Feature that enable modify hydra configuration group through command line

source/isaaclab_tasks/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.10.34"
+version = "0.11.0"
 
 # Description
 title = "Isaac Lab Environments"

source/isaaclab_tasks/docs/CHANGELOG.rst

@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.11.0 (2025-06-18)
+~~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Add new feature that support hydra group config override, and provide example at Isaac-Reach-Franka-v0 env
+
+
 0.10.34 (2025-06-16)
 ~~~~~~~~~~~~~~~~~~~~
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/__init__.py

@@ -24,6 +24,7 @@
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:FrankaReachPPORunnerCfg",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
+        "configurable_entry_point": f"{agents.__name__}.configurables:AgentConfigurables",
     },
 )
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/agents/configurables.py

@@ -0,0 +1,72 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+
+from isaaclab.utils import configclass
+
+from isaaclab_rl.rsl_rl import RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg
+
+from ..configurables import EnvConfigurables
+
+
+@configclass
+class AgentConfigurables(EnvConfigurables):
+    agent: dict[str, any] = {
+        "policy": {
+            "large_network": RslRlPpoActorCriticCfg(
+                init_noise_std=1.0,
+                actor_hidden_dims=[512, 256, 128, 64],
+                critic_hidden_dims=[512, 256, 128, 64],
+                activation="elu",
+            ),
+            "medium_network": RslRlPpoActorCriticCfg(
+                init_noise_std=1.0,
+                actor_hidden_dims=[256, 128, 64],
+                critic_hidden_dims=[256, 128, 64],
+                activation="elu",
+            ),
+            "small_network": RslRlPpoActorCriticCfg(
+                init_noise_std=1.0,
+                actor_hidden_dims=[128, 64],
+                critic_hidden_dims=[128, 64],
+                activation="elu",
+            ),
+        },
+        "algorithm": {
+            "standard": RslRlPpoAlgorithmCfg(
+                value_loss_coef=1.0,
+                use_clipped_value_loss=True,
+                clip_param=0.2,
+                entropy_coef=0.001,
+                num_learning_epochs=8,
+                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,
+            ),
+            "small_batch": RslRlPpoAlgorithmCfg(
+                value_loss_coef=1.0,
+                use_clipped_value_loss=True,
+                clip_param=0.2,
+                entropy_coef=0.001,
+                num_learning_epochs=8,
+                num_mini_batches=16,
+                learning_rate=1.0e-4,
+                schedule="adaptive",
+                gamma=0.99,
+                lam=0.95,
+                desired_kl=0.01,
+                max_grad_norm=1.0,
+            ),
+        },
+    }

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/configurables.py

@@ -0,0 +1,174 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from isaaclab.managers import EventTermCfg as EventTerm
+from isaaclab.managers import ObservationGroupCfg as ObsGroup
+from isaaclab.managers import ObservationTermCfg as ObsTerm
+from isaaclab.managers import SceneEntityCfg
+from isaaclab.utils import configclass
+from isaaclab.utils.noise import AdditiveUniformNoiseCfg as Unoise
+
+import isaaclab_tasks.manager_based.manipulation.reach.mdp as mdp
+
+from ...reach_env_cfg import EventCfg
+
+
+# Observation configurations
+@configclass
+class StateNoNoiseObservationsCfg:
+    """Observation specifications for the MDP."""
+
+    @configclass
+    class PolicyCfg(ObsGroup):
+        """Observations for policy group."""
+
+        # observation terms (order preserved)
+        joint_pos = ObsTerm(func=mdp.joint_pos_rel)
+        joint_vel = ObsTerm(func=mdp.joint_vel_rel)
+        pose_command = ObsTerm(func=mdp.generated_commands, params={"command_name": "ee_pose"})
+        actions = ObsTerm(func=mdp.last_action)
+
+        def __post_init__(self):
+            self.enable_corruption = False
+            self.concatenate_terms = True
+
+    # observation groups
+    policy: PolicyCfg = PolicyCfg()
+
+
+@configclass
+class StateNoisyObservationsCfg:
+    """Observation specifications for the MDP."""
+
+    @configclass
+    class PolicyCfg(ObsGroup):
+        """Observations for policy group."""
+
+        # observation terms (order preserved)
+        joint_pos = ObsTerm(func=mdp.joint_pos_rel, noise=Unoise(n_min=-0.1, n_max=0.1))
+        joint_vel = ObsTerm(func=mdp.joint_vel_rel, noise=Unoise(n_min=-0.1, n_max=0.1))
+        pose_command = ObsTerm(func=mdp.generated_commands, params={"command_name": "ee_pose"})
+        actions = ObsTerm(func=mdp.last_action)
+
+        def __post_init__(self):
+            self.enable_corruption = True
+            self.concatenate_terms = True
+
+    # observation groups
+    policy: PolicyCfg = PolicyCfg()
+
+
+@configclass
+class JointRandPositionFrictionEventCfg(EventCfg):
+
+    reset_robot_joint_friction = EventTerm(
+        func=mdp.randomize_joint_parameters,
+        min_step_count_between_reset=720,
+        mode="reset",
+        params={
+            "asset_cfg": SceneEntityCfg("robot", joint_names=".*"),
+            "friction_distribution_params": (0.9, 1.1),
+            "operation": "scale",
+            "distribution": "gaussian",
+        },
+    )
+
+
+@configclass
+class JointRandPositionFrictionAmartureEventCfg(JointRandPositionFrictionEventCfg):
+    """Configuration for events."""
+
+    reset_robot_joint_amature = EventTerm(
+        func=mdp.randomize_joint_parameters,
+        min_step_count_between_reset=720,
+        mode="reset",
+        params={
+            "asset_cfg": SceneEntityCfg("robot", joint_names=".*"),
+            "armature_distribution_params": (0.9, 1.1),
+            "operation": "scale",
+            "distribution": "gaussian",
+        },
+    )
+
+
+@configclass
+class EnvConfigurables:
+    env: dict[str, any] = {
+        "observations": {
+            "state_obs_no_noise": StateNoNoiseObservationsCfg(),
+            "state_obs_noisy": StateNoisyObservationsCfg(),
+        },
+        "actions.arm_action": {
+            "ik_abs_arm_action": mdp.DifferentialInverseKinematicsActionCfg(
+                asset_name="robot",
+                joint_names=["panda_joint.*"],
+                body_name="panda_hand",
+                controller=mdp.DifferentialIKControllerCfg(
+                    command_type="pose", use_relative_mode=False, ik_method="dls"
+                ),
+                body_offset=mdp.DifferentialInverseKinematicsActionCfg.OffsetCfg(pos=[0.0, 0.0, 0.107]),
+            ),
+            "ik_rel_arm_action": mdp.DifferentialInverseKinematicsActionCfg(
+                asset_name="robot",
+                joint_names=["panda_joint.*"],
+                body_name="panda_hand",
+                controller=mdp.DifferentialIKControllerCfg(
+                    command_type="pose", use_relative_mode=True, ik_method="dls"
+                ),
+                scale=0.5,
+                body_offset=mdp.DifferentialInverseKinematicsActionCfg.OffsetCfg(pos=[0.0, 0.0, 0.107]),
+            ),
+            "joint_pos_arm_action": mdp.JointPositionActionCfg(
+                asset_name="robot", joint_names=["panda_joint.*"], scale=0.5, use_default_offset=True
+            ),
+            "osc_arm_action": mdp.OperationalSpaceControllerActionCfg(
+                asset_name="robot",
+                joint_names=["panda_joint.*"],
+                body_name="panda_hand",
+                controller_cfg=mdp.OperationalSpaceControllerCfg(
+                    target_types=["pose_abs"],
+                    impedance_mode="variable_kp",
+                    inertial_dynamics_decoupling=True,
+                    partial_inertial_dynamics_decoupling=False,
+                    gravity_compensation=False,
+                    motion_stiffness_task=100.0,
+                    motion_damping_ratio_task=1.0,
+                    motion_stiffness_limits_task=(50.0, 200.0),
+                    nullspace_control="position",
+                ),
+                nullspace_joint_pos_target="center",
+                position_scale=1.0,
+                orientation_scale=1.0,
+                stiffness_scale=100.0,
+            ),
+        },
+        "events": {
+            "rand_joint_pos_friction": JointRandPositionFrictionEventCfg(),
+            "rand_joint_pos_friction_amarture": JointRandPositionFrictionAmartureEventCfg(),
+        },
+        "events.reset_robot_joints": {
+            "aggressive": EventTerm(
+                func=mdp.reset_joints_by_scale,
+                mode="reset",
+                params={
+                    "position_range": (0.0, 2.0),
+                    "velocity_range": (0.0, 1.0),
+                },
+            ),
+            "easy": EventTerm(
+                func=mdp.reset_joints_by_scale,
+                mode="reset",
+                params={
+                    "position_range": (0.0, 0.5),
+                    "velocity_range": (0.0, 0.0),
+                },
+            ),
+        },
+    }