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Create Manager Based Cartpole Vision Example Environments (isaac-sim#995
) # Description Adds manager based cartpole vision example environments. Also uses the`convert_perspective_depth_to_orthogonal_depth ` functionality introduced in isaac-sim#976 , contains a duplicate copy of the method and test for completeness of the PR. Will be synced with main to remove this duplicate copy once isaac-sim#976 is merged into main, or isaac-sim#976 will be synced with main if this PR is merged first ## Type of change - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## Screenshots  ## 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 ## Testing Training converged in both RGB and Depth at similar rates to the direct environments --------- Signed-off-by: garylvov <[email protected]> Signed-off-by: glvov-bdai <[email protected]> Co-authored-by: garylvov <[email protected]> Co-authored-by: garylvov <[email protected]> Co-authored-by: James Smith <[email protected]>
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95 changes: 95 additions & 0 deletions
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...s/omni/isaac/lab_tasks/manager_based/classic/cartpole/agents/rl_games_camera_ppo_cfg.yaml
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| params: | ||
| seed: 42 | ||
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| # environment wrapper clipping | ||
| env: | ||
| # added to the wrapper | ||
| clip_observations: 5.0 | ||
| # can make custom wrapper? | ||
| clip_actions: 1.0 | ||
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| algo: | ||
| name: a2c_continuous | ||
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| model: | ||
| name: continuous_a2c_logstd | ||
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| # doesn't have this fine grained control but made it close | ||
| network: | ||
| name: actor_critic | ||
| separate: False | ||
| space: | ||
| continuous: | ||
| mu_activation: None | ||
| sigma_activation: None | ||
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| mu_init: | ||
| name: default | ||
| sigma_init: | ||
| name: const_initializer | ||
| val: 0 | ||
| fixed_sigma: True | ||
| cnn: | ||
| type: conv2d | ||
| activation: relu | ||
| initializer: | ||
| name: default | ||
| regularizer: | ||
| name: None | ||
| convs: | ||
| - filters: 32 | ||
| kernel_size: 8 | ||
| strides: 4 | ||
| padding: 0 | ||
| - filters: 64 | ||
| kernel_size: 4 | ||
| strides: 2 | ||
| padding: 0 | ||
| - filters: 64 | ||
| kernel_size: 3 | ||
| strides: 1 | ||
| padding: 0 | ||
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| mlp: | ||
| units: [512] | ||
| activation: elu | ||
| initializer: | ||
| name: default | ||
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| load_checkpoint: False # flag which sets whether to load the checkpoint | ||
| load_path: '' # path to the checkpoint to load | ||
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| config: | ||
| name: cartpole_camera | ||
| env_name: rlgpu | ||
| device: 'cuda:0' | ||
| device_name: 'cuda:0' | ||
| multi_gpu: False | ||
| ppo: True | ||
| mixed_precision: False | ||
| normalize_input: False | ||
| normalize_value: True | ||
| num_actors: -1 # configured from the script (based on num_envs) | ||
| reward_shaper: | ||
| scale_value: 1.0 | ||
| normalize_advantage: True | ||
| gamma: 0.99 | ||
| tau : 0.95 | ||
| learning_rate: 1e-4 | ||
| lr_schedule: adaptive | ||
| kl_threshold: 0.008 | ||
| score_to_win: 20000 | ||
| max_epochs: 500 | ||
| save_best_after: 50 | ||
| save_frequency: 25 | ||
| grad_norm: 1.0 | ||
| entropy_coef: 0.0 | ||
| truncate_grads: True | ||
| e_clip: 0.2 | ||
| horizon_length: 64 | ||
| minibatch_size: 2048 | ||
| mini_epochs: 4 | ||
| critic_coef: 2 | ||
| clip_value: True | ||
| seq_length: 4 | ||
| bounds_loss_coef: 0.0001 |
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....lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py
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| # Copyright (c) 2022-2024, The Isaac Lab Project Developers. | ||
| # All rights reserved. | ||
| # | ||
| # SPDX-License-Identifier: BSD-3-Clause | ||
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| import omni.isaac.lab.sim as sim_utils | ||
| from omni.isaac.lab.envs.mdp.observations import grab_images | ||
| from omni.isaac.lab.managers import ObservationGroupCfg as ObsGroup | ||
| from omni.isaac.lab.managers import ObservationTermCfg as ObsTerm | ||
| from omni.isaac.lab.managers import SceneEntityCfg | ||
| from omni.isaac.lab.sensors import TiledCameraCfg | ||
| from omni.isaac.lab.utils import configclass | ||
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| from omni.isaac.lab_tasks.manager_based.classic.cartpole.cartpole_env_cfg import CartpoleEnvCfg, CartpoleSceneCfg | ||
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| ## | ||
| # Scene definition | ||
| ## | ||
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| @configclass | ||
| class CartpoleRGBCameraSceneCfg(CartpoleSceneCfg): | ||
| tiled_camera: TiledCameraCfg = TiledCameraCfg( | ||
| prim_path="{ENV_REGEX_NS}/Camera", | ||
| offset=TiledCameraCfg.OffsetCfg(pos=(-7.0, 0.0, 3.0), rot=(0.9945, 0.0, 0.1045, 0.0), convention="world"), | ||
| data_types=["rgb"], | ||
| spawn=sim_utils.PinholeCameraCfg( | ||
| focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 20.0) | ||
| ), | ||
| width=80, | ||
| height=80, | ||
| ) | ||
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| @configclass | ||
| class CartpoleDepthCameraSceneCfg(CartpoleSceneCfg): | ||
| tiled_camera: TiledCameraCfg = TiledCameraCfg( | ||
| prim_path="{ENV_REGEX_NS}/Camera", | ||
| offset=TiledCameraCfg.OffsetCfg(pos=(-7.0, 0.0, 3.0), rot=(0.9945, 0.0, 0.1045, 0.0), convention="world"), | ||
| data_types=["distance_to_camera"], | ||
| spawn=sim_utils.PinholeCameraCfg( | ||
| focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 20.0) | ||
| ), | ||
| width=80, | ||
| height=80, | ||
| ) | ||
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| @configclass | ||
| class RGBObservationsCfg: | ||
| """Observation specifications for the MDP.""" | ||
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| @configclass | ||
| class RGBCameraPolicyCfg(ObsGroup): | ||
| """Observations for policy group.""" | ||
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| image = ObsTerm(func=grab_images, params={"sensor_cfg": SceneEntityCfg("tiled_camera"), "data_type": "rgb"}) | ||
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| def __post_init__(self) -> None: | ||
| self.enable_corruption = False | ||
| self.concatenate_terms = True | ||
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| policy: ObsGroup = RGBCameraPolicyCfg() | ||
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| @configclass | ||
| class DepthObservationsCfg: | ||
| @configclass | ||
| class DepthCameraPolicyCfg(RGBObservationsCfg.RGBCameraPolicyCfg): | ||
| image = ObsTerm( | ||
| func=grab_images, params={"sensor_cfg": SceneEntityCfg("tiled_camera"), "data_type": "distance_to_camera"} | ||
| ) | ||
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| policy: ObsGroup = DepthCameraPolicyCfg() | ||
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| @configclass | ||
| class CartpoleRGBCameraEnvCfg(CartpoleEnvCfg): | ||
| scene: CartpoleSceneCfg = CartpoleRGBCameraSceneCfg(num_envs=1024, env_spacing=20) | ||
| observations = RGBObservationsCfg() | ||
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| @configclass | ||
| class CartpoleDepthCameraEnvCfg(CartpoleEnvCfg): | ||
| scene: CartpoleSceneCfg = CartpoleDepthCameraSceneCfg(num_envs=1024, env_spacing=20) | ||
| observations = DepthObservationsCfg() |