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add reward manager #71

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7eeaeab
add reward manager
Jan 16, 2026
f2a1d19
fix obs
Jan 16, 2026
548c1b1
fix obs_dim with flatten dict input
Jan 19, 2026
4e66b14
update review changes
Jan 19, 2026
bea6d5e
delete RLenvCfg
Jan 19, 2026
0ec4b79
Merge branch 'main' into yhn/reward_manager
Jan 19, 2026
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314 changes: 191 additions & 123 deletions configs/agents/rl/push_cube/gym_config.json
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Original file line number Diff line number Diff line change
@@ -1,129 +1,197 @@
{
"id": "PushCubeRL",
"max_episodes": 5,
"env": {
"num_envs": 128,
"sim_steps_per_control": 4,
"events": {
"randomize_cube": {
"func": "randomize_rigid_object_pose",
"mode": "reset",
"params": {
"entity_cfg": {"uid": "cube"},
"position_range": [[-0.2, -0.2, 0.0], [0.2, 0.2, 0.0]],
"relative_position": true
{
"id": "PushCubeRL",
"max_episodes": 5,
"env": {
"num_envs": 128,
"sim_steps_per_control": 4,
"events": {
"randomize_cube": {
"func": "randomize_rigid_object_pose",
"mode": "reset",
"params": {
"entity_cfg": {
"uid": "cube"
},
"position_range": [
[-0.2, -0.2, 0.0],
[0.2, 0.2, 0.0]
],
"relative_position": true
}
},
"randomize_goal": {
"func": "randomize_target_pose",
"mode": "reset",
"params": {
"position_range": [
[-0.3, -0.3, 0.05],
[0.3, 0.3, 0.05]
],
"relative_position": false,
"store_key": "goal_pose"
}
}
},
"observations": {
"robot_qpos": {
"func": "normalize_robot_joint_data",
"mode": "modify",
"name": "robot/qpos",
"params": {
"joint_ids": [0, 1, 2, 3, 4, 5]
}
},
"robot_ee_pos": {
"func": "get_robot_eef_pose",
"mode": "add",
"name": "robot/ee_pos",
"params": {
"part_name": "arm"
}
},
"cube_pos": {
"func": "get_rigid_object_pose",
"mode": "add",
"name": "object/cube_pos",
"params": {
"entity_cfg": {
"uid": "cube"
}
}
},
"goal_pos": {
"func": "target_position",
"mode": "add",
"name": "object/goal_pos",
"params": {
"target_pose_key": "goal_pose"
}
}
},
"rewards": {
"reaching_reward": {
"func": "reaching_behind_object_reward",
"mode": "add",
"name": "reaching",
"weight": 0.1,
"params": {
"object_cfg": {
"uid": "cube"
},
"target_pose_key": "goal_pose",
"behind_offset": 0.015,
"height_offset": 0.015,
"distance_scale": 5.0,
"part_name": "arm"
}
},
"place_reward": {
"func": "incremental_distance_to_target",
"mode": "add",
"name": "place",
"weight": 1.0,
"params": {
"source_entity_cfg": {
"uid": "cube"
},
"target_pose_key": "goal_pose",
"tanh_scale": 10.0,
"positive_weight": 2.0,
"negative_weight": 0.5,
"use_xy_only": true
}
},
"action_penalty": {
"func": "action_smoothness_penalty",
"mode": "add",
"name": "action_penalty",
"weight": 0.01,
"params": {}
},
"success_bonus": {
"func": "success_reward",
"mode": "add",
"name": "success",
"weight": 10.0,
"params": {}
}
},
"extensions": {
"obs_mode": "state",
"episode_length": 100,
"joint_limits": 0.5,
"action_scale": 0.1,
"success_threshold": 0.1
}
}
},
"observations": {},
"extensions": {
"obs_mode": "state",
"episode_length": 100,
"joint_limits": 0.5,
"action_scale": 0.1,
"success_threshold": 0.1,
"reaching_reward_weight": 0.1,
"place_reward_weight": 2.0,
"place_penalty_weight": 0.5,
"action_penalty_weight": 0.01,
"success_bonus_weight": 10.0
}
},
"robot": {
"uid": "Manipulator",
"urdf_cfg": {
"components": [
{
"component_type": "arm",
"urdf_path": "UniversalRobots/UR10/UR10.urdf",
"transform": [
[1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.0],
[0.0, 0.0, 0.0, 1.0]
]
"robot": {
"uid": "Manipulator",
"urdf_cfg": {
"components": [
{
"component_type": "arm",
"urdf_path": "UniversalRobots/UR10/UR10.urdf"
},
{
"component_type": "hand",
"urdf_path": "DH_PGI_140_80/DH_PGI_140_80.urdf"
}
]
},
{
"component_type": "hand",
"urdf_path": "DH_PGI_140_80/DH_PGI_140_80.urdf",
"transform": [
[1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.0],
[0.0, 0.0, 0.0, 1.0]
]
"init_pos": [0.0, 0.0, 0.0],
"init_rot": [0.0, 0.0, 0.0],
"init_qpos": [0.0, -1.57, 1.57, -1.57, -1.57, 0.0, 0.04, 0.04],
"drive_pros": {
"drive_type": "force",
"stiffness": 100000.0,
"damping": 1000.0,
"max_velocity": 2.0,
"max_effort": 500.0
},
"solver_cfg": {
"arm": {
"class_type": "PytorchSolver",
"end_link_name": "ee_link",
"root_link_name": "base_link",
"tcp": [
[1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.16],
[0.0, 0.0, 0.0, 1.0]
]
}
},
"control_parts": {
"arm": ["JOINT[1-6]"]
}
]
},
"init_pos": [0.0, 0.0, 0.0],
"init_rot": [0.0, 0.0, 0.0],
"init_qpos": [0.0, -1.57, 1.57, -1.57, -1.57, 0.0, 0.04, 0.04],
"drive_pros": {
"drive_type": "force",
"stiffness": 100000.0,
"damping": 1000.0,
"max_velocity": 2.0,
"max_effort": 500.0
},
"solver_cfg": {
"arm": {
"class_type": "PytorchSolver",
"end_link_name": "ee_link",
"root_link_name": "base_link",
"tcp": [
[1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.16],
[0.0, 0.0, 0.0, 1.0]
]
}
},
"control_parts": {
"arm": ["JOINT[1-6]"]
}
},
"sensor": [],
"light": {
},
"background": [
{
"uid": "goal_sphere",
"shape": {
"shape_type": "Sphere",
"radius": 0.02
},
"body_type": "kinematic",
"init_pos": [-0.9, -0.6, 0.05],
"attrs": {
"enable_collision": false,
"mass": 0.0
}
}
],
"rigid_object": [
{
"uid": "cube",
"shape": {
"shape_type": "Cube",
"size": [0.1, 0.1, 0.1]
},
"body_type": "dynamic",
"init_pos": [-0.6, -0.4, 0.05],
"attrs": {
"mass": 10.0,
"static_friction": 3.0,
"dynamic_friction": 2.0,
"linear_damping": 2.0,
"angular_damping": 2.0,
"contact_offset": 0.003,
"rest_offset": 0.001,
"restitution": 0.1,
"max_depenetration_velocity": 10.0,
"max_linear_velocity": 1.0,
"max_angular_velocity": 1.0
}
}
],
"rigid_object_group": [],
"articulation": []
"sensor": [],
"light": {},
"background": [],
"rigid_object": [
{
"uid": "cube",
"shape": {
"shape_type": "Cube",
"size": [0.1, 0.1, 0.1]
},
"body_type": "dynamic",
"init_pos": [-0.6, -0.4, 0.05],
"attrs": {
"mass": 10.0,
"static_friction": 3.0,
"dynamic_friction": 2.0,
"linear_damping": 2.0,
"angular_damping": 2.0,
"contact_offset": 0.003,
"rest_offset": 0.001,
"restitution": 0.1,
"max_depenetration_velocity": 10.0,
"max_linear_velocity": 1.0,
"max_angular_velocity": 1.0
}
}
],
"rigid_object_group": [],
"articulation": []
}
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