Adds position threshold check for state transitions (#1544)

# Description

Adds a position threshold check, resolving 3 TODO error comments, to
ensure the robot's end effector is within a specified distance from the
target position before transitioning between states in the pick and lift
state machine. Improves the precision of state transitions and helps
prevent premature actions during object manipulation. I.e, the threshold
ensures the robot is "close enough" to the target position before
proceeding, reducing the likelihood of failed grasps or incorrect
movements.

PR adapted from #1273 by
@DorsaRoh.

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] 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

<!--
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putting an x character in it

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- [x] I have done this task
- [ ] I have not done this task
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---------

Signed-off-by: Kelly Guo <[email protected]>
Co-authored-by: DorsaRoh <[email protected]>

source/extensions/omni.isaac.lab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.27.27"
+version = "0.27.28"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/extensions/omni.isaac.lab/docs/CHANGELOG.rst

@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.27.28 (2024-12-14)
+~~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Added check for error below threshold in state machines to ensure the state has been reached.
+
+
 0.27.27 (2024-12-13)
 ~~~~~~~~~~~~~~~~~~~~
 

source/standalone/environments/state_machine/lift_cube_sm.py

@@ -81,6 +81,11 @@ class PickSmWaitTime:
     LIFT_OBJECT = wp.constant(1.0)
 
 
+@wp.func
+def distance_below_threshold(current_pos: wp.vec3, desired_pos: wp.vec3, threshold: float) -> bool:
+    return wp.length(current_pos - desired_pos) < threshold
+
+
 @wp.kernel
 def infer_state_machine(
     dt: wp.array(dtype=float),
@@ -92,6 +97,7 @@ def infer_state_machine(
     des_ee_pose: wp.array(dtype=wp.transform),
     gripper_state: wp.array(dtype=float),
     offset: wp.array(dtype=wp.transform),
+    position_threshold: float,
 ):
     # retrieve thread id
     tid = wp.tid()
@@ -109,21 +115,28 @@ def infer_state_machine(
     elif state == PickSmState.APPROACH_ABOVE_OBJECT:
         des_ee_pose[tid] = wp.transform_multiply(offset[tid], object_pose[tid])
         gripper_state[tid] = GripperState.OPEN
-        # TODO: error between current and desired ee pose below threshold
-        # wait for a while
-        if sm_wait_time[tid] >= PickSmWaitTime.APPROACH_OBJECT:
-            # move to next state and reset wait time
-            sm_state[tid] = PickSmState.APPROACH_OBJECT
-            sm_wait_time[tid] = 0.0
+        if distance_below_threshold(
+            wp.transform_get_translation(ee_pose[tid]),
+            wp.transform_get_translation(des_ee_pose[tid]),
+            position_threshold,
+        ):
+            # wait for a while
+            if sm_wait_time[tid] >= PickSmWaitTime.APPROACH_OBJECT:
+                # move to next state and reset wait time
+                sm_state[tid] = PickSmState.APPROACH_OBJECT
+                sm_wait_time[tid] = 0.0
     elif state == PickSmState.APPROACH_OBJECT:
         des_ee_pose[tid] = object_pose[tid]
         gripper_state[tid] = GripperState.OPEN
-        # TODO: error between current and desired ee pose below threshold
-        # wait for a while
-        if sm_wait_time[tid] >= PickSmWaitTime.APPROACH_OBJECT:
-            # move to next state and reset wait time
-            sm_state[tid] = PickSmState.GRASP_OBJECT
-            sm_wait_time[tid] = 0.0
+        if distance_below_threshold(
+            wp.transform_get_translation(ee_pose[tid]),
+            wp.transform_get_translation(des_ee_pose[tid]),
+            position_threshold,
+        ):
+            if sm_wait_time[tid] >= PickSmWaitTime.APPROACH_OBJECT:
+                # move to next state and reset wait time
+                sm_state[tid] = PickSmState.GRASP_OBJECT
+                sm_wait_time[tid] = 0.0
     elif state == PickSmState.GRASP_OBJECT:
         des_ee_pose[tid] = object_pose[tid]
         gripper_state[tid] = GripperState.CLOSE
@@ -135,12 +148,16 @@ def infer_state_machine(
     elif state == PickSmState.LIFT_OBJECT:
         des_ee_pose[tid] = des_object_pose[tid]
         gripper_state[tid] = GripperState.CLOSE
-        # TODO: error between current and desired ee pose below threshold
-        # wait for a while
-        if sm_wait_time[tid] >= PickSmWaitTime.LIFT_OBJECT:
-            # move to next state and reset wait time
-            sm_state[tid] = PickSmState.LIFT_OBJECT
-            sm_wait_time[tid] = 0.0
+        if distance_below_threshold(
+            wp.transform_get_translation(ee_pose[tid]),
+            wp.transform_get_translation(des_ee_pose[tid]),
+            position_threshold,
+        ):
+            # wait for a while
+            if sm_wait_time[tid] >= PickSmWaitTime.LIFT_OBJECT:
+                # move to next state and reset wait time
+                sm_state[tid] = PickSmState.LIFT_OBJECT
+                sm_wait_time[tid] = 0.0
     # increment wait time
     sm_wait_time[tid] = sm_wait_time[tid] + dt[tid]
 
@@ -160,7 +177,7 @@ class PickAndLiftSm:
     5. LIFT_OBJECT: The robot lifts the object to the desired pose. This is the final state.
     """
 
-    def __init__(self, dt: float, num_envs: int, device: torch.device | str = "cpu"):
+    def __init__(self, dt: float, num_envs: int, device: torch.device | str = "cpu", position_threshold=0.01):
         """Initialize the state machine.
 
         Args:
@@ -172,6 +189,7 @@ def __init__(self, dt: float, num_envs: int, device: torch.device | str = "cpu")
         self.dt = float(dt)
         self.num_envs = num_envs
         self.device = device
+        self.position_threshold = position_threshold
         # initialize state machine
         self.sm_dt = torch.full((self.num_envs,), self.dt, device=self.device)
         self.sm_state = torch.full((self.num_envs,), 0, dtype=torch.int32, device=self.device)
@@ -201,7 +219,7 @@ def reset_idx(self, env_ids: Sequence[int] = None):
         self.sm_state[env_ids] = 0
         self.sm_wait_time[env_ids] = 0.0
 
-    def compute(self, ee_pose: torch.Tensor, object_pose: torch.Tensor, des_object_pose: torch.Tensor):
+    def compute(self, ee_pose: torch.Tensor, object_pose: torch.Tensor, des_object_pose: torch.Tensor) -> torch.Tensor:
         """Compute the desired state of the robot's end-effector and the gripper."""
         # convert all transformations from (w, x, y, z) to (x, y, z, w)
         ee_pose = ee_pose[:, [0, 1, 2, 4, 5, 6, 3]]
@@ -227,6 +245,7 @@ def compute(self, ee_pose: torch.Tensor, object_pose: torch.Tensor, des_object_p
                 self.des_ee_pose_wp,
                 self.des_gripper_state_wp,
                 self.offset_wp,
+                self.position_threshold,
             ],
             device=self.device,
         )
@@ -257,7 +276,9 @@ def main():
     desired_orientation = torch.zeros((env.unwrapped.num_envs, 4), device=env.unwrapped.device)
     desired_orientation[:, 1] = 1.0
     # create state machine
-    pick_sm = PickAndLiftSm(env_cfg.sim.dt * env_cfg.decimation, env.unwrapped.num_envs, env.unwrapped.device)
+    pick_sm = PickAndLiftSm(
+        env_cfg.sim.dt * env_cfg.decimation, env.unwrapped.num_envs, env.unwrapped.device, position_threshold=0.01
+    )
 
     while simulation_app.is_running():
         # run everything in inference mode

source/standalone/environments/state_machine/lift_teddy_bear.py

@@ -80,6 +80,11 @@ class PickSmWaitTime:
     OPEN_GRIPPER = wp.constant(0.0)
 
 
+@wp.func
+def distance_below_threshold(current_pos: wp.vec3, desired_pos: wp.vec3, threshold: float) -> bool:
+    return wp.length(current_pos - desired_pos) < threshold
+
+
 @wp.kernel
 def infer_state_machine(
     dt: wp.array(dtype=float),
@@ -91,6 +96,7 @@ def infer_state_machine(
     des_ee_pose: wp.array(dtype=wp.transform),
     gripper_state: wp.array(dtype=float),
     offset: wp.array(dtype=wp.transform),
+    position_threshold: float,
 ):
     # retrieve thread id
     tid = wp.tid()
@@ -108,21 +114,29 @@ def infer_state_machine(
     elif state == PickSmState.APPROACH_ABOVE_OBJECT:
         des_ee_pose[tid] = wp.transform_multiply(offset[tid], object_pose[tid])
         gripper_state[tid] = GripperState.OPEN
-        # TODO: error between current and desired ee pose below threshold
-        # wait for a while
-        if sm_wait_time[tid] >= PickSmWaitTime.APPROACH_OBJECT:
-            # move to next state and reset wait time
-            sm_state[tid] = PickSmState.APPROACH_OBJECT
-            sm_wait_time[tid] = 0.0
+        if distance_below_threshold(
+            wp.transform_get_translation(ee_pose[tid]),
+            wp.transform_get_translation(des_ee_pose[tid]),
+            position_threshold,
+        ):
+            # wait for a while
+            if sm_wait_time[tid] >= PickSmWaitTime.APPROACH_OBJECT:
+                # move to next state and reset wait time
+                sm_state[tid] = PickSmState.APPROACH_OBJECT
+                sm_wait_time[tid] = 0.0
     elif state == PickSmState.APPROACH_OBJECT:
         des_ee_pose[tid] = object_pose[tid]
         gripper_state[tid] = GripperState.OPEN
-        # TODO: error between current and desired ee pose below threshold
-        # wait for a while
-        if sm_wait_time[tid] >= PickSmWaitTime.APPROACH_OBJECT:
-            # move to next state and reset wait time
-            sm_state[tid] = PickSmState.GRASP_OBJECT
-            sm_wait_time[tid] = 0.0
+        if distance_below_threshold(
+            wp.transform_get_translation(ee_pose[tid]),
+            wp.transform_get_translation(des_ee_pose[tid]),
+            position_threshold,
+        ):
+            # wait for a while
+            if sm_wait_time[tid] >= PickSmWaitTime.APPROACH_OBJECT:
+                # move to next state and reset wait time
+                sm_state[tid] = PickSmState.GRASP_OBJECT
+                sm_wait_time[tid] = 0.0
     elif state == PickSmState.GRASP_OBJECT:
         des_ee_pose[tid] = object_pose[tid]
         gripper_state[tid] = GripperState.CLOSE
@@ -134,12 +148,16 @@ def infer_state_machine(
     elif state == PickSmState.LIFT_OBJECT:
         des_ee_pose[tid] = des_object_pose[tid]
         gripper_state[tid] = GripperState.CLOSE
-        # TODO: error between current and desired ee pose below threshold
-        # wait for a while
-        if sm_wait_time[tid] >= PickSmWaitTime.LIFT_OBJECT:
-            # move to next state and reset wait time
-            sm_state[tid] = PickSmState.OPEN_GRIPPER
-            sm_wait_time[tid] = 0.0
+        if distance_below_threshold(
+            wp.transform_get_translation(ee_pose[tid]),
+            wp.transform_get_translation(des_ee_pose[tid]),
+            position_threshold,
+        ):
+            # wait for a while
+            if sm_wait_time[tid] >= PickSmWaitTime.LIFT_OBJECT:
+                # move to next state and reset wait time
+                sm_state[tid] = PickSmState.OPEN_GRIPPER
+                sm_wait_time[tid] = 0.0
     elif state == PickSmState.OPEN_GRIPPER:
         # des_ee_pose[tid] = object_pose[tid]
         gripper_state[tid] = GripperState.OPEN
@@ -167,7 +185,7 @@ class PickAndLiftSm:
     5. LIFT_OBJECT: The robot lifts the object to the desired pose. This is the final state.
     """
 
-    def __init__(self, dt: float, num_envs: int, device: torch.device | str = "cpu"):
+    def __init__(self, dt: float, num_envs: int, device: torch.device | str = "cpu", position_threshold=0.01):
         """Initialize the state machine.
 
         Args:
@@ -179,6 +197,7 @@ def __init__(self, dt: float, num_envs: int, device: torch.device | str = "cpu")
         self.dt = float(dt)
         self.num_envs = num_envs
         self.device = device
+        self.position_threshold = position_threshold
         # initialize state machine
         self.sm_dt = torch.full((self.num_envs,), self.dt, device=self.device)
         self.sm_state = torch.full((self.num_envs,), 0, dtype=torch.int32, device=self.device)
@@ -234,6 +253,7 @@ def compute(self, ee_pose: torch.Tensor, object_pose: torch.Tensor, des_object_p
                 self.des_ee_pose_wp,
                 self.des_gripper_state_wp,
                 self.offset_wp,
+                self.position_threshold,
             ],
             device=self.device,
         )

source/standalone/environments/state_machine/open_cabinet_sm.py

@@ -83,6 +83,11 @@ class OpenDrawerSmWaitTime:
     RELEASE_HANDLE = wp.constant(0.2)
 
 
+@wp.func
+def distance_below_threshold(current_pos: wp.vec3, desired_pos: wp.vec3, threshold: float) -> bool:
+    return wp.length(current_pos - desired_pos) < threshold
+
+
 @wp.kernel
 def infer_state_machine(
     dt: wp.array(dtype=float),
@@ -95,6 +100,7 @@ def infer_state_machine(
     handle_approach_offset: wp.array(dtype=wp.transform),
     handle_grasp_offset: wp.array(dtype=wp.transform),
     drawer_opening_rate: wp.array(dtype=wp.transform),
+    position_threshold: float,
 ):
     # retrieve thread id
     tid = wp.tid()
@@ -112,21 +118,29 @@ def infer_state_machine(
     elif state == OpenDrawerSmState.APPROACH_INFRONT_HANDLE:
         des_ee_pose[tid] = wp.transform_multiply(handle_approach_offset[tid], handle_pose[tid])
         gripper_state[tid] = GripperState.OPEN
-        # TODO: error between current and desired ee pose below threshold
-        # wait for a while
-        if sm_wait_time[tid] >= OpenDrawerSmWaitTime.APPROACH_INFRONT_HANDLE:
-            # move to next state and reset wait time
-            sm_state[tid] = OpenDrawerSmState.APPROACH_HANDLE
-            sm_wait_time[tid] = 0.0
+        if distance_below_threshold(
+            wp.transform_get_translation(ee_pose[tid]),
+            wp.transform_get_translation(des_ee_pose[tid]),
+            position_threshold,
+        ):
+            # wait for a while
+            if sm_wait_time[tid] >= OpenDrawerSmWaitTime.APPROACH_INFRONT_HANDLE:
+                # move to next state and reset wait time
+                sm_state[tid] = OpenDrawerSmState.APPROACH_HANDLE
+                sm_wait_time[tid] = 0.0
     elif state == OpenDrawerSmState.APPROACH_HANDLE:
         des_ee_pose[tid] = handle_pose[tid]
         gripper_state[tid] = GripperState.OPEN
-        # TODO: error between current and desired ee pose below threshold
-        # wait for a while
-        if sm_wait_time[tid] >= OpenDrawerSmWaitTime.APPROACH_HANDLE:
-            # move to next state and reset wait time
-            sm_state[tid] = OpenDrawerSmState.GRASP_HANDLE
-            sm_wait_time[tid] = 0.0
+        if distance_below_threshold(
+            wp.transform_get_translation(ee_pose[tid]),
+            wp.transform_get_translation(des_ee_pose[tid]),
+            position_threshold,
+        ):
+            # wait for a while
+            if sm_wait_time[tid] >= OpenDrawerSmWaitTime.APPROACH_HANDLE:
+                # move to next state and reset wait time
+                sm_state[tid] = OpenDrawerSmState.GRASP_HANDLE
+                sm_wait_time[tid] = 0.0
     elif state == OpenDrawerSmState.GRASP_HANDLE:
         des_ee_pose[tid] = wp.transform_multiply(handle_grasp_offset[tid], handle_pose[tid])
         gripper_state[tid] = GripperState.CLOSE
@@ -170,7 +184,7 @@ class OpenDrawerSm:
     5. RELEASE_HANDLE: The robot releases the handle of the drawer. This is the final state.
     """
 
-    def __init__(self, dt: float, num_envs: int, device: torch.device | str = "cpu"):
+    def __init__(self, dt: float, num_envs: int, device: torch.device | str = "cpu", position_threshold=0.01):
         """Initialize the state machine.
 
         Args:
@@ -182,6 +196,7 @@ def __init__(self, dt: float, num_envs: int, device: torch.device | str = "cpu")
         self.dt = float(dt)
         self.num_envs = num_envs
         self.device = device
+        self.position_threshold = position_threshold
         # initialize state machine
         self.sm_dt = torch.full((self.num_envs,), self.dt, device=self.device)
         self.sm_state = torch.full((self.num_envs,), 0, dtype=torch.int32, device=self.device)
@@ -248,6 +263,7 @@ def compute(self, ee_pose: torch.Tensor, handle_pose: torch.Tensor):
                 self.handle_approach_offset_wp,
                 self.handle_grasp_offset_wp,
                 self.drawer_opening_rate_wp,
+                self.position_threshold,
             ],
             device=self.device,
         )