Adds Agibot Humanoid two place tasks (#3228)
# Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html --> Adds two place tasks and mimic tasks with Agibot A2D humanoid, using RMPFlow controller: - add agibot robot config in agibot.py and .usd asset - add motion_policy_configs and .urdf for rmpflow controller - add new task cfg: place_toy2box_rmp_rel_env_cfg, and place_upright_mug_rmp_rel_env_cfg - add new mimic task cfg: agibot_place_toy2box_mimic_env_cfg, and agibot_place_upright_mug_mimic_env_cfg - add new mimic task: in pick_place_mimic_env.py - add new subtasks in mdp.observations/terminations: object_grasped, object_placed_upright, object_a_is_into_b Notes: This PR relies on PR (https://github.com/isaac-sim/IsaacLab/pull/3210) for RmpFlowAction support. You can test the whole gr00t-mimic workflow by: 1. Record Demos ``` ./isaaclab.sh -p scripts/tools/record_demos.py \ --dataset_file datasets/recorded_demos_agibot_right_arm_rel.hdf5 \ --task Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-v0 \ --teleop_device spacemouse \ --num_demos 1 ``` 2. Replay Demos ``` ./isaaclab.sh -p scripts/tools/replay_demos.py \ --dataset_file datasets/recorded_demos_agibot_right_arm_rel.hdf5 \ --task Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-v0 \ --num_envs 1 ``` 3. Annotate Demos ``` ./isaaclab.sh -p scripts/imitation_learning/isaaclab_mimic/annotate_demos.py \ --input_file datasets/recorded_demos_agibot_right_arm_rel.hdf5 \ --output_file datasets/annotated_demos_agibot_right_arm_rel.hdf5 \ --task Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-Rel-Mimic-v0 \ --auto ``` 4. Generate Demos ``` ./isaaclab.sh -p scripts/imitation_learning/isaaclab_mimic/generate_dataset.py \ --input_file datasets/annotated_demos_agibot_right_arm_rel.hdf5 \ --output_file datasets/generated_demos_agibot_right_arm_rel.hdf5 \ --task Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-Rel-Mimic-v0 \ --num_envs 16 \ --generation_num_trials 10 ``` <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) ## Screenshot <img width="1401" height="567" alt="environments_agibot" src="https://github.com/user-attachments/assets/bc95e83a-e334-4dfc-a65c-3d1d97be0c4b" /> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by:rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com> Signed-off-by:
Showing
75.5 KB
79.1 KB