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Adds Factory contact-rich manipulation tasks to IsaacLab #1520

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merged 16 commits into from
Dec 17, 2024
Merged

Adds Factory contact-rich manipulation tasks to IsaacLab #1520

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3e6537d
Initial factory commit
noseworm Dec 5, 2024
e33bea0
Use table already in omniverse
noseworm Dec 5, 2024
b40062f
Change assets to articulations
noseworm Dec 8, 2024
fe76be3
adding contact-rich environments (from Factory) to documentation
iakinola23 Dec 9, 2024
a287a99
Run pre-commit formatting
noseworm Dec 9, 2024
f500931
Update docs and changelog
noseworm Dec 10, 2024
79f5544
Add contributors for Factory envs
noseworm Dec 10, 2024
2aa8aa5
Fix indentation of player config
noseworm Dec 11, 2024
e81909a
Register each contact-rich task using a separate configclass
noseworm Dec 11, 2024
3fdd2de
Update ASSET_DIR for Factory assets
noseworm Dec 12, 2024
66c912a
Update from code review
noseworm Dec 16, 2024
f01fa94
Update comprehensive environment list
noseworm Dec 16, 2024
09b0902
Merge branch 'main' into factory
kellyguo11 Dec 16, 2024
59cdba1
Update extension.toml
kellyguo11 Dec 16, 2024
a2bc641
Update per_test_timeouts.py
kellyguo11 Dec 16, 2024
ce0f385
Update per_test_timeouts.py
kellyguo11 Dec 17, 2024
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3 changes: 2 additions & 1 deletion .../extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/factory/factory_tasks_cfg.py
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Supposed to be ISAAC_NUCLEUS_DIR instead of ISAACLAB_NUCLEUS_DIR?

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ISAACLAB_NUCLEUS_DIR should be correct. This is equivalent to ISAAC_NUCLEUS_DIR/IsaacLab.

Original file line number Diff line number Diff line change
Expand Up @@ -6,8 +6,9 @@
import omni.isaac.lab.sim as sim_utils
from omni.isaac.lab.assets import ArticulationCfg
from omni.isaac.lab.utils import configclass
from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR

ASSET_DIR = "" # Should be replaced with location to Factory assets
ASSET_DIR = f"{ISAACLAB_NUCLEUS_DIR}/Factory"


@configclass
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