IsaacLabExtendedTasks

This repository is based on IsaacLab and is designed to add new tasks that are not available in isaaclab_tasks.

Structure

The repository, IsaacLabExtendedTasks, consists of two main components:

• isaaclab_exassets
• isaaclab_extasks

Both components are built on top of isaaclab_assets and isaaclab_tasks.

isaaclab_extasks
├── kitchen # env_name
│   └── <task_name> # e.g. open_cabinet, bowl_stack, coffee_make
│       ├── config
│       │   └── <robot_name> # e.g. franka, universal_robots
│       │       ├── __init__.py
│       │       ├── <robot_name>_cfg.py
│       │       └── agents
│       │           ├── rsl_rl_ppo_cfg.py
│       │           └── __init__.py
│       ├── mdp
│       │   ├── __init__.py
│       │   ├── observations.py
│       │   ├── rewards.py
│       │   └── terminations.py
│       ├── __init__.py
│       └── <task_name>_env_cfg.py
├── fractory # env_name
│   └── <task_name> # e.g. fusion360_joint_assembly, fmb_single_assembly
│       ├── config
│       │   └── <robot_name> # e.g. franka, universal_robots
│       │       ├── __init__.py
│       │       ├── <robot_name>_cfg.py
│       │       └── agents
│       │           ├── rsl_rl_ppo_cfg.py
│       │           └── __init__.py
│       ├── mdp
│       │   ├── __init__.py
│       │   ├── observations.py
│       │   ├── rewards.py
│       │   └── terminations.py
│       ├── __init__.py
│       └── <task_name>_env_cfg.py
└── block_world # env_name
    └── <task_name> # e.g. sort, stack
        ├── config
        │   └── <robot_name> # e.g. franka, universal_robots
        │       ├── __init__.py
        │       ├── <robot_name>_cfg.py
        │       └── agents
        │           ├── rsl_rl_ppo_cfg.py
        │           └── __init__.py
        ├── mdp
        │   ├── __init__.py
        │   ├── observations.py
        │   ├── rewards.py
        │   └── terminations.py
        ├── __init__.py
        └── <task_name>_env_cfg.py

Installation

To install this repository, follow these steps:

1. Clone the repository.

git clone https://github.com/makolon/IsaacLabExtendedTasks.git

2. Build docker container.

cp .env.sample .env
docker compose build isaac-lab-base
docker compose build isaac-lab-extasks

3. Enter extasks container.

docker compose run isaac-lab-extasks

Note

Update the DISPLAY environment in the .env file using free display. (The display free if it is not in the /tmp/.X11-unix/ folder of the host machine) Also, change the WEBPORT to enable the first free port (Get it by calculating DISPLAY + 6080).

# If there is no file /tmp/.X11-unix/X20
DISPLAY=:20
WEBPORT=6100

Example

You can simulate the Isaac-Siemens-Gearbox-Assembly-Franka-v0 environment by running the following command.

cd ./scripts
python create_scene.py --task Isaac-Siemens-Gearbox-Assembly-Franka-v0 --enable_cameras

Available Tasks

The following tasks are currently available in this repository:

• Block World
  • Sort
    • Isaac-Block-Sort-Franka-v0
    • Isaac-Block-Sort-UR5e-v0
    • Isaac-Block-Sort-UR10e-v0
    • Isaac-Block-Sort-XArm7-v0
    • Isaac-Block-Sort-LBRIIWA7-v0
    • Isaac-Block-Sort-Gen3n7-v0
    • Isaac-Block-Sort-Jaco7N-v0
    • Isaac-Block-Sort-Jaco7S-v0
  • Stack
    • Isaac-Block-Stack-Franka-v0
    • Isaac-Block-Stack-UR5e-v0
    • Isaac-Block-Stack-UR10e-v0
    • Isaac-Block-Stack-XArm7-v0
    • Isaac-Block-Stack-LBRIIWA7-v0
    • Isaac-Block-Stack-Gen3n7-v0
    • Isaac-Block-Stack-Jaco7N-v0
    • Isaac-Block-Stack-Jaco7S-v0
• Factory
  • Siemens Gearbox Assembly
    • Isaac-Siemens-Gearbox-Assembly-Franka-v0
    • Isaac-Siemens-Gearbox-Assembly-UR5e-v0
    • Isaac-Siemens-Gearbox-Assembly-UR10e-v0
    • Isaac-Siemens-Gearbox-Assembly-XArm7-v0
  • FMB Single Assembly
    • Isaac-FMB-Single-Assembly-Franka-v0
    • Isaac-FMB-Single-Assembly-UR5e-v0
    • Isaac-FMB-Single-Assembly-UR10e-v0
    • Isaac-FMB-Single-Assembly-XArm7-v0
  • IndustReal Gear Assembly
    • Isaac-Industreal-Gear-Assembly-Franka-v0
    • Isaac-Industreal-Gear-Assembly-UR5e-v0
    • Isaac-Industreal-Gear-Assembly-UR10e-v0
    • Isaac-Industreal-Gear-Assembly-XArm7-v0
  • Fusion360 Joint Assembly
    • Isaac-Fusion360-Joint-Assembly-Franka-v0
    • Isaac-Fusion360-Joint-Assembly-UR5e-v0
    • Isaac-Fusion360-Joint-Assembly-UR10e-v0
    • Isaac-Fusion360-Joint-Assembly-XArm7-v0
• Kitchen
  • Bowl Stack
    • Isaac-Bowl-Stack-Franka-v0
    • Isaac-Bowl-Stack-UR5e-v0
    • Isaac-Bowl-Stack-UR10e-v0
    • Isaac-Bowl-Stack-XArm7-v0
  • Coffee Make
    • Isaac-Coffee-Make-Franka-v0
    • Isaac-Coffee-Make-UR5e-v0
    • Isaac-Coffee-Make-UR10e-v0
    • Isaac-Coffee-Make-XArm7-v0

Extension

This repository is intended for use with IsaacTAMP and IsaacLab. It can be installed via the following command:

pip install git+https://github.com/makolon/IsaacLabExtendedTasks.git/#subdirectory=isaaclab_exassets
pip install git+https://github.com/makolon/IsaacLabExtendedAssets.git/#subdirectory=isaaclab_extasks

For detailed usage instructions, please refer to the README files located in each directory.