Add Open Drawer task and passive articulation defaults

[yuecideng]

Description

This PR adds an official OpenDrawer-v1 expert task and a passive-articulation tutorial, while preserving entity-specific joint-drive defaults when partial drive_pros overrides are loaded from environment configuration.

The change:

• migrates the CobotMagic Open Drawer environment and three-camera config into embodichain_tasks;
• keeps generic articulations passive (drive_type="none") and robots force-driven when only stiffness/damping are overridden;
• exposes backend joint drive types for verification;
• demonstrates force-based drawer opening/closing with a tightened 90% joint range; and
• adds configuration and real-simulation regression coverage.

Dependencies: None.

Issue: N/A (requested directly).

Type of change

• Bug fix (non-breaking change which fixes an issue)
• Enhancement (non-breaking change which improves an existing functionality)
• New feature (non-breaking change which adds functionality)
• Breaking change (existing functionality will not work without user modification)
• Documentation update

Screenshots

Not applicable.

Validation

• black --check --diff --color ./ --extend-exclude 'embodichain/gen_sim/gradio_ui/' — 633 files unchanged
• black . --extend-exclude 'embodichain/gen_sim/gradio_ui/' — 633 files unchanged
• pytest -q tests/sim/test_cfg.py tests/gym/envs/tasks/test_open_drawer.py tests/sim/objects/test_articulation.py::TestArticulationCPU::test_default_drive_type_is_none_after_construction — 16 passed
• python scripts/tutorials/sim/create_articulation.py --headless --max-steps 5 — passed
• sphinx-build -M html docs/source <temporary-build-dir> — succeeded (repository baseline warnings remain)
• Open Drawer JSON validation and Python bytecode compilation — passed

Checklist

• I have run the black . command to format the code base.
• I have made corresponding changes to the documentation.
• I have added tests that prove the change is effective.
• Dependencies have been updated, if applicable (no dependency changes required).

[greptile-apps]

Greptile Summary

The PR adds the OpenDrawer-v1 task and passive-articulation tutorial, exposes backend drive-type inspection, and preserves articulation- versus robot-specific defaults when partial drive configuration dictionaries are loaded.

• Adds and registers the CobotMagic drawer-opening expert environment and three-camera configuration.
• Rejects unsuccessful planning results before constructing expert trajectories.
• Adds passive articulation documentation, tutorial code, and regression tests.
• Preserves existing drive_type values while applying partial drive_pros configuration overrides.

Confidence Score: 4/5

The PR is not yet safe to merge because partial runtime updates can still silently disable explicitly driven generic articulations.

The configuration deserialization path now preserves entity-specific drive defaults and failed expert plans are rejected, but Articulation.set_joint_drive continues to forward DriveType.NONE whenever a caller omits the type during a partial update.

Files Needing Attention: embodichain/lab/sim/objects/articulation.py

Important Files Changed

Filename	Overview
embodichain/lab/sim/cfg.py	Partial drive_pros dictionaries now inherit the current articulation or robot defaults instead of resetting unspecified fields.
embodichain/lab/sim/objects/articulation.py	Adds backend drive-type inspection, but the public partial runtime setter still implicitly changes driven articulations to passive mode.
embodichain_tasks/embodichain_tasks/tableware/open_drawer.py	Adds the expert drawer-opening task and now validates every planner result before consuming its trajectory.
embodichain_tasks/configs/gym/open_drawer/cobot_magic_3cam.json	Defines the CobotMagic drawer environment, cameras, passive drawer configuration, and task runtime settings.
scripts/tutorials/sim/create_articulation.py	Demonstrates constructing a passive drawer, verifying backend drive types, and actuating it using external joint forces.
tests/sim/test_cfg.py	Covers passive articulation defaults, force-driven robot defaults, and preservation under partial dictionary overrides.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
  A[Load partial drive_pros] --> B{Entity configuration}
  B -->|ArticulationCfg| C[Preserve drive_type none]
  B -->|RobotCfg| D[Preserve drive_type force]
  C --> E[Construct passive articulation]
  D --> F[Construct force-driven robot]
  G[OpenDrawer expert generation] --> H[Plan move to start]
  H --> I{Plan successful?}
  I -->|No| J[Raise RuntimeError]
  I -->|Yes| K[Plan approach and pull]
  K --> L[Assemble expert actions]

Loading

Prompt To Fix All With AI

### Issue 1
embodichain/lab/sim/objects/articulation.py:1678
**Partial updates disable joint drives**

When a driven generic `Articulation` receives a runtime stiffness, damping, effort, velocity, friction, or armature update without an explicit `drive_type`, this method forwards its default `"none"` to the backend, making the selected joints passive and preventing subsequent position or velocity targets from applying drive force.

---

For each issue above, determine whether it is valid and should be fixed. If so, fix it directly.

_{Reviews (4): Last reviewed commit: "test(task): remove OpenDrawer integratio..." | Re-trigger Greptile}

[Copilot]

Pull request overview

This PR adds an official OpenDrawer-v1 task under embodichain_tasks, introduces a passive-articulation tutorial, and adjusts config parsing so partial drive_pros overrides preserve entity-specific joint drive defaults (passive articulations vs force-driven robots). It also exposes backend joint drive types for validation and extends regression tests/docs around these behaviors.

Changes:

• Add OpenDrawer-v1 environment, JSON config, and a simulation-backed test validating demo generation and backend drive types.
• Add a new articulation tutorial script + documentation that verifies passive drive defaults via backend DriveType.
• Update config parsing to preserve existing JointDrivePropertiesCfg defaults when loading partial overrides from dicts, and add unit tests for this behavior.

Reviewed changes

Copilot reviewed 12 out of 12 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
tests/sim/test_cfg.py	Adds unit tests ensuring ArticulationCfg/RobotCfg preserve default drive_type under partial drive_pros overrides.
tests/sim/objects/test_articulation.py	Adds a regression test validating default backend joint drive type is DriveType.NONE after construction.
tests/gym/envs/tasks/test_open_drawer.py	Adds registration/config/sim tests for OpenDrawer-v1, including backend drive-type checks and demo action validation.
scripts/tutorials/sim/create_articulation.py	New tutorial script demonstrating passive articulations and verifying backend drive types while force-opening/closing a drawer.
embodichain/lab/sim/objects/articulation.py	Changes set_joint_drive default to "none" and adds get_joint_drive_type() for backend verification.
embodichain/lab/sim/cfg.py	Extends JointDrivePropertiesCfg.from_dict to support “defaults-preserving” partial overrides; integrates into ArticulationCfg/RobotCfg parsing.
embodichain_tasks/embodichain_tasks/tableware/open_drawer.py	New OpenDrawerEnv task environment registered as OpenDrawer-v1 with expert demo generation.
embodichain_tasks/embodichain_tasks/tableware/init.py	Exposes the new tableware task module exports.
embodichain_tasks/configs/gym/open_drawer/cobot_magic_3cam.json	Adds the CobotMagic 3-camera Open Drawer task configuration.
docs/source/tutorial/index.rst	Adds the new articulation tutorial to the learning path and toctree.
docs/source/tutorial/articulation.rst	New tutorial documentation for loading articulations and inspecting passive drive defaults.
docs/source/overview/sim/sim_articulation.md	Updates articulation docs to reflect drive_pros defaults (drive_type="none") and documents get_joint_drive_type().

---

💡 Add a code-review agent skill or configure MCP servers for context-aware, tailored reviews. Learn more in the docs.

[Copilot]

Pull request overview

Copilot reviewed 12 out of 12 changed files in this pull request and generated no new comments.

Suppressed comments (1)

embodichain/lab/sim/cfg.py:767

• JointDrivePropertiesCfg.from_dict accepts values like per-joint mappings (e.g., stiffness: {"joint.*": 1000.0}) and other non-scalar types, but the init_dict annotation only allows str | float | int. This makes the signature misleading for type checkers and IDEs.

        init_dict: Dict[str, str | float | int],

[Copilot]

Pull request overview

Copilot reviewed 12 out of 12 changed files in this pull request and generated no new comments.

[greptile-apps]

Partial updates disable joint drives

When a driven generic Articulation receives a runtime stiffness, damping, effort, velocity, friction, or armature update without an explicit drive_type, this method forwards its default "none" to the backend, making the selected joints passive and preventing subsequent position or velocity targets from applying drive force.

Prompt To Fix With AI

This is a comment left during a code review.
Path: embodichain/lab/sim/objects/articulation.py
Line: 1678

Comment:
**Partial updates disable joint drives**

When a driven generic `Articulation` receives a runtime stiffness, damping, effort, velocity, friction, or armature update without an explicit `drive_type`, this method forwards its default `"none"` to the backend, making the selected joints passive and preventing subsequent position or velocity targets from applying drive force.

---

For each issue above, determine whether it is valid and should be fixed. If so, fix it directly.

[Copilot]

Pull request overview

Copilot reviewed 11 out of 11 changed files in this pull request and generated no new comments.

Suppressed comments (2)

embodichain/lab/sim/objects/articulation.py:1679

• Articulation.set_joint_drive() uses drive_type="none" by default, so calling it without drive_type will disable drives even when the caller is only trying to tweak parameters like max_effort/max_velocity (there are existing call sites that omit drive_type, e.g. tests/sim/objects/test_articulation.py). If the intent is “do not change drive mode unless explicitly requested”, consider keeping the default as "force" (and relying on ArticulationCfg.drive_pros.drive_type="none" to keep articulations passive), or otherwise updating the API so omitting drive_type doesn’t flip the mode.

            max_velocity (torch.Tensor): The maximum velocity of the joint drive with shape (len(env_ids), len(joint_ids)).
            friction (torch.Tensor): The joint friction coefficient with shape (len(env_ids), len(joint_ids)).
            armature (torch.Tensor): The joint armature with shape (len(env_ids), len(joint_ids)).
            drive_type (str, optional): The type of drive to apply. Defaults to "none".
            joint_ids (Sequence[int] | None, optional): The joint indices to apply the drive to. If None, applies to all joints. Defaults to None.

docs/source/overview/sim/sim_articulation.md:164

• In the USD override example, JointDrivePropertiesCfg(stiffness=..., damping=...) does not set drive_type. Since generic articulations default to drive_type="none", this example won’t actually enable a drive when use_usd_properties=False. If the intent is to demonstrate driving joints via config, set drive_type="force" (or another mode) explicitly.

usd_art_cfg_override = ArticulationCfg(
    fpath=get_data_path("path/to/robot.usd"),
    init_pos=(0, 0, 0.5),
    use_usd_properties=False,  # Use config instead
    drive_pros=JointDrivePropertiesCfg(stiffness=5000, damping=500)
)