Adds new new affordance: placeable and new atomic task: place upright #293

rebeccazhang0707 · 2025-12-16T05:37:54Z

Summary

Adds new new affordance: placeable and new atomic task: place upright task

Detailed description

What was the reason for the change?
- Place upright task is a common inhouse task for humanoids. We believe 'placeable' should be a basic affordance to support. So we add related atomic task and example to showcase how to use this affordance.
What has been changed?
- adds new atomic task: place upright task (and a test script for this task)
- adss new affordance: placeable (placeable object can be placed upright, like mug, bottle, etc.)
- adds new example: agibot left_arm place upright mug
- adds a unitest for 'place_upright_task'
What is the impact of this change?
- fixed the bug in agibot.py: since SceneCfg and ActionsCfg cannot accept a new type of property like ArmMode in manager-based workflow

Test Pipeline

Zero Action Policy:
python isaaclab_arena/examples/policy_runner.py --policy_type zero_action tabletop_place_upright --object mug
Record demos:
python isaaclab_arena/scripts/imitation_learning/record_demos.py --dataset_file datasets/dataset_agibot_left_arm_rel.hdf5 --num_demos 1 tabletop_place_upright --teleop_device keyboard
Replay demos:
python isaaclab_arena/scripts/imitation_learning/replay_demos.py --dataset_file datasets/dataset_agibot_left_arm_rel.hdf5 tabletop_place_upright
Test place_upright_mug task:
pytest isaaclab_arena/tests/test_place_upright_mug.py

… task, and an example of agibot_tabletop_place_upright_mug env

…ction

…m_mode property, which is not a standard scene instance - refactors placeable's query function

viiik-inside · 2025-12-19T09:08:29Z

isaaclab_arena/affordances/placeable.py

+            orientation_threshold, device=object_quat.device, dtype=object_quat.dtype
+        )
+
+        success = angle_error < orientation_threshold_tensor


yea this is cool!

- registers retargeter for place_upright_task - updates background initial_pose and scale

alexmillane

Thanks for adding this. Look good to me!

I have a few comments. Feel free to merge once you have addressed them.

alexmillane · 2025-12-19T13:51:59Z

isaaclab_arena/affordances/placeable.py

+    - The orientation threshold is the threshold for the angle between the upright axis and the world +Z direction.
+    """
+
+    def __init__(self, upright_axis_name: Literal["x", "y", "z"] = "z", orientation_threshold: float = 0.5, **kwargs):


suggestion to add a unit to orientation_threshold. For example orientation_threshold_deg (if indeed the unit here is degrees.

thanks Alex, here is radians actually, and I will revise the default value to math.pi / 18.0 to indict that this is in radians, and adds the unit is radians in the comments of this method.

alexmillane · 2025-12-19T13:54:35Z

isaaclab_arena/affordances/placeable.py

+            orientation_threshold, device=object_quat.device, dtype=object_quat.dtype
+        )
+
+        success = angle_error < orientation_threshold_tensor


yea this is cool!

alexmillane · 2025-12-19T13:56:24Z

isaaclab_arena/affordances/placeable.py

+        """Place the object upright (in all the environments).
+        This function places the object upright by rotating its upright axis towards the world +Z direction.
+        The upright percentage is a value in [0, 1] that describes the absolute target angle between the upright axis and the world +Z direction:
+        0.0 results in a perpendicular orientation (90 degrees) and 1.0 fully aligns the axis with +Z (0 degrees).
+        """


In the case of upright_percentage = 0.0 which world axis does the object's upright axis point along?

upright_percentage = 0.0: the target upright axis is perpendicular to world +Z (90°), and the direction with the smallest angle to the object_upright_axis, in the plane spanned by the object_upright_axis and world +Z.

alexmillane · 2025-12-19T13:59:52Z

isaaclab_arena/affordances/placeable.py

+def _compute_target_quaternions(
+    object_quat: torch.Tensor,
+    upright_percentage: float | torch.Tensor,
+    upright_axis_name: str,
+) -> torch.Tensor:


Suggestion to add a docstring.

What's the expected shape of upright_percentage if it's a tensor? I would guess: [num_envs, 1]?

alexmillane · 2025-12-19T14:02:47Z

isaaclab_arena/affordances/placeable.py

+    axis_index = {"x": 0, "y": 1, "z": 2}[upright_axis_name]
+    rotation_mats = math_utils.matrix_from_quat(object_quat)
+    current_axis = rotation_mats[:, :, axis_index]


This code is repeated from above. Suggestion to move to a function

def get_object_axis_in_world_frame(object_quat: torch.tensor) -> torch.tensor: axis_index = {"x": 0, "y": 1, "z": 2}[upright_axis_name] rotation_mats = math_utils.matrix_from_quat(object_quat) current_axis = rotation_mats[:, :, axis_index] return current_axis

alexmillane · 2025-12-19T14:08:41Z

isaaclab_arena/tests/test_place_upright_task.py

+if __name__ == "__main__":
+    # test_place_upright_mug_single()
+    test_place_upright_mug_multi()
+    # test_place_upright_mug_condition()


Thanks for adding these tests!

Suggestion to uncommen the lines here.

alexmillane · 2025-12-19T14:14:00Z

isaaclab_arena_environments/tabletop_place_upright_environment.py

+            randomize_mug_positions = EventTerm(
+                func=randomize_object_pose,
+                mode="reset",
+                params={
+                    "pose_range": {
+                        "x": (-0.05, 0.2),
+                        "y": (-0.10, 0.10),
+                        "z": (0.75, 0.75),
+                        "roll": (-1.57, -1.57),
+                        "yaw": (-0.57, 0.57),
+                    },
+                    "asset_cfgs": [SceneEntityCfg("mug")],
+                },
+            )


@viiik-inside I feel like we need to add an option to our objects to add randomness to the poses on reset. I've now seen this pattern in a few MRs where people are overriding the EventCfg coming from the task. This kind of breaks our design. Maybe we could expand our definition of setting an objects pose to take either a Pose or a PoseRange such that object.set_initial_pose(Pose | PoseRange). In the case of a pose range, it would an event to the Cfg.

## Summary We allow addings spawn_cfg_addon and asset_cfg_addon. This exposes and gives possiblitly for a user to create any supported assets with various settings.

- TODO: find why long steps cause the object behavior not stable

alexmillane changed the base branch from main to reb/feature/adds_agibot December 17, 2025 15:19

rebeccazhang0707 changed the base branch from reb/feature/adds_agibot to main December 18, 2025 14:35

rebeccazhang0707 added 4 commits December 19, 2025 17:03

Adds new new affordance: placeable and new atomic task: place upright…

c6522ec

… task, and an example of agibot_tabletop_place_upright_mug env

adds new TableTopPlaceUprightEnvironment to ExampleEnvironments colle…

531428a

…ction

renames MimicArmMode to ArmMode

97c9ea6

- fixed bugs in agibot.py: SceneCfga nd ActionsCfg cannot be given ar…

0d67164

…m_mode property, which is not a standard scene instance - refactors placeable's query function

rebeccazhang0707 force-pushed the reb/feature/adds_place_upright_task branch from f89632f to 0d67164 Compare December 19, 2025 09:06

viiik-inside reviewed Dec 19, 2025

View reviewed changes

small fix after rebase on main branch:

3bd1abd

- registers retargeter for place_upright_task - updates background initial_pose and scale

alexmillane approved these changes Dec 19, 2025

View reviewed changes

refactors placeable affordance, with more clear docstring

e32459b

rebeccazhang0707 enabled auto-merge (squash) December 22, 2025 02:46

viiik-inside and others added 2 commits December 23, 2025 11:46

Add add ons to set configurations (#308)

8be37dd

## Summary We allow addings spawn_cfg_addon and asset_cfg_addon. This exposes and gives possiblitly for a user to create any supported assets with various settings.

fixes num_steps in unittest file:

895ca15

- TODO: find why long steps cause the object behavior not stable

rebeccazhang0707 merged commit 012dabd into main Dec 23, 2025
5 checks passed

Adds new new affordance: placeable and new atomic task: place upright #293

Adds new new affordance: placeable and new atomic task: place upright #293

Uh oh!

Conversation

rebeccazhang0707 commented Dec 16, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Summary

Detailed description

Test Pipeline

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

alexmillane left a comment

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

4 participants

rebeccazhang0707 commented Dec 16, 2025 •

edited

Loading