# Copyright (c) 2024-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: Apache-2.0
from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig
from isaaclab.utils import configclass
from isaaclab_tasks.manager_based.manipulation.stack.config.galbot.stack_rmp_rel_env_cfg import (
RmpFlowGalbotLeftArmCubeStackEnvCfg,
RmpFlowGalbotRightArmCubeStackEnvCfg,
)
[文档]
@configclass
class RmpFlowGalbotLeftArmGripperCubeStackRelMimicEnvCfg(RmpFlowGalbotLeftArmCubeStackEnvCfg, MimicEnvCfg):
"""
Isaac Lab Mimic environment config class for Galbot Gripper Cube Stack IK Rel env.
"""
def __post_init__(self):
# post init of parents
super().__post_init__()
# Override the existing values
self.datagen_config.name = "demo_src_stack_isaac_lab_task_D0"
self.datagen_config.generation_guarantee = True
self.datagen_config.generation_keep_failed = True
self.datagen_config.generation_num_trials = 10
self.datagen_config.generation_select_src_per_subtask = True
self.datagen_config.generation_transform_first_robot_pose = False
self.datagen_config.generation_interpolate_from_last_target_pose = True
self.datagen_config.max_num_failures = 25
self.datagen_config.seed = 1
# The following are the subtask configurations for the stack task.
subtask_configs = []
subtask_configs.append(
SubTaskConfig(
# Each subtask involves manipulation with respect to a single object frame.
object_ref="cube_2",
# This key corresponds to the binary indicator in "datagen_info" that signals
# when this subtask is finished (e.g., on a 0 to 1 edge).
subtask_term_signal="grasp_1",
# Specifies time offsets for data generation when splitting a trajectory into
# subtask segments. Random offsets are added to the termination boundary.
subtask_term_offset_range=(
18,
25,
),
# Selection strategy for the source subtask segment during data generation
selection_strategy="nearest_neighbor_object",
# Optional parameters for the selection strategy function
selection_strategy_kwargs={"nn_k": 3},
# Amount of action noise to apply during this subtask
action_noise=0.01,
# Number of interpolation steps to bridge to this subtask segment
num_interpolation_steps=15,
# Additional fixed steps for the robot to reach the necessary pose
num_fixed_steps=0,
# If True, apply action noise during the interpolation phase and execution
apply_noise_during_interpolation=False,
)
)
subtask_configs.append(
SubTaskConfig(
# Each subtask involves manipulation with respect to a single object frame.
object_ref="cube_1",
# Corresponding key for the binary indicator in "datagen_info" for completion
subtask_term_signal="stack_1",
# Time offsets for data generation when splitting a trajectory
subtask_term_offset_range=(
18,
25,
),
# Selection strategy for source subtask segment
selection_strategy="nearest_neighbor_object",
# Optional parameters for the selection strategy function
selection_strategy_kwargs={"nn_k": 3},
# Amount of action noise to apply during this subtask
action_noise=0.01,
# Number of interpolation steps to bridge to this subtask segment
num_interpolation_steps=15,
# Additional fixed steps for the robot to reach the necessary pose
num_fixed_steps=0,
# If True, apply action noise during the interpolation phase and execution
apply_noise_during_interpolation=False,
)
)
subtask_configs.append(
SubTaskConfig(
# Each subtask involves manipulation with respect to a single object frame.
object_ref="cube_3",
# Corresponding key for the binary indicator in "datagen_info" for completion
subtask_term_signal="grasp_2",
# Time offsets for data generation when splitting a trajectory
subtask_term_offset_range=(
25,
30,
), # this should be larger than the other subtasks, because the gripper should be lifted higher than 2 blocks
# Selection strategy for source subtask segment
selection_strategy="nearest_neighbor_object",
# Optional parameters for the selection strategy function
selection_strategy_kwargs={"nn_k": 3},
# Amount of action noise to apply during this subtask
action_noise=0.01,
# Number of interpolation steps to bridge to this subtask segment
num_interpolation_steps=15,
# Additional fixed steps for the robot to reach the necessary pose
num_fixed_steps=0,
# If True, apply action noise during the interpolation phase and execution
apply_noise_during_interpolation=False,
)
)
subtask_configs.append(
SubTaskConfig(
# Each subtask involves manipulation with respect to a single object frame.
object_ref="cube_2",
# End of final subtask does not need to be detected
subtask_term_signal=None,
# No time offsets for the final subtask
subtask_term_offset_range=(0, 0),
# Selection strategy for source subtask segment
selection_strategy="nearest_neighbor_object",
# Optional parameters for the selection strategy function
selection_strategy_kwargs={"nn_k": 3},
# Amount of action noise to apply during this subtask
action_noise=0.01,
# Number of interpolation steps to bridge to this subtask segment
num_interpolation_steps=15,
# Additional fixed steps for the robot to reach the necessary pose
num_fixed_steps=0,
# If True, apply action noise during the interpolation phase and execution
apply_noise_during_interpolation=False,
)
)
self.subtask_configs["galbot"] = subtask_configs
[文档]
@configclass
class RmpFlowGalbotRightArmSuctionCubeStackRelMimicEnvCfg(RmpFlowGalbotRightArmCubeStackEnvCfg, MimicEnvCfg):
"""
Isaac Lab Mimic environment config class for Galbot Suction Gripper Cube Stack RmpFlow Rel env.
"""
def __post_init__(self):
# post init of parents
super().__post_init__()
# Override the existing values
self.datagen_config.name = "demo_src_stack_isaac_lab_task_D0"
self.datagen_config.generation_guarantee = True
self.datagen_config.generation_keep_failed = True
self.datagen_config.generation_num_trials = 10
self.datagen_config.generation_select_src_per_subtask = True
self.datagen_config.generation_transform_first_robot_pose = False
self.datagen_config.generation_interpolate_from_last_target_pose = True
self.datagen_config.max_num_failures = 25
self.datagen_config.seed = 1
# The following are the subtask configurations for the stack task.
subtask_configs = []
subtask_configs.append(
SubTaskConfig(
# Each subtask involves manipulation with respect to a single object frame.
object_ref="cube_2",
# This key corresponds to the binary indicator in "datagen_info" that signals
# when this subtask is finished (e.g., on a 0 to 1 edge).
subtask_term_signal="grasp_1",
# Specifies time offsets for data generation when splitting a trajectory into
# subtask segments. Random offsets are added to the termination boundary.
subtask_term_offset_range=(5, 10),
# Selection strategy for the source subtask segment during data generation
selection_strategy="nearest_neighbor_object",
# Optional parameters for the selection strategy function
selection_strategy_kwargs={"nn_k": 3},
# Amount of action noise to apply during this subtask
action_noise=0.01,
# Number of interpolation steps to bridge to this subtask segment
num_interpolation_steps=15,
# Additional fixed steps for the robot to reach the necessary pose
num_fixed_steps=0,
# If True, apply action noise during the interpolation phase and execution
apply_noise_during_interpolation=False,
)
)
subtask_configs.append(
SubTaskConfig(
# Each subtask involves manipulation with respect to a single object frame.
object_ref="cube_1",
# Corresponding key for the binary indicator in "datagen_info" for completion
subtask_term_signal="stack_1",
# Time offsets for data generation when splitting a trajectory
subtask_term_offset_range=(2, 10),
# Selection strategy for source subtask segment
selection_strategy="nearest_neighbor_object",
# Optional parameters for the selection strategy function
selection_strategy_kwargs={"nn_k": 3},
# Amount of action noise to apply during this subtask
action_noise=0.01,
# Number of interpolation steps to bridge to this subtask segment
num_interpolation_steps=15,
# Additional fixed steps for the robot to reach the necessary pose
num_fixed_steps=0,
# If True, apply action noise during the interpolation phase and execution
apply_noise_during_interpolation=False,
)
)
subtask_configs.append(
SubTaskConfig(
# Each subtask involves manipulation with respect to a single object frame.
object_ref="cube_3",
# Corresponding key for the binary indicator in "datagen_info" for completion
subtask_term_signal="grasp_2",
# Time offsets for data generation when splitting a trajectory
subtask_term_offset_range=(5, 10),
# Selection strategy for source subtask segment
selection_strategy="nearest_neighbor_object",
# Optional parameters for the selection strategy function
selection_strategy_kwargs={"nn_k": 3},
# Amount of action noise to apply during this subtask
action_noise=0.01,
# Number of interpolation steps to bridge to this subtask segment
num_interpolation_steps=15,
# Additional fixed steps for the robot to reach the necessary pose
num_fixed_steps=0,
# If True, apply action noise during the interpolation phase and execution
apply_noise_during_interpolation=False,
)
)
subtask_configs.append(
SubTaskConfig(
# Each subtask involves manipulation with respect to a single object frame.
object_ref="cube_2",
# End of final subtask does not need to be detected
subtask_term_signal=None,
# No time offsets for the final subtask
subtask_term_offset_range=(0, 0),
# Selection strategy for source subtask segment
selection_strategy="nearest_neighbor_object",
# Optional parameters for the selection strategy function
selection_strategy_kwargs={"nn_k": 3},
# Amount of action noise to apply during this subtask
action_noise=0.01,
# Number of interpolation steps to bridge to this subtask segment
num_interpolation_steps=15,
# Additional fixed steps for the robot to reach the necessary pose
num_fixed_steps=0,
# If True, apply action noise during the interpolation phase and execution
apply_noise_during_interpolation=False,
)
)
self.subtask_configs["galbot"] = subtask_configs
