Add task <adjust_pose> and corresponding example <adjust_dexcube_pose> #305
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## Summary Update link to the docs in README.md to the new public location. ## Detailed description - Docs url has changed now that the repo is public.
Doc fix ([MR](6c305d4)) & parallel eval ([MR](5d97a8f)) are cherrypicked in this MR. --------- Co-authored-by: Vikram Ramasamy <[email protected]>
## Summary Move the multi-versioned docs now that we have multiple version of Isaac Lab Arena. ## Detailed description - Means users can read the version of the docs that shipped the release that they're using. <img width="1130" height="625" alt="version_sidebar" src="https://github.com/user-attachments/assets/b06372cd-9bed-4a1d-99b8-9480c279ebb4" /> ## Summary Short description of the change (max 50 chars) ## Detailed description - What was the reason for the change? - What has been changed? - What is the impact of this change? Co-authored-by: Alex Millane <[email protected]>
## Summary Point to correct docs --------- Co-authored-by: Alex Millane <[email protected]>
## Summary Add warnings
Add corresponding example: adjust cube pose
…e/adjust_pose_task
alexmillane
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Dec 19, 2025
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Thank you for adding this. I left a few comments. Once you've addressed them, merge away!
docs/pages/example_workflows/static_manipulation/step_5_evaluation.rst
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Summary
Adjusting object's pose is a classic and basic task in many complicated tasks, like pick-and-place, assembly, and manipulation. This PR introduces an
AdjustPoseTaskas a reusable task component and provides a concrete example environment (AdjustCubePoseEnvironment) that demonstrates how to use it.Detailed description
What was the reason for the change?
The arena framework needed a fundamental task type for object pose adjustment that can be used as a building block for more complex manipulation tasks. Many robotic manipulation scenarios require moving an object to a specific position and/or orientation, so having a standardized task definition helps maintain consistency and reusability.
What has been changed?
AdjustPoseTaskinisaaclab_arena/tasks/adjust_pose_task.py- a configurable task that defines success criteria based on:x_range,y_range, andz_rangeadjust_pose_task_terminationfunction inisaaclab_arena/tasks/terminations.pythat evaluates whether the object has reached the target poseDexCubeobject to the object libraryFactoryTableBackgroundto the background libraryAdjustCubePoseEnvironmentinisaaclab_arena_environments/adjust_cube_pose_environment.py- a complete example showing how to configure and use the task with a Franka robot manipulating a cubeisaaclab_arena/tests/test_adjust_cube_pose.py:What is the impact of this change?
AdjustPoseTaskcan be reused for various manipulation scenariosDexCubeandFactoryTableBackgroundare now available in the asset library for other environments