Feat/a2arm pos force - #1050
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Port the A2 quadruped + P7v3 5-DOF arm (joint3/5 frozen) + UMI gripper MJCF from the fork, consolidated into a self-contained robots/a2arm/ (meshdir points at its own meshes/, zero cross-dir dependency). Keyframe lives at scene level per the asset contract. 42 referenced meshes (dog legs + p7_v3 + umi_gripper_v3). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Concurrent state-estimator PPO (actor_critic/algorithm/estimator/runner/ storage) plus scripts/train_cse_ppo.py. Task-independent; runner imported directly (no central algo registry). Estimator targets: base_lin_vel(3) + ee_pos_sphere(3) + force_ee(3) + force_base(3), weights [0.2,0.2,1.0,1.0]. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
New envs/locomotion/a2arm/ (base.py + pos_force.py), zero go2_arm dependency, imports via unilab.utils.rotation/geometry. The fork's 4-layer Go2Arm->A2->V2->J3 config chain is flattened to one A2ArmPosForceCfg with MRO-resolved defaults; training semantics preserved byte-for-byte. Registered as A2ArmPosForce (mujoco). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
conf/ppo_cse/config.yaml + task/a2arm_pos_force/mujoco.yaml. Task YAML is byte-identical to the fork's committed stable baseline (only task_name renamed). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
RslRlVecEnvWrapper.step forwarded state.info['log'] but not state.info['timing'], so rsl_rl-family runners (incl. CSE-PPO) saw no per-phase step timings and collapsed the whole collect into the 'wrapper_glue' catch-all. Forward 'timing' too (additive, backward-compatible) so the iteration waterfall attributes physics/update_state/slow_path/reset again. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
_maybe_apply_velocity_push wrote through get_base_lin_vel()'s return value, relying on the getter returning a mutable qvel view -- a MuJoCo implementation detail the SimBackend contract never promised. A backend returning a copy (including MuJoCo's own fixed-base path, which returns np.zeros) would drop the push silently, disabling that domain randomization with no error. - base.py: add fail-closed SimBackend.set_base_lin_vel (raises NotImplementedError by default, matching apply_body_linear_velocity_delta). - mujoco/backend.py: implement it for the free-floating base (writes the qvel view); raise for a non-free base instead of dropping the write. - pos_force.py: route the push through the setter (copy -> patch x/y -> set). - test: assert the setter's write reaches get_base_lin_vel, and that a shape mismatch raises. Also fix a stale assertion pinning the pre-retune arm_kd. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Strip UniFP references, migration framings (faithful port / byte-identical / inheritance chain), and dated tuning history (2026-07-* / was X -> Y / zeta retune logs) from comments across the a2arm pos-force task, cse_ppo algorithm, and config files. Preserve the technical rationale (why a value exists, what mechanism it controls) while removing the provenance noise. - pos_force.py: neutralize 60+ UniFP/migration comments to describe behavior without referencing the origin; delete DEPLOYMENT CONTRACT tuning block. - estimator.py: keep Ji et al. 2022 citation (academic origin), remove UniFP. - YAMLs: strip tuning dates/run IDs, keep parameter semantics. - test: remove DEPLOYMENT CONTRACT label from arm_kd assertion. No code changes; comment-only cleanup. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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修改merge base 为 dev/issue-1042-manager-based-api |
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功能概述
主要改动
A2Arm 位置-力控制环境
A2ArmPosForce环境及对应配置。CSE-PPO 训练流程
scripts/train_cse_ppo.py训练入口。conf/ppo_cse/下的算法和任务配置。MuJoCo 交互控制
scripts/play_a2arm_pos_force_interactive.py。验证
make test-all