[pull] develop from isaac-sim:develop - #40
Merged
Merged
Conversation
# Description Pin the Franka Pour robot asset to its authored `Colliders=convex_hulls` variant. The primitive default omits the arm collision meshes (`link0_c` through `link7_c`) required by the task, preventing the current Newton MPM environment from starting correctly. This keeps the current 70% / 735-particle layout unchanged. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Release backport - [x] <!-- backport-active-release --> Backport this pull request to the active release branch after it merges into `develop` ## Screenshots Not applicable. ## Validation - `uv run --extra test python -m pytest -q source/isaaclab_tasks/test/contrib/test_franka_pour_env_cfg.py` (13 passed) - `uv run isaaclab -f` - Local Newton GL playback with the published `model_6997.pt` checkpoint and one current-layout environment ## Checklist - [x] I have read and understood the contribution guidelines - [x] I have run the pre-commit checks - [x] Documentation changes are not required for this task configuration fix - [x] My changes generate no new warnings - [x] I have added a test that proves the asset variant contract - [x] I have added a changelog fragment for `isaaclab_tasks` - [x] My name already exists in `CONTRIBUTORS.md`
) Franka Lift can stall while filling its reset-state bank: the updated `franka_panda.usda` defaults to `Colliders=primitives`, whose first-link capsule extends 6 cm below the ground. The existing ground-clearance criterion rejects every candidate, leaving the RSL-RL export batch at `0/2048` until its 600-second timeout. This PR selects `Colliders=convex_hulls` on the robot configuration shared by rigid Franka Lift and Reorient, restoring the previous collision geometry and successful reset sampling. The affected asset and reset setup originated in [#6457](#6457) ([564a008](564a008)), then moved into the current Lift tasks in [#6732](#6732) ([73106da](73106da)). The triggering change is external: the production Franka asset's top layer now selects primitive colliders and reports `Last-Modified: 2026-09-15 22:49:27 GMT`. Controlled comparisons found 0 valid states in 128 draws with the new default; explicit convex hulls and the preserved old asset both produced 63 valid states from the same draws. The same reset hang appeared in CI for #7838, #7608, #7832, #7834, and #7866. [The #7866 RL log](https://github.com/isaac-sim/IsaacLab/actions/runs/35202342707/job/105139978507) shows the batch blocked on Franka Lift after environment setup. #7866 fixes the independently configured Franka Pour task; it does not change Lift's robot configuration. This change covers Lift/Reorient only. Validation: - Fresh regression check on this branch: both Lift/Reorient cases failed without the production fix; all 9 tests in `test_lift_env_cfg.py` passed with it. - `uv run isaaclab -f` passed. - Earlier GPU validation of the identical Lift change completed the original 2,048-state harvest and reset in 22.169 seconds; the existing four-task RSL-RL export batch passed in 107.92 seconds. - Local GPU validation used PyTorch 2.11+cu128, Newton 1.6rc1, and RSL-RL 5.4.1. The identical Lift fix also passed [the full locked-environment RL CI job in #7865](https://github.com/isaac-sim/IsaacLab/actions/runs/35207648168/job/105158711330). Reset-bank sizes, clearance criteria, export behavior, the global Franka defaults, and Pour remain unchanged.
# Description Update the nightly Isaac Sim image job so its generated pull request body follows the repository PR template. Automatically comment `run-ci` when the workflow opens a PR or pushes a new update commit, while avoiding duplicate triggers when an existing update branch is unchanged. This addresses the manual follow-up needed on #7773. No new dependencies are required. Validation: - Parsed the workflow as YAML. - Validated the workflow with `actionlint` (excluding its pre-existing `client-id`/`app-id` metadata mismatch for `actions/create-github-app-token@v3`). - Checked the embedded shell with `bash -n`. - Mocked new, changed, and unchanged PR cases and verified `run-ci` is posted exactly when needed. - `uv run isaaclab -f` could not run because the repository lockfile does not support macOS ARM64. ## Type of change - Infrastructure update ## Release backport - [ ] <!-- backport-active-release --> Backport this pull request to the active release branch after it merges into `develop` ## Screenshots Not applicable. ## Checklist Docker and GPU tests run on demand. Push the commits you want tested, then comment `run-ci` on the pull request. - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation (not applicable; workflow-only change) - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works (mocked workflow cases) - [x] I have added a changelog fragment under `source/<pkg>/changelog.d/` for every touched package (not applicable; no source package changed) - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
A standalone demo that becomes ready at 299 seconds is currently terminated at the 300-second startup deadline, before its five-second soak can finish. This caused the arms smoke test in #7608 and #7674 to fail after printing its setup and reset messages. Stop applying the startup deadline once the readiness marker has been observed, while preserving the existing 300-second startup and five-second soak settings. The unconditional deadline was introduced by [#6704](#6704), commit [16083cc](16083cc). This fix does not address the separate arms failures in #7838 and #7866 that never reached readiness within 300 seconds. Validation: the deterministic regression fails on develop and passes with this change; all 11 supervisor checks pass; `uv run isaaclab -f` passes.
`OperationalSpaceControllerAction` and the OSC integration-test helper used link-origin poses and Jacobians together with center-of-mass velocity feedback. When a link rotates with an offset center of mass, these quantities describe different points, producing incorrect velocity feedback. The task-frame test also copied rounded command quaternions directly into reference frames, producing inconsistent composed targets. Use `body_link_vel_w` and `root_link_vel_w` in both OSC callers, and normalize the test's cloned task-frame quaternion before coordinate conversion. Controller gains, raw command fixtures, convergence tolerances, and step budgets match the base branch; the nullspace damping ratio remains 1.0. Two direct regressions guard these contracts: a moving, fixed-base Franka checks each caller's velocity against its link Jacobian multiplied by measured joint velocity, and a numerical check verifies that the same rounded command resolves to the same absolute target through root and task frames without mutating its inputs. Provenance: - [#5400](#5400) migrated both OSC callers to `body_link_jacobian_w` while retaining the COM velocity accessors. - The rounded fixtures and unnormalized task-frame copy originated in [#913](#913). [#7624](#7624) later normalized absolute pose commands, while the separately supplied frame remained unnormalized. The exact change that first exposed the convergence failures has not been bisected; these references establish the input inconsistencies, not the first failing CI run. Validation: - Restoring COM feedback makes both velocity regression cases fail, with a maximum linear-velocity discrepancy of 0.01469 m/s versus the 1e-4 assertion tolerance. Both pass with link-origin feedback. - Removing frame normalization makes the target-equivalence regression fail with a quaternion-component discrepancy of 0.00010675 versus the 1e-6 tolerance. It passes with the correction. - The previously failing `test_franka_taskframe_pose_abs` and original `test_franka_pose_abs_with_nullspace_centering` both pass with damping 1.0. - Full OSC integration file: **21 passed** in 113 seconds, including all three new regression cases. - `uv run isaaclab -f` passes. The earlier RL, legacy-rendering, and contrib failures have matching failures and passing corresponding jobs in separate fixes: #7870, #7871, and #7866, respectively. Those fixes remain separate from these OSC corrections. --------- Co-authored-by: Kelly Guo <kellyg@nvidia.com>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to subscribe to this conversation on GitHub.
Already have an account?
Sign in.
3 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
See Commits and Changes for more details.
Created by
pull[bot] (v2.0.0-alpha.4)
Can you help keep this open source service alive? 💖 Please sponsor : )