update dataset and fix workflows

Author: peterd-NV

isaaclab_arena/embodiments/g1/g1.py

@@ -781,7 +781,7 @@ def get_object_poses(self, env_ids: Sequence[int] | None = None):
         pelvis_pose_w = wp.to_torch(self.scene["robot"].data.body_link_state_w)[
             :, self.scene["robot"].data.body_names.index("pelvis"), :
         ]
-        pelvis_position_w = pelvis_pose_w[:, :3] - wp.to_torch(self.scene.env_origins)
+        pelvis_position_w = pelvis_pose_w[:, :3] - self.scene.env_origins
         pelvis_rot_mat_w = PoseUtils.matrix_from_quat(pelvis_pose_w[:, 3:7])
         pelvis_pose_mat_w = PoseUtils.make_pose(pelvis_position_w, pelvis_rot_mat_w)
         pelvis_pose_inv = PoseUtils.pose_inv(pelvis_pose_mat_w)

isaaclab_arena_environments/galileo_g1_locomanip_pick_and_place_environment.py

@@ -4,6 +4,7 @@
 # SPDX-License-Identifier: Apache-2.0
 
 import argparse
+import math
 
 from isaaclab_arena_environments.example_environment_base import ExampleEnvironmentBase
 
@@ -33,8 +34,8 @@ def get_env(self, args_cli: argparse.Namespace):
             PoseRange(
                 position_xyz_min=(0.5785 - XY_RANGE_M, 0.18 - XY_RANGE_M, 0.0707),
                 position_xyz_max=(0.5785 + XY_RANGE_M, 0.18 + XY_RANGE_M, 0.0707),
-                rpy_min=(0.0, 0.0, 0.0),
-                rpy_max=(0.0, 0.0, 0.0),
+                rpy_min=(math.pi, 0.0, math.pi),
+                rpy_max=(math.pi, 0.0, math.pi),
             )
         )
 

isaaclab_arena_environments/gr1_put_and_close_door_environment.py

@@ -154,7 +154,7 @@ def __post_init__(self):
             pickup_object = self.asset_registry.get_asset_by_name(args_cli.object)()
 
         pickup_object.add_relation(On(kitchen_counter_top))
-        # pickup_object.add_relation(AtPosition(x=4.05, y=-0.58))
+        pickup_object.add_relation(AtPosition(x=4.05, y=-0.58))
         # Consider changing to other values for different objects, below is for ranch dressing bottle.
         yaw_rad = math.radians(-111.55)
         pickup_object.add_relation(RotateAroundSolution(yaw_rad=yaw_rad))

isaaclab_arena_g1/g1_env/mdp/actions/g1_decoupled_wbc_pink_action.py

@@ -220,9 +220,6 @@ def process_actions(self, actions: torch.Tensor):
         right_arm_quat = actions_clone[:, RIGHT_WRIST_QUAT_START_IDX:RIGHT_WRIST_QUAT_END_IDX].squeeze(0).cpu()
 
         # Convert from pos/quat to 4x4 transform matrix
-        # Scipy requires quat xyzw, IsaacLab uses wxyz so a conversion is needed
-        left_arm_quat = np.roll(left_arm_quat, -1)
-        right_arm_quat = np.roll(right_arm_quat, -1)
         left_rotmat = R.from_quat(left_arm_quat).as_matrix()
         right_rotmat = R.from_quat(right_arm_quat).as_matrix()