Adds example for gear assembly sim-to-real with UR10e

docs/source/policy_deployment/index.rst

@@ -10,3 +10,4 @@ Below, you’ll find detailed examples of various policies for training and depl
 
     00_hover/hover_policy
     01_io_descriptors/io_descriptors_101
+    02_gear_assembly/gear_assembly_policy

source/isaaclab_assets/isaaclab_assets/robots/universal_robots.py

@@ -10,6 +10,7 @@
 
 * :obj:`UR10_CFG`: The UR10 arm without a gripper.
 * :obj:`UR10E_ROBOTIQ_GRIPPER_CFG`: The UR10E arm with Robotiq_2f_140 gripper.
+* :obj:`UR10e_ROBOTIQ_2F_85_CFG`: The UR10E arm with Robotiq 2F-85 gripper.
 
 Reference: https://github.com/ros-industrial/universal_robot
 """
@@ -162,4 +163,44 @@
     armature=0.0,
 )
 
+
+UR10e_ROBOTIQ_2F_85_CFG = UR10e_CFG.copy()
 """Configuration of UR-10E arm with Robotiq_2f_140 gripper."""
+UR10e_ROBOTIQ_2F_85_CFG.spawn.variants = {"Gripper": "Robotiq_2f_85"}
+UR10e_ROBOTIQ_2F_85_CFG.spawn.rigid_props.disable_gravity = True
+UR10e_ROBOTIQ_2F_85_CFG.init_state.joint_pos["finger_joint"] = 0.0
+UR10e_ROBOTIQ_2F_85_CFG.init_state.joint_pos[".*_inner_finger_joint"] = 0.0
+UR10e_ROBOTIQ_2F_85_CFG.init_state.joint_pos[".*_inner_finger_knuckle_joint"] = 0.0
+UR10e_ROBOTIQ_2F_85_CFG.init_state.joint_pos[".*_outer_.*_joint"] = 0.0
+# the major actuator joint for gripper
+UR10e_ROBOTIQ_2F_85_CFG.actuators["gripper_drive"] = ImplicitActuatorCfg(
+    joint_names_expr=["finger_joint"],  # "right_outer_knuckle_joint" is its mimic joint
+    effort_limit_sim=10.0,
+    velocity_limit_sim=1.0,
+    stiffness=11.25,
+    damping=0.1,
+    friction=0.0,
+    armature=0.0,
+)
+# enable the gripper to grasp in a parallel manner
+UR10e_ROBOTIQ_2F_85_CFG.actuators["gripper_finger"] = ImplicitActuatorCfg(
+    joint_names_expr=[".*_inner_finger_joint"],
+    effort_limit_sim=1.0,
+    velocity_limit_sim=1.0,
+    stiffness=0.2,
+    damping=0.001,
+    friction=0.0,
+    armature=0.0,
+)
+# set PD to zero for passive joints in close-loop gripper
+UR10e_ROBOTIQ_2F_85_CFG.actuators["gripper_passive"] = ImplicitActuatorCfg(
+    joint_names_expr=[".*_inner_finger_knuckle_joint", "right_outer_knuckle_joint"],
+    effort_limit_sim=1.0,
+    velocity_limit_sim=1.0,
+    stiffness=0.0,
+    damping=0.0,
+    friction=0.0,
+    armature=0.0,
+)
+
+"""Configuration of UR-10E arm with Robotiq 2F-85 gripper."""

source/isaaclab_tasks/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.11.10"
+version = "0.11.12"
 
 # Description
 title = "Isaac Lab Environments"

source/isaaclab_tasks/docs/CHANGELOG.rst

@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.11.12 (2025-12-16)
+~~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added ``Isaac-Deploy-GearAssembly`` environments.
+
+
 0.11.11 (2025-12-16)
 ~~~~~~~~~~~~~~~~~~~~
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/__init__.py

@@ -0,0 +1,6 @@
+# Copyright (c) 2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Assemble 3 gears into a base."""

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/__init__.py

@@ -0,0 +1,9 @@
+# Copyright (c) 2025, 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 gear assembly environments."""
+
+# We leave this file empty since we don't want to expose any configs in this package directly.
+# We still need this file to import the "config" module in the parent package.

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/ur_10e/__init__.py

@@ -0,0 +1,75 @@
+# Copyright (c) 2025, 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
+
+##
+# Register Gym environments.
+##
+
+
+# UR10e with 2F-140 gripper
+gym.register(
+    id="Isaac-Deploy-GearAssembly-UR10e-2F140-v0",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:UR10e2F140GearAssemblyEnvCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UR10GearAssemblyRNNPPORunnerCfg",
+    },
+)
+
+gym.register(
+    id="Isaac-Deploy-GearAssembly-UR10e-2F140-Play-v0",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:UR10e2F140GearAssemblyEnvCfg_PLAY",
+    },
+)
+
+# UR10e with 2F-85 gripper
+gym.register(
+    id="Isaac-Deploy-GearAssembly-UR10e-2F85-v0",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:UR10e2F85GearAssemblyEnvCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UR10GearAssemblyRNNPPORunnerCfg",
+    },
+)
+
+gym.register(
+    id="Isaac-Deploy-GearAssembly-UR10e-2F85-Play-v0",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:UR10e2F85GearAssemblyEnvCfg_PLAY",
+    },
+)
+
+# UR10e with 2F-140 gripper - ROS Inference
+gym.register(
+    id="Isaac-Deploy-GearAssembly-UR10e-2F140-ROS-Inference-v0",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.ros_inference_env_cfg:UR10e2F140GearAssemblyROSInferenceEnvCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UR10GearAssemblyRNNPPORunnerCfg",
+    },
+)
+
+# UR10e with 2F-85 gripper - ROS Inference
+gym.register(
+    id="Isaac-Deploy-GearAssembly-UR10e-2F85-ROS-Inference-v0",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.ros_inference_env_cfg:UR10e2F85GearAssemblyROSInferenceEnvCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UR10GearAssemblyRNNPPORunnerCfg",
+    },
+)

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/ur_10e/agents/__init__.py

@@ -0,0 +1,4 @@
+# Copyright (c) 2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/gear_assembly/config/ur_10e/agents/rsl_rl_ppo_cfg.py

@@ -0,0 +1,49 @@
+# Copyright (c) 2022-2025, 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 import configclass
+
+from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticRecurrentCfg, RslRlPpoAlgorithmCfg
+
+
+@configclass
+class UR10GearAssemblyRNNPPORunnerCfg(RslRlOnPolicyRunnerCfg):
+    num_steps_per_env = 512
+    max_iterations = 1500
+    save_interval = 50
+    experiment_name = "gear_assembly_ur10e"
+    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,
+    )