From OmniIsaacGymEnvs

OmniIsaacGymEnvs was a reinforcement learning framework using the Isaac Sim platform. Features from OmniIsaacGymEnvs have been integrated into the Isaac Lab framework. We have updated OmniIsaacGymEnvs to Isaac Sim version 4.0.0 to support the migration process to Isaac Lab. Moving forward, OmniIsaacGymEnvs will be deprecated and future development will continue in Isaac Lab.

Task Config Setup

In OmniIsaacGymEnvs, task config files were defined in .yaml format. With Isaac Lab, configs are now specified using a specialized Python class configclass. The configclass module provides a wrapper on top of Python’s dataclasses module. Each environment should specify its own config class annotated by @configclass that inherits from the DirectRLEnvCfg class, which can include simulation parameters, environment scene parameters, robot parameters, and task-specific parameters.

Below is an example skeleton of a task config class:

from omni.isaac.lab.envs import DirectRLEnvCfg
from omni.isaac.lab.scene import InteractiveSceneCfg
from omni.isaac.lab.sim import SimulationCfg

@configclass
class MyEnvCfg(DirectRLEnvCfg):
   # simulation
   sim: SimulationCfg = SimulationCfg()
   # robot
   robot_cfg: ArticulationCfg = ArticulationCfg()
   # scene
   scene: InteractiveSceneCfg = InteractiveSceneCfg()
   # env
   decimation = 2
   episode_length_s = 5.0
   num_actions = 1
   num_observations = 4
   num_states = 0
   # task-specific parameters
   ...

Simulation Config

Simulation related parameters are defined as part of the SimulationCfg class, which is a configclass module that holds simulation parameters such as dt, device, and gravity. Each task config must have a variable named sim defined that holds the type SimulationCfg.

Simulation parameters for articulations and rigid bodies such as num_position_iterations, num_velocity_iterations, contact_offset, rest_offset, bounce_threshold_velocity, max_depenetration_velocity can all be specified on a per-actor basis in the config class for each individual articulation and rigid body.

When running simulation on the GPU, buffers in PhysX require pre-allocation for computing and storing information such as contacts, collisions and aggregate pairs. These buffers may need to be adjusted depending on the complexity of the environment, the number of expected contacts and collisions, and the number of actors in the environment. The PhysxCfg class provides access for setting the GPU buffer dimensions.

# OmniIsaacGymEnvs sim: dt: 0.0083 # 1/120 s use_gpu_pipeline: ${eq:${...pipeline},"gpu"} use_fabric: True enable_scene_query_support: False disable_contact_processing: False gravity: [0.0, 0.0, -9.81] default_physics_material: static_friction: 1.0 dynamic_friction: 1.0 restitution: 0.0 physx: worker_thread_count: ${....num_threads} solver_type: ${....solver_type} use_gpu: ${contains:"cuda",${....sim_device}} solver_position_iteration_count: 4 solver_velocity_iteration_count: 0 contact_offset: 0.02 rest_offset: 0.001 bounce_threshold_velocity: 0.2 friction_offset_threshold: 0.04 friction_correlation_distance: 0.025 enable_sleeping: True enable_stabilization: True max_depenetration_velocity: 100.0 gpu_max_rigid_contact_count: 524288 gpu_max_rigid_patch_count: 81920 gpu_found_lost_pairs_capacity: 1024 gpu_found_lost_aggregate_pairs_capacity: 262144 gpu_total_aggregate_pairs_capacity: 1024 gpu_heap_capacity: 67108864 gpu_temp_buffer_capacity: 16777216 gpu_max_num_partitions: 8 gpu_max_soft_body_contacts: 1048576 gpu_max_particle_contacts: 1048576

# IsaacLab sim: SimulationCfg = SimulationCfg( dt=1 / 120, use_gpu_pipeline=True, use_fabric=True, enable_scene_query_support=False, disable_contact_processing=False, gravity=(0.0, 0.0, -9.81), physics_material=RigidBodyMaterialCfg( static_friction=1.0, dynamic_friction=1.0, restitution=0.0 ) physx: PhysxCfg = PhysxCfg( # worker_thread_count is no longer needed solver_type=1, use_gpu=True, max_position_iteration_count=4, max_velocity_iteration_count=0, # moved to actor config # moved to actor config bounce_threshold_velocity=0.2, friction_offset_threshold=0.04, friction_correlation_distance=0.025, # enable_sleeping is no longer needed enable_stabilization=True, # moved to RigidBodyPropertiesCfg gpu_max_rigid_contact_count=2**23, gpu_max_rigid_patch_count=5 * 2**15, gpu_found_lost_pairs_capacity=2**21, gpu_found_lost_aggregate_pairs_capacity=2**25, gpu_total_aggregate_pairs_capacity=2**21, gpu_heap_capacity=2**26, gpu_temp_buffer_capacity=2**24, gpu_max_num_partitions=8, gpu_max_soft_body_contacts=2**20, gpu_max_particle_contacts=2**20, ) )

Parameters such as add_ground_plane and add_distant_light are now part of the task logic when creating the scene. enable_cameras is now a command line argument --enable_cameras that can be passed directly to the training script.

Scene Config

The InteractiveSceneCfg class can be used to specify parameters related to the scene, such as the number of environments and the spacing between environments. Each task config must have a variable named scene defined that holds the type InteractiveSceneCfg.

# OmniIsaacGymEnvs env: numEnvs: ${resolve_default:512,${...num_envs}} envSpacing: 4.0

# IsaacLab scene: InteractiveSceneCfg = InteractiveSceneCfg( num_envs=512, env_spacing=4.0)

Task Config

Each environment should specify its own config class that holds task specific parameters, such as the dimensions of the observation and action buffers. Reward term scaling parameters can also be specified in the config class.

In Isaac Lab, the controlFrequencyInv parameter has been renamed to decimation, which must be specified as a parameter in the config class.

In addition, the maximum episode length parameter (now episode_length_s) is in seconds instead of steps as it was in OmniIsaacGymEnvs. To convert between step count to seconds, use the equation: episode_length_s = dt * decimation * num_steps.

The following parameters must be set for each environment config:

decimation = 2
episode_length_s = 5.0
num_actions = 1
num_observations = 4
num_states = 0

RL Config Setup

RL config files for the rl_games library can continue to be defined in .yaml files in Isaac Lab. Most of the content of the config file can be copied directly from OmniIsaacGymEnvs. Note that in Isaac Lab, we do not use hydra to resolve relative paths in config files. Please replace any relative paths such as ${....device} with the actual values of the parameters.

Additionally, the observation and action clip ranges have been moved to the RL config file. For any clipObservations and clipActions parameters that were defined in the IsaacGymEnvs task config file, they should be moved to the RL config file in Isaac Lab.

IsaacGymEnvs Task Config	Isaac Lab RL Config
# OmniIsaacGymEnvs env: clipObservations: 5.0 clipActions: 1.0	# IsaacLab params: env: clip_observations: 5.0 clip_actions: 1.0

Environment Creation

In OmniIsaacGymEnvs, environment creation generally happened in the set_up_scene() API, which involved creating the initial environment, cloning the environment, filtering collisions, adding the ground plane and lights, and creating the View classes for the actors.

Similar functionality is performed in Isaac Lab in the _setup_scene() API. The main difference is that the base class _setup_scene() no longer performs operations for cloning the environment and adding ground plane and lights. Instead, these operations should now be implemented in individual tasks’ _setup_scene implementations to provide more flexibility around the scene setup process.

Also note that by defining an Articulation or RigidObject object, the actors will be added to the scene by parsing the spawn parameter in the actor config and a View class will automatically be created for the actor. This avoids the need to separately define an ArticulationView or RigidPrimView object for the actors.

OmniIsaacGymEnvs

Isaac Lab

def set_up_scene(self, scene) -> None: self.get_cartpole() super().set_up_scene(scene) self._cartpoles = ArticulationView( prim_paths_expr="/World/envs/.*/Cartpole", name="cartpole_view", reset_xform_properties=False ) scene.add(self._cartpoles)

def _setup_scene(self): self.cartpole = Articulation(self.cfg.robot_cfg) # add ground plane spawn_ground_plane(prim_path="/World/ground", cfg=GroundPlaneCfg() # clone, filter, and replicate self.scene.clone_environments(copy_from_source=False) self.scene.filter_collisions(global_prim_paths=[]) # add articultion to scene self.scene.articulations["cartpole"] = self.cartpole # add lights light_cfg = sim_utils.DomeLightCfg(intensity=2000.0) light_cfg.func("/World/Light", light_cfg)

Ground Plane

In addition to the above example, more sophisticated ground planes can be defined using the TerrainImporterCfg class.

from omni.isaac.lab.terrains import TerrainImporterCfg

terrain = TerrainImporterCfg(
     prim_path="/World/ground",
     terrain_type="plane",
     collision_group=-1,
     physics_material=sim_utils.RigidBodyMaterialCfg(
         friction_combine_mode="multiply",
         restitution_combine_mode="multiply",
         static_friction=1.0,
         dynamic_friction=1.0,
         restitution=0.0,
     ),
 )

The terrain can then be added to the scene in _setup_scene(self) by referencing the TerrainImporterCfg object:

Actors

In Isaac Lab, each Articulation and Rigid Body actor can have its own config class. The ArticulationCfg class can be used to define parameters for articulation actors, including file path, simulation parameters, actuator properties, and initial states.

Within the ArticulationCfg, the spawn attribute can be used to add the robot to the scene by specifying the path to the robot file. In addition, the RigidBodyPropertiesCfg class can be used to specify simulation properties for the rigid bodies in the articulation. Similarly, the ArticulationRootPropertiesCfg class can be used to specify simulation properties for the articulation. The joint properties are now specified as part of the actuators dictionary using ImplicitActuatorCfg. Joints with the same properties can be grouped into regex expressions or provided as a list of names or expressions.

Actors are added to the scene by simply calling self.cartpole = Articulation(self.cfg.robot_cfg), where self.cfg.robot_cfg is an ArticulationCfg object. Once initialized, they should also be added to the InteractiveScene by calling self.scene.articulations["cartpole"] = self.cartpole so that the InteractiveScene can traverse through actors in the scene for writing values to the simulation and resetting.

Accessing States from Simulation

APIs for accessing physics states in Isaac Lab require the creation of an Articulation or RigidObject object. Multiple objects can be initialized for different articulations or rigid bodies in the scene by defining corresponding ArticulationCfg or RigidObjectCfg config, as outlined in the section above. This replaces the previously used ArticulationView and omni.isaac.core.prims.RigidPrimView classes used in OmniIsaacGymEnvs.

However, functionality between the classes are similar:

OmniIsaacGymEnvs	Isaac Lab
dof_pos = self._cartpoles.get_joint_positions(clone=False) dof_vel = self._cartpoles.get_joint_velocities(clone=False)	self.joint_pos = self._robot.data.joint_pos self.joint_vel = self._robot.data.joint_vel

In Isaac Lab, Articulation and RigidObject classes both have a data class. The data classes (ArticulationData and RigidObjectData) contain buffers that hold the states for the articulation and rigid objects and provide a more performant way of retrieving states from the actors.

Apart from some renamings of APIs, setting states for actors can also be performed similarly between OmniIsaacGymEnvs and Isaac Lab.

OmniIsaacGymEnvs	Isaac Lab
indices = env_ids.to(dtype=torch.int32) self._cartpoles.set_joint_positions(dof_pos, indices=indices) self._cartpoles.set_joint_velocities(dof_vel, indices=indices)	self._robot.write_joint_state_to_sim(joint_pos, joint_vel, joint_ids, env_ids)

In Isaac Lab, root_pose and root_velocity have been combined into single buffers and no longer split between root_position, root_orientation, root_linear_velocity and root_angular_velocity.

Creating a New Environment

Each environment in Isaac Lab should be in its own directory following this structure:

my_environment/
    - agents/
        - __init__.py
        - rl_games_ppo_cfg.py
    - __init__.py
    my_env.py

• my_environment is the root directory of the task.

• my_environment/agents is the directory containing all RL config files for the task. Isaac Lab supports multiple RL libraries that can each have its own individual config file.

• my_environment/__init__.py is the main file that registers the environment with the Gymnasium interface. This allows the training and inferencing scripts to find the task by its name. The content of this file should be as follow:

  import gymnasium as gym
  
  from . import agents
  from .cartpole_env import CartpoleEnv, CartpoleEnvCfg
  
  ##
  # Register Gym environments.
  ##
  
  gym.register(
      id="Isaac-Cartpole-Direct-v0",
      entry_point="omni.isaac.lab_tasks.direct_workflow.cartpole:CartpoleEnv",
      disable_env_checker=True,
      kwargs={
          "env_cfg_entry_point": CartpoleEnvCfg,
          "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml"
      },
  )
  

• my_environment/my_env.py is the main python script that implements the task logic and task config class for the environment.

Task Logic

The post_reset API in OmniIsaacGymEnvs is no longer required in Isaac Lab. Everything that was previously done in post_reset can be done in the __init__ method after executing the base class’s __init__. At this point, simulation has already started.

In OmniIsaacGymEnvs, due to limitations of the GPU APIs, resets could not be performed based on states of the current step. Instead, resets have to be performed at the beginning of the next time step. This restriction has been eliminated in Isaac Lab, and thus, tasks follow the correct workflow of applying actions, stepping simulation, collecting states, computing dones, calculating rewards, performing resets, and finally computing observations. This workflow is done automatically by the framework such that a post_physics_step API is not required in the task. However, individual tasks can override the step() API to control the workflow.

In Isaac Lab, we also separate the pre_physics_step API for processing actions from the policy with the apply_action API, which sets the actions into the simulation. This provides more flexibility in controlling when actions should be written to simulation when decimation is used. The pre_physics_step method will be called once per step before stepping simulation. The apply_actions method will be called decimation number of times for each RL step, once before each simulation step call.

The ordering of the calls are as follow:

OmniIsaacGymEnvs	Isaac Lab
pre_physics_step |-- reset_idx() |-- apply_action post_physics_step |-- get_observations() |-- calculate_metrics() |-- is_done()	pre_physics_step |-- _pre_physics_step(action) |-- _apply_action() post_physics_step |-- _get_dones() |-- _get_rewards() |-- _reset_idx() |-- _get_observations()

With this approach, resets are performed based on actions from the current step instead of the previous step. Observations will also be computed with the correct states after resets.

We have also performed some renamings of APIs:

• set_up_scene(self, scene) –> _setup_scene(self)

• post_reset(self) –> __init__(...)

• pre_physics_step(self, actions) –> _pre_physics_step(self, actions) and _apply_action(self)

• reset_idx(self, env_ids) –> _reset_idx(self, env_ids)

• get_observations(self) –> _get_observations(self) - _get_observations() should now return a dictionary {"policy": obs}

• calculate_metrics(self) –> _get_rewards(self) - _get_rewards() should now return the reward buffer

• is_done(self) –> _get_dones(self) - _get_dones() should now return 2 buffers: reset and time_out buffers

Putting It All Together

The Cartpole environment is shown here in completion to fully show the comparison between the OmniIsaacGymEnvs implementation and the Isaac Lab implementation.

Task Config

Task config in Isaac Lab can be split into the main task configuration class and individual config objects for the actors.

OmniIsaacGymEnvs

Isaac Lab

# used to create the object name: Cartpole physics_engine: ${..physics_engine} # if given, will override the device setting in gym. env: numEnvs: ${resolve_default:512,${...num_envs}} envSpacing: 4.0 resetDist: 3.0 maxEffort: 400.0 clipObservations: 5.0 clipActions: 1.0 controlFrequencyInv: 2 # 60 Hz sim: dt: 0.0083 # 1/120 s use_gpu_pipeline: ${eq:${...pipeline},"gpu"} gravity: [0.0, 0.0, -9.81] add_ground_plane: True add_distant_light: False use_fabric: True enable_scene_query_support: False disable_contact_processing: False enable_cameras: False default_physics_material: static_friction: 1.0 dynamic_friction: 1.0 restitution: 0.0 physx: worker_thread_count: ${....num_threads} solver_type: ${....solver_type} use_gpu: ${eq:${....sim_device},"gpu"} # set to False to... solver_position_iteration_count: 4 solver_velocity_iteration_count: 0 contact_offset: 0.02 rest_offset: 0.001 bounce_threshold_velocity: 0.2 friction_offset_threshold: 0.04 friction_correlation_distance: 0.025 enable_sleeping: True enable_stabilization: True max_depenetration_velocity: 100.0 # GPU buffers gpu_max_rigid_contact_count: 524288 gpu_max_rigid_patch_count: 81920 gpu_found_lost_pairs_capacity: 1024 gpu_found_lost_aggregate_pairs_capacity: 262144 gpu_total_aggregate_pairs_capacity: 1024 gpu_max_soft_body_contacts: 1048576 gpu_max_particle_contacts: 1048576 gpu_heap_capacity: 67108864 gpu_temp_buffer_capacity: 16777216 gpu_max_num_partitions: 8 Cartpole: override_usd_defaults: False enable_self_collisions: False enable_gyroscopic_forces: True solver_position_iteration_count: 4 solver_velocity_iteration_count: 0 sleep_threshold: 0.005 stabilization_threshold: 0.001 density: -1 max_depenetration_velocity: 100.0 contact_offset: 0.02 rest_offset: 0.001

@configclass class CartpoleEnvCfg(DirectRLEnvCfg): # simulation sim: SimulationCfg = SimulationCfg(dt=1 / 120) # robot robot_cfg: ArticulationCfg = CARTPOLE_CFG.replace( prim_path="/World/envs/env_.*/Robot") cart_dof_name = "slider_to_cart" pole_dof_name = "cart_to_pole" # scene scene: InteractiveSceneCfg = InteractiveSceneCfg( num_envs=4096, env_spacing=4.0, replicate_physics=True) # env decimation = 2 episode_length_s = 5.0 action_scale = 100.0 # [N] num_actions = 1 num_observations = 4 num_states = 0 # reset max_cart_pos = 3.0 initial_pole_angle_range = [-0.25, 0.25] # reward scales rew_scale_alive = 1.0 rew_scale_terminated = -2.0 rew_scale_pole_pos = -1.0 rew_scale_cart_vel = -0.01 rew_scale_pole_vel = -0.005 CARTPOLE_CFG = ArticulationCfg( spawn=sim_utils.UsdFileCfg( usd_path=f"{ISAACLAB_NUCLEUS_DIR}/.../cartpole.usd", rigid_props=sim_utils.RigidBodyPropertiesCfg( rigid_body_enabled=True, max_linear_velocity=1000.0, max_angular_velocity=1000.0, max_depenetration_velocity=100.0, enable_gyroscopic_forces=True, ), articulation_props=sim_utils.ArticulationRootPropertiesCfg( enabled_self_collisions=False, solver_position_iteration_count=4, solver_velocity_iteration_count=0, sleep_threshold=0.005, stabilization_threshold=0.001, ), ), init_state=ArticulationCfg.InitialStateCfg( pos=(0.0, 0.0, 2.0), joint_pos={"slider_to_cart": 0.0, "cart_to_pole": 0.0} ), actuators={ "cart_actuator": ImplicitActuatorCfg( joint_names_expr=["slider_to_cart"], effort_limit=400.0, velocity_limit=100.0, stiffness=0.0, damping=10.0, ), "pole_actuator": ImplicitActuatorCfg( joint_names_expr=["cart_to_pole"], effort_limit=400.0, velocity_limit=100.0, stiffness=0.0, damping=0.0 ), }, )

Task Setup

The post_reset API in OmniIsaacGymEnvs is no longer required in Isaac Lab. Everything that was previously done in post_reset can be done in the __init__ method after executing the base class’s __init__. At this point, simulation has already started.

OmniIsaacGymEnvs

Isaac Lab

class CartpoleTask(RLTask): def __init__(self, name, sim_config, env, offset=None) -> None: self.update_config(sim_config) self._max_episode_length = 500 self._num_observations = 4 self._num_actions = 1 RLTask.__init__(self, name, env) def update_config(self, sim_config): self._sim_config = sim_config self._cfg = sim_config.config self._task_cfg = sim_config. task_config self._num_envs = self._task_cfg["env"]["numEnvs"] self._env_spacing = self._task_cfg["env"]["envSpacing"] self._cartpole_positions = torch.tensor([0.0, 0.0, 2.0]) self._reset_dist = self._task_cfg["env"]["resetDist"] self._max_push_effort = self._task_cfg["env"]["maxEffort"] def post_reset(self): self._cart_dof_idx = self._cartpoles.get_dof_index( "cartJoint") self._pole_dof_idx = self._cartpoles.get_dof_index( "poleJoint") # randomize all envs indices = torch.arange( self._cartpoles.count, dtype=torch.int64, device=self._device) self.reset_idx(indices)

class CartpoleEnv(DirectRLEnv): cfg: CartpoleEnvCfg def __init__(self, cfg: CartpoleEnvCfg, render_mode: str | None = None, **kwargs): super().__init__(cfg, render_mode, **kwargs) self._cart_dof_idx, _ = self.cartpole.find_joints( self.cfg.cart_dof_name) self._pole_dof_idx, _ = self.cartpole.find_joints( self.cfg.pole_dof_name) self.action_scale=self.cfg.action_scale self.joint_pos = self.cartpole.data.joint_pos self.joint_vel = self.cartpole.data.joint_vel

Scene Setup

The set_up_scene method in OmniIsaacGymEnvs has been replaced by the _setup_scene API in the task class in Isaac Lab. Additionally, scene cloning and collision filtering have been provided as APIs for the task class to call when necessary. Similarly, adding ground plane and lights should also be taken care of in the task class. Adding actors to the scene has been replaced by self.scene.articulations["cartpole"] = self.cartpole.

OmniIsaacGymEnvs

Isaac Lab

def set_up_scene(self, scene) -> None: self.get_cartpole() super().set_up_scene(scene) self._cartpoles = ArticulationView( prim_paths_expr="/World/envs/.*/Cartpole", name="cartpole_view", reset_xform_properties=False ) scene.add(self._cartpoles) return def get_cartpole(self): cartpole = Cartpole( prim_path=self.default_zero_env_path+"/Cartpole", name="Cartpole", translation=self._cartpole_positions ) # applies articulation settings from the # task configuration yaml file self._sim_config.apply_articulation_settings( "Cartpole", get_prim_at_path(cartpole.prim_path), self._sim_config.parse_actor_config("Cartpole") )

def _setup_scene(self): self.cartpole = Articulation(self.cfg.robot_cfg) # add ground plane spawn_ground_plane(prim_path="/World/ground", cfg=GroundPlaneCfg()) # clone, filter, and replicate self.scene.clone_environments( copy_from_source=False) self.scene.filter_collisions( global_prim_paths=[]) # add articultion to scene self.scene.articulations["cartpole"] = self.cartpole # add lights light_cfg = sim_utils.DomeLightCfg( intensity=2000.0, color=(0.75, 0.75, 0.75)) light_cfg.func("/World/Light", light_cfg)

Pre-Physics Step

Note that resets are no longer performed in the pre_physics_step API. In addition, the separation of the _pre_physics_step and _apply_action methods allow for more flexibility in processing the action buffer and setting actions into simulation.

OmniIsaacGymEnvs

IsaacLab

def pre_physics_step(self, actions) -> None: if not self.world.is_playing(): return reset_env_ids = self.reset_buf.nonzero( as_tuple=False).squeeze(-1) if len(reset_env_ids) > 0: self.reset_idx(reset_env_ids) actions = actions.to(self._device) forces = torch.zeros((self._cartpoles.count, self._cartpoles.num_dof), dtype=torch.float32, device=self._device) forces[:, self._cart_dof_idx] = self._max_push_effort * actions[:, 0] indices = torch.arange(self._cartpoles.count, dtype=torch.int32, device=self._device) self._cartpoles.set_joint_efforts( forces, indices=indices)

def _pre_physics_step(self, actions: torch.Tensor) -> None: self.actions = self.action_scale * actions def _apply_action(self) -> None: self.cartpole.set_joint_effort_target( self.actions, joint_ids=self._cart_dof_idx)

Dones and Resets

In Isaac Lab, the dones are computed in the _get_dones() method and should return two variables: resets and time_out. The _reset_idx() method is also called after stepping simulation instead of before, as it was done in OmniIsaacGymEnvs. The progress_buf tensor has been renamed to episode_length_buf in Isaac Lab and the bookkeeping is now done automatically by the framework. Task implementations no longer need to increment or reset the episode_length_buf buffer.

OmniIsaacGymEnvs

Isaac Lab

def is_done(self) -> None: resets = torch.where( torch.abs(self.cart_pos) > self._reset_dist, 1, 0) resets = torch.where( torch.abs(self.pole_pos) > math.pi / 2, 1, resets) resets = torch.where( self.progress_buf >= self._max_episode_length, 1, resets) self.reset_buf[:] = resets def reset_idx(self, env_ids): num_resets = len(env_ids) # randomize DOF positions dof_pos = torch.zeros((num_resets, self._cartpoles.num_dof), device=self._device) dof_pos[:, self._cart_dof_idx] = 1.0 * ( 1.0 - 2.0 * torch.rand(num_resets, device=self._device)) dof_pos[:, self._pole_dof_idx] = 0.125 * math.pi * ( 1.0 - 2.0 * torch.rand(num_resets, device=self._device)) # randomize DOF velocities dof_vel = torch.zeros((num_resets, self._cartpoles.num_dof), device=self._device) dof_vel[:, self._cart_dof_idx] = 0.5 * ( 1.0 - 2.0 * torch.rand(num_resets, device=self._device)) dof_vel[:, self._pole_dof_idx] = 0.25 * math.pi * ( 1.0 - 2.0 * torch.rand(num_resets, device=self._device)) # apply resets indices = env_ids.to(dtype=torch.int32) self._cartpoles.set_joint_positions(dof_pos, indices=indices) self._cartpoles.set_joint_velocities(dof_vel, indices=indices) # bookkeeping self.reset_buf[env_ids] = 0 self.progress_buf[env_ids] = 0

def _get_dones(self) -> tuple[torch.Tensor, torch.Tensor]: self.joint_pos = self.cartpole.data.joint_pos self.joint_vel = self.cartpole.data.joint_vel time_out = self.episode_length_buf >= self.max_episode_length - 1 out_of_bounds = torch.any(torch.abs( self.joint_pos[:, self._pole_dof_idx] > self.cfg.max_cart_pos), dim=1) out_of_bounds = out_of_bounds | torch.any( torch.abs(self.joint_pos[:, self._pole_dof_idx]) > math.pi / 2, dim=1) return out_of_bounds, time_out def _reset_idx(self, env_ids: Sequence[int] | None): if env_ids is None: env_ids = self.cartpole._ALL_INDICES super()._reset_idx(env_ids) joint_pos = self.cartpole.data.default_joint_pos[env_ids] joint_pos[:, self._pole_dof_idx] += sample_uniform( self.cfg.initial_pole_angle_range[0] * math.pi, self.cfg.initial_pole_angle_range[1] * math.pi, joint_pos[:, self._pole_dof_idx].shape, joint_pos.device, ) joint_vel = self.cartpole.data.default_joint_vel[env_ids] default_root_state = self.cartpole.data.default_root_state[env_ids] default_root_state[:, :3] += self.scene.env_origins[env_ids] self.joint_pos[env_ids] = joint_pos self.joint_vel[env_ids] = joint_vel self.cartpole.write_root_pose_to_sim( default_root_state[:, :7], env_ids) self.cartpole.write_root_velocity_to_sim( default_root_state[:, 7:], env_ids) self.cartpole.write_joint_state_to_sim( joint_pos, joint_vel, None, env_ids)

Rewards

In Isaac Lab, rewards are implemented in the _get_rewards API and should return the reward buffer instead of assigning it directly to self.rew_buf. Computation in the reward function can also be performed using pytorch jit through defining functions with the @torch.jit.script annotation.

OmniIsaacGymEnvs

Isaac Lab

def calculate_metrics(self) -> None: reward = (1.0 - self.pole_pos * self.pole_pos - 0.01 * torch.abs(self.cart_vel) - 0.005 * torch.abs(self.pole_vel)) reward = torch.where( torch.abs(self.cart_pos) > self._reset_dist, torch.ones_like(reward) * -2.0, reward) reward = torch.where( torch.abs(self.pole_pos) > np.pi / 2, torch.ones_like(reward) * -2.0, reward) self.rew_buf[:] = reward

def _get_rewards(self) -> torch.Tensor: total_reward = compute_rewards( self.cfg.rew_scale_alive, self.cfg.rew_scale_terminated, self.cfg.rew_scale_pole_pos, self.cfg.rew_scale_cart_vel, self.cfg.rew_scale_pole_vel, self.joint_pos[:, self._pole_dof_idx[0]], self.joint_vel[:, self._pole_dof_idx[0]], self.joint_pos[:, self._cart_dof_idx[0]], self.joint_vel[:, self._cart_dof_idx[0]], self.reset_terminated, ) return total_reward @torch.jit.script def compute_rewards( rew_scale_alive: float, rew_scale_terminated: float, rew_scale_pole_pos: float, rew_scale_cart_vel: float, rew_scale_pole_vel: float, pole_pos: torch.Tensor, pole_vel: torch.Tensor, cart_pos: torch.Tensor, cart_vel: torch.Tensor, reset_terminated: torch.Tensor, ): rew_alive = rew_scale_alive * (1.0 - reset_terminated.float()) rew_termination = rew_scale_terminated * reset_terminated.float() rew_pole_pos = rew_scale_pole_pos * torch.sum( torch.square(pole_pos), dim=-1) rew_cart_vel = rew_scale_cart_vel * torch.sum( torch.abs(cart_vel), dim=-1) rew_pole_vel = rew_scale_pole_vel * torch.sum( torch.abs(pole_vel), dim=-1) total_reward = (rew_alive + rew_termination + rew_pole_pos + rew_cart_vel + rew_pole_vel) return total_reward

Observations

In Isaac Lab, the _get_observations() API must return a dictionary with the key policy that has the observation buffer as the value. When working with asymmetric actor-critic states, the states for the critic should have the key critic and be returned with the observation buffer in the same dictionary.

OmniIsaacGymEnvs

Isaac Lab

def get_observations(self) -> dict: dof_pos = self._cartpoles.get_joint_positions(clone=False) dof_vel = self._cartpoles.get_joint_velocities(clone=False) self.cart_pos = dof_pos[:, self._cart_dof_idx] self.cart_vel = dof_vel[:, self._cart_dof_idx] self.pole_pos = dof_pos[:, self._pole_dof_idx] self.pole_vel = dof_vel[:, self._pole_dof_idx] self.obs_buf[:, 0] = self.cart_pos self.obs_buf[:, 1] = self.cart_vel self.obs_buf[:, 2] = self.pole_pos self.obs_buf[:, 3] = self.pole_vel observations = {self._cartpoles.name: {"obs_buf": self.obs_buf}} return observations

def _get_observations(self) -> dict: obs = torch.cat( ( self.joint_pos[:, self._pole_dof_idx[0]], self.joint_vel[:, self._pole_dof_idx[0]], self.joint_pos[:, self._cart_dof_idx[0]], self.joint_vel[:, self._cart_dof_idx[0]], ), dim=-1, ) observations = {"policy": obs} return observations

Domain Randomization

In OmniIsaacGymEnvs, domain randomization was specified through the task .yaml config file. In Isaac Lab, the domain randomization configuration uses the configclass module to specify a configuration class consisting of EventTermCfg variables.

Below is an example of a configuration class for domain randomization:

@configclass
class EventCfg:
  robot_physics_material = EventTerm(
      func=mdp.randomize_rigid_body_material,
      mode="reset",
      params={
          "asset_cfg": SceneEntityCfg("robot", body_names=".*"),
          "static_friction_range": (0.7, 1.3),
          "dynamic_friction_range": (1.0, 1.0),
          "restitution_range": (1.0, 1.0),
          "num_buckets": 250,
      },
  )
  robot_joint_stiffness_and_damping = EventTerm(
      func=mdp.randomize_actuator_gains,
      mode="reset",
      params={
          "asset_cfg": SceneEntityCfg("robot", joint_names=".*"),
          "stiffness_distribution_params": (0.75, 1.5),
          "damping_distribution_params": (0.3, 3.0),
          "operation": "scale",
          "distribution": "log_uniform",
      },
  )
  reset_gravity = EventTerm(
      func=mdp.randomize_physics_scene_gravity,
      mode="interval",
      is_global_time=True,
      interval_range_s=(36.0, 36.0),  # time_s = num_steps * (decimation * dt)
      params={
          "gravity_distribution_params": ([0.0, 0.0, 0.0], [0.0, 0.0, 0.4]),
          "operation": "add",
          "distribution": "gaussian",
      },
  )

Each EventTerm object is of the EventTermCfg class and takes in a func parameter for specifying the function to call during randomization, a mode parameter, which can be startup, reset or interval. THe params dictionary should provide the necessary arguments to the function that is specified in the func parameter. Functions specified as func for the EventTerm can be found in the events module.

Note that as part of the "asset_cfg": SceneEntityCfg("robot", body_names=".*") parameter, the name of the actor "robot" is provided, along with the body or joint names specified as a regex expression, which will be the actors and bodies/joints that will have randomization applied.

One difference with OmniIsaacGymEnvs is that interval randomization is now specified as seconds instead of steps. When mode="interval", the interval_range_s parameter must also be provided, which specifies the range of seconds for which randomization should be applied. This range will then be randomized to determine a specific time in seconds when the next randomization will occur for the term. To convert between steps to seconds, use the equation time_s = num_steps * (decimation * dt).

Similar to OmniIsaacGymEnvs, randomization APIs are available for randomizing articulation properties, such as joint stiffness and damping, joint limits, rigid body materials, fixed tendon properties, as well as rigid body properties, such as mass and rigid body materials. Randomization of the physics scene gravity is also supported. Note that randomization of scale is current not supported in Isaac Lab. To randomize scale, please set up the scene in a way where each environment holds the actor at a different scale.

Once the configclass for the randomization terms have been set up, the class must be added to the base config class for the task and be assigned to the variable events.

@configclass
class MyTaskConfig:
  events: EventCfg = EventCfg()

Action and Observation Noise

Actions and observation noise can also be added using the configclass module. Action and observation noise configs must be added to the main task config using the action_noise_model and observation_noise_model variables:

@configclass
class MyTaskConfig:
    # at every time-step add gaussian noise + bias. The bias is a gaussian sampled at reset
    action_noise_model: NoiseModelWithAdditiveBiasCfg = NoiseModelWithAdditiveBiasCfg(
      noise_cfg=GaussianNoiseCfg(mean=0.0, std=0.05, operation="add"),
      bias_noise_cfg=GaussianNoiseCfg(mean=0.0, std=0.015, operation="abs"),
    )
    # at every time-step add gaussian noise + bias. The bias is a gaussian sampled at reset
    observation_noise_model: NoiseModelWithAdditiveBiasCfg = NoiseModelWithAdditiveBiasCfg(
      noise_cfg=GaussianNoiseCfg(mean=0.0, std=0.002, operation="add"),
      bias_noise_cfg=GaussianNoiseCfg(mean=0.0, std=0.0001, operation="abs"),
    )

NoiseModelWithAdditiveBiasCfg can be used to sample both uncorrelated noise per step as well as correlated noise that is re-sampled at reset time. The noise_cfg term specifies the Gaussian distribution that will be sampled at each step for all environments. This noise will be added to the corresponding actions and observations buffers at every step. The bias_noise_cfg term specifies the Gaussian distribution for the correlated noise that will be sampled at reset time for the environments being reset. The same noise will be applied each step for the remaining of the episode for the environments and resampled at the next reset.

This replaces the following setup in OmniIsaacGymEnvs:

domain_randomization:
randomize: True
randomization_params:
 observations:
   on_reset:
     operation: "additive"
     distribution: "gaussian"
     distribution_parameters: [0, .0001]
   on_interval:
     frequency_interval: 1
     operation: "additive"
     distribution: "gaussian"
     distribution_parameters: [0, .002]
 actions:
   on_reset:
     operation: "additive"
     distribution: "gaussian"
     distribution_parameters: [0, 0.015]
   on_interval:
     frequency_interval: 1
     operation: "additive"
     distribution: "gaussian"
     distribution_parameters: [0., 0.05]

Launching Training

To launch a training in Isaac Lab, use the command:

python source/standalone/workflows/rl_games/train.py --task=Isaac-Cartpole-Direct-v0 --headless

Launching Inferencing

To launch inferencing in Isaac Lab, use the command:

python source/standalone/workflows/rl_games/play.py --task=Isaac-Cartpole-Direct-v0 --num_envs=25 --checkpoint=<path/to/checkpoint>