Adds assembly tasks from Automate project #2507

yijieg · 2025-05-16T05:18:03Z

Description

This MR adds new tasks for assembly tasks based on AutoMate paper. Tasks are 100 assemblies for diverse parts.

Type of change

New feature (non-breaking change which adds functionality)
This change requires a documentation update

Screenshots

Checklist

I have run the pre-commit checks with ./isaaclab.sh --format
I have made corresponding changes to the documentation
My changes generate no new warnings
I have added tests that prove my fix is effective or that my feature works
I have updated the changelog and the corresponding version in the extension's config/extension.toml file
I have added my name to the CONTRIBUTORS.md or my name already exists there

yijieg · 2025-05-16T05:35:00Z

Hi reviewers,

About the error in pre-commit, the check online reports error but my local run with ./isaaclab.sh --format does not report this error. I'm not sure whether I should follow the check online.

About the AWS CodeBuild error, any suggestions will be appreciated!

kellyguo11

Adding some comments from a quick scan of the changes.
A few of the tests still seem to be failing, will need to look more into why they are failing.

kellyguo11 · 2025-05-19T00:24:25Z

source/isaaclab_tasks/isaaclab_tasks/direct/assembly/copy_automate_data.py

+import shutil
+
+# Define source and destination directories
+source_base = "/home/bingjie/repos/shared/isaacgymenvs/assets/automate/mesh"


we probably shouldn't include your local path here? is this script required for the workflow?

Yes, this should be removed. I'd remove this file copy_automate_data.py

kellyguo11 · 2025-05-19T00:24:42Z

source/isaaclab_tasks/isaaclab_tasks/direct/assembly/copy_automate_data.py

+for assembly_id in assembly_ids:
+    copy_and_rename_files(assembly_id)
+
+# print("Done!")


we can also clean this up

This file 'copy_automate_data.py' has been removed.

kellyguo11 · 2025-05-19T00:25:20Z

source/isaaclab_tasks/isaaclab_tasks/direct/assembly/disassembly_env.py

+        # Set target_pos
+        self.ctrl_target_fingertip_midpoint_pos = gripper_goal_pos.clone()
+
+        # Set target rot


would it be possible to remove this?

Not sure whether I understand correctly. I remove the redundant commented lines here.

kellyguo11 · 2025-05-19T00:25:34Z

source/isaaclab_tasks/isaaclab_tasks/direct/assembly/disassembly_env.py

+        self.randomize_held_initial_state(env_ids, pre_grasp=False)
+
+        self.close_gripper(env_ids)
+        # Close hand


and this as well?

Not sure whether I understand correctly. I remove the redundant commented lines here.

kellyguo11 · 2025-05-19T00:27:04Z

docs/source/overview/environments.rst

+
+.. |assembly| image:: ../_static/tasks/assembly/00004.jpg
+
+.. |assembly-link| replace:: `Isaac-Assembly-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/direct/assembly/assembly_env_cfg.py>`__


should we also include the Disassembly task?

I have added the explanation for disassembly task

kellyguo11 · 2025-05-19T00:27:34Z

source/isaaclab_tasks/isaaclab_tasks/direct/assembly/run_w_id.py

+        f.writelines(updated_lines)
+
+
+def main():


is this script required to run the Assembly/Disassembly tasks? if yes, we should document this in the environments page so that users know how to run these.

I updated the environment page explaining the disassembly env, and the command line to run this script.

source/isaaclab_tasks/test/test_environments.py

Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>

Signed-off-by: Kelly Guo <kellyg@nvidia.com>

# Description This MR adds new tasks for assembly tasks based on AutoMate paper. Tasks are 100 assemblies for diverse parts. ## Type of change - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## Screenshots ![00004](https://github.com/user-attachments/assets/01fe26f4-bfc8-4df3-b99d-db3c01448ed5) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Kelly Guo <kellyguo123@hotmail.com> Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

yijieg added 7 commits May 13, 2025 11:28

automate environment code

b829d7d

correct format

81aa3ad

Merge branch 'main' into automate

98d0e67

add explanation for pr

1b6a073

add image for environment

a211d3e

Merge branch 'main' into automate

dda07c8

edit change log

efabee8

yijieg requested review from Mayankm96, jsmith-bdai and kellyguo11 as code owners May 16, 2025 05:18

correct format

1024eaa

kellyguo11 and others added 2 commits May 17, 2025 14:06

Merge branch 'main' into automate

63051eb

format

316fb2d

kellyguo11 changed the title ~~Add assembly tasks from Automate project~~ Adds assembly tasks from Automate project May 17, 2025

kellyguo11 and others added 3 commits May 18, 2025 15:38

Merge branch 'main' into automate

0625674

Adds scikit-learn depencendy

668b218

Merge branch 'automate' of github.com:isaac-sim/IsaacLab into automate

71200b0

kellyguo11 reviewed May 19, 2025

View reviewed changes

yijieg and others added 7 commits May 19, 2025 16:08

remove redundant comment, add explanation for disassembly env

f5a4dd6

minor fix

ec90324

update env figure

5426a26

format and clean up

95db5e3

format

0618ef8

add cuda to docker and fix single env

a57099e

revert assembly id

b19db92

kellyguo11 requested review from hhansen-bdai and pascal-roth as code owners May 23, 2025 01:03

kellyguo11 added 2 commits May 22, 2025 18:07

format

caa8bf1

trigger build

a8a949f

fix unit tests

d3c557c

kellyguo11 reviewed May 24, 2025

View reviewed changes

source/isaaclab_tasks/test/test_environments.py Outdated Show resolved Hide resolved

kellyguo11 added 3 commits May 23, 2025 18:04

Update source/isaaclab_tasks/test/test_environments.py

25d560b

Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>

Merge branch 'main' into automate

534223d

Signed-off-by: Kelly Guo <kellyg@nvidia.com>

Update extension.toml

887bcbe

Signed-off-by: Kelly Guo <kellyg@nvidia.com>

kellyguo11 merged commit a1e81cc into main May 24, 2025
4 of 5 checks passed

kellyguo11 deleted the automate branch May 24, 2025 01:43


		.. \|assembly\| image:: ../_static/tasks/assembly/00004.jpg

		.. \|assembly-link\| replace:: `Isaac-Assembly-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/direct/assembly/assembly_env_cfg.py>`__

Adds assembly tasks from Automate project #2507

Adds assembly tasks from Automate project #2507

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yijieg commented May 16, 2025

Description

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Screenshots

Checklist

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yijieg commented May 16, 2025

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