Adds surface gripper support in manager-based workflow (#3174)

# Description

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to check the contribution guidelines.

Link:
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We only have a surface gripper sample with direct workflow, whereas in
manager-based workflow it is not supported yet.
- Add surface gripper as an asset instance to the scene (CPU only)
- Add SurfaceGripperAction and SurfaceGripperActionCfg
- Add two TaskEnvs for testing: 

1. Isaac-Stack-Cube-UR10-Long-Suction-IK-Rel-v0  
2. Isaac-Stack-Cube-UR10-Short-Suction-IK-Rel-v0

You can test recording demos by:
`./isaaclab.sh -p scripts/tools/record_demos.py --task
Isaac-Stack-Cube-UR10-Long-Suction-IK-Rel-v0 --teleop_device keyboard
--device cpu`

<!-- As a practice, it is recommended to open an issue to have
discussions on the proposed pull request.
This makes it easier for the community to keep track of what is being
developed or added, and if a given feature
is demanded by more than one party. -->

## Type of change

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applicable. -->

- New feature (non-breaking change which adds functionality)

## Screenshot
<img width="1386" height="273" alt="environments_surface_gripper"
src="https://github.com/user-attachments/assets/4c1cb5a4-4325-4861-b20c-9204e98e7dff"
/>




## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] 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
- [ ] 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

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putting an x character in it

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- [x] I have done this task
- [ ] I have not done this task
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---------
Signed-off-by: rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

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:
 
@@ -116,6 +116,10 @@ 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|      |                                                                             |
@@ -148,6 +152,7 @@ for the lift-cube environment:
 .. |cube-shadow| image:: ../_static/tasks/manipulation/shadow_cube.jpg
 .. |stack-cube| image:: ../_static/tasks/manipulation/franka_stack.jpg
 .. |gr1_pick_place| image:: ../_static/tasks/manipulation/gr-1_pick_place.jpg
+.. |surface-gripper| image:: ../_static/tasks/manipulation/ur10_stack_surface_gripper.jpg
 .. |gr1_pp_waist| image:: ../_static/tasks/manipulation/gr-1_pick_place_waist.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>`__
@@ -163,6 +168,8 @@ for the lift-cube environment:
 .. |stack-cube-link| replace:: `Isaac-Stack-Cube-Franka-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_joint_pos_env_cfg.py>`__
 .. |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>`__
+.. |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>`__
 .. |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>`__
 
 .. |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>`__
@@ -939,6 +946,14 @@ inferencing, including reading from an already trained checkpoint and disabling
       -
       - Manager Based
       -
+    * - Isaac-Stack-Cube-UR10-Long-Suction-IK-Rel-v0
+      -
+      - Manager Based
+      -
+    * - Isaac-Stack-Cube-UR10-Short-Suction-IK-Rel-v0
+      -
+      - Manager Based
+      -
     * - Isaac-Velocity-Flat-Anymal-B-v0
       - Isaac-Velocity-Flat-Anymal-B-Play-v0
       - Manager Based

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/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.45.11"
+version = "0.45.12"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.45.12 (2025-09-05)
+~~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added :class:`~isaaclab.envs.mdp.actions.SurfaceGripperBinaryAction` for supporting surface grippers in Manager-Based workflows.
+
+Changed
+^^^^^^^
+
+* Added AssetBase inheritance for :class:`~isaaclab.assets.surface_gripper.SurfaceGripper`
+
+
 0.45.11 (2025-09-04)
 ~~~~~~~~~~~~~~~~~~~~
 

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

@@ -9,6 +9,7 @@ import torch
 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 @@ from isaaclab.assets import AssetBase
 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 @@ class SurfaceGripper(AssetBase):
 
         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 @@ class SurfaceGripper(AssetBase):
                 "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 @@ class SurfaceGripper(AssetBase):
             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 dataclasses import MISSING
 
 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/envs/mdp/actions/actions_cfg.py

@@ -9,7 +9,14 @@ from isaaclab.controllers import DifferentialIKControllerCfg, OperationalSpaceCo
 from isaaclab.managers.action_manager import ActionTerm, ActionTermCfg
 from isaaclab.utils import configclass
 
-from . import binary_joint_actions, joint_actions, joint_actions_to_limits, non_holonomic_actions, task_space_actions
+from . import (
+    binary_joint_actions,
+    joint_actions,
+    joint_actions_to_limits,
+    non_holonomic_actions,
+    surface_gripper_actions,
+    task_space_actions,
+)
 
 ##
 # Joint actions.
@@ -310,3 +317,25 @@ class OperationalSpaceControllerActionCfg(ActionTermCfg):
     Note: Functional only when ``nullspace_control`` is set to ``"position"`` within the
         ``OperationalSpaceControllerCfg``.
     """
+
+
+##
+# Surface Gripper actions.
+##
+
+
+@configclass
+class SurfaceGripperBinaryActionCfg(ActionTermCfg):
+    """Configuration for the binary surface gripper action term.
+
+    See :class:`SurfaceGripperBinaryAction` for more details.
+    """
+
+    asset_name: str = MISSING
+    """Name of the surface gripper asset in the scene."""
+    open_command: float = -1.0
+    """The command value to open the gripper. Defaults to -1.0."""
+    close_command: float = 1.0
+    """The command value to close the gripper. Defaults to 1.0."""
+
+    class_type: type[ActionTerm] = surface_gripper_actions.SurfaceGripperBinaryAction

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

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from __future__ import annotations
+
+import torch
+from collections.abc import Sequence
+from typing import TYPE_CHECKING
+
+import omni.log
+
+from isaaclab.assets.surface_gripper import SurfaceGripper
+from isaaclab.managers.action_manager import ActionTerm
+
+if TYPE_CHECKING:
+    from isaaclab.envs import ManagerBasedEnv
+
+    from . import actions_cfg
+
+
+class SurfaceGripperBinaryAction(ActionTerm):
+    """Surface gripper binary action.
+
+    This action term maps a binary action to the *open* or *close* surface gripper configurations.
+    The surface gripper behavior is as follows:
+    - [-1, -0.3] --> Gripper is Opening
+    - [-0.3, 0.3] --> Gripper is Idle (do nothing)
+    - [0.3, 1] --> Gripper is Closing
+
+    Based on above, we follow the following convention for the binary action:
+
+    1. Open action: 1 (bool) or positive values (float).
+    2. Close action: 0 (bool) or negative values (float).
+
+    The action term is specifically designed for surface grippers, which use a different
+    interface than joint-based grippers.
+    """
+
+    cfg: actions_cfg.SurfaceGripperBinaryActionCfg
+    """The configuration of the action term."""
+    _asset: SurfaceGripper
+    """The surface gripper asset on which the action term is applied."""
+
+    def __init__(self, cfg: actions_cfg.SurfaceGripperBinaryActionCfg, env: ManagerBasedEnv) -> None:
+        # initialize the action term
+        super().__init__(cfg, env)
+
+        # log the resolved asset name for debugging
+        omni.log.info(
+            f"Resolved surface gripper asset for the action term {self.__class__.__name__}: {self.cfg.asset_name}"
+        )
+
+        # create tensors for raw and processed actions
+        self._raw_actions = torch.zeros(self.num_envs, 1, device=self.device)
+        self._processed_actions = torch.zeros(self.num_envs, 1, device=self.device)
+
+        # parse open command
+        self._open_command = torch.tensor(self.cfg.open_command, device=self.device)
+        # parse close command
+        self._close_command = torch.tensor(self.cfg.close_command, device=self.device)
+
+    """
+    Properties.
+    """
+
+    @property
+    def action_dim(self) -> int:
+        return 1
+
+    @property
+    def raw_actions(self) -> torch.Tensor:
+        return self._raw_actions
+
+    @property
+    def processed_actions(self) -> torch.Tensor:
+        return self._processed_actions
+
+    """
+    Operations.
+    """
+
+    def process_actions(self, actions: torch.Tensor):
+        # store the raw actions
+        self._raw_actions[:] = actions
+        # compute the binary mask
+        if actions.dtype == torch.bool:
+            # true: close, false: open
+            binary_mask = actions == 0
+        else:
+            # true: close, false: open
+            binary_mask = actions < 0
+        # compute the command
+        self._processed_actions = torch.where(binary_mask, self._close_command, self._open_command)
+
+    def apply_actions(self):
+        """Apply the processed actions to the surface gripper."""
+        self._asset.set_grippers_command(self._processed_actions.view(-1))
+        self._asset.write_data_to_sim()
+
+    def reset(self, env_ids: Sequence[int] | None = None) -> None:
+        if env_ids is None:
+            self._raw_actions[:] = 0.0
+        else:
+            self._raw_actions[env_ids] = 0.0

source/isaaclab/isaaclab/scene/interactive_scene.py

@@ -554,9 +554,9 @@ class InteractiveScene:
             rigid_object.write_root_pose_to_sim(root_pose, env_ids=env_ids)
             rigid_object.write_root_velocity_to_sim(root_velocity, env_ids=env_ids)
         # surface grippers
-        for asset_name, gripper in self._surface_grippers.items():
+        for asset_name, surface_gripper in self._surface_grippers.items():
             asset_state = state["gripper"][asset_name]
-            gripper.write_gripper_state_to_sim(asset_state, env_ids=env_ids)
+            surface_gripper.set_grippers_command(asset_state)
 
         # write data to simulation to make sure initial state is set
         # this propagates the joint targets to the simulation
@@ -643,6 +643,10 @@ class InteractiveScene:
                 asset_state["root_pose"][:, :3] -= self.env_origins
             asset_state["root_velocity"] = rigid_object.data.root_vel_w.clone()
             state["rigid_object"][asset_name] = asset_state
+        # surface grippers
+        state["gripper"] = dict()
+        for asset_name, gripper in self._surface_grippers.items():
+            state["gripper"][asset_name] = gripper.state.clone()
         return state
 
     """
@@ -749,7 +753,8 @@ class InteractiveScene:
                         asset_paths = sim_utils.find_matching_prim_paths(rigid_object_cfg.prim_path)
                         self._global_prim_paths += asset_paths
             elif isinstance(asset_cfg, SurfaceGripperCfg):
-                pass
+                # add surface grippers to scene
+                self._surface_grippers[asset_name] = asset_cfg.class_type(asset_cfg)
             elif isinstance(asset_cfg, SensorBaseCfg):
                 # Update target frame path(s)' regex name space for FrameTransformer
                 if isinstance(asset_cfg, FrameTransformerCfg):

source/isaaclab_assets/isaaclab_assets/robots/universal_robots.py

@@ -3,6 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+
 """Configuration for the Universal Robots.
 
 The following configuration parameters are available:
@@ -21,7 +22,6 @@ from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
 # Configuration
 ##
 
-
 UR10_CFG = ArticulationCfg(
     spawn=sim_utils.UsdFileCfg(
         usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/UniversalRobots/UR10/ur10_instanceable.usd",
@@ -102,3 +102,23 @@ UR10e_CFG = ArticulationCfg(
 )
 
 """Configuration of UR-10 arm using implicit actuator models."""
+
+UR10_LONG_SUCTION_CFG = UR10_CFG.copy()
+UR10_LONG_SUCTION_CFG.spawn.usd_path = f"{ISAAC_NUCLEUS_DIR}/Robots/UniversalRobots/ur10/ur10.usd"
+UR10_LONG_SUCTION_CFG.spawn.variants = {"Gripper": "Long_Suction"}
+UR10_LONG_SUCTION_CFG.spawn.rigid_props.disable_gravity = True
+UR10_LONG_SUCTION_CFG.init_state.joint_pos = {
+    "shoulder_pan_joint": 0.0,
+    "shoulder_lift_joint": -1.5707,
+    "elbow_joint": 1.5707,
+    "wrist_1_joint": -1.5707,
+    "wrist_2_joint": 1.5707,
+    "wrist_3_joint": 0.0,
+}
+
+"""Configuration of UR10 arm with long suction gripper."""
+
+UR10_SHORT_SUCTION_CFG = UR10_LONG_SUCTION_CFG.copy()
+UR10_SHORT_SUCTION_CFG.spawn.variants = {"Gripper": "Short_Suction"}
+
+"""Configuration of UR10 arm with short suction gripper."""

source/isaaclab_tasks/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.10.48"
+version = "0.10.49"
 
 # Description
 title = "Isaac Lab Environments"

source/isaaclab_tasks/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.10.49 (2025-09-05)
+~~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added suction gripper stacking environments with UR10 that can be used with teleoperation.
+
 0.10.48 (2025-09-03)
 ~~~~~~~~~~~~~~~~~~~~
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/__init__.py

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+import gymnasium as gym
+
+from . import stack_ik_rel_env_cfg
+
+##
+# Register Gym environments.
+##
+
+
+##
+# Inverse Kinematics - Relative Pose Control
+##
+
+gym.register(
+    id="Isaac-Stack-Cube-UR10-Long-Suction-IK-Rel-v0",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    kwargs={
+        "env_cfg_entry_point": stack_ik_rel_env_cfg.UR10LongSuctionCubeStackEnvCfg,
+    },
+    disable_env_checker=True,
+)
+
+gym.register(
+    id="Isaac-Stack-Cube-UR10-Short-Suction-IK-Rel-v0",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    kwargs={
+        "env_cfg_entry_point": stack_ik_rel_env_cfg.UR10ShortSuctionCubeStackEnvCfg,
+    },
+    disable_env_checker=True,
+)

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/agents/__init__.py

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_ik_rel_env_cfg.py

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+
+from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
+from isaaclab.devices.device_base import DevicesCfg
+from isaaclab.devices.keyboard import Se3KeyboardCfg
+from isaaclab.devices.spacemouse import Se3SpaceMouseCfg
+from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
+from isaaclab.utils import configclass
+
+from . import stack_joint_pos_env_cfg
+
+
+@configclass
+class UR10LongSuctionCubeStackEnvCfg(stack_joint_pos_env_cfg.UR10LongSuctionCubeStackEnvCfg):
+
+    def __post_init__(self):
+        # post init of parent
+        super().__post_init__()
+
+        # Set actions for the specific robot type (UR10 LONG SUCTION)
+        self.actions.arm_action = DifferentialInverseKinematicsActionCfg(
+            asset_name="robot",
+            joint_names=[".*_joint"],
+            body_name="ee_link",
+            controller=DifferentialIKControllerCfg(command_type="pose", use_relative_mode=True, ik_method="dls"),
+            scale=1.0,
+            body_offset=DifferentialInverseKinematicsActionCfg.OffsetCfg(pos=[0.0, 0.0, -0.22]),
+        )
+
+        self.teleop_devices = DevicesCfg(
+            devices={
+                "keyboard": Se3KeyboardCfg(
+                    pos_sensitivity=0.02,
+                    rot_sensitivity=0.05,
+                    sim_device=self.sim.device,
+                ),
+                "spacemouse": Se3SpaceMouseCfg(
+                    pos_sensitivity=0.05,
+                    rot_sensitivity=0.05,
+                    sim_device=self.sim.device,
+                ),
+            }
+        )
+
+
+@configclass
+class UR10ShortSuctionCubeStackEnvCfg(stack_joint_pos_env_cfg.UR10ShortSuctionCubeStackEnvCfg):
+
+    def __post_init__(self):
+        # post init of parent
+        super().__post_init__()
+
+        # Set actions for the specific robot type (UR10 SHORT SUCTION)
+        self.actions.arm_action = DifferentialInverseKinematicsActionCfg(
+            asset_name="robot",
+            joint_names=[".*_joint"],
+            body_name="ee_link",
+            controller=DifferentialIKControllerCfg(command_type="pose", use_relative_mode=True, ik_method="dls"),
+            scale=1.0,
+            body_offset=DifferentialInverseKinematicsActionCfg.OffsetCfg(pos=[0.0, 0.0, -0.159]),
+        )
+
+        self.teleop_devices = DevicesCfg(
+            devices={
+                "keyboard": Se3KeyboardCfg(
+                    pos_sensitivity=0.02,
+                    rot_sensitivity=0.05,
+                    sim_device=self.sim.device,
+                ),
+                "spacemouse": Se3SpaceMouseCfg(
+                    pos_sensitivity=0.05,
+                    rot_sensitivity=0.05,
+                    sim_device=self.sim.device,
+                ),
+            }
+        )

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/stack_joint_pos_env_cfg.py

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from isaaclab.assets import RigidObjectCfg, SurfaceGripperCfg
+from isaaclab.envs.mdp.actions.actions_cfg import SurfaceGripperBinaryActionCfg
+from isaaclab.managers import EventTermCfg as EventTerm
+from isaaclab.managers import SceneEntityCfg
+from isaaclab.sensors import FrameTransformerCfg
+from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg
+from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg
+from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
+from isaaclab.utils import configclass
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
+
+from isaaclab_tasks.manager_based.manipulation.stack import mdp
+from isaaclab_tasks.manager_based.manipulation.stack.mdp import franka_stack_events
+from isaaclab_tasks.manager_based.manipulation.stack.stack_env_cfg import StackEnvCfg
+
+from isaaclab_assets.robots.universal_robots import (  # isort: skip
+    UR10_LONG_SUCTION_CFG,
+    UR10_SHORT_SUCTION_CFG,
+)
+
+##
+# Pre-defined configs
+##
+from isaaclab.markers.config import FRAME_MARKER_CFG  # isort: skip
+
+
+@configclass
+class EventCfgLongSuction:
+    """Configuration for events."""
+
+    init_franka_arm_pose = EventTerm(
+        func=franka_stack_events.set_default_joint_pose,
+        mode="reset",
+        params={
+            "default_pose": [0.0, -1.5707, 1.5707, -1.5707, -1.5707, 0.0],
+        },
+    )
+
+    randomize_franka_joint_state = EventTerm(
+        func=franka_stack_events.randomize_joint_by_gaussian_offset,
+        mode="reset",
+        params={
+            "mean": 0.0,
+            "std": 0.02,
+            "asset_cfg": SceneEntityCfg("robot"),
+        },
+    )
+
+    randomize_cube_positions = EventTerm(
+        func=franka_stack_events.randomize_object_pose,
+        mode="reset",
+        params={
+            "pose_range": {"x": (0.4, 0.6), "y": (-0.10, 0.10), "z": (0.0203, 0.0203), "yaw": (-1.0, 1.0, 0)},
+            "min_separation": 0.1,
+            "asset_cfgs": [SceneEntityCfg("cube_1"), SceneEntityCfg("cube_2"), SceneEntityCfg("cube_3")],
+        },
+    )
+
+
+@configclass
+class UR10CubeStackEnvCfg(StackEnvCfg):
+    # Rigid body properties of each cube
+    cube_properties = RigidBodyPropertiesCfg(
+        solver_position_iteration_count=16,
+        solver_velocity_iteration_count=1,
+        max_angular_velocity=1000.0,
+        max_linear_velocity=1000.0,
+        max_depenetration_velocity=5.0,
+        disable_gravity=False,
+    )
+    cube_scale = (1.0, 1.0, 1.0)
+    # Listens to the required transforms
+    marker_cfg = FRAME_MARKER_CFG.copy()
+    marker_cfg.markers["frame"].scale = (0.1, 0.1, 0.1)
+    marker_cfg.prim_path = "/Visuals/FrameTransformer"
+
+    def __post_init__(self):
+        # post init of parent
+        super().__post_init__()
+
+        # Set events
+        self.events = EventCfgLongSuction()
+
+        # Set actions for the specific robot type (ur10)
+        self.actions.arm_action = mdp.JointPositionActionCfg(
+            asset_name="robot", joint_names=[".*_joint"], scale=0.5, use_default_offset=True
+        )
+        # Set surface gripper action
+        self.actions.gripper_action = SurfaceGripperBinaryActionCfg(
+            asset_name="surface_gripper",
+            open_command=-1.0,
+            close_command=1.0,
+        )
+
+        # Set each stacking cube deterministically
+        self.scene.cube_1 = RigidObjectCfg(
+            prim_path="{ENV_REGEX_NS}/Cube_1",
+            init_state=RigidObjectCfg.InitialStateCfg(pos=[0.4, 0.0, 0.0203], rot=[1, 0, 0, 0]),
+            spawn=UsdFileCfg(
+                usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/blue_block.usd",
+                scale=self.cube_scale,
+                rigid_props=self.cube_properties,
+            ),
+        )
+        self.scene.cube_2 = RigidObjectCfg(
+            prim_path="{ENV_REGEX_NS}/Cube_2",
+            init_state=RigidObjectCfg.InitialStateCfg(pos=[0.55, 0.05, 0.0203], rot=[1, 0, 0, 0]),
+            spawn=UsdFileCfg(
+                usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/red_block.usd",
+                scale=self.cube_scale,
+                rigid_props=self.cube_properties,
+            ),
+        )
+        self.scene.cube_3 = RigidObjectCfg(
+            prim_path="{ENV_REGEX_NS}/Cube_3",
+            init_state=RigidObjectCfg.InitialStateCfg(pos=[0.60, -0.1, 0.0203], rot=[1, 0, 0, 0]),
+            spawn=UsdFileCfg(
+                usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/green_block.usd",
+                scale=self.cube_scale,
+                rigid_props=self.cube_properties,
+            ),
+        )
+
+        self.decimation = 5
+        self.episode_length_s = 30.0
+        # simulation settings
+        self.sim.dt = 0.01  # 100Hz
+        self.sim.render_interval = 5
+
+
+@configclass
+class UR10LongSuctionCubeStackEnvCfg(UR10CubeStackEnvCfg):
+
+    def __post_init__(self):
+        # post init of parent
+        super().__post_init__()
+
+        # Set events
+        self.events = EventCfgLongSuction()
+
+        # Set UR10 as robot
+        self.scene.robot = UR10_LONG_SUCTION_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+
+        # Set surface gripper: Ensure the SurfaceGripper prim has the required attributes
+        self.scene.surface_gripper = SurfaceGripperCfg(
+            prim_path="{ENV_REGEX_NS}/Robot/ee_link/SurfaceGripper",
+            max_grip_distance=0.05,
+            shear_force_limit=5000.0,
+            coaxial_force_limit=5000.0,
+            retry_interval=0.05,
+        )
+
+        self.scene.ee_frame = FrameTransformerCfg(
+            prim_path="{ENV_REGEX_NS}/Robot/base_link",
+            debug_vis=True,
+            visualizer_cfg=self.marker_cfg,
+            target_frames=[
+                FrameTransformerCfg.FrameCfg(
+                    prim_path="{ENV_REGEX_NS}/Robot/ee_link",
+                    name="end_effector",
+                    offset=OffsetCfg(
+                        pos=[0.22, 0.0, 0.0],
+                    ),
+                ),
+            ],
+        )
+
+
+@configclass
+class UR10ShortSuctionCubeStackEnvCfg(UR10CubeStackEnvCfg):
+
+    def __post_init__(self):
+        # post init of parent
+        super().__post_init__()
+
+        # Set UR10 as robot
+        self.scene.robot = UR10_SHORT_SUCTION_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+
+        # Set surface gripper: Ensure the SurfaceGripper prim has the required attributes
+        self.scene.surface_gripper = SurfaceGripperCfg(
+            prim_path="{ENV_REGEX_NS}/Robot/ee_link/SurfaceGripper",
+            max_grip_distance=0.05,
+            shear_force_limit=5000.0,
+            coaxial_force_limit=5000.0,
+            retry_interval=0.05,
+        )
+
+        self.scene.ee_frame = FrameTransformerCfg(
+            prim_path="{ENV_REGEX_NS}/Robot/base_link",
+            debug_vis=True,
+            visualizer_cfg=self.marker_cfg,
+            target_frames=[
+                FrameTransformerCfg.FrameCfg(
+                    prim_path="{ENV_REGEX_NS}/Robot/ee_link",
+                    name="end_effector",
+                    offset=OffsetCfg(
+                        pos=[0.1585, 0.0, 0.0],
+                    ),
+                ),
+            ],
+        )