Adds OpenArm environments #4089
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| Original file line number | Diff line number | Diff line change | ||||||
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| @@ -0,0 +1,173 @@ | ||||||||
| # 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 | ||||||||
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| """Configuration of OpenArm robots. | ||||||||
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| The following configurations are available: | ||||||||
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| * :obj:`OPENARM_BI_CFG`: OpenArm robot with two arms. | ||||||||
| * :obj:`OPENARM_BI_HIGH_PD_CFG`: OpenArm robot with two arms and stiffer PD control. | ||||||||
| * :obj:`OPENARM_UNI_CFG`: OpenArm robot with one arm. | ||||||||
| * :obj:`OPENARM_UNI_HIGH_PD_CFG`: OpenArm robot with one arm and stiffer PD control. | ||||||||
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| References: | ||||||||
| OpenArm repositories: | ||||||||
| * https://github.com/enactic/openarm | ||||||||
| * https://github.com/enactic/openarm_isaac_lab | ||||||||
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| Motor spec sheets: | ||||||||
| * Joint 1–2 (DM-J8009P-2EC): | ||||||||
| https://cdn.shopify.com/s/files/1/0673/6848/5000/files/DM-J8009P-2EC_User_Manual.pdf?v=1755481750 | ||||||||
| * Joint 3–4 (DM-J4340P-2EC / DM-J4340-2EC): | ||||||||
| https://cdn.shopify.com/s/files/1/0673/6848/5000/files/DM-J4340-2EC_User_Manual.pdf?v=1756883905 | ||||||||
| * Joint 5–8 (DM-J4310-2EC V1.1): | ||||||||
| https://files.seeedstudio.com/products/Damiao/DM-J4310-en.pdf | ||||||||
| """ | ||||||||
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| import isaaclab.sim as sim_utils | ||||||||
| from isaaclab.actuators import ImplicitActuatorCfg | ||||||||
| from isaaclab.assets.articulation import ArticulationCfg | ||||||||
| from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR | ||||||||
|
|
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| OPENARM_BI_CFG = ArticulationCfg( | ||||||||
| spawn=sim_utils.UsdFileCfg( | ||||||||
| usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/OpenArm/openarm_bimanual/openarm_bimanual.usd", | ||||||||
| rigid_props=sim_utils.RigidBodyPropertiesCfg( | ||||||||
| disable_gravity=False, | ||||||||
| max_depenetration_velocity=5.0, | ||||||||
| ), | ||||||||
| articulation_props=sim_utils.ArticulationRootPropertiesCfg( | ||||||||
| enabled_self_collisions=False, | ||||||||
| solver_position_iteration_count=8, | ||||||||
| solver_velocity_iteration_count=0, | ||||||||
| ), | ||||||||
| ), | ||||||||
| init_state=ArticulationCfg.InitialStateCfg( | ||||||||
| joint_pos={ | ||||||||
| "openarm_left_joint.*": 0.0, | ||||||||
| "openarm_right_joint.*": 0.0, | ||||||||
| "openarm_left_finger_joint.*": 0.0, | ||||||||
| "openarm_right_finger_joint.*": 0.0, | ||||||||
| }, | ||||||||
| ), | ||||||||
| # spec sheet for reference | ||||||||
| # DM-J8009P-2EC (Joint 1, 2): | ||||||||
| # https://cdn.shopify.com/s/files/1/0673/6848/5000/files/DM-J8009P-2EC_User_Manual.pdf?v=1755481750 | ||||||||
| # DM-J4340P-2EC, DM-J4340-2EC (Joint 3, 4): | ||||||||
| # https://cdn.shopify.com/s/files/1/0673/6848/5000/files/DM-J4340-2EC_User_Manual.pdf?v=1756883905 | ||||||||
| # DM-J4310-2EC V1.1 (Joint 5, 6, 7, 8): | ||||||||
| # https://files.seeedstudio.com/products/Damiao/DM-J4310-en.pdf | ||||||||
| actuators={ | ||||||||
| "openarm_arm": ImplicitActuatorCfg( | ||||||||
| joint_names_expr=[ | ||||||||
| "openarm_left_joint[1-7]", | ||||||||
| "openarm_right_joint[1-7]", | ||||||||
| ], | ||||||||
| velocity_limit_sim={ | ||||||||
| "openarm_left_joint[1-2]": 2.175, | ||||||||
| "openarm_right_joint[1-2]": 2.175, | ||||||||
| "openarm_left_joint[3-4]": 2.175, | ||||||||
| "openarm_right_joint[3-4]": 2.175, | ||||||||
| "openarm_left_joint[5-7]": 2.61, | ||||||||
| "openarm_right_joint[5-7]": 2.61, | ||||||||
| }, | ||||||||
| effort_limit_sim={ | ||||||||
| "openarm_left_joint[1-2]": 40.0, | ||||||||
| "openarm_right_joint[1-2]": 40.0, | ||||||||
| "openarm_left_joint[3-4]": 27.0, | ||||||||
| "openarm_right_joint[3-4]": 27.0, | ||||||||
| "openarm_left_joint[5-7]": 7.0, | ||||||||
| "openarm_right_joint[5-7]": 7.0, | ||||||||
| }, | ||||||||
| stiffness=80.0, | ||||||||
| damping=4.0, | ||||||||
| ), | ||||||||
| "openarm_gripper": ImplicitActuatorCfg( | ||||||||
|
Collaborator
There was a problem hiding this comment. If these value are taken from actuator spec, please attach the spec link here so other people can verify and validate as well : ))
Contributor
Author
There was a problem hiding this comment. Here are the links for your reference.
Collaborator
There was a problem hiding this comment. rated rpm in DM-J8009P-2EC (Joint 1, 2): https://cdn.shopify.com/s/files/1/0673/6848/5000/files/DM-J8009P-2EC_User_Manual.pdf?v=1755481750 seems like 100 rpm, convert that to rad/s is 10.472 rad/s ? or is that not working very well with training. While it is nice to match real hardware, It is not necessary to match exactly for all practical reasons, if you think this change is necessary for sim, we are also happy with current value, thanks!
Contributor
Author
There was a problem hiding this comment. Yes, that’s correct! We are aware that the current specification does not fully match the real motor’s rated performance. However, for both training stability in simulation and safety during sim-to-real deployment, we intentionally set the velocity limits lower than the actual hardware capabilities. With this configuration, we have already completed sim-to-real testing and confirmed that the system performs reliably. Going forward, we plan to conduct additional experiments to identify a safe value that is closer to the real hardware, and we will update the configuration accordingly. We will also submit a PR once that work is completed. Thank you! |
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| joint_names_expr=[ | ||||||||
| "openarm_left_finger_joint.*", | ||||||||
| "openarm_right_finger_joint.*", | ||||||||
| ], | ||||||||
| velocity_limit_sim=0.2, | ||||||||
| effort_limit_sim=333.33, | ||||||||
| stiffness=2e3, | ||||||||
| damping=1e2, | ||||||||
| ), | ||||||||
| }, | ||||||||
| soft_joint_pos_limit_factor=1.0, | ||||||||
| ) | ||||||||
| """Configuration of OpenArm Bimanual robot.""" | ||||||||
|
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| OPENARM_UNI_CFG = ArticulationCfg( | ||||||||
| spawn=sim_utils.UsdFileCfg( | ||||||||
| usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/OpenArm/openarm_unimanual/openarm_unimanual.usd", | ||||||||
| rigid_props=sim_utils.RigidBodyPropertiesCfg( | ||||||||
| disable_gravity=False, | ||||||||
| max_depenetration_velocity=5.0, | ||||||||
| ), | ||||||||
| articulation_props=sim_utils.ArticulationRootPropertiesCfg( | ||||||||
| enabled_self_collisions=False, | ||||||||
| solver_position_iteration_count=8, | ||||||||
| solver_velocity_iteration_count=0, | ||||||||
| ), | ||||||||
| ), | ||||||||
| init_state=ArticulationCfg.InitialStateCfg( | ||||||||
| joint_pos={ | ||||||||
| "openarm_joint1": 1.57, | ||||||||
| "openarm_joint2": 0.0, | ||||||||
| "openarm_joint3": -1.57, | ||||||||
| "openarm_joint4": 1.57, | ||||||||
| "openarm_joint5": 0.0, | ||||||||
| "openarm_joint6": 0.0, | ||||||||
| "openarm_joint7": 0.0, | ||||||||
| "openarm_finger_joint.*": 0.044, | ||||||||
| }, | ||||||||
| ), | ||||||||
| actuators={ | ||||||||
| "openarm_arm": ImplicitActuatorCfg( | ||||||||
| joint_names_expr=["openarm_joint[1-7]"], | ||||||||
| velocity_limit_sim={ | ||||||||
| "openarm_joint[1-2]": 2.175, | ||||||||
| "openarm_joint[3-4]": 2.175, | ||||||||
| "openarm_joint[5-7]": 2.61, | ||||||||
| }, | ||||||||
| effort_limit_sim={ | ||||||||
| "openarm_joint[1-2]": 40.0, | ||||||||
| "openarm_joint[3-4]": 27.0, | ||||||||
| "openarm_joint[5-7]": 7.0, | ||||||||
| }, | ||||||||
| stiffness=80.0, | ||||||||
| damping=4.0, | ||||||||
| ), | ||||||||
| "openarm_gripper": ImplicitActuatorCfg( | ||||||||
| joint_names_expr=["openarm_finger_joint.*"], | ||||||||
| velocity_limit_sim=0.2, | ||||||||
| effort_limit_sim=333.33, | ||||||||
| stiffness=2e3, | ||||||||
| damping=1e2, | ||||||||
| ), | ||||||||
| }, | ||||||||
| soft_joint_pos_limit_factor=1.0, | ||||||||
| ) | ||||||||
| """Configuration of OpenArm Unimanual robot.""" | ||||||||
|
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| OPENARM_BI_HIGH_PD_CFG = OPENARM_BI_CFG.copy() | ||||||||
| OPENARM_BI_HIGH_PD_CFG.spawn.rigid_props.disable_gravity = True | ||||||||
| OPENARM_BI_HIGH_PD_CFG.actuators["openarm_arm"].stiffness = 400.0 | ||||||||
| OPENARM_BI_HIGH_PD_CFG.actuators["openarm_arm"].damping = 80.0 | ||||||||
| OPENARM_BI_HIGH_PD_CFG.actuators["openarm_gripper"].stiffness = 2e3 | ||||||||
| OPENARM_BI_HIGH_PD_CFG.actuators["openarm_gripper"].damping = 1e2 | ||||||||
|
Comment on lines
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Contributor
There was a problem hiding this comment. style: High PD configuration sets same stiffness/damping values as base config for gripper actuators, making these lines redundant.
Suggested change
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| """Configuration of OpenArm Bimanual robot with stiffer PD control. | ||||||||
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| This configuration is useful for task-space control using differential IK. | ||||||||
| """ | ||||||||
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| OPENARM_UNI_HIGH_PD_CFG = OPENARM_UNI_CFG.copy() | ||||||||
| OPENARM_UNI_HIGH_PD_CFG.spawn.rigid_props.disable_gravity = True | ||||||||
| OPENARM_UNI_HIGH_PD_CFG.actuators["openarm_arm"].stiffness = 400.0 | ||||||||
| OPENARM_UNI_HIGH_PD_CFG.actuators["openarm_arm"].damping = 80.0 | ||||||||
| """Configuration of OpenArm Unimanual robot with stiffer PD control. | ||||||||
|
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| This configuration is useful for task-space control using differential IK. | ||||||||
| """ | ||||||||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,38 @@ | ||
| # 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 | ||
|
|
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| import gymnasium as gym | ||
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|
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| from . import agents | ||
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|
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| ## | ||
| # Register Gym environments. | ||
| ## | ||
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| ## | ||
| # Joint Position Control | ||
| ## | ||
|
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| gym.register( | ||
| id="Isaac-Open-Drawer-OpenArm-v0", | ||
| entry_point="isaaclab.envs:ManagerBasedRLEnv", | ||
| kwargs={ | ||
| "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:OpenArmCabinetEnvCfg", | ||
| "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:OpenArmCabinetPPORunnerCfg", | ||
| "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml", | ||
| }, | ||
| disable_env_checker=True, | ||
| ) | ||
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| gym.register( | ||
| id="Isaac-Open-Drawer-OpenArm-Play-v0", | ||
| entry_point="isaaclab.envs:ManagerBasedRLEnv", | ||
| kwargs={ | ||
| "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:OpenArmCabinetEnvCfg_PLAY", | ||
| "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:OpenArmCabinetPPORunnerCfg", | ||
| "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml", | ||
| }, | ||
| disable_env_checker=True, | ||
| ) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,4 @@ | ||
| # 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 |
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