Seun/nist gear insertion task example

isaaclab_arena/assets/object_library.py

@@ -4,12 +4,9 @@
 # SPDX-License-Identifier: Apache-2.0
 
 
-from typing import TYPE_CHECKING, Any
+from typing import Any
 
 import isaaclab.sim as sim_utils
-
-if TYPE_CHECKING:
-    from isaaclab_arena.assets.hdr_image import HDRImage
 from isaaclab.assets import RigidObjectCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
@@ -285,6 +282,88 @@ def __init__(
         super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose, scale=scale)
 
 
+# NIST insertion assets use Arena's high-precision assembly preset to mirror
+# Factory/Forge dense-contact settings for small-clearance gear insertion.
+@register_asset
+class GearsAndBase(LibraryObject):
+    """NIST gear base with SDF collision (gear_base as root prim)."""
+
+    name = "gears_and_base"
+    tags = ["object"]
+    usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Arena/assets/object_library/NIST/gearbase_and_gears_gearbase_root.usd"
+
+    spawn_cfg_addon = {
+        "rigid_props": RIGID_BODY_PROPS_HIGH_PRECISION.replace(disable_gravity=False, kinematic_enabled=True),
+        "mass_props": sim_utils.MassPropertiesCfg(mass=0.012),
+        "collision_props": sim_utils.CollisionPropertiesCfg(contact_offset=0.005, rest_offset=0.0),
+    }
+
+    def __init__(
+        self, instance_name: str | None = None, prim_path: str | None = None, initial_pose: Pose | None = None
+    ):
+        super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose)
+
+
+@register_asset
+class MediumNistGear(LibraryObject):
+    """NIST medium gear (held asset for gear insertion)."""
+
+    name = "medium_nist_gear"
+    tags = ["object"]
+    usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Arena/assets/object_library/NIST/gear_medium.usd"
+
+    spawn_cfg_addon = {
+        "rigid_props": RIGID_BODY_PROPS_HIGH_PRECISION.replace(disable_gravity=True),
+        "mass_props": sim_utils.MassPropertiesCfg(mass=0.012),
+        "collision_props": sim_utils.CollisionPropertiesCfg(contact_offset=0.005, rest_offset=0.0),
+    }
+
+    def __init__(
+        self, instance_name: str | None = None, prim_path: str | None = None, initial_pose: Pose | None = None
+    ):
+        super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose)
+
+
+@register_asset
+class NistBoardAssembled(LibraryObject):
+    """NIST fully assembled taskboard."""
+
+    name = "nist_board_assembled"
+    tags = ["nist", "object"]
+    usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Arena/assets/object_library/NIST/nist_board_assembled.usd"
+    object_type = ObjectType.BASE
+    # The assembled board is visual context for this task; gears_and_base owns
+    # the physical peg and gear contacts used by observations, rewards, and success.
+    spawn_cfg_addon = {
+        "rigid_props": sim_utils.RigidBodyPropertiesCfg(rigid_body_enabled=False),
+        "collision_props": sim_utils.CollisionPropertiesCfg(collision_enabled=False),
+    }
+
+    def __init__(
+        self, instance_name: str | None = None, prim_path: str | None = None, initial_pose: Pose | None = None
+    ):
+        super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose)
+
+
+@register_asset
+class NistGearBase(LibraryObject):
+    """NIST standalone gear base."""
+
+    name = "nist_gear_base"
+    tags = ["nist", "object"]
+    usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Arena/assets/object_library/NIST/gear_base.usd"
+    spawn_cfg_addon = {
+        "rigid_props": RIGID_BODY_PROPS_HIGH_PRECISION.replace(disable_gravity=False, kinematic_enabled=True),
+        "mass_props": sim_utils.MassPropertiesCfg(mass=0.012),
+        "collision_props": sim_utils.CollisionPropertiesCfg(contact_offset=0.005, rest_offset=0.0),
+    }
+
+    def __init__(
+        self, instance_name: str | None = None, prim_path: str | None = None, initial_pose: Pose | None = None
+    ):
+        super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose)
+
+
 @register_asset
 class BlueSortingBin(LibraryObject):
     """

isaaclab_arena/embodiments/__init__.py

@@ -6,6 +6,7 @@
 from .agibot.agibot import *
 from .droid.droid import *
 from .franka.franka import *
+from .franka.nist_gear_insertion.franka_osc import *
 from .g1.g1 import *
 from .galbot.galbot import *
 from .gr1t2.gr1t2 import *

isaaclab_arena/embodiments/franka/nist_gear_insertion/__init__.py

@@ -0,0 +1,12 @@
+# Copyright (c) 2025-2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Franka embodiment components for NIST gear insertion."""
+
+from .franka_osc import FrankaNistGearInsertionOscEmbodiment
+
+__all__ = [
+    "FrankaNistGearInsertionOscEmbodiment",
+]

isaaclab_arena/embodiments/franka/nist_gear_insertion/franka_osc.py

@@ -0,0 +1,193 @@
+# Copyright (c) 2025-2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Franka OSC embodiment for the NIST gear insertion task."""
+
+from __future__ import annotations
+
+import isaaclab.sim as sim_utils
+from isaaclab.actuators import ImplicitActuatorCfg
+from isaaclab.assets.articulation.articulation_cfg import ArticulationCfg
+from isaaclab.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg, OffsetCfg
+from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
+
+from isaaclab_arena.assets.register import register_asset
+from isaaclab_arena.embodiments.common.arm_mode import ArmMode
+from isaaclab_arena.embodiments.franka.franka import _DEFAULT_CAMERA_OFFSET, FrankaEmbodimentBase
+from isaaclab_arena.embodiments.franka.nist_gear_insertion.gear_grasp import get_franka_nist_gear_insertion_grasp_config
+from isaaclab_arena.tasks.nist_gear_insertion.events import GraspCfg
+from isaaclab_arena.utils.pose import Pose
+
+__all__ = [
+    "FrankaNistGearInsertionOscEmbodiment",
+]
+
+_FRANKA_MIMIC_OSC_USD_PATH = f"{ISAACLAB_NUCLEUS_DIR}/Factory/franka_mimic.usd"
+
+# Mirrors Isaac Lab Factory's franka_mimic OSC setup in
+# isaaclab_tasks.direct.factory.factory_env_cfg.
+_FRANKA_MIMIC_OSC_RIGID_PROPS = sim_utils.RigidBodyPropertiesCfg(
+    disable_gravity=True,
+    max_depenetration_velocity=5.0,
+    linear_damping=0.0,
+    angular_damping=0.0,
+    max_linear_velocity=1000.0,
+    max_angular_velocity=3666.0,
+    enable_gyroscopic_forces=True,
+    solver_position_iteration_count=192,
+    solver_velocity_iteration_count=1,
+    max_contact_impulse=1e32,
+)
+
+_FRANKA_MIMIC_OSC_ARTICULATION_PROPS = sim_utils.ArticulationRootPropertiesCfg(
+    enabled_self_collisions=False,
+    solver_position_iteration_count=192,
+    solver_velocity_iteration_count=1,
+)
+
+_FRANKA_MIMIC_OSC_COLLISION_PROPS = sim_utils.CollisionPropertiesCfg(contact_offset=0.005, rest_offset=0.0)
+
+# Default pose from the Factory-style Franka mimic asset.
+_FRANKA_MIMIC_OSC_JOINT_POS = {
+    "panda_joint1": 0.0,
+    "panda_joint2": -0.569,
+    "panda_joint3": 0.0,
+    "panda_joint4": -2.810,
+    "panda_joint5": 0.0,
+    "panda_joint6": 3.037,
+    "panda_joint7": 0.741,
+    "panda_finger_joint2": 0.04,
+}
+
+# OSC writes joint torques directly for the arm; the hand remains position controlled.
+_FRANKA_MIMIC_OSC_ACTUATORS = {
+    "panda_arm1": ImplicitActuatorCfg(
+        joint_names_expr=["panda_joint[1-4]"],
+        stiffness=0.0,
+        damping=0.0,
+        friction=0.0,
+        armature=0.0,
+        effort_limit_sim=87,
+        velocity_limit_sim=124.6,
+    ),
+    "panda_arm2": ImplicitActuatorCfg(
+        joint_names_expr=["panda_joint[5-7]"],
+        stiffness=0.0,
+        damping=0.0,
+        friction=0.0,
+        armature=0.0,
+        effort_limit_sim=12,
+        velocity_limit_sim=149.5,
+    ),
+    "panda_hand": ImplicitActuatorCfg(
+        joint_names_expr=["panda_finger_joint[1-2]"],
+        effort_limit_sim=40.0,
+        velocity_limit_sim=0.04,
+        stiffness=7500.0,
+        damping=173.0,
+        friction=0.1,
+        armature=0.0,
+    ),
+}
+
+# Franka mimic USD with contact sensors enabled for the wrist force body.
+_FRANKA_MIMIC_OSC_CFG = ArticulationCfg(
+    prim_path="{ENV_REGEX_NS}/Robot",
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=_FRANKA_MIMIC_OSC_USD_PATH,
+        activate_contact_sensors=True,
+        rigid_props=_FRANKA_MIMIC_OSC_RIGID_PROPS,
+        articulation_props=_FRANKA_MIMIC_OSC_ARTICULATION_PROPS,
+        collision_props=_FRANKA_MIMIC_OSC_COLLISION_PROPS,
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        joint_pos=_FRANKA_MIMIC_OSC_JOINT_POS,
+        pos=(0.0, 0.0, 0.0),
+        rot=(0.0, 0.0, 0.0, 1.0),
+    ),
+    actuators=_FRANKA_MIMIC_OSC_ACTUATORS,
+)
+
+_GEAR_INSERTION_INITIAL_JOINT_POSE = [
+    0.561824,
+    0.287201,
+    -0.543103,
+    -2.410188,
+    0.507908,
+    2.847644,
+    0.454298,
+    0.04,
+    0.04,
+]
+
+
+def _gear_insertion_ee_frame_cfg() -> FrameTransformerCfg:
+    """Return Franka frames used by the gear insertion OSC policy.
+
+    The policy commands the centered fingertip frame, while the finger frames
+    are exposed for grasp/reset diagnostics.
+    """
+    return FrameTransformerCfg(
+        prim_path="{ENV_REGEX_NS}/Robot/panda_link0",
+        debug_vis=False,
+        target_frames=[
+            FrameTransformerCfg.FrameCfg(
+                prim_path="{ENV_REGEX_NS}/Robot/panda_fingertip_centered",
+                name="end_effector",
+                offset=OffsetCfg(pos=(0.0, 0.0, 0.0)),
+            ),
+            FrameTransformerCfg.FrameCfg(
+                prim_path="{ENV_REGEX_NS}/Robot/panda_rightfinger",
+                name="tool_rightfinger",
+                offset=OffsetCfg(pos=(0.0, 0.0, 0.046)),
+            ),
+            FrameTransformerCfg.FrameCfg(
+                prim_path="{ENV_REGEX_NS}/Robot/panda_leftfinger",
+                name="tool_leftfinger",
+                offset=OffsetCfg(pos=(0.0, 0.0, 0.046)),
+            ),
+        ],
+    )
+
+
+@register_asset
+class FrankaNistGearInsertionOscEmbodiment(FrankaEmbodimentBase):
+    """Franka embodiment for NIST gear insertion with OSC torque control.
+
+    The embodiment owns the Franka mimic robot setup, OSC command frame, and
+    grasp metadata. Environments wire scene-specific asset names and insertion
+    geometry into the action, observation, and reward configs.
+    """
+
+    name = "franka_nist_gear_insertion_osc"
+
+    def __init__(
+        self,
+        enable_cameras: bool = False,
+        initial_pose: Pose | None = None,
+        initial_joint_pose: list[float] | None = None,
+        concatenate_observation_terms: bool = False,
+        arm_mode: ArmMode | None = None,
+        camera_offset: Pose | None = _DEFAULT_CAMERA_OFFSET,
+        is_tiled_camera: bool = False,
+    ):
+        super().__init__(
+            enable_cameras=enable_cameras,
+            initial_pose=initial_pose,
+            initial_joint_pose=initial_joint_pose,
+            concatenate_observation_terms=concatenate_observation_terms,
+            arm_mode=arm_mode,
+            camera_offset=camera_offset,
+            is_tiled_camera=is_tiled_camera,
+        )
+        self.scene_config.robot = _FRANKA_MIMIC_OSC_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+        self.scene_config.ee_frame = _gear_insertion_ee_frame_cfg()
+        self.set_initial_joint_pose(initial_joint_pose or _GEAR_INSERTION_INITIAL_JOINT_POSE)
+
+    def get_command_body_name(self) -> str:
+        return "panda_fingertip_centered"
+
+    def get_gear_insertion_grasp_config(self) -> GraspCfg:
+        return get_franka_nist_gear_insertion_grasp_config()

isaaclab_arena/embodiments/franka/nist_gear_insertion/gear_grasp.py

@@ -0,0 +1,46 @@
+# Copyright (c) 2025-2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Franka-specific grasp parameters for NIST gear insertion."""
+
+from __future__ import annotations
+
+import torch
+from collections.abc import Sequence
+
+from isaaclab_arena.tasks.nist_gear_insertion.events import GraspCfg
+
+
+def franka_gripper_joint_setter(
+    joint_pos: torch.Tensor,
+    row_indices: Sequence[int],
+    finger_joint_indices: Sequence[int],
+    width: float,
+) -> None:
+    """Set Franka Panda finger joints from a total gripper opening width."""
+    for jid in finger_joint_indices:
+        joint_pos[row_indices, jid] = width / 2.0
+
+
+def get_franka_nist_gear_insertion_grasp_config() -> GraspCfg:
+    """Return reset grasp parameters for the Franka NIST gear insertion policy.
+
+    The reset first opens the fingers to 3 cm while inverse kinematics moves
+    ``panda_hand`` to the gear, then closes the fingers to 0 m to hold the gear.
+    In Isaac Lab 3.0 xyzw convention, ``[1, 0, 0, 0]`` is an intentional
+    180-degree rotation about X. The ``[0.02, 0.0, -0.128]`` translation is the
+    held-gear-root to ``panda_hand`` offset that centers the gear between the
+    fingertips.
+    """
+    return GraspCfg(
+        hand_grasp_width=0.03,
+        hand_close_width=0.0,
+        gripper_joint_setter_func=franka_gripper_joint_setter,
+        end_effector_body_name="panda_hand",
+        finger_joint_names="panda_finger_joint[1-2]",
+        grasp_rot_offset=[1.0, 0.0, 0.0, 0.0],
+        grasp_offset=[0.02, 0.0, -0.128],
+        arm_joint_names="panda_joint[1-7]",
+    )

isaaclab_arena/policy/__init__.py

@@ -6,5 +6,6 @@
 from .action_chunking import ActionChunkingState
 from .action_chunking_client import *
 from .replay_action_policy import *
+from .rl_games_action_policy import *
 from .rsl_rl_action_policy import *
 from .zero_action_policy import *