Tasks Design

Tasks define objectives, success criteria, and behavior logic for environments. They provide configurations for termination conditions, event handling, metrics collection, and demonstration generation.

Core Architecture

Tasks use the TaskBase abstract class:

class TaskBase(ABC):
    @abstractmethod
    def get_scene_cfg(self) -> Any:
        """Additional scene configurations."""

    @abstractmethod
    def get_termination_cfg(self) -> Any:
        """Success and failure conditions."""

    @abstractmethod
    def get_events_cfg(self) -> Any:
        """Reset and randomization handling."""

    @abstractmethod
    def get_metrics(self) -> list[MetricBase]:
        """Performance evaluation metrics."""

    @abstractmethod
    def get_mimic_env_cfg(self, embodiment_name: str) -> Any:
        """Demonstration generation configuration."""

Tasks in Detail

Configuration Components

Tasks contribute to multiple Isaac Lab manager configurations:

• Scene Configuration: Additional sensors and physics components (contact sensors, object interactions)

• Termination Configuration: Success and failure conditions defining episode completion

• Event Configuration: Reset and randomization logic for consistent episode initialization

• Metrics Integration: Performance evaluation and data collection systems

• Mimic Configuration: Demonstration generation with subtask decomposition

Available Tasks

Built-in task implementations for common scenarios:

• PickAndPlaceTask: Move objects between locations with contact-based success detection

• OpenDoorTask: Affordance-based interaction with openable objects and thresholds

• G1LocomanipPickAndPlaceTask: Combined locomotion and manipulation for humanoid robots

• DummyTask: Empty task template for custom objective development

Environment Integration

# Task construction with scene assets
pick_object = asset_registry.get_asset_by_name("cracker_box")()
destination = ObjectReference("kitchen_drawer", parent_asset=kitchen)

task = PickAndPlaceTask(
    pick_up_object=pick_object,
    destination_location=destination,
    background_scene=kitchen
)

# Environment composition
environment = IsaacLabArenaEnvironment(
    name="kitchen_manipulation",
    embodiment=embodiment,
    scene=scene,
    task=task,  # Defines objectives and success criteria
    teleop_device=teleop_device
)

# Automatic configuration integration
env = env_builder.make_registered()  # Task configs merged automatically

Usage Examples

Pick and Place Task

pick_object = asset_registry.get_asset_by_name("mustard_bottle")()
destination = ObjectReference("kitchen_drawer", parent_asset=kitchen)

task = PickAndPlaceTask(pick_object, destination, kitchen)

Humanoid Locomotion

pick_object = asset_registry.get_asset_by_name("cracker_box")()
destination_bin = asset_registry.get_asset_by_name("sorting_bin")()

task = G1LocomanipPickAndPlaceTask(pick_object, destination_bin, galileo_scene)