GR1 Sequential Pick & Place and Close Door Task

This example demonstrates the complete workflow for the GR1 sequential manipulation task of picking up an object, placing it into a refrigerator, and closing the door in Isaac Lab - Arena, covering environment setup and validation, teleoperation data collection, data generation with Isaac Lab Mimic, policy post-training, and closed-loop evaluation.

Task Overview

Task ID: put_item_in_fridge_and_close_door

Task Description: The GR1T2 humanoid uses its upper body (arms and hands) to pick up an object, place it into a refrigerator, and close the door.

Key Specifications:

Property	Value
Tags	Table-top manipulation
Skills	Pick & place, Close door
Embodiment	Fourier GR1T2 (54 DOF humanoid)
Interop	Isaac Lab Teleop, Isaac Lab Mimic
Scene	LightWheel Kitchen environment
Objects	Refrigerator (articulated object), Rigid object to be placed in the refrigerator (e.g. ranch dressing bottle)
Policy	GR00T N1.6 (vision-language foundation model)
Post-training	Imitation Learning
Physics	PhysX (200Hz @ 4 decimation)
Closed-loop	Yes (50Hz control)

Workflow

This tutorial covers the pipeline pn creating an environment, generating training data, fine-tuning a policy (GR00T N1.6), and evaluating the policy in closed-loop.

Prerequisites

Start the isaaclab docker container

./docker/run_docker.sh

You’ll also need to create the folders for the data and models. Create the folders for the data and models with:

export DATASET_DIR=/datasets/isaaclab_arena/sequential_static_manipulation_tutorial
mkdir -p $DATASET_DIR
export MODELS_DIR=/models/isaaclab_arena/sequential_static_manipulation_tutorial
mkdir -p $MODELS_DIR

Workflow Steps

Follow the following steps to complete the workflow:

• Environment Setup and Validation

• Teleoperation Data Collection

• Data Generation

• Policy Post-training

• Closed-Loop Policy Inference and Evaluation