Trying to train Isaac-Lift-Cube-Franka-v0 example task

Omniverse Isaac Sim
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1

I’m running the command below to try and train the Franka arm to lift a cube and bring it to the sampled target position:

./isaaclab.sh -p source/standalone/workflows/rsl_rl/train.py --task Isaac-Lift-Cube-Franka-v0 --num_envs 64 --headless

When I play this policy using

./isaaclab.sh -p source/standalone/workflows/rsl_rl/play.py --task=Isaac-Lift-Cube-Franka-v0 --num_envs=1

The franka arm just moves around slightly but doesn’t go anywhere near the cube, nor does it pick it up. Am I doing something incorrect when training, or is there some value I have to set? All I’ve done is setup IsaacLab and IsaacSim by following the installation instructions, and I haven’t changed any code. I’m in the process of learning so I’m running a few examples right off the bat, so I’m just trying to get Isaac-Lift-Cube-Franka-v0 as listed here to work.

3

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We appreciate your understanding and look forward to assisting you.

4

Hey, I did the same with Isaac-Franka-Reach task and trained it for 1000 epochs as configured in the yaml file. Did you check the mean reward and also the pose errors during training. I think you can also visualise them using Tensorboard. Maybe check if everything went as expected.

feel free to reach out in case of any other questions