Add Flexiv command shaping to DisplayPort env

docs/source/policy_deployment/index.rst

@@ -10,6 +10,7 @@ Below, you'll find detailed examples of various policies for training and deploy
 
     01_io_descriptors/io_descriptors_101
     02_gear_assembly/gear_assembly_policy
+    06_displayport_insertion/displayport_insertion_policy
     03_compass_with_NuRec/compass_navigation_policy_with_NuRec
     04_reach/reach_policy
     05_leapp/exporting_policies_with_leapp

source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/__init__.py

@@ -11,5 +11,7 @@
 
 The deploy module includes:
 - Reach environments for end-effector pose tracking
+- Gear assembly environments for multi-gear insertion tasks
+- Cable insertion environments for DisplayPort plug insertion tasks
 
 """

source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/__init__.py

@@ -0,0 +1,6 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""DisplayPort cable insertion environments."""

source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/__init__.py

@@ -0,0 +1,6 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Configurations for arm-based cable insertion environments."""

source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/__init__.py

@@ -0,0 +1,84 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+import gymnasium as gym
+
+from . import agents
+
+_INSERTION_ENV_ENTRY = (
+    "isaaclab_tasks.contrib.deploy.cable_insertion.insertion_env:DisplayportInsertionEnv"
+)
+
+##
+# Register Gym environments.
+##
+
+# Flexiv Rizon 4s - Joint space
+gym.register(
+    id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-v0",
+    entry_point=_INSERTION_ENV_ENTRY,
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:Rizon4sGravDisplayportInsertionEnvCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravDisplayportInsertionRNNPPORunnerCfg",
+    },
+)
+
+# Flexiv Rizon 4s - Joint space Play
+gym.register(
+    id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-Play-v0",
+    entry_point=_INSERTION_ENV_ENTRY,
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:Rizon4sGravDisplayportInsertionEnvCfg_PLAY",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravDisplayportInsertionRNNPPORunnerCfg",
+    },
+)
+
+# Flexiv Rizon 4s - Joint space without joint velocity
+gym.register(
+    id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-NoJointVel-v0",
+    entry_point=_INSERTION_ENV_ENTRY,
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:Rizon4sGravDisplayportInsertionNoJointVelEnvCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravDisplayportInsertionRNNPPORunnerCfg",
+    },
+)
+
+# Flexiv Rizon 4s - Joint space without joint velocity Play
+gym.register(
+    id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-NoJointVel-Play-v0",
+    entry_point=_INSERTION_ENV_ENTRY,
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:Rizon4sGravDisplayportInsertionNoJointVelEnvCfg_PLAY",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravDisplayportInsertionRNNPPORunnerCfg",
+    },
+)
+
+# Flexiv Rizon 4s - Joint space ROS Inference without joint velocity
+gym.register(
+    id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-NoJointVel-ROS-Inference-v0",
+    entry_point=_INSERTION_ENV_ENTRY,
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": (
+            f"{__name__}.ros_inference_env_cfg:Rizon4sGravDisplayportInsertionNoJointVelROSInferenceEnvCfg"
+        ),
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravDisplayportInsertionRNNPPORunnerCfg",
+    },
+)
+
+# Flexiv Rizon 4s - Joint space ROS Inference
+gym.register(
+    id="Isaac-Deploy-DisplayportInsertion-Rizon4s-Grav-ROS-Inference-v0",
+    entry_point=_INSERTION_ENV_ENTRY,
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.ros_inference_env_cfg:Rizon4sGravDisplayportInsertionROSInferenceEnvCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:Rizon4sGravDisplayportInsertionRNNPPORunnerCfg",
+    },
+)

source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/agents/__init__.py

@@ -0,0 +1,6 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Package containing agent configurations for RL with Rizon 4s for DisplayPort insertion."""

source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/cable_insertion/config/displayport_rizon_4s/agents/rsl_rl_ppo_cfg.py

@@ -0,0 +1,49 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from isaaclab.utils.configclass import configclass
+
+from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticRecurrentCfg, RslRlPpoAlgorithmCfg
+
+
+@configclass
+class Rizon4sGravDisplayportInsertionRNNPPORunnerCfg(RslRlOnPolicyRunnerCfg):
+    num_steps_per_env = 512
+    max_iterations = 1500
+    save_interval = 50
+    experiment_name = "displayport_insertion_rizon4s"
+    clip_actions = 1.0
+    resume = False
+    obs_groups = {
+        "policy": ["policy"],
+        "critic": ["critic"],
+    }
+    policy = RslRlPpoActorCriticRecurrentCfg(
+        state_dependent_std=True,
+        init_noise_std=1.0,
+        actor_obs_normalization=True,
+        critic_obs_normalization=True,
+        actor_hidden_dims=[256, 128, 64],
+        critic_hidden_dims=[256, 128, 64],
+        noise_std_type="log",
+        activation="elu",
+        rnn_type="lstm",
+        rnn_hidden_dim=256,
+        rnn_num_layers=2,
+    )
+    algorithm = RslRlPpoAlgorithmCfg(
+        value_loss_coef=1.0,
+        use_clipped_value_loss=True,
+        clip_param=0.2,
+        entropy_coef=0.0,
+        num_learning_epochs=8,
+        num_mini_batches=16,
+        learning_rate=5.0e-4,
+        schedule="adaptive",
+        gamma=0.99,
+        lam=0.95,
+        desired_kl=0.008,
+        max_grad_norm=1.0,
+    )