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‎README.md‎

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@@ -131,7 +131,7 @@ python3 scripts/rsl_rl/play.py --task Template-Isaac-Reach-Kinova-Play-v0--num_e
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python3 scripts/rsl_rl/play.py --task Template-Isaac-Reach-Franka-Play-v0 --num_envs 16
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```
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```bash
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python3 scripts/rsl_rl/play.py --task Template-Isaac-Reach-Franka-Play-v0 --num_envs 16
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python3 scripts/rsl_rl/play.py --task Template-Isaac-Reach-UR10-Play-v0 --num_envs 16
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```
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5.2 Dextrous Hand
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```bash

‎isaacLab/manipulation/tasks/Dextrous_hand/inhand/__init__.py‎

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# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
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# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
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# All rights reserved.
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#
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# SPDX-License-Identifier: BSD-3-Clause

‎isaacLab/manipulation/tasks/Dextrous_hand/inhand/config/__init__.py‎

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# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
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# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
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# All rights reserved.
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#
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# SPDX-License-Identifier: BSD-3-Clause

‎isaacLab/manipulation/tasks/Dextrous_hand/inhand/config/allegro_hand/__init__.py‎

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# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
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# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
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# All rights reserved.
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#
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# SPDX-License-Identifier: BSD-3-Clause
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import gymnasium as gym
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from . import agents, allegro_env_cfg
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from . import agents
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##
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# Register Gym environments.
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entry_point="isaaclab.envs:ManagerBasedRLEnv",
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disable_env_checker=True,
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kwargs={
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"env_cfg_entry_point": allegro_env_cfg.AllegroCubeEnvCfg,
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"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AllegroCubePPORunnerCfg,
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"env_cfg_entry_point": f"{__name__}.allegro_env_cfg:AllegroCubeEnvCfg",
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"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AllegroCubePPORunnerCfg",
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"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
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"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
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},
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entry_point="isaaclab.envs:ManagerBasedRLEnv",
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disable_env_checker=True,
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kwargs={
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"env_cfg_entry_point": allegro_env_cfg.AllegroCubeEnvCfg_PLAY,
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"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AllegroCubePPORunnerCfg,
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"env_cfg_entry_point": f"{__name__}.allegro_env_cfg:AllegroCubeEnvCfg_PLAY",
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"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AllegroCubePPORunnerCfg",
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"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
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"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
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},
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entry_point="isaaclab.envs:ManagerBasedRLEnv",
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disable_env_checker=True,
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kwargs={
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"env_cfg_entry_point": allegro_env_cfg.AllegroCubeNoVelObsEnvCfg,
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"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AllegroCubeNoVelObsPPORunnerCfg,
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"env_cfg_entry_point": f"{__name__}.allegro_env_cfg:AllegroCubeNoVelObsEnvCfg",
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"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AllegroCubeNoVelObsPPORunnerCfg",
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"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
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"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
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},
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entry_point="isaaclab.envs:ManagerBasedRLEnv",
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disable_env_checker=True,
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kwargs={
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"env_cfg_entry_point": allegro_env_cfg.AllegroCubeNoVelObsEnvCfg_PLAY,
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"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AllegroCubeNoVelObsPPORunnerCfg,
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"env_cfg_entry_point": f"{__name__}.allegro_env_cfg:AllegroCubeNoVelObsEnvCfg_PLAY",
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"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AllegroCubeNoVelObsPPORunnerCfg",
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"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
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"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
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},

‎isaacLab/manipulation/tasks/Dextrous_hand/inhand/config/allegro_hand/agents/__init__.py‎

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# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
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# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
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# All rights reserved.
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#
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# SPDX-License-Identifier: BSD-3-Clause
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from . import rsl_rl_cfg # noqa: F401, F403

‎isaacLab/manipulation/tasks/Dextrous_hand/inhand/config/allegro_hand/agents/rsl_rl_cfg.py‎ renamed to ‎isaacLab/manipulation/tasks/Dextrous_hand/inhand/config/allegro_hand/agents/rsl_rl_ppo_cfg.py‎

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# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
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# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
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# All rights reserved.
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#
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# SPDX-License-Identifier: BSD-3-Clause
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from isaaclab.utils import configclass
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from isaaclab_rl.rsl_rl import (
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RslRlOnPolicyRunnerCfg,
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RslRlPpoActorCriticCfg,
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RslRlPpoAlgorithmCfg,
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)
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from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg
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@configclass

‎isaacLab/manipulation/tasks/Dextrous_hand/inhand/config/allegro_hand/agents/skrl_ppo_cfg.yaml‎

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seed: 42
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# Models are instantiated using skrl's model instantiator utility
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# https://skrl.readthedocs.io/en/latest/api/utils/model_instantiators.html
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models:
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separate: False
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policy: # see skrl.utils.model_instantiators.torch.gaussian_model for parameter details
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policy: # see gaussian_model parameters
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class: GaussianMixin
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clip_actions: False
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clip_log_std: True
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initial_log_std: 0
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min_log_std: -20.0
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max_log_std: 2.0
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input_shape: "Shape.STATES"
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hiddens: [512, 256, 128]
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hidden_activation: ["elu", "elu"]
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output_shape: "Shape.ACTIONS"
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output_activation: ""
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output_scale: 1.0
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value: # see skrl.utils.model_instantiators.torch.deterministic_model for parameter details
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initial_log_std: 0.0
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network:
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- name: net
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input: STATES
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layers: [512, 256, 128]
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activations: elu
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output: ACTIONS
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value: # see deterministic_model parameters
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class: DeterministicMixin
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clip_actions: False
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input_shape: "Shape.STATES"
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hiddens: [512, 256, 128]
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hidden_activation: ["elu", "elu"]
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output_shape: "Shape.ONE"
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output_activation: ""
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output_scale: 1.0
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network:
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- name: net
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input: STATES
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layers: [512, 256, 128]
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activations: elu
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output: ONE
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# Rollout memory
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# https://skrl.readthedocs.io/en/latest/api/memories/random.html
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memory:
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class: RandomMemory
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memory_size: -1 # automatically determined (same as agent:rollouts)
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# PPO agent configuration (field names are from PPO_DEFAULT_CONFIG)
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# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html
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agent:
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class: PPO
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rollouts: 24
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learning_epochs: 5
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mini_batches: 4
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mini_batches: 12
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discount_factor: 0.998
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lambda: 0.95
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learning_rate: 1.e-3
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learning_rate_scheduler: "KLAdaptiveLR"
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learning_rate: 5.0e-04
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learning_rate_scheduler: KLAdaptiveLR
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learning_rate_scheduler_kwargs:
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kl_threshold: 0.01
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state_preprocessor: "RunningStandardScaler"
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kl_threshold: 0.016
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state_preprocessor: RunningStandardScaler
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state_preprocessor_kwargs: null
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value_preprocessor: "RunningStandardScaler"
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value_preprocessor: RunningStandardScaler
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value_preprocessor_kwargs: null
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random_timesteps: 0
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learning_starts: 0
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clip_predicted_values: True
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entropy_loss_scale: 0.002
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value_loss_scale: 2.0
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kl_threshold: 0
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kl_threshold: 0.0
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rewards_shaper_scale: 0.1
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time_limit_bootstrap: False
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# logging and checkpoint
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experiment:
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directory: "allegro_cube"
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experiment_name: ""
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write_interval: 600
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checkpoint_interval: 6000
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write_interval: auto
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checkpoint_interval: auto
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# Sequential trainer
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# https://skrl.readthedocs.io/en/latest/api/trainers/sequential.html
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trainer:
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class: SequentialTrainer
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timesteps: 120000
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environment_info: "log"
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environment_info: log

‎isaacLab/manipulation/tasks/Dextrous_hand/inhand/config/allegro_hand/allegro_env_cfg.py‎

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# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
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# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
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# All rights reserved.
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#
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# SPDX-License-Identifier: BSD-3-Clause
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from isaaclab.utils import configclass
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#import isaacLab.manipulation.tasks.Robot_arm.reach.mdp as mdp
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import isaacLab.manipulation.tasks.Dextrous_hand.inhand.mdp as mdp
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import isaacLab.manipulation.tasks.Dextrous_hand.inhand.inhand_env_cfg as inhand_env_cfg
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#import isaaclab_tasks.manager_based.manipulation.inhand.inhand_env_cfg as inhand_env_cfg
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import isaaclab_tasks.manager_based.manipulation.inhand.inhand_env_cfg as inhand_env_cfg
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##
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# Pre-defined configs

‎isaacLab/manipulation/tasks/Dextrous_hand/inhand/inhand_env_cfg.py‎

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# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
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# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
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# All rights reserved.
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#
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# SPDX-License-Identifier: BSD-3-Clause
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from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
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from isaaclab.utils.noise import AdditiveGaussianNoiseCfg as Gnoise
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import isaacLab.manipulation.tasks.Dextrous_hand.inhand.mdp as mdp
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import isaaclab_tasks.manager_based.manipulation.inhand.mdp as mdp
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##
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# Scene definition
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self.episode_length_s = 20.0
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# simulation settings
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self.sim.dt = 1.0 / 120.0
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self.sim.render_interval = self.decimation
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# change viewer settings
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self.viewer.eye = (2.0, 2.0, 2.0)

‎isaacLab/manipulation/tasks/Dextrous_hand/inhand/mdp/__init__.py‎

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# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
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# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
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# All rights reserved.
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#
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# SPDX-License-Identifier: BSD-3-Clause

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