Add OpenArm environments #4089

JinnnK · 2025-11-26T07:10:57Z

Description

Notice: The OpenArm USD files are currently under review and have not yet been officially registered.
Therefore, the current setup loads the USD assets from a separate repository. Once the assets are formally registered in Isaac Sim, the loading route will be updated accordingly. This implementation detail was prepared in consultation with Kei Kase from NVIDIA Japan.

Added the OpenArm assets to IsaacLab/source/isaaclab_assets/isaaclab_assets/robots.
These assets include configurations for the OpenArm unimanual and bimanual models.
Added the following four environments to
IsaacLab/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation:
- OpenArm bimanual reach task
- OpenArm unimanual reach task
- OpenArm unimanual lift-a-cube task
- OpenArm unimanual open-a-drawer task
Added the changelog entry for the OpenArm environments and updated extension.toml under
IsaacLab/source/isaaclab_tasks/docs.
Added the OpenArm environments to IsaacLab/docs/source/overview/environments.rst.

The unit tests are as follows:

# Assuming the environment is set up for Isaac Lab v2.3.0.
# Clone the repository to load the USD assets.
git clone https://github.com/enactic/openarm_isaac_lab

# Add the path and navigate to the Isaac Lab repository.
export PYTHONPATH=$PYTHONPATH:~/openarm_isaac_lab
cd IsaacLab

# Run training.
python ./scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Reach-OpenArm-Bi-v0 --headless

# Run the test.
python ./scripts/reinforcement_learning/rsl_rl/play.py --task Isaac-Reach-OpenArm-Bi-v0 --num_envs 4

You can run different tasks and policies.

Task Description	Task Name	Policy Name
Reach target position (Bimanual)	`Isaac-Reach-OpenArm-Bi-v0`	`rsl_rl`, `rl_games`, `skrl`
Reach target position	`Isaac-Reach-OpenArm-v0`	`rsl_rl`, `rl_games`, `skrl`
Lift a cube	`Isaac-Lift-Cube-OpenArm-v0`	`rsl_rl`, `rl_games`, `skrl`
Open a cabinet's drawer	`Isaac-Open-Drawer-OpenArm-v0`	`rsl_rl`, `rl_games`, `skrl`

Type of change

New feature (non-breaking change which adds functionality)
Documentation update

Screenshots

Reach target position (Bimanual)

Screenshot

Reward function

Video

Screencast.from.11-27-2025.03.54.44.PM.webm

Reach target position

Screenshot

Reward function

Video

Screencast.from.11-27-2025.03.51.36.PM.webm

Lift a cube

Screenshot

Reward function

Video

Screencast.from.11-27-2025.03.53.04.PM.webm

Open a cabinet's drawer

Screenshot

Reward function

Video

Screencast.from.11-27-2025.03.53.54.PM.webm

Checklist

I have read and understood the contribution guidelines
I have run the pre-commit checks with ./isaaclab.sh --format
I have made corresponding changes to the documentation
My changes generate no new warnings
I have added tests that prove my fix is effective or that my feature works
I have updated the changelog and the corresponding version in the extension's config/extension.toml file
I have added my name to the CONTRIBUTORS.md or my name already exists there

greptile-apps · 2025-11-26T07:17:27Z

Greptile Overview

Greptile Summary

This PR introduces comprehensive support for OpenArm robots to Isaac Lab, adding four new manipulation environments across three different task types. The implementation includes OpenArm bimanual reach, unimanual reach, unimanual lift-cube, and unimanual cabinet drawer opening tasks. Each environment is configured with full reinforcement learning agent support for three frameworks (RSL-RL, RL Games, and SKRL).

The PR follows Isaac Lab's established patterns by creating robot-specific configuration directories under each manipulation task, similar to existing Franka and UR10 implementations. The OpenArm robot assets are loaded from an external repository (enactic/openarm_isaac_lab) as a temporary solution while USD files undergo official registration review with NVIDIA.

Key additions include robot articulation configurations for both unimanual and bimanual variants with high-PD control options, environment-specific configurations with OpenArm joint naming conventions, comprehensive agent configurations for all supported RL frameworks, and proper documentation updates including changelog entries and environment overview tables.

Important Files Changed

Filename	Score	Overview
source/isaaclab_assets/isaaclab_assets/robots/openarm.py	3/5	Adds OpenArm robot configurations but relies on external repository dependency
source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/bimanual/agents/init.py	3/5	Empty initialization file missing expected agent configuration imports
source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/unimanual/init.py	4/5	Registers OpenArm unimanual reach environments with proper RL framework support
source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/bimanual/joint_pos_env_cfg.py	4/5	Implements OpenArm bimanual reach environment configuration with dual-arm control
source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/openarm/joint_pos_env_cfg.py	4/5	Configures OpenArm cabinet manipulation task with robot-specific parameters
source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/openarm/init.py	4/5	Registers OpenArm lift environments including sb3 framework configuration
source/isaaclab_tasks/docs/CHANGELOG.rst	4/5	Documents new environments but contains inconsistent Gym ID formatting
source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/lift_openarm_env_cfg.py	4/5	Base configuration for OpenArm lift environment using MISSING placeholders
source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/reach_openarm_bi_env_cfg.py	4/5	Bimanual reach environment with multiple MISSING placeholders requiring resolution
source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/reach_openarm_uni_env_cfg.py	4/5	Unimanual reach base configuration with hardcoded joint names and MISSING fields
source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/cabinet_openarm_env_cfg.py	4/5	Cabinet environment base configuration with abstract components using MISSING
source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/openarm/joint_pos_env_cfg.py	4/5	Complete OpenArm lift configuration with specific gripper and frame parameters
source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/unimanual/joint_pos_env_cfg.py	4/5	OpenArm unimanual reach configuration following established robot patterns
docs/source/overview/environments.rst	5/5	Properly adds OpenArm environments to documentation with consistent formatting
source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/bimanual/init.py	5/5	Correctly registers bimanual reach environments with proper RL framework entry points
source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/openarm/init.py	5/5	Registers OpenArm cabinet environments following established registration patterns
Multiple agent configuration files (rl_games, rsl_rl, skrl configs)	5/5	Standard RL framework configurations with appropriate hyperparameters for manipulation tasks
Version and changelog files	5/5	Proper version bumps and documentation updates following project conventions
Empty init.py files	5/5	Standard package initialization files with correct copyright headers

Confidence score: 3/5

This PR introduces significant functionality but has several concerns that affect implementation robustness and maintainability
Score reflects the external dependency requirement, multiple MISSING placeholder values that need resolution, inconsistent documentation formatting, and empty agent initialization file that suggests incomplete implementation
Pay close attention to the external repository dependency in openarm.py and the numerous MISSING placeholders in base configuration files that must be properly resolved

greptile-apps

Additional Comments (1)

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/bimanual/agents/__init__.py, line 1-5 (link)

logic: This agents __init__.py file is empty and doesn't follow the pattern established by similar files like the ur_10 agents configuration. It should likely import agent configurations and define entry points for RL frameworks. Is this file intentionally empty, or should it contain agent configuration imports similar to the ur_10 agents __init__.py?

_{36 files reviewed, 7 comments}

_{Edit Code Review Agent Settings | Greptile}

greptile-apps · 2025-11-26T07:17:22Z

...tasks/isaaclab_tasks/manager_based/manipulation/lift/config/openarm/agents/skrl_ppo_cfg.yaml

+  time_limit_bootstrap: False
+  # logging and checkpoint
+  experiment:
+    directory: "openarm_lift"


style: Directory name uses snake_case while other similar configs use kebab-case (e.g., 'lift-cube-franka'). Should this follow the naming convention used in other experiment directories?

_{Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!}

greptile-apps · 2025-11-26T07:17:24Z

source/isaaclab_assets/isaaclab_assets/robots/openarm.py

+Please `git clone https://github.com/enactic/openarm_isaac_lab` and `export PYTHONPATH=$PYTHONPATH:~/openarm_isaac_lab` to use these configurations.
+"""
+
+from source.openarm.openarm.tasks.manager_based.openarm_manipulation import OPENARM_ROOT_DIR


logic: Importing from external repository creates fragile dependency - users must manually clone and configure PYTHONPATH. Consider error handling if import fails. Should there be a fallback or error handling if the external repository is not available?

greptile-apps · 2025-11-26T07:17:24Z

source/isaaclab_assets/isaaclab_assets/robots/openarm.py

+OPENARM_BI_HIGH_PD_CFG.actuators["openarm_gripper"].stiffness = 2e3
+OPENARM_BI_HIGH_PD_CFG.actuators["openarm_gripper"].damping = 1e2


style: High PD configuration sets same stiffness/damping values as base config for gripper actuators, making these lines redundant.

Suggested change

OPENARM_BI_HIGH_PD_CFG.actuators["openarm_gripper"].stiffness = 2e3

OPENARM_BI_HIGH_PD_CFG.actuators["openarm_gripper"].damping = 1e2

# Remove redundant lines since gripper values are already the same in base config

greptile-apps · 2025-11-26T07:17:25Z

source/isaaclab_tasks/docs/CHANGELOG.rst

+
+* Added reaching task environments for OpenArm unimanual robot:
+  * :class:`OpenArmReachEnvCfg`; Gym ID ``Isaac-Reach-OpenArm-v0``.
+  * :class:`OpenArmReachEnvCfg_PLAY`; Gym ID ``OpenArmReachEnvCfg_PLAY``.


syntax: Gym ID should be Isaac-Reach-OpenArm-Play-v0 not OpenArmReachEnvCfg_PLAY to match the pattern used in other PLAY environments

Suggested change

* :class:`OpenArmReachEnvCfg_PLAY`; Gym ID ``OpenArmReachEnvCfg_PLAY``.

* :class:`OpenArmReachEnvCfg_PLAY`; Gym ID ``Isaac-Reach-OpenArm-Play-v0``.

greptile-apps · 2025-11-26T07:17:26Z

source/isaaclab_tasks/docs/CHANGELOG.rst

+  * :class:`OpenArmReachEnvCfg`; Gym ID ``Isaac-Reach-OpenArm-Bi-v0``.
+  * :class:`OpenArmReachEnvCfg_PLAY`; Gym ID ``Isaac-Reach-OpenArm-Bi-Play-v0``.


logic: Class name appears to be duplicated from line 11 - should these be distinct bimanual class names? Are the bimanual environments using different class names than the unimanual ones?

greptile-apps · 2025-11-26T07:17:27Z

.../isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/reach_openarm_uni_env_cfg.py

+                    joint_names=[
+                        "openarm_joint1",
+                        "openarm_joint2",
+                        "openarm_joint3",
+                        "openarm_joint4",
+                        "openarm_joint5",
+                        "openarm_joint6",
+                        "openarm_joint7",
+                    ],


style: Joint names are hardcoded and repeated multiple times throughout the file. Consider defining them as a constant or class attribute to reduce duplication and improve maintainability.

_{Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!}

JinnnK added 16 commits November 25, 2025 06:32

added openarm asset

1fdc9c5

updated a license

a980b11

added reach task with openarm bimanual

ac2161b

updated reach task with openarm bimanual

158faa2

added lift a cube task with openarm unimanual

182ac16

added reach and cabinet task with openarm unimanual

00a8aaf

Fixed bug

dd63da6

Fixed bugs

b647491

Updated changelog

94d6aab

updated init

66e1743

updated license

0d51e76

updated contributors

8c45882

updated extension.toml

a9ab009

updated environments.rst and added image files

7681c6b

run pre-commit checks and modified codes

4349142

removed unnecessary lines

eb559cc

JinnnK requested review from Mayankm96, jtigue-bdai, kellyguo11 and pascal-roth as code owners November 26, 2025 07:10

github-actions bot added documentation Improvements or additions to documentation enhancement New feature or request asset New asset feature or request labels Nov 26, 2025

greptile-apps bot reviewed Nov 26, 2025

View reviewed changes

JinnnK added 2 commits November 26, 2025 17:01

Updated Comprehensive Environment List in the Documentation

53c4155

modified changelog

41354da

kellyguo11 added this to Isaac Lab Nov 27, 2025

kellyguo11 moved this to In review in Isaac Lab Nov 27, 2025

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Add OpenArm environments #4089

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		OPENARM_BI_HIGH_PD_CFG.actuators["openarm_gripper"].stiffness = 2e3
		OPENARM_BI_HIGH_PD_CFG.actuators["openarm_gripper"].damping = 1e2

	OPENARM_BI_HIGH_PD_CFG.actuators["openarm_gripper"].stiffness = 2e3
	OPENARM_BI_HIGH_PD_CFG.actuators["openarm_gripper"].damping = 1e2
	# Remove redundant lines since gripper values are already the same in base config

	* :class:`OpenArmReachEnvCfg_PLAY`; Gym ID ``OpenArmReachEnvCfg_PLAY``.
	* :class:`OpenArmReachEnvCfg_PLAY`; Gym ID ``Isaac-Reach-OpenArm-Play-v0``.

		* :class:`OpenArmReachEnvCfg`; Gym ID ``Isaac-Reach-OpenArm-Bi-v0``.
		* :class:`OpenArmReachEnvCfg_PLAY`; Gym ID ``Isaac-Reach-OpenArm-Bi-Play-v0``.

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JinnnK commented Nov 26, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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Description

Type of change

Screenshots

Reach target position (Bimanual)

Reach target position

Lift a cube

Open a cabinet's drawer

Checklist

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greptile-apps bot commented Nov 26, 2025

Greptile Overview

Greptile Summary

Important Files Changed

Confidence score: 3/5

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JinnnK commented Nov 26, 2025 •

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