Add Flexiv command shaping to DisplayPort env - #8

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ashwinvkNV wants to merge 64 commits into

shauryad/dp_cable_shipfrom

ashwinvk/dp_cable_ship_sysid

Commits on Jul 7, 2026

cable insertion training

curiep
authored and
shauryadNv
committed
0155773
Fix cable-insertion grasp by aligning fingertips with plug mesh

curiep
authored and
shauryadNv
committed
da666c7
Align cable-insertion ROS inference cfg with Hubble Lab Rizon mount

curiep
authored and
shauryadNv
committed
f6a6b55
Add USD inspection and flattening tools for plug/socket assets

curiep
authored and
shauryadNv
committed
3c84676
Register rsl_rl agent on gear-assembly PLAY tasks

curiep
authored and
shauryadNv
committed
31d4fe6
Fixes as per Iretis codebase as reference.
shauryadNv
committed
bff098c
Fixed plug grasp issues.
shauryadNv
committed
5145ab2
Fixed sim rendering settings.
shauryadNv
committed
d004117
Env fixes as per working version like moving to task space, param value changes, etc.
shauryadNv
committed
df3d1b2
Reduced plug randomization.
shauryadNv
committed
b6297f7
Adding scripts, env and assets for displayport asset checking.
shauryadNv
committed
c6f60ba
Env for displayport cable insertion and required fixes in asset loading.
shauryadNv
committed
ecb8378
Minor fixes.
shauryadNv
committed
972fa1e
Viewer fix.
shauryadNv
committed
c8f2d7c
Add simready USD assets for DisplayPort plug and socket
shauryadNv
committed
d0a7eac
Changed from wall mount to table-top mount.
shauryadNv
committed
8ae2f98
Added fixed assets and removed custom load-time fixes.
shauryadNv
committed
3eeeedb
Fixed socket asset by re-enabling missing parts.
shauryadNv
committed
b401862
New fixed assets and reduced contact offset for better behavior.
shauryadNv
committed
3cb1c80
Updated training env to use new assets.
shauryadNv
committed
79e355e
Adding SDF assets and using that in training env.
shauryadNv
committed
c52ea1c
Debug scripts.
shauryadNv
committed
f8826d9
Fixed plug SDF asset and env setup and added robot insertion test.
shauryadNv
committed
0f08392
Fixed plug and socket SDF assets.
shauryadNv
committed
6b0d4bb
Fixed socket sdf asset (removed body4/inner walls) and updated env.
shauryadNv
committed
7873866
Fixed env setup.
shauryadNv
committed
6ca8a96
Increased socket pose randomization.
shauryadNv
committed
8597c09
Socket rotation randomization (2 deg).
shauryadNv
committed
0b50c99
Reverted to prev env setup and removed rot randomization in socket.
shauryadNv
committed
2d88535
Adding socket rot randomization and moving to new socket setup.
shauryadNv
committed
8e0db5e
Increased socket z randomization to 2 cm.
shauryadNv
committed
291ad77
Removed socket rot rand.
shauryadNv
committed
a25a527
Decreased socket z rand to 1cm.
shauryadNv
committed
7f59b60
Fixed task space env setup to vertical mount.
shauryadNv
committed
a09281b
Fixed task space env to use TCP pose instead of flange.
shauryadNv
committed
1e41830
Adding socket rot randomization in taskspace env.
shauryadNv
committed
24ee8dd
Increased socket z randomization to 2 cm in taskspace.
shauryadNv
committed
3c30047
Removed socket rot rand from taskspace.
shauryadNv
committed
499280c
Enabled curriculum training for task space.
shauryadNv
committed
ad60264
Added no joint vel variant for joint space policy.
shauryadNv
committed
453fd1c
2cm for z and 2 deg rot for socket randomization.
shauryadNv
committed
00074f5
Removed socket rot rand from taskspace.
shauryadNv
committed
ad6acf8
Added success rate logging.
shauryadNv
committed
c5029c0
Fixed taskspace movement issue.
shauryadNv
committed
915da0c
Removed socket rot rand from taskspace.
shauryadNv
committed
3e1720e
Disabled curriculum training.
shauryadNv
committed
066e604
Sysid based changes.
shauryadNv
committed
79a15eb
Adding socket rot randomization in joint space env.
shauryadNv
committed
d3e7b2c
Fixed sysid integration issues.
shauryadNv
committed
7583544
Removed socket rot rand from jointspace.
shauryadNv
committed
2fe92e6
Added curriculum support for joint space setup.
shauryadNv
committed
ba2d759
Added rotation rand in socket for joint space.
shauryadNv
committed
a4ce8cd
Disabled sysid changes in jointspace.
shauryadNv
committed
1774b73
Removed socket rot rand from jointspace.
shauryadNv
committed
66af434
Added rot rand and disabled curriculum training.
shauryadNv
committed
3dade3d
Fixed curriculum training scheduling.
shauryadNv
committed
4ca15d2
Relocate DisplayPort cable_insertion under contrib/deploy after upstream rebase.
shauryadNv
committed
ef132f2
Prune DP cable insertion branch to training/inference essentials.
shauryadNv
committed
6da4b45
Formatting fixes.
shauryadNv
committed
2765083

Commits on Jul 16, 2026

Cleaned up comments, changes as per latest working policy setup.
shauryadNv
committed
afab7dd
Formatting fixes.
shauryadNv
committed
bcde7e8

Commits on Jul 17, 2026

Added documentation for dp cable insertion training.
shauryadNv
committed
5b28b68

Commits on Jul 20, 2026

Add Flexiv command shaping to DisplayPort env
ashwinvkNV
committed
ed7512d
Fix DisplayPort PPO configclass import
ashwinvkNV
committed
9491cc7