Add iLab benchmark stub

isaaclab_arena/tasks/pick_and_place_task.py

@@ -11,7 +11,6 @@
 from isaaclab.envs.common import ViewerCfg
 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig
 from isaaclab.managers import SceneEntityCfg, TerminationTermCfg
-from isaaclab.sensors.contact_sensor.contact_sensor_cfg import ContactSensorCfg
 from isaaclab.utils import configclass
 
 from isaaclab_arena.assets.asset import Asset
@@ -26,6 +25,7 @@
 from isaaclab_arena.tasks.task_transition import Relocate, TaskTransition
 from isaaclab_arena.tasks.terminations import object_on_destination
 from isaaclab_arena.utils.cameras import get_viewer_cfg_look_at_object
+from isaaclab_arena.utils.configclass import make_configclass
 
 
 @agent_ready
@@ -64,11 +64,8 @@ def __init__(
         self.destination_object = destination_object
         self.background_scene = background_scene
         self.destination_location = destination_location
-        self.scene_config = SceneCfg(
-            pick_up_object_contact_sensor=self.pick_up_object.get_contact_sensor_cfg(
-                contact_against_object=self.destination_location,
-            ),
-        )
+        self.contact_sensor_name = f"{pick_up_object.name}_contact_sensor"
+        self.scene_config = self.make_scene_cfg()
         self.force_threshold = force_threshold
         self.velocity_threshold = velocity_threshold
         self.mimic_env_cfg_factory = mimic_env_cfg_factory
@@ -80,6 +77,16 @@ def __init__(
             else task_description
         )
 
+    def make_scene_cfg(self):
+        contact_sensor_cfg = self.pick_up_object.get_contact_sensor_cfg(
+            contact_against_object=self.destination_location,
+        )
+        SceneCfg = make_configclass(
+            "SceneCfg",
+            [(self.contact_sensor_name, type(contact_sensor_cfg), contact_sensor_cfg)],
+        )
+        return SceneCfg()
+
     def get_scene_cfg(self):
         return self.scene_config
 
@@ -91,7 +98,7 @@ def make_termination_cfg(self):
             func=object_on_destination,
             params={
                 "object_cfg": SceneEntityCfg(self.pick_up_object.name),
-                "contact_sensor_cfg": SceneEntityCfg("pick_up_object_contact_sensor"),
+                "contact_sensor_cfg": SceneEntityCfg(self.contact_sensor_name),
                 "force_threshold": self.force_threshold,
                 "velocity_threshold": self.velocity_threshold,
             },
@@ -148,13 +155,6 @@ def success_state_transition(cls, pick_up_object: str, destination_location: str
         )
 
 
-@configclass
-class SceneCfg:
-    """Scene configuration for the pick and place task."""
-
-    pick_up_object_contact_sensor: ContactSensorCfg = MISSING
-
-
 @configclass
 class TerminationsCfg:
     """Termination terms for the MDP."""

isaaclab_arena/tests/test_object_on_termination.py

@@ -69,7 +69,7 @@ def _test_object_on_destination_termination(simulation_app) -> bool:
         velocities_vec = []
         success_vec = []
         terminated_vec = []
-        sensor = env.unwrapped.scene.sensors["pick_up_object_contact_sensor"]
+        sensor = env.unwrapped.scene.sensors[f"{cracker_box.name}_contact_sensor"]
         for _ in tqdm.tqdm(range(NUM_STEPS)):
             with torch.inference_mode():
                 actions = torch.zeros(env.action_space.shape, device=env.unwrapped.device)

isaaclab_arena/tests/test_object_set.py

@@ -216,7 +216,7 @@ def _run_pick_and_place_object_set_test(
             assert obj_set.get_initial_pose() is not None, "Initial pose is None"
         assert env.unwrapped.scene[obj_set.name].data.root_pose_w is not None, "Root pose is None"
         assert (
-            env.unwrapped.scene.sensors["pick_up_object_contact_sensor"].data.force_matrix_w is not None
+            env.unwrapped.scene.sensors[f"{obj_set.name}_contact_sensor"].data.force_matrix_w is not None
         ), "Contact sensor data is None"
         return True
     except Exception as e:
@@ -303,7 +303,7 @@ def _test_single_object_in_one_object_set(simulation_app):
 
         assert env.unwrapped.scene[obj_set.name].data.root_pose_w is not None, "Root pose is None"
         assert (
-            env.unwrapped.scene.sensors["pick_up_object_contact_sensor"].data.force_matrix_w is not None
+            env.unwrapped.scene.sensors[f"{obj_set.name}_contact_sensor"].data.force_matrix_w is not None
         ), "Contact sensor data is None"
     except Exception as e:
         print(f"Error: {e}")
@@ -359,7 +359,7 @@ def _test_multi_objects_in_one_object_set(simulation_app):
 
     assert env.unwrapped.scene[obj_set.name].data.root_pose_w is not None, "Root pose is None"
     assert (
-        env.unwrapped.scene.sensors["pick_up_object_contact_sensor"].data.force_matrix_w is not None
+        env.unwrapped.scene.sensors[f"{obj_set.name}_contact_sensor"].data.force_matrix_w is not None
     ), "Contact sensor data is None"
 
     # replace * in OBJECT_SET_PRIM_PATH with env_index

isaaclab_arena_environments/eval_jobs_configs/ilab_jobs_config.json

@@ -0,0 +1,42 @@
+{
+    "jobs": [
+        {
+            "name": "ilab_pick_and_place_two_objects_maple_table_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "ilab_pick_and_place_two_objects_maple_table",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab"
+            },
+            "num_episodes": 10,
+            "language_instruction": "Pick up both objects and place them both in the bowl.",
+            "policy_type": "isaaclab_arena_openpi.policy.pi0_remote_policy.Pi0RemotePolicy",
+            "policy_config_dict": {
+                "policy_variant": "pi05",
+                "policy_device": "cuda:0",
+                "remote_host": "127.0.0.1",
+                "remote_port": 8000,
+                "openpi_embodiment_adapter": "droid"
+            }
+        },
+        {
+            "name": "ilab_open_microwave_maple_table_billiard_hall",
+            "arena_env_args": {
+                "enable_cameras": true,
+                "environment": "ilab_open_microwave_maple_table",
+                "embodiment": "droid_abs_joint_pos",
+                "hdr": "billiard_hall_robolab"
+            },
+            "num_episodes": 10,
+            "language_instruction": "Open the microwave door.",
+            "policy_type": "isaaclab_arena_openpi.policy.pi0_remote_policy.Pi0RemotePolicy",
+            "policy_config_dict": {
+                "policy_variant": "pi05",
+                "policy_device": "cuda:0",
+                "remote_host": "127.0.0.1",
+                "remote_port": 8000,
+                "openpi_embodiment_adapter": "droid"
+            }
+        }
+    ]
+}

isaaclab_arena_environments/ilab_open_microwave_maple_table_environment.py

@@ -0,0 +1,101 @@
+# 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
+
+from __future__ import annotations
+
+import argparse
+import math
+from typing import TYPE_CHECKING
+
+from isaaclab_arena.assets.register import register_environment
+from isaaclab_arena_environments.example_environment_base import ExampleEnvironmentBase
+
+if TYPE_CHECKING:
+    from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
+
+
+@register_environment
+class IlabOpenMicrowaveMapleTableEnvironment(ExampleEnvironmentBase):
+    """Open the door of a microwave resting on the maple table.
+
+    Shares the maple-table background used by the first ilab environment; the
+    microwave is placed on the table and the task succeeds once its door swings
+    past the openness threshold.
+    """
+
+    name: str = "ilab_open_microwave_maple_table"
+
+    def get_env(self, args_cli: argparse.Namespace) -> IsaacLabArenaEnvironment:
+        from isaaclab.envs.common import ViewerCfg
+
+        from isaaclab_arena.assets.object_base import ObjectType
+        from isaaclab_arena.assets.object_reference import ObjectReference
+        from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
+        from isaaclab_arena.relations.relations import IsAnchor, On, RotateAroundSolution
+        from isaaclab_arena.scene.scene import Scene
+        from isaaclab_arena.tasks.open_door_task import OpenDoorTask
+        from isaaclab_arena.utils.pose import Pose
+
+        # Step 1: Retrieve assets from the registry
+        background = self.asset_registry.get_asset_by_name("maple_table_robolab")()
+        microwave = self.asset_registry.get_asset_by_name("microwave")()
+
+        # Step 2: Describe spatial relationships. The microwave sits on the same
+        # table the first ilab environment uses; the yaw rotation faces its door
+        # toward the robot.
+        table_reference = ObjectReference(
+            name="table",
+            prim_path="{ENV_REGEX_NS}/maple_table_robolab/table",
+            parent_asset=background,
+            object_type=ObjectType.RIGID,
+        )
+        table_reference.add_relation(IsAnchor())
+
+        microwave.add_relation(On(table_reference))
+        microwave.add_relation(RotateAroundSolution(yaw_rad=-math.pi / 2))
+
+        # Step 3: Configure lighting
+        light = self.asset_registry.get_asset_by_name("light")()
+        if args_cli.hdr is not None:
+            light.add_hdr(self.hdr_registry.get_hdr_by_name(args_cli.hdr)())
+        light.set_intensity(2000.0)
+
+        # Step 4: Select the embodiment
+        embodiment = self.asset_registry.get_asset_by_name(args_cli.embodiment)(
+            enable_cameras=args_cli.enable_cameras,
+        )
+        embodiment.set_initial_pose(Pose(position_xyz=(-0.3, 0.0, 0.0), rotation_xyzw=(0.0, 0.0, 0.0, 1.0)))
+
+        # Step 5: Compose the scene
+        scene = Scene(assets=[background, light, microwave, table_reference])
+
+        # Step 6: Define the task as opening the microwave door
+        task = OpenDoorTask(
+            openable_object=microwave,
+            openness_threshold=args_cli.openness_threshold,
+            reset_openness=0.0,
+            episode_length_s=20.0,
+        )
+
+        # Set viewport camera to match the robolab droid view
+        def _set_viewer_cfg(env_cfg):
+            env_cfg.viewer = ViewerCfg(eye=(1.5, 0.0, 1.0), lookat=(0.2, 0.0, 0.0))
+            return env_cfg
+
+        # Step 7: Assemble the environment
+        isaaclab_arena_environment = IsaacLabArenaEnvironment(
+            name=self.name,
+            embodiment=embodiment,
+            scene=scene,
+            task=task,
+            env_cfg_callback=_set_viewer_cfg,
+        )
+        return isaaclab_arena_environment
+
+    @staticmethod
+    def add_cli_args(parser: argparse.ArgumentParser) -> None:
+        parser.add_argument("--embodiment", type=str, default="droid_abs_joint_pos")
+        parser.add_argument("--openness_threshold", type=float, default=0.8)
+        parser.add_argument("--hdr", type=str, default="home_office_robolab")

isaaclab_arena_environments/ilab_pick_and_place_two_objects_maple_table_environment.py

@@ -0,0 +1,113 @@
+# 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
+
+from __future__ import annotations
+
+import argparse
+from typing import TYPE_CHECKING
+
+from isaaclab_arena.assets.register import register_environment
+from isaaclab_arena_environments.example_environment_base import ExampleEnvironmentBase
+
+if TYPE_CHECKING:
+    from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
+
+
+@register_environment
+class IlabPickAndPlaceTwoObjectsMapleTableEnvironment(ExampleEnvironmentBase):
+    """Pick-and-place of two objects into a destination on the maple table.
+
+    Completion order does not matter; the composite task succeeds once both
+    objects rest on the destination.
+    """
+
+    name: str = "ilab_pick_and_place_two_objects_maple_table"
+
+    def get_env(self, args_cli: argparse.Namespace) -> IsaacLabArenaEnvironment:
+        from isaaclab.envs.common import ViewerCfg
+
+        from isaaclab_arena.assets.object_base import ObjectType
+        from isaaclab_arena.assets.object_reference import ObjectReference
+        from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
+        from isaaclab_arena.relations.relations import IsAnchor, On
+        from isaaclab_arena.scene.scene import Scene
+        from isaaclab_arena.tasks.composite_task_base import CompositeTaskBase
+        from isaaclab_arena.tasks.pick_and_place_task import PickAndPlaceTask
+
+        # Step 1: Retrieve assets from the registry
+        background = self.asset_registry.get_asset_by_name("maple_table_robolab")()
+        pick_up_object_1 = self.asset_registry.get_asset_by_name(args_cli.pick_up_object_1)()
+        pick_up_object_2 = self.asset_registry.get_asset_by_name(args_cli.pick_up_object_2)()
+        destination_location = self.asset_registry.get_asset_by_name(args_cli.destination_location)()
+
+        # Step 2: Describe spatial relationships
+        table_reference = ObjectReference(
+            name="table",
+            prim_path="{ENV_REGEX_NS}/maple_table_robolab/table",
+            parent_asset=background,
+            object_type=ObjectType.RIGID,
+        )
+        table_reference.add_relation(IsAnchor())
+
+        pick_up_object_1.add_relation(On(table_reference))
+        pick_up_object_2.add_relation(On(table_reference))
+        destination_location.add_relation(On(table_reference))
+
+        # Step 3: Configure lighting
+        light = self.asset_registry.get_asset_by_name("light")()
+        if args_cli.hdr is not None:
+            light.add_hdr(self.hdr_registry.get_hdr_by_name(args_cli.hdr)())
+
+        # Step 4: Select the embodiment
+        embodiment = self.asset_registry.get_asset_by_name(args_cli.embodiment)(
+            enable_cameras=args_cli.enable_cameras,
+        )
+
+        # Step 5: Compose the scene
+        scene = Scene(
+            assets=[background, light, pick_up_object_1, pick_up_object_2, destination_location, table_reference]
+        )
+
+        # Step 6: Define the task as a composite of two pick-and-place subtasks. Each subtask's contact
+        # sensor is named after its pick-up object, so the combined scene config does not collide.
+        pick_and_place_task_1 = PickAndPlaceTask(
+            pick_up_object=pick_up_object_1,
+            destination_location=destination_location,
+            destination_object=destination_location,
+            background_scene=background,
+        )
+        pick_and_place_task_2 = PickAndPlaceTask(
+            pick_up_object=pick_up_object_2,
+            destination_location=destination_location,
+            destination_object=destination_location,
+            background_scene=background,
+        )
+        task = CompositeTaskBase(
+            subtasks=[pick_and_place_task_1, pick_and_place_task_2],
+            episode_length_s=20.0,
+        )
+
+        # Set viewport camera to match the robolab droid view
+        def _set_viewer_cfg(env_cfg):
+            env_cfg.viewer = ViewerCfg(eye=(1.5, 0.0, 1.0), lookat=(0.2, 0.0, 0.0))
+            return env_cfg
+
+        # Step 7: Assemble the environment
+        isaaclab_arena_environment = IsaacLabArenaEnvironment(
+            name=self.name,
+            embodiment=embodiment,
+            scene=scene,
+            task=task,
+            env_cfg_callback=_set_viewer_cfg,
+        )
+        return isaaclab_arena_environment
+
+    @staticmethod
+    def add_cli_args(parser: argparse.ArgumentParser) -> None:
+        parser.add_argument("--embodiment", type=str, default="droid_abs_joint_pos")
+        parser.add_argument("--pick_up_object_1", type=str, default="rubiks_cube_hot3d_robolab")
+        parser.add_argument("--pick_up_object_2", type=str, default="mug_ycb_robolab")
+        parser.add_argument("--destination_location", type=str, default="bowl_ycb_robolab")
+        parser.add_argument("--hdr", type=str, default="home_office_robolab")

isaaclab_arena_environments/pick_and_place_maple_table_environment.py

@@ -97,7 +97,6 @@ def _set_viewer_cfg(env_cfg):
     @staticmethod
     def add_cli_args(parser: argparse.ArgumentParser) -> None:
         parser.add_argument("--embodiment", type=str, default="droid_abs_joint_pos")
-        parser.add_argument("--teleop_device", type=str, default=None)
         parser.add_argument("--hdr", type=str, default=None)
         parser.add_argument("--light_intensity", type=float, default=500.0)
         parser.add_argument("--pick_up_object", type=str, default="rubiks_cube_hot3d_robolab")