isaac-sim · modanesh · Sep 24, 2025 · Sep 24, 2025 · Sep 24, 2025
diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
@@ -146,6 +146,7 @@ Guidelines for modifications:
 * Zoe McCarthy
 * David Leon
 * Song Yi
+* Mohamad H. Danesh
 
 ## Acknowledgements
 

@@ -112,6 +112,8 @@ for the lift-cube environment:
     +-------------------------+------------------------------+-----------------------------------------------------------------------------+
     | |lift-cube|             | |lift-cube-link|             | Pick a cube and bring it to a sampled target position with the Franka robot |
     +-------------------------+------------------------------+-----------------------------------------------------------------------------+
+    | |push-cube|             | |push-cube-link|             | Push a cube to a sampled target position with the Franka robot              |
+    +-------------------------+------------------------------+-----------------------------------------------------------------------------+
     | |stack-cube|            | |stack-cube-link|            | Stack three cubes (bottom to top: blue, red, green) with the Franka robot.  |
     |                         |                              | Blueprint env used for the NVIDIA Isaac GR00T blueprint for synthetic       |
     |                         | |stack-cube-bp-link|         | manipulation motion generation                                              |
@@ -158,6 +160,7 @@ for the lift-cube environment:
 .. |reach-ur10| image:: ../_static/tasks/manipulation/ur10_reach.jpg
 .. |deploy-reach-ur10e| image:: ../_static/tasks/manipulation/ur10e_reach.jpg
 .. |lift-cube| image:: ../_static/tasks/manipulation/franka_lift.jpg
+.. |push-cube| image:: ../_static/tasks/manipulation/franka_push.jpg
 .. |cabi-franka| image:: ../_static/tasks/manipulation/franka_open_drawer.jpg
 .. |cube-allegro| image:: ../_static/tasks/manipulation/allegro_cube.jpg
 .. |cube-shadow| image:: ../_static/tasks/manipulation/shadow_cube.jpg
@@ -175,6 +178,7 @@ for the lift-cube environment:
 .. |reach-ur10-link| replace:: `Isaac-Reach-UR10-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/ur_10/joint_pos_env_cfg.py>`__
 .. |deploy-reach-ur10e-link| replace:: `Isaac-Deploy-Reach-UR10e-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy/reach/config/ur_10e/joint_pos_env_cfg.py>`__
 .. |lift-cube-link| replace:: `Isaac-Lift-Cube-Franka-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/joint_pos_env_cfg.py>`__
+.. |push-cube-link| replace:: `Isaac-Push-Cube-Franka-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/push/config/franka/joint_pos_env_cfg.py>`__
 .. |lift-cube-ik-abs-link| replace:: `Isaac-Lift-Cube-Franka-IK-Abs-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/ik_abs_env_cfg.py>`__
 .. |lift-cube-ik-rel-link| replace:: `Isaac-Lift-Cube-Franka-IK-Rel-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/ik_rel_env_cfg.py>`__
 .. |cabi-franka-link| replace:: `Isaac-Open-Drawer-Franka-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/franka/joint_pos_env_cfg.py>`__
@@ -866,6 +870,10 @@ inferencing, including reading from an already trained checkpoint and disabling
       - Isaac-Lift-Cube-Franka-Play-v0
       - Manager Based
       - **rsl_rl** (PPO), **skrl** (PPO), **rl_games** (PPO), **sb3** (PPO)
+    * - Isaac-Push-Cube-Franka-v0
+      - Isaac-Push-Cube-Franka-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **skrl** (PPO), **rl_games** (PPO), **sb3** (PPO)
     * - Isaac-Lift-Teddy-Bear-Franka-IK-Abs-v0
       -
       - Manager Based

diff --git a/source/isaaclab_tasks/config/extension.toml b/source/isaaclab_tasks/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.11.0"
+version = "0.11.1"
 
 # Description
 title = "Isaac Lab Environments"

diff --git a/source/isaaclab_tasks/docs/CHANGELOG.rst b/source/isaaclab_tasks/docs/CHANGELOG.rst
@@ -1,5 +1,13 @@
 Changelog
 ---------
+0.46.1 (2025-09-24)
+~~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added ``Isaac-Push-Cube-Franka-v0`` environment.
+
 
 0.11.0 (2025-09-07)
 ~~~~~~~~~~~~~~~~~~~~

@@ -0,0 +1,9 @@
+# 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
+
+"""Configurations for the object lift 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.
@@ -0,0 +1,14 @@
+# 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
+
+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Configurations for the object lift 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.
@@ -0,0 +1,42 @@
+# 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
+import gymnasium as gym
+import os
+
+from . import agents
+
+##
+# Register Gym environments.
+##
+
+##
+# Joint Position Control
+##
+
+gym.register(
+    id="Isaac-Push-Cube-Franka-v0",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:FrankaCubePushEnvCfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:PushCubePPORunnerCfg",
+        "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
+        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
+        "sb3_cfg_entry_point": f"{agents.__name__}:sb3_ppo_cfg.yaml",
+    },
+    disable_env_checker=True,
+)
+
+gym.register(
+    id="Isaac-Push-Cube-Franka-Play-v0",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:FrankaCubePushEnvCfg_PLAY",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:PushCubePPORunnerCfg",
+        "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
+        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
+        "sb3_cfg_entry_point": f"{agents.__name__}:sb3_ppo_cfg.yaml",
+    },
+    disable_env_checker=True,
+)
@@ -0,0 +1,4 @@
+# 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
@@ -0,0 +1,84 @@
+# 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
+
+params:
+  seed: 42
+
+  # environment wrapper clipping
+  env:
+    clip_observations: 100.0
+    clip_actions: 100.0
+
+  algo:
+    name: a2c_continuous
+
+  model:
+    name: continuous_a2c_logstd
+
+  network:
+    name: actor_critic
+    separate: False
+    space:
+      continuous:
+        mu_activation: None
+        sigma_activation: None
+
+        mu_init:
+          name: default
+        sigma_init:
+          name: const_initializer
+          val: 0
+        fixed_sigma: True
+    mlp:
+      units: [256, 128, 64]
+      activation: elu
+      d2rl: False
+
+      initializer:
+        name: default
+      regularizer:
+        name: None
+
+  load_checkpoint: False # flag which sets whether to load the checkpoint
+  load_path: '' # path to the checkpoint to load
+
+  config:
+    name: franka_lift
+    env_name: rlgpu
+    device: 'cuda:0'
+    device_name: 'cuda:0'
+    multi_gpu: False
+    ppo: True
+    mixed_precision: False
+    normalize_input: True
+    normalize_value: True
+    value_bootstrap: False
+    num_actors: -1
+    reward_shaper:
+      scale_value: 0.01
+    normalize_advantage: True
+    gamma: 0.99
+    tau: 0.95
+    learning_rate: 1e-4
+    lr_schedule: adaptive
+    schedule_type: legacy
+    kl_threshold: 0.01
+    score_to_win: 100000000
+    max_epochs: 1500
+    save_best_after: 100
+    save_frequency: 50
+    print_stats: True
+    grad_norm: 1.0
+    entropy_coef: 0.001
+    truncate_grads: True
+    e_clip: 0.2
+    horizon_length: 24
+    minibatch_size: 24576
+    mini_epochs: 8
+    critic_coef: 4
+    clip_value: True
+    clip_actions: False
+    seq_len: 4
+    bounds_loss_coef: 0.0001