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[WIP] manipulation skills with reinforcement learning and Issac physics #2157

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[WIP] manipulation skills with reinforcement learning and Issac physics #2157

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24d5107
add murp
Mar 11, 2025
797c765
add murp yaml
Mar 11, 2025
cd487a3
able to load murp in the interactive
Mar 11, 2025
c843258
add murp agent yaml
Mar 12, 2025
8c2417c
motify the arm action and base action
Mar 12, 2025
80a467f
add yaml
Mar 12, 2025
a429907
make test run works on the new robot
jimmytyyang Mar 12, 2025
c809469
wip for the robot
jimmytyyang Mar 12, 2025
97086b8
wip
jimmytyyang Mar 12, 2025
d21875c
wip
jimmytyyang Mar 12, 2025
42327fc
interactive_play is not working for linux, but it does have the sensors
jimmytyyang Mar 13, 2025
649d7f3
wip
jimmytyyang Mar 13, 2025
60bbf2e
make interactive play somehow work
jimmytyyang Mar 14, 2025
b1f7119
interactive play
jimmytyyang Mar 14, 2025
73cdee1
make interactive play runnable
jimmytyyang Mar 14, 2025
6d83727
add finger control
jimmytyyang Mar 14, 2025
b32da3c
introduce the flag to switch between h200 and lambda in the interacti…
Mar 16, 2025
40fc629
able to run in h200 for interacive play
Mar 16, 2025
6642516
add needed sensors
jimmytyyang Mar 17, 2025
378daff
add measurements of end_effector_to_object_distance and num_steps
jimmytyyang Mar 17, 2025
9c9e5e5
add hand joint sensor
jimmytyyang Mar 17, 2025
20477e7
add arj object reward and success
jimmytyyang Mar 17, 2025
4c47062
remove empty action
jimmytyyang Mar 17, 2025
fa1f405
fix right and left hands
jimmytyyang Mar 17, 2025
38c6466
fix uncontrol arm
jimmytyyang Mar 17, 2025
5be7b67
fix right left bug for the action
jimmytyyang Mar 17, 2025
0ac10c1
adjust the third camera location
jimmytyyang Mar 17, 2025
b11bbfe
update the script for the heuriscti pick
jimmytyyang Mar 17, 2025
dac086d
fix right and left arm bug
jimmytyyang Mar 17, 2025
a649411
set path of grasp.py
jimmytyyang Mar 17, 2025
2a02390
debug wip
jimmytyyang Mar 17, 2025
a7896f5
add
jimmytyyang Mar 17, 2025
ec7ee3a
apply the fix from 1cc236a
jimmytyyang Mar 18, 2025
162df95
fix hand arm moving bugs
jimmytyyang Mar 18, 2025
40e5dd9
fix action
jimmytyyang Mar 18, 2025
c1204e7
fix BaseVelIsaacAction frame
jimmytyyang Mar 18, 2025
7fbb1e3
remove print
jimmytyyang Mar 18, 2025
5e48e00
add sensor of door
jimmytyyang Mar 18, 2025
24a5b1b
refine the action space of the hand
jimmytyyang Mar 19, 2025
99c405d
refine action space delta joint
jimmytyyang Mar 19, 2025
8d14482
make the door orientation correct
jimmytyyang Mar 19, 2025
74e25b9
adjust head images
jimmytyyang Mar 19, 2025
ca42e08
polish reward design
jimmytyyang Mar 19, 2025
347a25d
fix the bug of target location. it should be ee not base
jimmytyyang Mar 19, 2025
6479d76
fix bug
jimmytyyang Mar 19, 2025
f3d5791
flexible way to switch urdf
Mar 19, 2025
6970f1c
move the yaml
Mar 19, 2025
6b26003
space dict for reach ee
Mar 19, 2025
2629c6d
add IK file
Mar 19, 2025
80946a4
disable rgb and depth images in yaml to improve training fps
Mar 26, 2025
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3 changes: 2 additions & 1 deletion examples/hitl/isaacsim_viewer/isaacsim_viewer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -558,7 +558,8 @@ def __init__(self, app_service: AppService):
)

# asset_path = "/home/eric/projects/habitat-lab/data/usd/scenes/102817140.usda"
asset_path = "/home/joanne/habitat-lab/data/usd/scenes/fremont_static_objects.usda" # YOUR_PATH
# asset_path = "/home/joanne/habitat-lab/data/usd/scenes/fremont_static_objects.usda" # YOUR_PATH
asset_path = "/home/jmmy/research/hab_training/habitat-lab/data/usd/scenes/fremont_static_objects.usda"
from omni.isaac.core.utils.stage import add_reference_to_stage

add_reference_to_stage(
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