Ashwinvk/dp cable ship refimage52 leapp export

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/isaaclab/envs/mdp/commands/velocity_command.py

@@ -17,6 +17,7 @@
 from isaaclab.assets import Articulation
 from isaaclab.managers import CommandTerm
 from isaaclab.markers import VisualizationMarkers
+from isaaclab.utils.leapp.leapp_semantics import TWIST3_ELEMENT_NAMES
 
 if TYPE_CHECKING:
     from isaaclab.envs import ManagerBasedEnv
@@ -95,7 +96,7 @@ def __init__(self, cfg: UniformVelocityCommandCfg, env: ManagerBasedEnv):
         # adds (optional) cmd kind and element names for leapp export
         # during export, semantic data about this command will be used to annotate the command input
         self.cfg.cmd_kind = self.cfg.cmd_kind or "command/body/velocity"
-        self.cfg.element_names = self.cfg.element_names or ["lin_vel_x", "lin_vel_y", "ang_vel_z"]
+        self.cfg.element_names = self.cfg.element_names or TWIST3_ELEMENT_NAMES
 
     def __str__(self) -> str:
         """Return a string representation of the command generator."""

source/isaaclab/isaaclab/utils/leapp/__init__.pyi

@@ -11,6 +11,8 @@ __all__ = [
     "POSE6_ELEMENT_NAMES",
     "POSE7_ELEMENT_NAMES",
     "QUAT_XYZW_ELEMENT_NAMES",
+    "TWIST3_ELEMENT_NAMES",
+    "TWIST6_ELEMENT_NAMES",
     "WRENCH6_ELEMENT_NAMES",
     "XYZ_ELEMENT_NAMES",
     "body_names_resolver",
@@ -22,6 +24,7 @@ __all__ = [
     "build_command_connection",
     "build_state_connection",
     "build_write_connection",
+    "canonicalize_command_element_names",
     "joint_names_resolver",
     "leapp_tensor_semantics",
     "patch_env_for_export",
@@ -38,6 +41,8 @@ from .leapp_semantics import (
     POSE6_ELEMENT_NAMES,
     POSE7_ELEMENT_NAMES,
     QUAT_XYZW_ELEMENT_NAMES,
+    TWIST3_ELEMENT_NAMES,
+    TWIST6_ELEMENT_NAMES,
     WRENCH6_ELEMENT_NAMES,
     XYZ_ELEMENT_NAMES,
     LeappTensorSemantics,
@@ -47,6 +52,7 @@ from .leapp_semantics import (
     body_quat_resolver,
     body_wrench_resolver,
     body_xyz_resolver,
+    canonicalize_command_element_names,
     joint_names_resolver,
     leapp_tensor_semantics,
     resolve_leapp_element_names,

source/isaaclab/isaaclab/utils/leapp/export_annotator.py

@@ -45,7 +45,7 @@
 from isaaclab.assets.articulation.base_articulation import BaseArticulation
 from isaaclab.managers import ManagerTermBase
 
-from .leapp_semantics import select_element_names
+from .leapp_semantics import canonicalize_command_element_names, select_element_names
 from .proxy import _ArticulationWriteProxy, _DataProxy, _EnvProxy, _ManagerTermProxy
 from .utils import (
     TracedProxyArray,
@@ -540,11 +540,17 @@ def wrapped(env, command_name=None, **kwargs):
             command_cfg = None
             with suppress(AttributeError, KeyError):
                 command_cfg = env.command_manager.get_term(leapp_input_name).cfg
+            kind = getattr(command_cfg, "cmd_kind", None)
+            element_names = canonicalize_command_element_names(
+                kind,
+                getattr(command_cfg, "element_names", None),
+                result,
+            )
             sem = TensorSemantics(
                 name=leapp_input_name,
                 ref=result,
-                kind=getattr(command_cfg, "cmd_kind", None),
-                element_names=getattr(command_cfg, "element_names", None),
+                kind=kind,
+                element_names=element_names,
                 extra=build_command_connection(leapp_input_name),
             )
             return annotate.input_tensors(task_name, sem)

source/isaaclab/isaaclab/utils/leapp/leapp_semantics.py

@@ -48,6 +48,23 @@ class LeappTensorSemantics:
 POSE7_ELEMENT_NAMES: list[str] = ["x", "y", "z", "qx", "qy", "qz", "qw"]
 POSE6_ELEMENT_NAMES: list[str] = ["x", "y", "z", "angular_x", "angular_y", "angular_z"]
 WRENCH6_ELEMENT_NAMES: list[str] = ["fx", "fy", "fz", "tx", "ty", "tz"]
+TWIST3_ELEMENT_NAMES: list[str] = ["lin_vel_x", "lin_vel_y", "ang_vel_z"]
+TWIST6_ELEMENT_NAMES: list[str] = [
+    "lin_vel_x",
+    "lin_vel_y",
+    "lin_vel_z",
+    "ang_vel_x",
+    "ang_vel_y",
+    "ang_vel_z",
+]
+
+_COMMAND_BODY_VELOCITY_KIND = "command/body/velocity"
+_TWIST_ELEMENT_NAME_ALIASES = {
+    ("lin_x", "lin_y", "ang_z"): TWIST3_ELEMENT_NAMES,
+    ("lin_x", "lin_y", "lin_z", "ang_x", "ang_y", "ang_z"): TWIST6_ELEMENT_NAMES,
+    ("linear_x", "linear_y", "angular_z"): TWIST3_ELEMENT_NAMES,
+    ("linear_x", "linear_y", "linear_z", "angular_x", "angular_y", "angular_z"): TWIST6_ELEMENT_NAMES,
+}
 
 
 def select_element_names(names: list[str] | None, indices: Any = None) -> list[str] | None:
@@ -67,6 +84,66 @@ def select_element_names(names: list[str] | None, indices: Any = None) -> list[s
     return None
 
 
+def canonicalize_command_element_names(
+    kind: Any,
+    element_names: list[str] | list[list[str]] | None,
+    ref: Any | None = None,
+) -> list[str] | list[list[str]] | None:
+    """Return Deploy-compatible element names for command tensors.
+
+    Isaac ROS Deploy's Twist/TwistStamped converters publish body velocity
+    elements as ``lin_vel_*`` and ``ang_vel_*``.  Older export configs used
+    shorter names such as ``lin_x`` / ``ang_x``.  Canonicalize only the
+    command-body-velocity case so tensor ordering stays unchanged while the
+    exported metadata matches the runtime converter ``TensorSpec``.
+    """
+    if getattr(kind, "value", kind) != _COMMAND_BODY_VELOCITY_KIND:
+        return element_names
+
+    width = None
+    with suppress(AttributeError, IndexError, TypeError):
+        width = int(ref.shape[-1])
+    if width is not None and width not in (3, 6):
+        raise ValueError(f"LEAPP command/body/velocity input must be 3D or 6D, but tensor width is {width}.")
+
+    if element_names is None:
+        if width == 3:
+            return TWIST3_ELEMENT_NAMES
+        if width == 6:
+            return TWIST6_ELEMENT_NAMES
+        return None
+
+    # Command tensors are flat.  Nested names cannot match the current Deploy
+    # Twist converter TensorSpec.
+    if any(isinstance(name, (list, tuple)) for name in element_names):
+        raise ValueError("LEAPP command/body/velocity element names must be a flat list.")
+
+    names_tuple = tuple(element_names)
+    canonical_names = _TWIST_ELEMENT_NAME_ALIASES.get(names_tuple, list(element_names))
+    if len(canonical_names) == 3:
+        expected_names = TWIST3_ELEMENT_NAMES
+    elif len(canonical_names) == 6:
+        expected_names = TWIST6_ELEMENT_NAMES
+    else:
+        raise ValueError(
+            "LEAPP command/body/velocity input must have 3 or 6 element names, "
+            f"but got {len(canonical_names)}."
+        )
+
+    if width is not None and len(canonical_names) != width:
+        raise ValueError(
+            f"LEAPP command/body/velocity input has {len(canonical_names)} element names, "
+            f"but tensor width is {width}."
+        )
+    if canonical_names != expected_names:
+        raise ValueError(
+            "LEAPP command/body/velocity element names must match Isaac ROS Deploy Twist converter names. "
+            f"Got {list(element_names)}; expected {expected_names}."
+        )
+
+    return list(canonical_names)
+
+
 def leapp_tensor_semantics(
     *,
     kind: Any = None,

source/isaaclab_rl/test/export/test_leapp_proxy.py

@@ -16,7 +16,7 @@
 from isaaclab.utils import math as math_utils
 from isaaclab.utils.leapp import utils as leapp_utils
 from isaaclab.utils.leapp.export_annotator import ExportPatcher
-from isaaclab.utils.leapp.leapp_semantics import InputKindEnum
+from isaaclab.utils.leapp.leapp_semantics import InputKindEnum, TWIST6_ELEMENT_NAMES
 from isaaclab.utils.leapp.proxy import _DataProxy, _EnvProxy
 
 
@@ -102,3 +102,57 @@ def test_projected_gravity_observation_exports_root_quat_w_input(monkeypatch: py
     assert semantics.name == "robot_root_quat_w"
     assert semantics.kind == InputKindEnum.BODY_ROTATION
     assert semantics.extra == {"isaaclab_connection": "state:robot:root_quat_w"}
+
+
+def test_generated_body_velocity_command_exports_deploy_twist_names(monkeypatch: pytest.MonkeyPatch):
+    """Test legacy body-velocity command names are exported with Deploy Twist names."""
+    annotated_inputs = _capture_leapp_inputs(monkeypatch)
+    command_tensor = torch.zeros(2, 6, dtype=torch.float32)
+
+    def generated_commands(env, command_name=None, **kwargs):
+        return command_tensor
+
+    command_cfg = SimpleNamespace(
+        cmd_kind="command/body/velocity",
+        element_names=["lin_x", "lin_y", "lin_z", "ang_x", "ang_y", "ang_z"],
+    )
+    command_manager = SimpleNamespace(get_term=lambda name: SimpleNamespace(cfg=command_cfg))
+    env = SimpleNamespace(command_manager=command_manager)
+    term_cfg = SimpleNamespace(params={"command_name": "target_twist"})
+
+    patcher = ExportPatcher(export_method="onnx-dynamo")
+    patcher.task_name = "Isaac-Test-Task"
+
+    result = patcher._wrap_generated_commands(generated_commands, term_cfg)(env)
+
+    assert result is command_tensor
+    assert len(annotated_inputs) == 1
+    task_name, semantics = annotated_inputs[0]
+    assert task_name == "Isaac-Test-Task"
+    assert semantics.name == "target_twist"
+    assert semantics.kind == "command/body/velocity"
+    assert semantics.element_names == [TWIST6_ELEMENT_NAMES]
+    assert semantics.extra == {"isaaclab_connection": "command:target_twist"}
+
+
+def test_generated_body_velocity_command_rejects_non_deploy_twist_names(monkeypatch: pytest.MonkeyPatch):
+    """Test unknown body-velocity command names fail before exporting unusable YAML."""
+    _capture_leapp_inputs(monkeypatch)
+    command_tensor = torch.zeros(2, 6, dtype=torch.float32)
+
+    def generated_commands(env, command_name=None, **kwargs):
+        return command_tensor
+
+    command_cfg = SimpleNamespace(
+        cmd_kind="command/body/velocity",
+        element_names=["vx", "vy", "vz", "wx", "wy", "wz"],
+    )
+    command_manager = SimpleNamespace(get_term=lambda name: SimpleNamespace(cfg=command_cfg))
+    env = SimpleNamespace(command_manager=command_manager)
+    term_cfg = SimpleNamespace(params={"command_name": "target_twist"})
+
+    patcher = ExportPatcher(export_method="onnx-dynamo")
+    patcher.task_name = "Isaac-Test-Task"
+
+    with pytest.raises(ValueError, match="command/body/velocity element names"):
+        patcher._wrap_generated_commands(generated_commands, term_cfg)(env)

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."""