Manipulation Template for IsaacLab

Overview

This repository is based on the old version (orbit) of the orbit extension repository from isaaclab and provides a template for research on robot manipulation tasks. It is independent of isaaclab and allows for customization of the details of manipulation tasks.

Setup

Dependencies

This template depends on Isaac Sim and IsaacLab.

• Isaac Sim
• Isaac Lab

It is recommended to install in a virtual environment. IsaacLab provides a default virtual environment that can be activated directly.

# Activate conda environment
conda activate isaaclab

Download

git clone https://github.com/NathanWu7/isaacLab.manipulation.git
cd isaacLab.manipulation
python -m pip install -e .

RL Algorithm

Install RSL_RL outside of the isaacLab repository, e.g. home/code/rsl_rl.

git clone https://github.com/leggedrobotics/rsl_rl.git
cd rsl_rl
python -m pip install -e .

Usage

#root of the package
cd isaacLab.manipulation

Train a policy.

1.RobotArm

python3 scripts/rsl_rl/train.py --task Template-Isaac-Reach-Franka-v0 --num_envs 4096 --headless

python3 scripts/rsl_rl/train.py --task Template-Isaac-Reach-UR10-v0 --num_envs 4096 --headless

2.Dextrous Hand

python3 scripts/rsl_rl/train.py --task Template-Isaac-Repose-Cube-Allegro-v0 --num_envs 4096 --headless

Play the trained policy.

1.RobotArm

python3 scripts/rsl_rl/play.py --task Template-Isaac-Reach-Franka-Play-v0 --num_envs 16

python3 scripts/rsl_rl/play.py --task Template-Isaac-Reach-Franka-Play-v0 --num_envs 16

2.Dextrous Hand

python3 scripts/rsl_rl/play.py --task Template-Isaac-Repose-Cube-Allegro-Play-v0 --num_envs 16

Author

Author: Qiwei Wu
Email: [email protected]