adding wheeled files; TODO fix racetrack terrain C++ error

source/extensions/omni.isaac.groundcontrol_assets/omni/isaac/groundcontrol_assets/__init__.py

@@ -9,17 +9,17 @@
 import toml
 
 # Conveniences to other module directories via relative paths
-ISAACLAB_ASSETS_EXT_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../../"))
+GROUNDCONTROL_ASSETS_EXT_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../../"))
 """Path to the extension source directory."""
 
-ISAACLAB_ASSETS_DATA_DIR = os.path.join(ISAACLAB_ASSETS_EXT_DIR, "data")
+GROUNDCONTROL_ASSETS_DATA_DIR = os.path.join(GROUNDCONTROL_ASSETS_EXT_DIR, "data")
 """Path to the extension data directory."""
 
-ISAACLAB_ASSETS_METADATA = toml.load(os.path.join(ISAACLAB_ASSETS_EXT_DIR, "config", "extension.toml"))
+GROUNDCONTROL_ASSETS_METADATA = toml.load(os.path.join(GROUNDCONTROL_ASSETS_EXT_DIR, "config", "extension.toml"))
 """Extension metadata dictionary parsed from the extension.toml file."""
 
 # Configure the module-level variables
-__version__ = ISAACLAB_ASSETS_METADATA["package"]["version"]
+__version__ = GROUNDCONTROL_ASSETS_METADATA["package"]["version"]
 
 
 ##

source/extensions/omni.isaac.groundcontrol_assets/omni/isaac/groundcontrol_assets/mitcar.py

@@ -0,0 +1,57 @@
+from omni.isaac.lab.assets import ArticulationCfg
+import omni.isaac.lab.sim as sim_utils
+from omni.isaac.lab.actuators import ImplicitActuatorCfg
+
+from omni.isaac.groundcontrol_assets import GROUNDCONTROL_ASSETS_DATA_DIR
+
+JOINT_NAMES = [
+    'chassis_to_back_left_wheel',
+    'chassis_to_back_right_wheel',
+    'chassis_to_front_left_hinge',
+    'chassis_to_front_right_hinge',
+    'front_left_hinge_to_wheel',
+    'front_right_hinge_to_wheel',
+]
+
+MITCAR_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{GROUNDCONTROL_ASSETS_DATA_DIR}/Robots/UWRLL/mitcar.usd",
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            rigid_body_enabled=True,
+            max_linear_velocity=1000.0,
+            max_angular_velocity=1000.0,
+            max_depenetration_velocity=100.0,
+            enable_gyroscopic_forces=True,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=False,
+            solver_position_iteration_count=4,
+            solver_velocity_iteration_count=0,
+            sleep_threshold=0.005,
+            stabilization_threshold=0.001,
+        ),
+        collision_props=sim_utils.CollisionPropertiesCfg(
+            collision_enabled=True
+        )
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        pos=(0.0, 0.0, 0.2),
+        joint_pos={
+            'front_left_hinge_to_wheel': 0.0,
+            'front_right_hinge_to_wheel': 0.0,
+            'chassis_to_back_left_wheel': 0.0,
+            'chassis_to_back_right_wheel': 0.0,
+            'chassis_to_front_left_hinge': 0.0,
+            'chassis_to_front_right_hinge': 0.0,
+        },
+    ),
+    actuators={
+        f"{k}_actuator": ImplicitActuatorCfg(
+            joint_names_expr=[k],
+            effort_limit=400.0,
+            velocity_limit=100.0,
+            stiffness=0.0,
+            damping=10.0,
+        ) for k in JOINT_NAMES
+    },
+)

source/extensions/omni.isaac.groundcontrol_tasks/omni/isaac/groundcontrol_tasks/__init__.py

@@ -22,6 +22,69 @@
 # Register Gym environments.
 ##
 
+import gymnasium as gym
+
+###### WHEELED ######
+
+from .manager_based.wheeled.mitcar.mitcar_manager_env_cfg import (
+    MITCarRLEnvCfg, MITCarPlayEnvCfg, MITCarIRLEnvCfg
+)
+
+import omni.isaac.groundcontrol_tasks.manager_based.wheeled.mitcar.agents as agents
+
+gym.register(
+    id='Isaac-MITCar-v0',
+    entry_point='omni.isaac.lab.envs:ManagerBasedRLEnv',
+    kwargs={
+        "env_cfg_entry_point":MITCarRLEnvCfg,
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:MITCarPPORunnerCfg",
+    }
+)
+
+gym.register(
+    id='Isaac-MITCarPlay-v0',
+    entry_point='omni.isaac.lab.envs:ManagerBasedRLEnv',
+    kwargs={
+        "env_cfg_entry_point":MITCarPlayEnvCfg,
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:MITCarPPORunnerCfg",
+    }
+)
+
+gym.register(
+    id='Isaac-MITCarIRL-v0',
+    entry_point='omni.isaac.lab.envs:ManagerBasedRLEnv',
+    kwargs={
+        "env_cfg_entry_point":MITCarIRLEnvCfg,
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:MITCarPPORunnerCfg",
+    }
+)
+
+########################################
+############ RACETRACK ENVS ############
+########################################
+
+from .manager_based.wheeled.mitcar.mitcar_manager_racetrack_env_cfg import (
+    MITCarRacetrackRLEnvCfg, MITCarRacetrackPlayEnvCfg
+)
+
+gym.register(
+    id='Isaac-MITCarRacetrack-v0',
+    entry_point='omni.isaac.lab.envs:ManagerBasedRLEnv',
+    kwargs={
+        "env_cfg_entry_point":MITCarRacetrackRLEnvCfg,
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:MITCarPPORunnerCfg",
+    }
+)
+
+gym.register(
+    id='Isaac-MITCarRacetrackPlay-v0',
+    entry_point='omni.isaac.lab.envs:ManagerBasedRLEnv',
+    kwargs={
+        "env_cfg_entry_point":MITCarRacetrackPlayEnvCfg,
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:MITCarPPORunnerCfg",
+    }
+)
+
 from .utils import import_packages
 
 # The blacklist is used to prevent importing configs from sub-packages

source/extensions/omni.isaac.groundcontrol_tasks/omni/isaac/groundcontrol_tasks/manager_based/wheeled/mitcar/agents/rsl_rl_ppo_cfg.py

@@ -0,0 +1,42 @@
+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+
+from omni.isaac.lab.utils import configclass
+
+from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import (
+    RslRlOnPolicyRunnerCfg,
+    RslRlPpoActorCriticCfg,
+    RslRlPpoAlgorithmCfg,
+)
+
+
+# Adapted from lab_tasks/direct/cartpole/agents/rsl_rl_ppo_cfg.py
+#
+@configclass
+class MITCarPPORunnerCfg(RslRlOnPolicyRunnerCfg):
+    num_steps_per_env = 128
+    max_iterations = 150
+    save_interval = 50
+    experiment_name = "ppo_mitcar"
+
+    empirical_normalization = False
+    policy = RslRlPpoActorCriticCfg(
+        init_noise_std=1.0,
+        actor_hidden_dims=[128, 128],
+        critic_hidden_dims=[128, 128],
+        activation="elu",
+    )
+    algorithm = RslRlPpoAlgorithmCfg(
+        value_loss_coef=1.0,
+        use_clipped_value_loss=True,
+        clip_param=0.2,
+        entropy_coef=0.005,
+        num_learning_epochs=5,
+        num_mini_batches=4,
+        learning_rate=1.0e-3,
+        schedule="adaptive",
+        gamma=0.99,
+        lam=0.95,
+        desired_kl=0.01,
+        max_grad_norm=1.0,
+    )

source/extensions/omni.isaac.groundcontrol_tasks/omni/isaac/groundcontrol_tasks/manager_based/wheeled/mitcar/common/__init__.py

@@ -0,0 +1,15 @@
+# This is the observation ordering (DO NOT CHANGE)
+# TODO: allow arbitrary re-ordering using this list
+JOINT_NAMES = [
+    'chassis_to_back_left_wheel',
+    'chassis_to_back_right_wheel',
+    'chassis_to_front_left_hinge',
+    'chassis_to_front_right_hinge',
+    'front_left_hinge_to_wheel',
+    'front_right_hinge_to_wheel',
+]
+
+from .actions import ActionsCfg
+from .observations import ObservationsCfg
+from .events import EventCfg
+from .commands import NoCommandsCfg

source/extensions/omni.isaac.groundcontrol_tasks/omni/isaac/groundcontrol_tasks/manager_based/wheeled/mitcar/common/actions.py

@@ -0,0 +1,14 @@
+import omni.isaac.lab.envs.mdp as mdp
+from omni.isaac.lab.utils import configclass
+
+from . import JOINT_NAMES
+
+@configclass
+class ActionsCfg:
+    """Action specifications for the environment."""
+
+    joint_efforts = mdp.JointEffortActionCfg(
+        asset_name="robot",
+        joint_names=JOINT_NAMES,
+        scale=250.
+    )

source/extensions/omni.isaac.groundcontrol_tasks/omni/isaac/groundcontrol_tasks/manager_based/wheeled/mitcar/common/commands.py

@@ -0,0 +1,9 @@
+from omni.isaac.lab.envs import mdp
+from omni.isaac.lab.utils import configclass
+
+@configclass
+class NoCommandsCfg:
+    """Command terms for the MDP."""
+
+    # no commands for this MDP
+    null = mdp.NullCommandCfg()

source/extensions/omni.isaac.groundcontrol_tasks/omni/isaac/groundcontrol_tasks/manager_based/wheeled/mitcar/common/events.py

@@ -0,0 +1,42 @@
+from omni.isaac.lab.envs import mdp
+from omni.isaac.lab.managers import EventTermCfg as EventTerm
+from omni.isaac.lab.managers import SceneEntityCfg
+from omni.isaac.lab.utils import configclass
+
+from . import JOINT_NAMES
+
+@configclass
+class EventCfg:
+    """Configuration for events."""
+
+    # on startup
+    # add_pole_mass = EventTerm(
+    #     func=mdp.randomize_rigid_body_mass,
+    #     mode="startup",
+    #     params={
+    #         "asset_cfg": SceneEntityCfg("chassis"),
+    #         "mass_distribution_params": (0.1, 0.5),
+    #         "operation": "add",
+    #     },
+    # )
+
+    # on reset
+    reset_car_joints = EventTerm(
+        func=mdp.reset_joints_by_offset,
+        mode="reset",
+        params={
+            "asset_cfg": SceneEntityCfg("robot", joint_names=JOINT_NAMES),
+            "position_range": (-0.0, 0.0),
+            "velocity_range": (-0.0, 0.0),
+        },
+    )
+
+    reset_car_pos = EventTerm(
+        func=mdp.reset_root_state_uniform,
+        mode="reset",
+        params={
+            "asset_cfg": SceneEntityCfg("robot", body_names=['chassis']),
+            "pose_range": {},
+            "velocity_range": {},
+        },
+    )

source/extensions/omni.isaac.groundcontrol_tasks/omni/isaac/groundcontrol_tasks/manager_based/wheeled/mitcar/common/observations.py

@@ -0,0 +1,30 @@
+
+import omni.isaac.lab.envs.mdp as mdp
+from omni.isaac.lab.utils import configclass
+from omni.isaac.lab.managers import ObservationGroupCfg as ObsGroup
+from omni.isaac.lab.managers import ObservationTermCfg as ObsTerm
+
+from .. import utils
+
+@configclass
+class ObservationsCfg:
+    """Observation specifications for the environment."""
+
+    @configclass
+    class PolicyCfg(ObsGroup):
+        """Observations for policy group."""
+
+        # observation terms (order preserved)
+        joint_vel_rel = ObsTerm(func=mdp.joint_vel_rel)
+        root_pos_w = ObsTerm(func=utils.root_pos_w) # position in simulation world frame
+        root_quat_w = ObsTerm(func=mdp.root_quat_w)
+        base_lin_vel = ObsTerm(func=mdp.base_lin_vel)
+        base_ang_vel = ObsTerm(func=mdp.base_ang_vel)
+
+        def __post_init__(self) -> None:
+            self.enable_corruption = False
+            self.concatenate_terms = True
+
+    # observation groups
+    policy: PolicyCfg = PolicyCfg()
+

source/extensions/omni.isaac.groundcontrol_tasks/omni/isaac/groundcontrol_tasks/manager_based/wheeled/mitcar/common/rl_env.py

@@ -0,0 +1,33 @@
+from dataclasses import field
+
+from omni.isaac.lab.utils import configclass
+from omni.isaac.lab.envs import ManagerBasedRLEnvCfg
+
+from . import ObservationsCfg, ActionsCfg, EventCfg
+
+@configclass
+class MITCarRLCommonCfg(ManagerBasedRLEnvCfg):
+    """
+    Common configuration for the MIT Car environment.
+    Includes the basic settings:
+    - Observations
+    - Actions
+    - Events
+    as well as the number of environments and the spacing between them.
+
+    Also sets sim dt and decimation.
+    """
+
+    num_envs: int = field(default=5)
+    env_spacing: float = field(default=0.05)
+
+    # Basic settings
+    observations = ObservationsCfg()
+    actions = ActionsCfg()
+    events = EventCfg()
+
+    def __post_init__(self):
+
+        self.sim.dt = 0.025  # sim step every 25ms = 40Hz
+        self.decimation = 4  # env step every 4 sim steps: 40Hz / 4 = 10Hz
+        self.sim.render_interval = self.decimation