Fixes rewards for Lift-Franka environment#33
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…ent variables (#33) # Description Adds the class `AppLauncher` which takes configuration arguments to the Isaac Sim `SimulationApp` and several environment variables. It launches the SimulationApp and corresponding extensions in a controlled manner allowing users to decide between different remote deployments, ROS bridges, and viewport rendering. AppLauncher can then be queried for logic on other SimulationApp operations e.g. whether or not `SimulationContext.step()` should render or not based on the resolved flags `AppLauncher.VIEWPORT` and `AppLauncher.RENDER`. Fixes #32 ## 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 `./orbit.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 --------- Co-authored-by: Farbod Farshidian <ffarshidian@theaiinstitute.com> Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>
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…ent variables (#33) # Description Adds the class `AppLauncher` which takes configuration arguments to the Isaac Sim `SimulationApp` and several environment variables. It launches the SimulationApp and corresponding extensions in a controlled manner allowing users to decide between different remote deployments, ROS bridges, and viewport rendering. AppLauncher can then be queried for logic on other SimulationApp operations e.g. whether or not `SimulationContext.step()` should render or not based on the resolved flags `AppLauncher.VIEWPORT` and `AppLauncher.RENDER`. Fixes #32 ## 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 `./orbit.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 --------- Co-authored-by: Farbod Farshidian <ffarshidian@theaiinstitute.com> Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>
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chore: sync main from isaac-lab
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Description
This PR does the following:
Isaac-Lift-Franka-v0environment: Training works with rsl_rlFixes #5 , #34
Type of change
Screenshots
I would not say the policy is deployable with current parameter tuning but at least it is better than what previously existed. We will need to investigate more on how to make the learned behavior more usable for sim-to-real.
Checklist
pre-commitchecks with./orbit.sh --formatconfig/extension.tomlfile