DisplayPort Insertion Workflows

These workflows cover DisplayPort task-space policy pickup and insertion in Isaac Sim and DisplayPort cable insertion on a physical robot. Complete the setup for your robot before you start a tutorial.

• Train in Isaac Lab
• Isaac for Manipulation Setup Guide
• DisplayPort Tutorials

Before You Begin

The workflows support the following robot and pose-source configurations:

• The physical-robot tutorial uses a Flexiv Rizon 4s with a Grav gripper.

• The perception path is experimental. It uses a RealSense D455 camera, Segment Anything (SAM) masks, and FoundationPose to estimate plug and socket poses. Inspect the camera’s depth image and calibrate the camera to the robot before using those poses.

• The manual-pose path uses measured plug and socket poses.

• The policy-only deployment tutorial starts with the cable already grasped.

Before you start a tutorial, complete the following:

• Build the required packages from source and prepare only the models needed by your selected path. Refer to the Isaac for Manipulation Setup Guide.

• Review the System Requirements for the deployment machine, simulation workstation, and model preparation host.