@michalin
Hi Michael, thank you for checking the post.
My ultimate goal is to build a cube stacking task using imitation learning in IsaacLab with the SO-100 arm. Here’s what I have done so far:
1. I imported the SO-100 URDF and saved it as a USD file.
- Modified the “Isaac-Stack-Cube-Franka-IK-Rel-v0” environment in IsaacLab for SO-100 and imported the SO-100 USD that allowing me to control the robot using the keyboard.
- Changed the ImplicitActuatorCfg setting as below
TEST_CFG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
usd_path="so100.usd",
#usd_path="/home/nvidia/Documents/convex_robot_root.usd",
activate_contact_sensors=False,
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=False,
max_depenetration_velocity=5.0,
),
articulation_props=sim_utils.ArticulationRootPropertiesCfg(
enabled_self_collisions=True,
solver_position_iteration_count=8,
solver_velocity_iteration_count=0
),
# collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.005, rest_offset=0.0),
),
init_state=ArticulationCfg.InitialStateCfg(
pos=(0.1, 0.1, 0.0),
rot=quat_from_euler_rpy(0, 0, 90,True),
joint_pos={
"Rotation": 0.0,
"Pitch": 0.0,
"Elbow": 0.0,
"Wrist_Pitch": 0.0,
"Wrist_Roll": 0.0,
"Jaw": 0.0,
},
),
actuators={
"shoulder_rotation": ImplicitActuatorCfg(
joint_names_expr=["Rotation"],
effort_limit=1.9,
velocity_limit_sim=1.5,
stiffness=200.0,
damping=80.0,
),
"shoulder_pitch": ImplicitActuatorCfg(
joint_names_expr=["Pitch"],
effort_limit=1.9,
velocity_limit_sim=1.5,
stiffness=170.0,
damping=65.0,
),
"elbow": ImplicitActuatorCfg(
joint_names_expr=["Elbow"],
effort_limit=1.9,
velocity_limit_sim=1.5,
stiffness=120.0,
damping=45.0,
),
"wrist_pitch": ImplicitActuatorCfg(
joint_names_expr=["Wrist_Pitch"],
effort_limit=1.9,
velocity_limit_sim=1.5,
stiffness=80.0,
damping=30.0,
),
"wrist_roll": ImplicitActuatorCfg(
joint_names_expr=["Wrist_Roll"],
effort_limit=1.9,
velocity_limit_sim=1.5,
stiffness=50.0,
damping=20.0,
),
"gripper": ImplicitActuatorCfg(
joint_names_expr=["Jaw"],
effort_limit=2.5,
velocity_limit_sim=1.5,
stiffness=60.0,
damping=20.0,
),
},
soft_joint_pos_limit_factor=1.0,
)
TEST_HIGH_PD_CFG = TEST_CFG.copy()
TEST_HIGH_PD_CFG.spawn.rigid_props.disable_gravity = True
I tried setting stiffness=10.0, damping=0.7, but it acted the same. I assume it is caused by IK related setting? Could you advise on what might be going wrong or which settings I should check?
