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Fix/replace slices with string #2571
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@@ -29,6 +29,7 @@ | |
entry_point="isaaclab.envs:ManagerBasedRLEnv", | ||
kwargs={ | ||
"env_cfg_entry_point": stack_joint_pos_env_cfg.FrankaCubeStackEnvCfg, | ||
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:StackCubePPORunnerCfg", | ||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. I think if we want to add a RL agent cfg for the task, would be good to also extend the task to allow for learning. There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. Can you clarify what this task is used for? Do we only want to run it with a random agent? |
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}, | ||
disable_env_checker=True, | ||
) | ||
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@@ -0,0 +1,37 @@ | ||
# Copyright (c) 2022-2025, The Isaac Lab Project Developers. | ||
# All rights reserved. | ||
# | ||
# 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 RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg | ||
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@configclass | ||
class StackCubePPORunnerCfg(RslRlOnPolicyRunnerCfg): | ||
num_steps_per_env = 24 | ||
max_iterations = 1500 | ||
save_interval = 50 | ||
experiment_name = "franka_stack" | ||
empirical_normalization = False | ||
policy = RslRlPpoActorCriticCfg( | ||
init_noise_std=1.0, | ||
actor_hidden_dims=[256, 128, 64], | ||
critic_hidden_dims=[256, 128, 64], | ||
activation="elu", | ||
) | ||
algorithm = RslRlPpoAlgorithmCfg( | ||
value_loss_coef=1.0, | ||
use_clipped_value_loss=True, | ||
clip_param=0.2, | ||
entropy_coef=0.006, | ||
num_learning_epochs=5, | ||
num_mini_batches=4, | ||
learning_rate=1.0e-4, | ||
schedule="adaptive", | ||
gamma=0.98, | ||
lam=0.95, | ||
desired_kl=0.01, | ||
max_grad_norm=1.0, | ||
) |
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might make sense to separate these changes apart from the environment updates so that we can merge these in individually.