Adds galbot stack cube tasks, with left_arm_gripper and right_arm_suction, using RMPFlow controller

docs/source/overview/environments.rst

@@ -3,7 +3,7 @@
 Available Environments
 ======================
 
-The following lists comprises of all the RL tasks implementations that are available in Isaac Lab.
+The following lists comprises of all the RL or IL tasks implementations that are available in Isaac Lab.
 While we try to keep this list up-to-date, you can always get the latest list of environments by
 running the following command:
 
@@ -113,6 +113,10 @@ for the lift-cube environment:
     |                    |                         | Blueprint env used for the NVIDIA Isaac GR00T blueprint for synthetic       |
     |                    | |stack-cube-bp-link|    | manipulation motion generation                                              |
     +--------------------+-------------------------+-----------------------------------------------------------------------------+
+    | |surface-gripper|  | |long-suction-link|     | Stack three cubes (bottom to top: blue, red, green)                         |
+    |                    |                         | with the UR10 arm and long surface gripper                                  |
+    |                    | |short-suction-link|    | or short surface gripper.                                                   |
+    +--------------------+-------------------------+-----------------------------------------------------------------------------+
     | |cabi-franka|      | |cabi-franka-link|      | Grasp the handle of a cabinet's drawer and open it with the Franka robot    |
     |                    |                         |                                                                             |
     |                    | |franka-direct-link|    |                                                                             |
@@ -135,6 +139,9 @@ for the lift-cube environment:
     | |gr1_pp_waist|     | |gr1_pp_waist-link|     | Pick up and place an object in a basket with a GR-1 humanoid robot          |
     |                    |                         | with waist degrees-of-freedom enables that provides a wider reach space.    |
     +--------------------+-------------------------+-----------------------------------------------------------------------------+
+    | |galbot_stack|     | |galbot_stack-link|     | Stack three cubes (bottom to top: blue, red, green) with the left arm of    |
+    |                    |                         | a Galbot humanoid robot                                                     |
+    +--------------------+-------------------------+-----------------------------------------------------------------------------+
 
 .. |reach-franka| image:: ../_static/tasks/manipulation/franka_reach.jpg
 .. |reach-ur10| image:: ../_static/tasks/manipulation/ur10_reach.jpg
@@ -145,6 +152,8 @@ for the lift-cube environment:
 .. |stack-cube| image:: ../_static/tasks/manipulation/franka_stack.jpg
 .. |gr1_pick_place| image:: ../_static/tasks/manipulation/gr-1_pick_place.jpg
 .. |gr1_pp_waist| image:: ../_static/tasks/manipulation/gr-1_pick_place_waist.jpg
+.. |surface-gripper| image:: ../_static/tasks/manipulation/ur10_stack_surface_gripper.jpg
+.. |galbot_stack| image:: ../_static/tasks/manipulation/galbot_stack_cube.jpg
 
 .. |reach-franka-link| replace:: `Isaac-Reach-Franka-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/joint_pos_env_cfg.py>`__
 .. |reach-ur10-link| replace:: `Isaac-Reach-UR10-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/ur_10/joint_pos_env_cfg.py>`__
@@ -159,6 +168,9 @@ for the lift-cube environment:
 .. |stack-cube-bp-link| replace:: `Isaac-Stack-Cube-Franka-IK-Rel-Blueprint-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_blueprint_env_cfg.py>`__
 .. |gr1_pick_place-link| replace:: `Isaac-PickPlace-GR1T2-Abs-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py>`__
 .. |gr1_pp_waist-link| replace:: `Isaac-PickPlace-GR1T2-WaistEnabled-Abs-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py>`__
+.. |galbot_stack-link| replace:: `Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-RmpFlow-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/galbot/stack_rmp_rel_env_cfg.py>`__
+.. |long-suction-link| replace:: `Isaac-Stack-Cube-UR10-Long-Suction-IK-Rel-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_ik_rel_env_cfg.py>`__
+.. |short-suction-link| replace:: `Isaac-Stack-Cube-UR10-Short-Suction-IK-Rel-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_ik_rel_env_cfg.py>`__
 
 .. |cube-shadow-link| replace:: `Isaac-Repose-Cube-Shadow-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__
 .. |cube-shadow-ff-link| replace:: `Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__

scripts/demos/pick_and_place.py

@@ -87,7 +87,7 @@ class PickAndPlaceEnvCfg(DirectRLEnvCfg):
 
     # Surface Gripper, the prim_expr need to point to a unique surface gripper per environment.
     gripper = SurfaceGripperCfg(
-        prim_expr="/World/envs/env_.*/Robot/picker_head/SurfaceGripper",
+        prim_path="/World/envs/env_.*/Robot/picker_head/SurfaceGripper",
         max_grip_distance=0.1,
         shear_force_limit=500.0,
         coaxial_force_limit=500.0,

scripts/tutorials/01_assets/run_surface_gripper.py

@@ -72,7 +72,7 @@ def design_scene():
     # Surface Gripper: Next we define the surface gripper config
     surface_gripper_cfg = SurfaceGripperCfg()
     # We need to tell the View which prim to use for the surface gripper
-    surface_gripper_cfg.prim_expr = "/World/Origin.*/Robot/picker_head/SurfaceGripper"
+    surface_gripper_cfg.prim_path = "/World/Origin.*/Robot/picker_head/SurfaceGripper"
     # We can then set different parameters for the surface gripper, note that if these parameters are not set,
     # the View will try to read them from the prim.
     surface_gripper_cfg.max_grip_distance = 0.1  # [m] (Maximum distance at which the gripper can grasp an object)

source/isaaclab/isaaclab/assets/surface_gripper/surface_gripper.py

@@ -9,6 +9,7 @@
 import warnings
 from typing import TYPE_CHECKING
 
+import omni.log
 from isaacsim.core.utils.extensions import enable_extension
 from isaacsim.core.version import get_version
 
@@ -18,7 +19,7 @@
 if TYPE_CHECKING:
     from isaacsim.robot.surface_gripper import GripperView
 
-from .surface_gripper_cfg import SurfaceGripperCfg
+    from .surface_gripper_cfg import SurfaceGripperCfg
 
 
 class SurfaceGripper(AssetBase):
@@ -246,7 +247,7 @@ def _initialize_impl(self) -> None:
 
         Raises:
             ValueError: If the simulation backend is not CPU.
-            RuntimeError: If the Simulation Context is not initialized.
+            RuntimeError: If the Simulation Context is not initialized or if gripper prims are not found.
 
         Note:
             The SurfaceGripper is only supported on CPU for now. Please set the simulation backend to run on CPU.
@@ -262,8 +263,35 @@ def _initialize_impl(self) -> None:
                 "SurfaceGripper is only supported on CPU for now. Please set the simulation backend to run on CPU. Use"
                 " `--device cpu` to run the simulation on CPU."
             )
+
+        # obtain the first prim in the regex expression (all others are assumed to be a copy of this)
+        template_prim = sim_utils.find_first_matching_prim(self._cfg.prim_path)
+        if template_prim is None:
+            raise RuntimeError(f"Failed to find prim for expression: '{self._cfg.prim_path}'.")
+        template_prim_path = template_prim.GetPath().pathString
+
+        # find surface gripper prims
+        gripper_prims = sim_utils.get_all_matching_child_prims(
+            template_prim_path, predicate=lambda prim: prim.GetTypeName() == "IsaacSurfaceGripper"
+        )
+        if len(gripper_prims) == 0:
+            raise RuntimeError(
+                f"Failed to find a surface gripper when resolving '{self._cfg.prim_path}'."
+                " Please ensure that the prim has type 'IsaacSurfaceGripper'."
+            )
+        if len(gripper_prims) > 1:
+            raise RuntimeError(
+                f"Failed to find a single surface gripper when resolving '{self._cfg.prim_path}'."
+                f" Found multiple '{gripper_prims}' under '{template_prim_path}'."
+                " Please ensure that there is only one surface gripper in the prim path tree."
+            )
+
+        # resolve gripper prim back into regex expression
+        gripper_prim_path = gripper_prims[0].GetPath().pathString
+        gripper_prim_path_expr = self._cfg.prim_path + gripper_prim_path[len(template_prim_path) :]
+
         # Count number of environments
-        self._prim_expr = self._cfg.prim_expr
+        self._prim_expr = gripper_prim_path_expr
         env_prim_path_expr = self._prim_expr.rsplit("/", 1)[0]
         self._parent_prims = sim_utils.find_matching_prims(env_prim_path_expr)
         self._num_envs = len(self._parent_prims)
@@ -287,6 +315,10 @@ def _initialize_impl(self) -> None:
             retry_interval=self._retry_interval.clone(),
         )
 
+        # log information about the surface gripper
+        omni.log.info(f"Surface gripper initialized at: {self._cfg.prim_path} with root '{gripper_prim_path_expr}'.")
+        omni.log.info(f"Number of instances: {self._num_envs}")
+
         # Reset grippers
         self.reset()
 

source/isaaclab/isaaclab/assets/surface_gripper/surface_gripper_cfg.py

@@ -7,12 +7,15 @@
 
 from isaaclab.utils import configclass
 
+from ..asset_base_cfg import AssetBaseCfg
+from .surface_gripper import SurfaceGripper
+
 
 @configclass
-class SurfaceGripperCfg:
+class SurfaceGripperCfg(AssetBaseCfg):
     """Configuration parameters for a surface gripper actuator."""
 
-    prim_expr: str = MISSING
+    prim_path: str = MISSING
     """The expression to find the grippers in the stage."""
 
     max_grip_distance: float | None = None
@@ -26,3 +29,5 @@ class SurfaceGripperCfg:
 
     retry_interval: float | None = None
     """The amount of time the gripper will spend trying to grasp an object."""
+
+    class_type: type = SurfaceGripper

source/isaaclab/isaaclab/controllers/config/rmp_flow.py

@@ -9,6 +9,13 @@
 
 from isaaclab.controllers.rmp_flow import RmpFlowControllerCfg
 
+# from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
+
+# FIXME: temp uploaded to nucleus folder, remove this line in public release and use above ISAACLAB_NUCLEUS_DIR
+ISAACLAB_NUCLEUS_DIR = "https://isaac-dev.ov.nvidia.com/omni/web3/omniverse://isaac-dev.ov.nvidia.com/Isaac/IsaacLab"
+
+ISAACLAB_NUCLEUS_RMPFLOW_DIR = os.path.join(ISAACLAB_NUCLEUS_DIR, "Controllers", "RmpFlowAssets")
+
 # Note: RMP-Flow config files for supported robots are stored in the motion_generation extension
 _RMP_CONFIG_DIR = os.path.join(
     get_extension_path_from_name("isaacsim.robot_motion.motion_generation"), "motion_policy_configs"
@@ -35,3 +42,37 @@
     evaluations_per_frame=5,
 )
 """Configuration of RMPFlow for UR10 arm (default from `isaacsim.robot_motion.motion_generation`)."""
+
+GALBOT_LEFT_ARM_RMPFLOW_CFG = RmpFlowControllerCfg(
+    config_file=os.path.join(
+        ISAACLAB_NUCLEUS_RMPFLOW_DIR,
+        "galbot_one_charlie",
+        "rmpflow",
+        "galbot_one_charlie_left_arm_rmpflow_config.yaml",
+    ),
+    urdf_file=os.path.join(ISAACLAB_NUCLEUS_RMPFLOW_DIR, "galbot_one_charlie", "galbot_one_charlie.urdf"),
+    collision_file=os.path.join(
+        ISAACLAB_NUCLEUS_RMPFLOW_DIR, "galbot_one_charlie", "rmpflow", "galbot_one_charlie_left_arm_gripper.yaml"
+    ),
+    frame_name="left_gripper_tcp_link",
+    evaluations_per_frame=5,
+    ignore_robot_state_updates=True,
+)
+
+GALBOT_RIGHT_ARM_RMPFLOW_CFG = RmpFlowControllerCfg(
+    config_file=os.path.join(
+        ISAACLAB_NUCLEUS_RMPFLOW_DIR,
+        "galbot_one_charlie",
+        "rmpflow",
+        "galbot_one_charlie_right_arm_rmpflow_config.yaml",
+    ),
+    urdf_file=os.path.join(ISAACLAB_NUCLEUS_RMPFLOW_DIR, "galbot_one_charlie", "galbot_one_charlie.urdf"),
+    collision_file=os.path.join(
+        ISAACLAB_NUCLEUS_RMPFLOW_DIR, "galbot_one_charlie", "rmpflow", "galbot_one_charlie_right_arm_suction.yaml"
+    ),
+    frame_name="right_suction_cup_tcp_link",
+    evaluations_per_frame=5,
+    ignore_robot_state_updates=True,
+)
+
+"""Configuration of RMPFlow for Galbot humanoid."""

source/isaaclab/isaaclab/controllers/rmp_flow.py

@@ -20,6 +20,7 @@
 from isaacsim.robot_motion.motion_generation.lula.motion_policies import RmpFlow, RmpFlowSmoothed
 
 from isaaclab.utils import configclass
+from isaaclab.utils.assets import retrieve_file_path
 
 
 @configclass
@@ -95,11 +96,17 @@ def initialize(self, prim_paths_expr: str):
             # add robot reference
             robot = SingleArticulation(prim_path)
             robot.initialize()
+            # download files if they are not local
+
+            local_urdf_file = retrieve_file_path(self.cfg.urdf_file, force_download=True)
+            local_collision_file = retrieve_file_path(self.cfg.collision_file, force_download=True)
+            local_config_file = retrieve_file_path(self.cfg.config_file, force_download=True)
+
             # add controller
             rmpflow = controller_cls(
-                robot_description_path=self.cfg.collision_file,
-                urdf_path=self.cfg.urdf_file,
-                rmpflow_config_path=self.cfg.config_file,
+                robot_description_path=local_collision_file,
+                urdf_path=local_urdf_file,
+                rmpflow_config_path=local_config_file,
                 end_effector_frame_name=self.cfg.frame_name,
                 maximum_substep_size=physics_dt / self.cfg.evaluations_per_frame,
                 ignore_robot_state_updates=self.cfg.ignore_robot_state_updates,

source/isaaclab/isaaclab/devices/spacemouse/se3_spacemouse.py

@@ -140,6 +140,7 @@ def _find_device(self):
                 if (
                     device["product_string"] == "SpaceMouse Compact"
                     or device["product_string"] == "SpaceMouse Wireless"
+                    or device["product_string"] == "3Dconnexion Universal Receiver"
                 ):
                     # set found flag
                     found = True
@@ -148,6 +149,7 @@ def _find_device(self):
                     # connect to the device
                     self._device.close()
                     self._device.open(vendor_id, product_id)
+                    self._device_name = device["product_string"]
             # check if device found
             if not found:
                 time.sleep(1.0)
@@ -162,19 +164,32 @@ def _run_device(self):
         # keep running
         while True:
             # read the device data
-            data = self._device.read(7)
+            if self._device_name == "3Dconnexion Universal Receiver":
+                data = self._device.read(7 + 6)
+            else:
+                data = self._device.read(7)
             if data is not None:
                 # readings from 6-DoF sensor
-                if data[0] == 1:
-                    self._delta_pos[1] = self.pos_sensitivity * convert_buffer(data[1], data[2])
-                    self._delta_pos[0] = self.pos_sensitivity * convert_buffer(data[3], data[4])
-                    self._delta_pos[2] = self.pos_sensitivity * convert_buffer(data[5], data[6]) * -1.0
-                elif data[0] == 2 and not self._read_rotation:
-                    self._delta_rot[1] = self.rot_sensitivity * convert_buffer(data[1], data[2])
-                    self._delta_rot[0] = self.rot_sensitivity * convert_buffer(data[3], data[4])
-                    self._delta_rot[2] = self.rot_sensitivity * convert_buffer(data[5], data[6]) * -1.0
+                if self._device_name == "3Dconnexion Universal Receiver":
+                    if data[0] == 1:
+                        self._delta_pos[1] = self.pos_sensitivity * convert_buffer(data[1], data[2])
+                        self._delta_pos[0] = self.pos_sensitivity * convert_buffer(data[3], data[4])
+                        self._delta_pos[2] = self.pos_sensitivity * convert_buffer(data[5], data[6]) * -1.0
+
+                        self._delta_rot[1] = self.rot_sensitivity * convert_buffer(data[1 + 6], data[2 + 6])
+                        self._delta_rot[0] = self.rot_sensitivity * convert_buffer(data[3 + 6], data[4 + 6])
+                        self._delta_rot[2] = self.rot_sensitivity * convert_buffer(data[5 + 6], data[6 + 6]) * -1.0
+                else:
+                    if data[0] == 1:
+                        self._delta_pos[1] = self.pos_sensitivity * convert_buffer(data[1], data[2])
+                        self._delta_pos[0] = self.pos_sensitivity * convert_buffer(data[3], data[4])
+                        self._delta_pos[2] = self.pos_sensitivity * convert_buffer(data[5], data[6]) * -1.0
+                    elif data[0] == 2 and not self._read_rotation:
+                        self._delta_rot[1] = self.rot_sensitivity * convert_buffer(data[1], data[2])
+                        self._delta_rot[0] = self.rot_sensitivity * convert_buffer(data[3], data[4])
+                        self._delta_rot[2] = self.rot_sensitivity * convert_buffer(data[5], data[6]) * -1.0
                 # readings from the side buttons
-                elif data[0] == 3:
+                if data[0] == 3:
                     # press left button
                     if data[1] == 1:
                         # close gripper

source/isaaclab/isaaclab/envs/mdp/actions/__init__.py

@@ -10,3 +10,4 @@
 from .joint_actions import *
 from .joint_actions_to_limits import *
 from .non_holonomic_actions import *
+from .surface_gripper_actions import *