Merge branch 'develop' into esekkin/camera-refactor

Author: nvsekkin

docs/source/_static/policy_deployment/04_reach/reach_train.png

@@ -3,7 +3,7 @@ Sim2Real Deployment of Policies Trained in Isaac Lab
 
 Welcome to the Policy Deployment Guide! This section provides examples of training policies in Isaac Lab and deploying them to both simulation and real robots.
 
-Below, you’ll find detailed examples of various policies for training and deploying them, along with essential configuration details.
+Below, you'll find detailed examples of various policies for training and deploying them, along with essential configuration details.
 
 .. toctree::
     :maxdepth: 1
@@ -12,3 +12,4 @@ Below, you’ll find detailed examples of various policies for training and depl
     01_io_descriptors/io_descriptors_101
     02_gear_assembly/gear_assembly_policy
     03_compass_with_NuRec/compass_navigation_policy_with_NuRec
+    04_reach/reach_policy

docs/source/policy_deployment/04_reach/reach_policy.rst

@@ -1,6 +1,6 @@
 [package]
 # Semantic Versioning is used: https://semver.org/
-version = "0.3.0"
+version = "0.3.1"
 
 # Description
 title =  "Isaac Lab Assets"

docs/source/policy_deployment/index.rst

@@ -1,6 +1,14 @@
 Changelog
 ---------
 
+0.3.1 (2026-02-17)
+~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Configuration for Flexiv Rizon 4s robot used for manipulation tasks.
+
 0.3.0 (2026-01-30)
 ~~~~~~~~~~~~~~~~~~~
 
@@ -9,7 +17,6 @@ Changed
 
 * Changed the quaternion ordering to match warp, PhysX, and Newton native XYZW quaternion ordering.
 
-
 0.2.4 (2025-11-26)
 ~~~~~~~~~~~~~~~~~~
 

source/isaaclab_assets/config/extension.toml

@@ -54,6 +54,7 @@ __all__ = [
     "UR10_SHORT_SUCTION_CFG",
     "UR10e_ROBOTIQ_GRIPPER_CFG",
     "UR10e_ROBOTIQ_2F_85_CFG",
+    "FLEXIV_RIZON4S_CFG",
     "GELSIGHT_R15_CFG",
     "GELSIGHT_MINI_CFG",
     "VELODYNE_VLP_16_RAYCASTER_CFG",
@@ -115,5 +116,6 @@ from .robots import (
     UR10_SHORT_SUCTION_CFG,
     UR10e_ROBOTIQ_GRIPPER_CFG,
     UR10e_ROBOTIQ_2F_85_CFG,
+    FLEXIV_RIZON4S_CFG,
 )
 from .sensors import GELSIGHT_R15_CFG, GELSIGHT_MINI_CFG, VELODYNE_VLP_16_RAYCASTER_CFG

source/isaaclab_assets/docs/CHANGELOG.rst

@@ -54,6 +54,7 @@ __all__ = [
     "UR10_SHORT_SUCTION_CFG",
     "UR10e_ROBOTIQ_GRIPPER_CFG",
     "UR10e_ROBOTIQ_2F_85_CFG",
+    "FLEXIV_RIZON4S_CFG",
 ]
 
 from .agibot import AGIBOT_A2D_CFG
@@ -104,3 +105,4 @@ from .universal_robots import (
     UR10e_ROBOTIQ_GRIPPER_CFG,
     UR10e_ROBOTIQ_2F_85_CFG,
 )
+from .flexiv import FLEXIV_RIZON4S_CFG

source/isaaclab_assets/isaaclab_assets/__init__.pyi

@@ -0,0 +1,83 @@
+# Copyright (c) 2026-2027, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+
+"""Configuration for the Flexiv Rizon robots.
+
+The following configurations are available:
+
+* :obj:`FLEXIV_RIZON4S_CFG`: The Flexiv Rizon 4s arm without a gripper.
+
+Reference: https://www.flexiv.com/product/rizon
+"""
+
+import isaaclab.sim as sim_utils
+from isaaclab.actuators import ImplicitActuatorCfg
+from isaaclab.assets.articulation import ArticulationCfg
+from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
+
+##
+# Configuration
+##
+
+FLEXIV_RIZON4S_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Flexiv/Rizon4s/rizon4s.usd",
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=True,
+            max_depenetration_velocity=5.0,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=False,
+            solver_position_iteration_count=16,
+            solver_velocity_iteration_count=1,
+        ),
+        activate_contact_sensors=False,
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        joint_pos={
+            "joint1": 0.0,
+            "joint2": -0.698,
+            "joint3": 0.0,
+            "joint4": 1.571,
+            "joint5": 0.0,
+            "joint6": 0.698,
+            "joint7": 0.0,
+        },
+        pos=(0.0, 0.0, 0.0),
+        rot=(0.0, 0.0, 0.0, 1.0),
+    ),
+    actuators={
+        "shoulder": ImplicitActuatorCfg(
+            joint_names_expr=["joint[1-2]"],
+            effort_limit_sim=123.0,
+            velocity_limit_sim=2.094,
+            stiffness=6000.0,
+            damping=108.5,
+            friction=0.0,
+            armature=0.0,
+        ),
+        "elbow": ImplicitActuatorCfg(
+            joint_names_expr=["joint[3-4]"],
+            effort_limit_sim=64.0,
+            velocity_limit_sim=2.443,
+            stiffness=4200.0,
+            damping=90.7,
+            friction=0.0,
+            armature=0.0,
+        ),
+        "wrist": ImplicitActuatorCfg(
+            joint_names_expr=["joint[5-7]"],
+            effort_limit_sim=39.0,
+            velocity_limit_sim=4.887,
+            stiffness=1500.0,
+            damping=54.2,
+            friction=0.0,
+            armature=0.0,
+        ),
+    },
+)
+
+"""Configuration of Flexiv Rizon 4s arm using implicit actuator models."""

source/isaaclab_assets/isaaclab_assets/robots/__init__.pyi

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "1.5.17"
+version = "1.5.18"
 
 # Description
 title = "Isaac Lab Environments"

source/isaaclab_assets/isaaclab_assets/robots/flexiv.py

@@ -1,6 +1,16 @@
 Changelog
 ---------
 
+1.5.18 (2026-04-02)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Set semantic tags on the in-hand object in :class:`~isaaclab_tasks.direct.shadow_hand.shadow_hand_env_cfg.ObjectCfg`
+  so the object receives the same semantic labels for the Newton and PhysX backends.
+
+
 1.5.17 (2026-03-30)
 ~~~~~~~~~~~~~~~~~~~
 
@@ -31,6 +41,7 @@ Added
 * Added semantic segmentation to preset data types for the Cartpole Camera environment.
 * Added semantic segmentation to preset data types for the Shadow Hand environment.
 * Added semantic_segmentation64 to preset data types for for the Dexsuite Kuka-Allegro environment.
+* Added ``Isaac-Deploy-Reach-Rizon4s-ROS`` environments.
 
 1.5.13 (2026-03-18)
 ~~~~~~~~~~~~~~~~~~~