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Add 11 new robolab pick and place envs (#845)
## Summary Add additional robolab pick and place yamls from agentic env gen ## Detailed description - Add 11 new yamls for robolab tasks. These are generated by agentic env gen with minor editing. - Add a missing object assset. - Fix a existing yaml config angle mistake (rad instead of degree) --------- Signed-off-by: Qian Lin <qianl@nvidia.com>
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‎isaaclab_arena/assets/object_library.py‎

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@@ -676,6 +676,15 @@ class GreenContainer(LibraryObject):
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scale = (0.5, 0.5, 0.5)
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@register_asset
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class PurpleCrate(LibraryObject):
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"""A purple KLT container."""
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name = "purple_crate"
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tags = ["object", "container"]
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usd_path = f"{ISAAC_NUCLEUS_DIR}/Props/KLT_Bin/small_KLT.usd"
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@register_asset
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class BlueBlockBasicRobolab(LibraryObject):
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# TODO(cvolk): pick_and_place success termination does not consistently trigger

‎isaaclab_arena_environments/robolab/banana_bowl_linked.yaml‎

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# Copyright (c) 2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
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# All rights reserved.
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#
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# SPDX-License-Identifier: Apache-2.0
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env_name: banana_bowl
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nodes:
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- id: maple_table_robolab
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name: maple_table_robolab
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type: background
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params: {}
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- id: droid
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name: droid_abs_joint_pos
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type: embodiment
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params: {}
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- id: banana
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name: banana_ycb_robolab
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type: object
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params: {}
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- id: bowl
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name: bowl_ycb_robolab
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type: object
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params: {}
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tasks:
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- kind: PickAndPlaceTask
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params:
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pick_up_object: banana
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destination_location: bowl
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background_scene: maple_table_robolab
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episode_length_s: 20.0
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description: pick up the banana and place it in the bowl
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id: task_0_PickAndPlaceTask
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initial_state_spec_id: state_initial
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success_state_spec_id: state_spec_1
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state_specs:
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- id: state_initial
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is_delta: false
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spatial_constraints:
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- kind: is_anchor
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subject: maple_table_robolab
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params: {}
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id: state_initial_0_is_anchor_maple_table_robolab
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- kind: 'on'
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subject: bowl
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reference: maple_table_robolab
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params: {}
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id: state_initial_1_on_maple_table_robolab_bowl
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- kind: 'on'
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subject: banana
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reference: maple_table_robolab
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params: {}
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id: state_initial_2_on_maple_table_robolab_banana
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task_constraints: []
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- id: state_spec_1
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is_delta: true
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spatial_constraints:
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- kind: 'on'
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subject: banana
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reference: bowl
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params: {}
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id: state_spec_1_banana_on_bowl
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task_constraints: []
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cli_override_specs: []

‎isaaclab_arena_environments/robolab/bin_condiments_linked.yaml‎

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# Copyright (c) 2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
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# All rights reserved.
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#
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# SPDX-License-Identifier: Apache-2.0
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env_name: bin_condiments
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nodes:
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- id: maple_table_robolab
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name: maple_table_robolab
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type: background
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params: {}
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- id: droid
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name: droid_abs_joint_pos
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type: embodiment
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params: {}
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- id: coffee_pot
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name: coffee_pot_hot3d_robolab
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type: object
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params: {}
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- id: grey_bin
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name: grey_bin_robolab
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type: object
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params: {}
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- id: mug
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name: mug
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type: object
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params: {}
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- id: mustard
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name: mustard_bottle_hope_robolab
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type: object
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params: {}
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- id: bowl
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name: bowl_ycb_robolab
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type: object
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params: {}
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- id: ranch_dressing
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name: ranch_dressing_hope_robolab
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type: object
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params: {}
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- id: bbq_sauce_bottle_1
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name: bbq_sauce_bottle_hope_robolab
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type: object
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params: {}
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- id: bbq_sauce_bottle_2
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name: bbq_sauce_bottle_hope_robolab
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type: object
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params: {}
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- id: oatmeal_raisin_cookies
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name: oatmeal_raisin_cookies_hope_robolab
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type: object
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params: {}
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- id: canned_tuna
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name: canned_tuna_hope_robolab
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type: object
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params: {}
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- id: soft_scrub
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name: soft_scrub_ycb_robolab
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type: object
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params: {}
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- id: wood_block
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name: wood_block_ycb_robolab
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type: object
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params: {}
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tasks:
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- kind: PickAndPlaceTask
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params:
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pick_up_object: coffee_pot
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destination_location: grey_bin
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background_scene: maple_table_robolab
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episode_length_s: 20.0
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max_separation: [0.1, 0.1, 0.1]
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description: pick up the coffee pot and place it into the grey bin
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id: task_0_PickAndPlaceTask
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initial_state_spec_id: state_initial
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success_state_spec_id: state_spec_1
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state_specs:
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- id: state_initial
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is_delta: false
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spatial_constraints:
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- kind: is_anchor
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subject: maple_table_robolab
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params: {}
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id: state_initial_0_is_anchor_maple_table_robolab
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- kind: 'on'
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subject: coffee_pot
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reference: maple_table_robolab
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params: {}
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id: state_initial_1_on_maple_table_robolab_coffee_pot
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- kind: 'on'
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subject: grey_bin
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reference: maple_table_robolab
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params: {}
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id: state_initial_2_on_maple_table_robolab_grey_bin
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- kind: 'on'
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subject: mug
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reference: maple_table_robolab
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params: {}
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id: state_initial_3_on_maple_table_robolab_mug
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- kind: 'on'
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subject: mustard
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reference: maple_table_robolab
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params: {}
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id: state_initial_4_on_maple_table_robolab_mustard
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- kind: 'on'
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subject: bowl
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reference: maple_table_robolab
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params: {}
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id: state_initial_5_on_maple_table_robolab_bowl
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- kind: 'on'
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subject: ranch_dressing
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reference: maple_table_robolab
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params: {}
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id: state_initial_6_on_maple_table_robolab_ranch_dressing
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- kind: 'on'
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subject: bbq_sauce_bottle_1
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reference: maple_table_robolab
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params: {}
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id: state_initial_7_on_maple_table_robolab_bbq_sauce_bottle_1
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- kind: 'on'
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subject: bbq_sauce_bottle_2
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reference: maple_table_robolab
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params: {}
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id: state_initial_8_on_maple_table_robolab_bbq_sauce_bottle_2
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- kind: 'on'
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subject: oatmeal_raisin_cookies
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reference: maple_table_robolab
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params: {}
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id: state_initial_9_on_maple_table_robolab_oatmeal_raisin_cookies
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- kind: 'on'
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subject: canned_tuna
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reference: maple_table_robolab
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params: {}
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id: state_initial_10_on_maple_table_robolab_canned_tuna
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- kind: 'on'
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subject: soft_scrub
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reference: maple_table_robolab
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params: {}
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id: state_initial_11_on_maple_table_robolab_soft_scrub
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- kind: 'on'
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subject: wood_block
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reference: maple_table_robolab
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params: {}
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id: state_initial_12_on_maple_table_robolab_wood_block
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task_constraints: []
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- id: state_spec_1
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is_delta: true
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spatial_constraints:
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- kind: 'on'
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subject: coffee_pot
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reference: grey_bin
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params: {}
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id: state_spec_1_coffee_pot_on_grey_bin
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task_constraints: []
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cli_override_specs: []

‎isaaclab_arena_environments/robolab/bottles_crate_linked.yaml‎

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# Copyright (c) 2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
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# All rights reserved.
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#
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# SPDX-License-Identifier: Apache-2.0
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env_name: bottles_crate
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nodes:
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- id: maple_table_robolab
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name: maple_table_robolab
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type: background
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params: {}
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- id: droid
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name: droid_abs_joint_pos
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type: embodiment
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params: {}
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- id: bbq_sauce_bottle
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name: bbq_sauce_bottle_hope_robolab
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type: object
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params: {}
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- id: purple_crate
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name: purple_crate
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type: object
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params: {}
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- id: ceramic_mug
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name: ceramic_mug_hot3d_robolab
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type: object
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params: {}
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- id: salad_dressing_bottle
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name: salad_dressing_bottle_hot3d_robolab
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type: object
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params: {}
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tasks:
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- kind: PickAndPlaceTask
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params:
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pick_up_object: bbq_sauce_bottle
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destination_location: purple_crate
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background_scene: maple_table_robolab
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episode_length_s: 20.0
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max_separation: [0.1, 0.1, 0.1]
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description: place the bbq sauce bottle into the purple crate on the table
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id: task_0_PickAndPlaceTask
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initial_state_spec_id: state_initial
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success_state_spec_id: state_spec_1
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state_specs:
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- id: state_initial
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is_delta: false
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spatial_constraints:
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- kind: is_anchor
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subject: maple_table_robolab
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params: {}
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id: state_initial_0_is_anchor_maple_table_robolab
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- kind: 'on'
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subject: bbq_sauce_bottle
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reference: maple_table_robolab
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params: {}
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id: state_initial_1_on_maple_table_robolab_bbq_sauce_bottle
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- kind: 'on'
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subject: purple_crate
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reference: maple_table_robolab
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params: {}
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id: state_initial_2_on_maple_table_robolab_purple_crate
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- kind: 'on'
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subject: ceramic_mug
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reference: maple_table_robolab
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params: {}
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id: state_initial_3_on_maple_table_robolab_ceramic_mug
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- kind: 'on'
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subject: salad_dressing_bottle
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reference: maple_table_robolab
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params: {}
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id: state_initial_4_on_maple_table_robolab_salad_dressing_bottle
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task_constraints: []
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- id: state_spec_1
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is_delta: true
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spatial_constraints:
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- kind: 'on'
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subject: bbq_sauce_bottle
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reference: purple_crate
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params: {}
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id: state_spec_1_bbq_sauce_bottle_on_purple_crate
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task_constraints: []
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cli_override_specs: []

‎isaaclab_arena_environments/robolab/butter_raisin_box_linked.yaml‎

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# Copyright (c) 2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
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# All rights reserved.
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#
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# SPDX-License-Identifier: Apache-2.0
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env_name: butter_raisin_box
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nodes:
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- id: maple_table_robolab
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name: maple_table_robolab
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type: background
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params: {}
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- id: droid
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name: droid_abs_joint_pos
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type: embodiment
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params: {}
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- id: butter_hope_robolab
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name: butter_hope_robolab
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type: object
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params: {}
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- id: raisin_box_hope_robolab
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name: raisin_box_hope_robolab
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type: object
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params: {}
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tasks:
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- kind: PickAndPlaceTask
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params:
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pick_up_object: butter_hope_robolab
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destination_location: raisin_box_hope_robolab
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background_scene: maple_table_robolab
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episode_length_s: 20.0
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description: pick up the butter box and place it on top of the raisin box
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id: task_0_PickAndPlaceTask
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initial_state_spec_id: state_initial
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success_state_spec_id: state_spec_1
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state_specs:
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- id: state_initial
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is_delta: false
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spatial_constraints:
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- kind: is_anchor
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subject: maple_table_robolab
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params: {}
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id: state_initial_0_is_anchor_maple_table_robolab
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- kind: 'on'
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subject: butter_hope_robolab
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reference: maple_table_robolab
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params: {}
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id: state_initial_1_on_maple_table_robolab_butter_hope_robolab
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- kind: 'on'
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subject: raisin_box_hope_robolab
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reference: maple_table_robolab
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params: {}
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id: state_initial_2_on_maple_table_robolab_raisin_box_hope_robolab
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# TODO: support rotate around solution from the agent intent spec
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- kind: 'rotate_around_solution'
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subject: raisin_box_hope_robolab
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params: {
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pitch_rad: 1.57
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}
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id: state_initial_3_rotate_around_solution_raisin_box
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task_constraints: []
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- id: state_spec_1
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is_delta: true
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spatial_constraints:
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- kind: 'on'
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subject: butter_hope_robolab
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reference: raisin_box_hope_robolab
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params: {}
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id: state_spec_1_butter_hope_robolab_on_raisin_box_hope_robolab
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task_constraints: []
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cli_override_specs: []

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