Gear Train Assembly

We will train two skills for the manipulator

• Peg Insertion
• Gear Meshing

Requirements

• Isaac Lab [https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/index.html]

Setup

1. Go to your IsaacLab directory source/isaaclab_tasks/isaaclab_tasks/manager_based
2. Clone the repository https://github.com/bugartlan/HCR_Gear_Train_Assembly.git

Hardware

• UR3e
• Robotiq Hand-E

Training

• Train on HCRL servers: Same command as how you run SO_101, except replacing the task name with

./ray.sh job --task Isaac-Assembly-PegInsert-Chamfer-v0

• Run training without visualization (headless): Use --num_env 1 for faster startup for quick syntax checks.

python scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Assembly-PegInsert-v0 --headless

• Run training with visualization for visual debugging.

python scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Assembly-PegInsert-v0 --num_env 1

Playing a Policy

• Export and run the most recent trained policy:

python scripts/reinforcement_learning/rsl_rl/play.py --task Isaac-Assembly-PegInsert-v0 --num_env 1