Fixes rewards for Lift-Franka environment

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

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.2.5"
+version = "0.2.6"
 
 # Description
 title = "ORBIT framework for Robot Learning"

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

@@ -1,6 +1,22 @@
 Changelog
 ---------
 
+0.2.6 (2023-03-16)
+~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added the :class:`CollisionPropertiesCfg` to rigid/articulated object and robot base classes.
+* Added the :class:`PhysicsMaterialCfg` to the :class:`SingleArm` class for tool sites.
+
+Changed
+^^^^^^^
+
+* Changed the default control mode of the :obj:`PANDA_HAND_MIMIC_GROUP_CFG` to be from ``"v_abs"`` to ``"p_abs"``.
+  Using velocity control for the mimic group can cause the hand to move in a jerky manner.
+
+
 0.2.5 (2023-03-08)
 ~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/config/franka.py

@@ -13,7 +13,7 @@
 PANDA_HAND_MIMIC_GROUP_CFG = GripperActuatorGroupCfg(
     dof_names=["panda_finger_joint[1-2]"],
     model_cfg=ImplicitActuatorCfg(velocity_limit=0.2, torque_limit=200),
-    control_cfg=ActuatorControlCfg(command_types=["v_abs"], stiffness={".*": 1e5}, damping={".*": 1e3}),
+    control_cfg=ActuatorControlCfg(command_types=["p_abs"], stiffness={".*": 1e5}, damping={".*": 1e3}),
     mimic_multiplier={"panda_finger_joint.*": 1.0},
     speed=0.1,
     open_dof_pos=0.04,

source/extensions/omni.isaac.orbit/omni/isaac/orbit/actuators/group/gripper_group.py

@@ -72,6 +72,8 @@ def __init__(self, cfg: GripperActuatorGroupCfg, view: ArticulationView):
 
         # create buffers
         self._previous_dof_targets = torch.zeros(self.num_articulation, self.num_actuators, device=self.device)
+        # constants
+        self._ALL_INDICES = torch.arange(self.view.count, device=self.view._device, dtype=torch.long)
 
     def __str__(self) -> str:
         """String representation of the actuator group."""
@@ -109,18 +111,25 @@ def _format_command(self, command: torch.Tensor) -> torch.Tensor:
 
         We consider the following convention:
 
-        * Positive command -> open grippers
-        * Negative command -> close grippers
+        * Non-negative command (includes 0): open grippers
+        * Negative command: close grippers
 
         Returns:
             torch.Tensor: The target joint commands for the gripper.
         """
         # FIXME: mimic joint positions -- Gazebo plugin seems to do this.
-        #   The following is commented out because Isaac Sim doesn't support setting joint positions
-        #   of particular dof indices properly. It sets joint positions and joint position targets for
-        #   the whole robot, i.e. all previous position targets is lost.
-        # mimic_dof_pos = self._dof_pos[:, 0] * self._mimic_multiplier
-        # self.view.set_joint_positions(mimic_dof_pos, joint_indices=self.dof_indices)
+        # The following is commented out because Isaac Sim doesn't support setting joint positions
+        # of particular dof indices properly. It sets joint positions and joint position targets for
+        # the whole robot, i.e. all previous position targets is lost. This affects resetting the robot
+        # to a particular joint position.
+        # self.view._physics_sim_view.enable_warnings(False)
+        # # get current joint positions
+        # new_dof_pos = self.view._physics_view.get_dof_positions()
+        # # set joint positions of the mimic joints
+        # new_dof_pos[:, self.dof_indices] = self._dof_pos[:, 0].unsqueeze(1) * self._mimic_multiplier
+        # # set joint positions to the physics view
+        # self.view.set_joint_positions(new_dof_pos, self._ALL_INDICES)
+        # self.view._physics_sim_view.enable_warnings(True)
 
         # process actions
         if self.control_mode == "velocity":
@@ -134,7 +143,7 @@ def _format_command(self, command: torch.Tensor) -> torch.Tensor:
             return dof_vel_targets
         else:
             # compute new command
-            dof_pos_targets = torch.where(command > 0, self._open_dof_pos, self._close_dof_pos)
+            dof_pos_targets = torch.where(command >= 0, self._open_dof_pos, self._close_dof_pos)
             dof_pos_targets = dof_pos_targets * self._mimic_multiplier
             # store new command
             self._previous_dof_targets[:] = dof_pos_targets

source/extensions/omni.isaac.orbit/omni/isaac/orbit/objects/articulated/articulated_object.py

@@ -132,23 +132,11 @@ def spawn(self, prim_path: str, translation: Sequence[float] = None, orientation
 
         # TODO: What if prim already exists in the stage and spawn isn't called?
         # apply rigid body properties
-        kit_utils.set_nested_rigid_body_properties(
-            prim_path,
-            linear_damping=self.cfg.rigid_props.linear_damping,
-            angular_damping=self.cfg.rigid_props.angular_damping,
-            max_linear_velocity=self.cfg.rigid_props.max_linear_velocity,
-            max_angular_velocity=self.cfg.rigid_props.max_angular_velocity,
-            max_depenetration_velocity=self.cfg.rigid_props.max_depenetration_velocity,
-            disable_gravity=self.cfg.rigid_props.disable_gravity,
-            retain_accelerations=self.cfg.rigid_props.retain_accelerations,
-        )
+        kit_utils.set_nested_rigid_body_properties(prim_path, **self.cfg.rigid_props.to_dict())
+        # apply collision properties
+        kit_utils.set_nested_collision_properties(prim_path, **self.cfg.collision_props.to_dict())
         # articulation root settings
-        kit_utils.set_articulation_properties(
-            prim_path,
-            enable_self_collisions=self.cfg.articulation_props.enable_self_collisions,
-            solver_position_iteration_count=self.cfg.articulation_props.solver_position_iteration_count,
-            solver_velocity_iteration_count=self.cfg.articulation_props.solver_velocity_iteration_count,
-        )
+        kit_utils.set_articulation_properties(prim_path, **self.cfg.articulation_props.to_dict())
 
     def initialize(self, prim_paths_expr: Optional[str] = None):
         """Initializes the PhysX handles and internal buffers.

source/extensions/omni.isaac.orbit/omni/isaac/orbit/objects/articulated/articulated_object_cfg.py

@@ -33,16 +33,32 @@ class RigidBodyPropertiesCfg:
         angular_damping: Optional[float] = None
         """Angular damping coefficient."""
         max_linear_velocity: Optional[float] = 1000.0
-        """Maximum linear velocity for rigid bodies. Defaults to 1000.0."""
+        """Maximum linear velocity for rigid bodies (in m/s). Defaults to 1000.0."""
         max_angular_velocity: Optional[float] = 1000.0
-        """Maximum angular velocity for rigid bodies. Defaults to 1000.0."""
+        """Maximum angular velocity for rigid bodies (in rad/s). Defaults to 1000.0."""
         max_depenetration_velocity: Optional[float] = 10.0
-        """Maximum depenetration velocity permitted to be introduced by the solver. Defaults to 10.0."""
+        """Maximum depenetration velocity permitted to be introduced by the solver (in m/s).
+        Defaults to 10.0."""
         disable_gravity: Optional[bool] = False
         """Disable gravity for the actor. Defaults to False."""
         retain_accelerations: Optional[bool] = None
         """Carries over forces/accelerations over sub-steps."""
 
+    @configclass
+    class CollisionPropertiesCfg:
+        """Properties to apply to all collisions in the articulation."""
+
+        collision_enabled: Optional[bool] = None
+        """Whether to enable or disable collisions."""
+        contact_offset: Optional[float] = None
+        """Contact offset for the collision shape."""
+        rest_offset: Optional[float] = None
+        """Rest offset for the collision shape."""
+        torsional_patch_radius: Optional[float] = None
+        """Radius of the contact patch for applying torsional friction."""
+        min_torsional_patch_radius: Optional[float] = None
+        """Minimum radius of the contact patch for applying torsional friction."""
+
     @configclass
     class ArticulationRootPropertiesCfg:
         """Properties to apply to articulation."""
@@ -85,5 +101,7 @@ class InitialStateCfg:
     """Initial state of the articulated object."""
     rigid_props: RigidBodyPropertiesCfg = RigidBodyPropertiesCfg()
     """Properties to apply to all rigid bodies in the articulation."""
+    collision_props: CollisionPropertiesCfg = CollisionPropertiesCfg()
+    """Properties to apply to all collisions in the articulation."""
     articulation_props: ArticulationRootPropertiesCfg = ArticulationRootPropertiesCfg()
     """Properties to apply to articulation."""

source/extensions/omni.isaac.orbit/omni/isaac/orbit/objects/rigid/rigid_object.py

@@ -110,13 +110,9 @@ def spawn(self, prim_path: str, translation: Sequence[float] = None, orientation
         # apply rigid body properties API
         RigidPrim(prim_path=prim_path)
         # -- set rigid body properties
-        kit_utils.set_nested_rigid_body_properties(
-            prim_path,
-            max_linear_velocity=self.cfg.rigid_props.max_linear_velocity,
-            max_angular_velocity=self.cfg.rigid_props.max_angular_velocity,
-            max_depenetration_velocity=self.cfg.rigid_props.max_depenetration_velocity,
-            disable_gravity=self.cfg.rigid_props.disable_gravity,
-        )
+        kit_utils.set_nested_rigid_body_properties(prim_path, **self.cfg.rigid_props.to_dict())
+        # apply collision properties
+        kit_utils.set_nested_collision_properties(prim_path, **self.cfg.collision_props.to_dict())
         # create physics material
         if self.cfg.physics_material is not None:
             # -- resolve material path

source/extensions/omni.isaac.orbit/omni/isaac/orbit/objects/rigid/rigid_object_cfg.py

@@ -26,15 +26,35 @@ class MetaInfoCfg:
     class RigidBodyPropertiesCfg:
         """Properties to apply to the rigid body."""
 
+        solver_position_iteration_count: Optional[int] = None
+        """Solver position iteration counts for the body."""
+        solver_velocity_iteration_count: Optional[int] = None
+        """Solver position iteration counts for the body."""
         max_linear_velocity: Optional[float] = 1000.0
-        """Maximum linear velocity for rigid bodies. Defaults to 1000.0."""
+        """Maximum linear velocity for rigid bodies (in m/s). Defaults to 1000.0."""
         max_angular_velocity: Optional[float] = 1000.0
-        """Maximum angular velocity for rigid bodies. Defaults to 1000.0."""
+        """Maximum angular velocity for rigid bodies (in rad/s). Defaults to 1000.0."""
         max_depenetration_velocity: Optional[float] = 10.0
-        """Maximum depenetration velocity permitted to be introduced by the solver. Defaults to 10.0."""
+        """Maximum depenetration velocity permitted to be introduced by the solver (in m/s).
+        Defaults to 10.0."""
         disable_gravity: Optional[bool] = False
         """Disable gravity for the actor. Defaults to False."""
 
+    @configclass
+    class CollisionPropertiesCfg:
+        """Properties to apply to all collisions in the articulation."""
+
+        collision_enabled: Optional[bool] = None
+        """Whether to enable or disable collisions."""
+        contact_offset: Optional[float] = None
+        """Contact offset for the collision shape."""
+        rest_offset: Optional[float] = None
+        """Rest offset for the collision shape."""
+        torsional_patch_radius: Optional[float] = None
+        """Radius of the contact patch for applying torsional friction."""
+        min_torsional_patch_radius: Optional[float] = None
+        """Minimum radius of the contact patch for applying torsional friction."""
+
     @configclass
     class PhysicsMaterialCfg:
         """Physics material applied to the rigid object."""
@@ -79,6 +99,8 @@ class InitialStateCfg:
     """Initial state of the rigid object."""
     rigid_props: RigidBodyPropertiesCfg = RigidBodyPropertiesCfg()
     """Properties to apply to all rigid bodies in the object."""
+    collision_props: CollisionPropertiesCfg = CollisionPropertiesCfg()
+    """Properties to apply to all collisions in the articulation."""
     physics_material: Optional[PhysicsMaterialCfg] = PhysicsMaterialCfg()
     """Settings for the physics material to apply to the rigid object.
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/robots/config/anymal.py

@@ -90,6 +90,10 @@ def euler_rpy_apply(rpy, xyz, degrees=False):
         max_angular_velocity=1000.0,
         max_depenetration_velocity=1.0,
     ),
+    collision_props=LeggedRobotCfg.CollisionPropertiesCfg(
+        contact_offset=0.02,
+        rest_offset=0.0,
+    ),
     articulation_props=LeggedRobotCfg.ArticulationRootPropertiesCfg(
         enable_self_collisions=True, solver_position_iteration_count=4, solver_velocity_iteration_count=1
     ),
@@ -141,6 +145,10 @@ def euler_rpy_apply(rpy, xyz, degrees=False):
         max_angular_velocity=1000.0,
         max_depenetration_velocity=1.0,
     ),
+    collision_props=LeggedRobotCfg.CollisionPropertiesCfg(
+        contact_offset=0.02,
+        rest_offset=0.0,
+    ),
     articulation_props=LeggedRobotCfg.ArticulationRootPropertiesCfg(
         enable_self_collisions=True, solver_position_iteration_count=4, solver_velocity_iteration_count=1
     ),

source/extensions/omni.isaac.orbit/omni/isaac/orbit/robots/config/franka.py

@@ -40,13 +40,23 @@
             "panda_joint5": 0.0,
             "panda_joint6": 3.037,
             "panda_joint7": 0.741,
-            "panda_finger_joint*": 0.035,
+            "panda_finger_joint*": 0.04,
         },
         dof_vel={".*": 0.0},
     ),
     ee_info=SingleArmManipulatorCfg.EndEffectorFrameCfg(
         body_name="panda_hand", pos_offset=(0.0, 0.0, 0.1034), rot_offset=(1.0, 0.0, 0.0, 0.0)
     ),
+    rigid_props=SingleArmManipulatorCfg.RigidBodyPropertiesCfg(
+        max_depenetration_velocity=5.0,
+    ),
+    collision_props=SingleArmManipulatorCfg.CollisionPropertiesCfg(
+        contact_offset=0.005,
+        rest_offset=0.0,
+    ),
+    articulation_props=SingleArmManipulatorCfg.ArticulationRootPropertiesCfg(
+        enable_self_collisions=True,
+    ),
     actuator_groups={
         "panda_shoulder": ActuatorGroupCfg(
             dof_names=["panda_joint[1-4]"],

source/extensions/omni.isaac.orbit/omni/isaac/orbit/robots/config/unitree.py

@@ -54,6 +54,10 @@
         max_angular_velocity=1000.0,
         max_depenetration_velocity=1.0,
     ),
+    collision_props=LeggedRobotCfg.CollisionPropertiesCfg(
+        contact_offset=0.02,
+        rest_offset=0.0,
+    ),
     articulation_props=LeggedRobotCfg.ArticulationRootPropertiesCfg(
         enable_self_collisions=True, solver_position_iteration_count=4, solver_velocity_iteration_count=1
     ),

source/extensions/omni.isaac.orbit/omni/isaac/orbit/robots/legged_robot/legged_robot.py

@@ -62,8 +62,6 @@ def feet_names(self) -> Sequence[str]:
     def spawn(self, prim_path: str, translation: Sequence[float] = None, orientation: Sequence[float] = None):
         # spawn the robot and set its location
         super().spawn(prim_path, translation, orientation)
-        # alter physics collision properties
-        kit_utils.set_nested_collision_properties(prim_path, contact_offset=0.02, rest_offset=0.0)
         # add physics material to the feet bodies!
         if self.cfg.physics_material is not None:
             # -- resolve material path

source/extensions/omni.isaac.orbit/omni/isaac/orbit/robots/robot_base.py

@@ -67,7 +67,7 @@ def count(self) -> int:
     @property
     def device(self) -> str:
         """Memory device for computation."""
-        return self.articulations._device
+        return self.articulations._device  # noqa: W0212
 
     @property
     def body_names(self) -> List[str]:
@@ -132,23 +132,11 @@ def spawn(self, prim_path: str, translation: Sequence[float] = None, orientation
             carb.log_warn(f"A prim already exists at prim path: '{prim_path}'. Skipping...")
 
         # apply rigid body properties
-        kit_utils.set_nested_rigid_body_properties(
-            prim_path,
-            linear_damping=self.cfg.rigid_props.linear_damping,
-            angular_damping=self.cfg.rigid_props.angular_damping,
-            max_linear_velocity=self.cfg.rigid_props.max_linear_velocity,
-            max_angular_velocity=self.cfg.rigid_props.max_angular_velocity,
-            max_depenetration_velocity=self.cfg.rigid_props.max_depenetration_velocity,
-            disable_gravity=self.cfg.rigid_props.disable_gravity,
-            retain_accelerations=self.cfg.rigid_props.retain_accelerations,
-        )
+        kit_utils.set_nested_rigid_body_properties(prim_path, **self.cfg.rigid_props.to_dict())
+        # apply collision properties
+        kit_utils.set_nested_collision_properties(prim_path, **self.cfg.collision_props.to_dict())
         # articulation root settings
-        kit_utils.set_articulation_properties(
-            prim_path,
-            enable_self_collisions=self.cfg.articulation_props.enable_self_collisions,
-            solver_position_iteration_count=self.cfg.articulation_props.solver_position_iteration_count,
-            solver_velocity_iteration_count=self.cfg.articulation_props.solver_velocity_iteration_count,
-        )
+        kit_utils.set_articulation_properties(prim_path, **self.cfg.articulation_props.to_dict())
         # set spawned to true
         self._is_spawned = True
 
@@ -204,6 +192,7 @@ def reset_buffers(self, env_ids: Optional[Sequence[int]] = None):
         # reset history
         self._previous_dof_vel[env_ids] = 0
         # TODO: Reset other cached variables.
+        self.articulations.set_joint_efforts(self._ZERO_JOINT_EFFORT, indices=self._ALL_INDICES)
         # reset actuators
         for group in self.actuator_groups.values():
             group.reset(env_ids)
@@ -220,11 +209,6 @@ def apply_action(self, actions: torch.Tensor):
         # slice actions per actuator group
         group_actions_dims = [group.control_dim for group in self.actuator_groups.values()]
         all_group_actions = torch.split(actions, group_actions_dims, dim=-1)
-        # silence the physics sim for warnings that make no sense :)
-        self.articulations._physics_sim_view.enable_warnings(False)
-        # note (18.08.2022): Saw a difference of up to 5 ms per step when using Isaac Sim
-        #   interfaces compared to direct PhysX calls. Thus, this function is optimized.
-        #   acquire tensors for whole robot
         # note: we use internal buffers to deal with the resets() as the buffers aren't forwarded
         #   unit the next simulation step.
         dof_pos = self._data.dof_pos
@@ -250,6 +234,11 @@ def apply_action(self, actions: torch.Tensor):
             self._data.gear_ratio[:, group.dof_indices] = group.gear_ratio
             if group.velocity_limit is not None:
                 self._data.soft_dof_vel_limits[:, group.dof_indices] = group.velocity_limit
+        # silence the physics sim for warnings that make no sense :)
+        # note (18.08.2022): Saw a difference of up to 5 ms per step when using Isaac Sim
+        #   ArticulationView.apply_action() method compared to direct PhysX calls. Thus,
+        #   this function is optimized to apply actions for the whole robot.
+        self.articulations._physics_sim_view.enable_warnings(False)
         # apply actions into sim
         if self.sim_dof_control_modes["position"]:
             self.articulations._physics_view.set_dof_position_targets(self._data.dof_pos_targets, self._ALL_INDICES)
@@ -472,6 +461,7 @@ def _create_buffers(self):
         self._previous_dof_vel = torch.zeros(self.count, self.num_dof, dtype=torch.float, device=self.device)
         # constants
         self._ALL_INDICES = torch.arange(self.count, dtype=torch.long, device=self.device)
+        self._ZERO_JOINT_EFFORT = torch.zeros(self.count, self.num_dof, dtype=torch.float, device=self.device)
 
         # -- frame states
         self._data.root_state_w = torch.zeros(self.count, 13, dtype=torch.float, device=self.device)