Research/arm payload carry#118
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Pull request overview
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Copilot was unable to run its full agentic suite in this review.
Adds a "G1 arm-hold" locomotion variant where the policy still emits 29 actions, but 14 arm DOFs are held at fixed positions via a new FixedJointPositionActionTerm. New robot/action/experiment presets wire this up, plus two markdown handoff docs.
Changes:
- Introduce
FixedJointPositionActionTermthat overrides processed actions for a configured set of joints. - Add
g1_29dof_arm_holdaction/robot/experiment presets and register them in the defaults dictionaries. - Add
AGENT.mdandUseme.mdrunbooks documenting the workflow.
Reviewed changes
Copilot reviewed 9 out of 9 changed files in this pull request and generated 6 comments.
Show a summary per file
| File | Description |
|---|---|
| src/holosoma/holosoma/managers/action/terms/joint_control.py | New FixedJointPositionActionTerm overriding processed and post-delay actions. |
| src/holosoma/holosoma/managers/action/terms/init.py | Exports the new action term. |
| src/holosoma/holosoma/config_values/robot.py | Adds G1_ARM_HOLD_JOINT_ANGLES and g1_29dof_arm_hold robot config. |
| src/holosoma/holosoma/config_values/loco/g1/action.py | Adds arm-hold action manager preset duplicating the angle dict. |
| src/holosoma/holosoma/config_values/loco/g1/experiment.py | Adds PPO experiment preset for arm-hold. |
| src/holosoma/holosoma/config_values/experiment.py | Registers experiment preset in defaults. |
| src/holosoma/holosoma/config_values/action.py | Registers new action preset in defaults. |
| AGENT.md | New agent handoff notes with environment-specific paths. |
| Useme.md | New runbook with environment-specific paths. |
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| ARM_HOLD_JOINT_ANGLES = { | ||
| "left_shoulder_pitch_joint": -0.75, | ||
| "left_shoulder_roll_joint": 0.35, | ||
| "left_shoulder_yaw_joint": 0.08, | ||
| "left_elbow_joint": 0.60, | ||
| "left_wrist_roll_joint": 0.00, | ||
| "left_wrist_pitch_joint": 0.20, | ||
| "left_wrist_yaw_joint": 0.0, | ||
| "right_shoulder_pitch_joint": -0.75, | ||
| "right_shoulder_roll_joint": -0.40, | ||
| "right_shoulder_yaw_joint": 0.35, | ||
| "right_elbow_joint": 0.65, | ||
| "right_wrist_roll_joint": 0.00, | ||
| "right_wrist_pitch_joint": -0.10, | ||
| "right_wrist_yaw_joint": 0.0, | ||
| } |
| fixed_default = self.env.default_dof_pos[:, self._fixed_joint_indices] | ||
| fixed_action_scales = self.action_scales[self._fixed_joint_indices].unsqueeze(0) | ||
| fixed_offsets = self._fixed_joint_targets.unsqueeze(0) - fixed_default | ||
| fixed_actions = fixed_offsets / torch.clamp(fixed_action_scales, min=1.0e-6) |
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| def process_actions(self, actions: torch.Tensor) -> None: | ||
| super().process_actions(actions) | ||
| self._apply_fixed_joint_targets() | ||
|
|
||
| def _apply_action_delay(self) -> None: | ||
| super()._apply_action_delay() | ||
| self._apply_fixed_joint_targets() |
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| name_to_idx = {name: i for i, name in enumerate(env.dof_names)} | ||
| missing = [name for name in fixed_joint_angles if name not in name_to_idx] | ||
| if missing: | ||
| raise ValueError(f"Fixed joint target(s) not found in robot DOFs: {missing}") |
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| cd /home/jkl0909/Code/rl/holosoma | ||
| unset CONDA_ENV_NAME | ||
| unset LD_LIBRARY_PATH | ||
| unset DISPLAY | ||
| source scripts/source_isaacsim_setup.sh |
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| DEFAULTS = { | ||
| "none": none, | ||
| "t1_29dof_joint_pos": t1_29dof_joint_pos, | ||
| "g1_29dof_arm_hold_joint_pos": g1_29dof_arm_hold_joint_pos, | ||
| "g1_29dof_joint_pos": g1_29dof_joint_pos, | ||
| } |
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