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Add Arena Gear Assembly scene #983

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Add Arena Gear Assembly scene #983

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c86d9b9
Add Arena Gear Assembly scene
TuurStuyck Jul 30, 2026
9dc9d9d
Remove unused Gear Assembly gripper helpers
TuurStuyck Jul 30, 2026
2107e1a
Stabilize Newton gear assembly scene
TuurStuyck Jul 31, 2026
6ef3f22
Keep Newton gear evaluation continuous
TuurStuyck Jul 31, 2026
0a0ce09
Defer environment registration for policy runner
TuurStuyck Jul 31, 2026
2b9fbee
Stabilize gear assembly policy evaluation
TuurStuyck Jul 31, 2026
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6 changes: 5 additions & 1 deletion isaaclab_arena/assets/background_library.py
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Original file line number Diff line number Diff line change
Expand Up @@ -88,7 +88,10 @@ class PackingTableBackground(LibraryBackground):
name = "packing_table"
tags = ["background"]
usd_path = f"{ARENA_NUCLEUS_DIR}/Arena/assets/background_library/packing_table/packing_table.usd"
initial_pose = Pose(position_xyz=(0.72193, -0.04727, -0.92512), rotation_xyzw=(0.0, 0.0, -0.70711, 0.70711))
initial_pose = Pose(
position_xyz=(0.72193, -0.04727, -0.92512),
rotation_xyzw=(0.0, 0.0, -0.70711, 0.70711),
)
object_min_z = -0.2

def __init__(self):
Expand Down Expand Up @@ -204,6 +207,7 @@ class MapleTableRobolab(LibraryBackground):
name = "maple_table_robolab"
tags = ["background", "robolab"]
usd_path = f"{ARENA_NUCLEUS_DIR}/Arena/assets/object_library/srl_robolab_assets/scenes/maple_table.usda"
spawn_cfg_addon = {"rigid_props": sim_utils.RigidBodyPropertiesCfg(kinematic_enabled=True)}
object_min_z = -0.05

def __init__(self):
Expand Down
11 changes: 11 additions & 0 deletions isaaclab_arena/tasks/gear_assembly/__init__.py
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@@ -0,0 +1,11 @@
# Copyright (c) 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

"""Arena Gear Assembly task package."""

from .assets import * # noqa: F403
from .rewards import * # noqa: F403
from .specs import * # noqa: F403
from .task import * # noqa: F403
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