinates.
However, I'm running into issues with convergence and getting a good general policy with these modifications in place. My understanding is that just operating on the other side of the axis shouldn't be a big deal with negative values in the pos_x.
Given that Isaac Lab is quite complex, I'm wondering if there are any other parts of Isaac Lab that would need adjusted such as DOF limits or something else?
CODE
source\extensions\omni.isaac.lab_tasks\omni\isaac\lab_tasks\manager_based\manipulation\reach\reach_env_cfg.py
and made it so that the pose command takes a list of tuples for the x-coordinates.
source\extensions\omni.isaac.lab\omni\isaac\lab\envs\mdp\commands\pose_command.py