Add pressable toaster example task (#74)

## Summary
Adds a _press_button_environment_ and a respektive task that uses the
_Pressable_ affordance.

---------

Co-authored-by: Vikram Ramasamy <158473438+viiik-inside@users.noreply.github.com>
Co-authored-by: viiik-inside <vramasamy@nvidia.com>

Author: cvolkcvolk

.github/workflows/ci.yml

@@ -26,7 +26,7 @@ jobs:
   test:
     name: Run pre commit checks and tests
     runs-on: [self-hosted, zurich]
-    timeout-minutes: 30
+    timeout-minutes: 45
 
     container:
       image: nvcr.io/nvstaging/isaac-amr/isaac_arena:latest

isaac_arena/affordances/pressable.py

@@ -24,25 +24,23 @@
 class Pressable(AffordanceBase):
     """Interface for pressable objects."""
 
-    def __init__(self, pressable_joint_name: str, pressable_pressed_threshold: float = 0.5, **kwargs):
+    def __init__(self, pressable_joint_name: str, pressedness_threshold: float = 0.5, **kwargs):
         super().__init__(**kwargs)
         self.pressable_joint_name = pressable_joint_name
-        self.pressable_pressed_threshold = pressable_pressed_threshold
+        self.pressedness_threshold = pressedness_threshold
 
     def is_pressed(
-        self, env: ManagerBasedEnv, asset_cfg: SceneEntityCfg | None = None, threshold: float | None = None
+        self, env: ManagerBasedEnv, asset_cfg: SceneEntityCfg | None = None, pressedness_threshold: float | None = None
     ) -> torch.Tensor:
         """Returns a boolean tensor of whether the object is pressed."""
         if asset_cfg is None:
             asset_cfg = SceneEntityCfg(self.name)
         # We allow for overriding the object-level threshold by passing an argument to this
         # function explicitly. Otherwise we use the object-level threshold.
-        if threshold is not None:
-            pressable_pressed_threshold = threshold
-        else:
-            pressable_pressed_threshold = self.pressable_pressed_threshold
+        if pressedness_threshold is None:
+            pressedness_threshold = self.pressedness_threshold
         asset_cfg = self._add_joint_name_to_scene_entity_cfg(asset_cfg)
-        return get_normalized_joint_position(env, asset_cfg) > pressable_pressed_threshold
+        return get_normalized_joint_position(env, asset_cfg) > pressedness_threshold
 
     def press(
         self,

isaac_arena/assets/object_library.py

@@ -193,14 +193,14 @@ class Toaster(LibraryObject, Pressable):
 
     # Openable affordance parameters
     pressable_joint_name = "button_cancel_joint"
-    pressable_pressed_threshold = 0.5
+    pressedness_threshold = 0.5
 
     def __init__(self, prim_path: str | None = None, initial_pose: Pose | None = None):
         super().__init__(
             prim_path=prim_path,
             initial_pose=initial_pose,
             pressable_joint_name=self.pressable_joint_name,
-            pressable_pressed_threshold=self.pressable_pressed_threshold,
+            pressedness_threshold=self.pressedness_threshold,
         )
 
 

isaac_arena/examples/example_environments/cli.py

@@ -24,6 +24,7 @@
 from isaac_arena.examples.example_environments.lightwheel_kitchen_pot_pick_and_place import (
     LightwheelKitchenPotPickAndPlaceEnvironment,
 )
+from isaac_arena.examples.example_environments.press_button_environment import PressButtonEnvironment
 
 # NOTE(alexmillane, 2025.09.04): There is an issue with type annotation in this file.
 # We cannot annotate types which require the simulation app to be started in order to
@@ -39,6 +40,7 @@
     GalileoPickAndPlaceEnvironment.name: GalileoPickAndPlaceEnvironment,
     LightwheelKitchenPotPickAndPlaceEnvironment.name: LightwheelKitchenPotPickAndPlaceEnvironment,
     GalileoG1LocomanipPickAndPlaceEnvironment.name: GalileoG1LocomanipPickAndPlaceEnvironment,
+    PressButtonEnvironment.name: PressButtonEnvironment,
 }
 
 

isaac_arena/examples/example_environments/press_button_environment.py

@@ -0,0 +1,70 @@
+# Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#    http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+
+from isaac_arena.examples.example_environments.example_environment_base import ExampleEnvironmentBase
+
+# NOTE(alexmillane, 2025.09.04): There is an issue with type annotation in this file.
+# We cannot annotate types which require the simulation app to be started in order to
+# import, because this file is used to retrieve CLI arguments, so it must be imported
+# before the simulation app is started.
+# TODO(alexmillane, 2025.09.04): Fix this.
+
+
+class PressButtonEnvironment(ExampleEnvironmentBase):
+
+    name: str = "press_button"
+
+    def get_env(self, args_cli: argparse.Namespace):  # -> IsaacArenaEnvironment:
+        from isaac_arena.environments.isaac_arena_environment import IsaacArenaEnvironment
+        from isaac_arena.scene.scene import Scene
+        from isaac_arena.tasks.press_button_task import PressButtonTask
+        from isaac_arena.utils.pose import Pose
+
+        embodiment = self.asset_registry.get_asset_by_name(args_cli.embodiment)()
+
+        background = self.asset_registry.get_asset_by_name("packing_table")()
+        press_object = self.asset_registry.get_asset_by_name("toaster")()
+
+        assets = [background, press_object]
+
+        if args_cli.teleop_device is not None:
+            teleop_device = self.device_registry.get_device_by_name(args_cli.teleop_device)()
+        else:
+            teleop_device = None
+
+        # Put the toaster on the packing table.
+        press_object_pose = Pose(position_xyz=(0.7, 0.4, 0.19), rotation_wxyz=(0.7071, 0.0, 0.0, -0.7071))
+        press_object.set_initial_pose(press_object_pose)
+
+        # Compose the scene
+        scene = Scene(assets=assets)
+
+        isaac_arena_environment = IsaacArenaEnvironment(
+            name=self.name,
+            embodiment=embodiment,
+            scene=scene,
+            task=PressButtonTask(press_object, reset_pressedness=0.8),
+            teleop_device=teleop_device,
+        )
+        return isaac_arena_environment
+
+    @staticmethod
+    def add_cli_args(parser: argparse.ArgumentParser) -> None:
+        parser.add_argument("--object", type=str, default=None)
+        # NOTE(alexmillane, 2025.09.04): We need a teleop device argument in order
+        # to be used in the record_demos.py script.
+        parser.add_argument("--teleop_device", type=str, default=None)
+        parser.add_argument("--embodiment", type=str, default="franka")

isaac_arena/tasks/press_button_task.py

@@ -0,0 +1,94 @@
+# Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#    http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from dataclasses import MISSING
+
+import isaaclab.envs.mdp as mdp_isaac_lab
+from isaaclab.managers import EventTermCfg, TerminationTermCfg
+from isaaclab.utils import configclass
+
+from isaac_arena.affordances.pressable import Pressable
+from isaac_arena.metrics.metric_base import MetricBase
+from isaac_arena.metrics.success_rate import SuccessRateMetric
+from isaac_arena.tasks.task_base import TaskBase
+
+
+class PressButtonTask(TaskBase):
+    def __init__(
+        self,
+        pressable_object: Pressable,
+        pressedness_threshold: float | None = None,
+        reset_pressedness: float | None = None,
+    ):
+        super().__init__()
+        assert isinstance(pressable_object, Pressable), "Pressable object must be an instance of Pressable"
+        self.pressable_object = pressable_object
+        self.pressedness_threshold = pressedness_threshold
+        self.reset_pressedness = reset_pressedness
+
+    def get_scene_cfg(self):
+        pass
+
+    def get_termination_cfg(self):
+        params = {}
+        if self.pressedness_threshold is not None:
+            params["threshold"] = self.pressedness_threshold
+        success = TerminationTermCfg(
+            func=self.pressable_object.is_pressed,
+            params=params,
+        )
+        return TerminationsCfg(success=success)
+
+    def get_events_cfg(self):
+        return PressEventCfg(self.pressable_object, reset_pressedness=self.reset_pressedness)
+
+    def get_prompt(self):
+        raise NotImplementedError("Function not implemented yet.")
+
+    def get_mimic_env_cfg(self, embodiment_name: str):
+        raise NotImplementedError("Function not implemented yet.")
+
+    def get_metrics(self) -> list[MetricBase]:
+        return [
+            SuccessRateMetric(),
+        ]
+
+
+@configclass
+class TerminationsCfg:
+    """Termination terms for the MDP."""
+
+    time_out: TerminationTermCfg = TerminationTermCfg(func=mdp_isaac_lab.time_out, time_out=False)
+
+    # Dependent on the openable object, so this is passed in from the task at
+    # construction time.
+    success: TerminationTermCfg = MISSING
+
+
+@configclass
+class PressEventCfg:
+    """Configuration for Open Door."""
+
+    reset_button_state: EventTermCfg = MISSING
+
+    def __init__(self, pressable_object: Pressable, reset_pressedness: float | None):
+        assert isinstance(pressable_object, Pressable), "Object pose must be an instance of Pressable"
+        params = {}
+        if reset_pressedness is not None:
+            params["unpressed_percentage"] = reset_pressedness
+        self.reset_button_state = EventTermCfg(
+            func=pressable_object.unpress,
+            mode="reset",
+            params=params,
+        )

isaac_arena/tests/test_policy_runner.py

@@ -57,6 +57,14 @@ def run_policy_runner(
     run_subprocess(args)
 
 
+def test_zero_action_policy_press_button():
+    run_policy_runner(
+        policy_type="zero_action",
+        example_environment="press_button",
+        num_steps=NUM_STEPS,
+    )
+
+
 def test_zero_action_policy_kitchen_pick_and_place():
     # TODO(alexmillane, 2025.07.29): Get an exhaustive list of all scenes and embodiments
     # from a registry when we have one.