[pull] develop from isaac-sim:develop

.github/workflows/nightly-isaacsim-image.yml

@@ -178,6 +178,7 @@ jobs:
           CURRENT_PIN: ${{ steps.pin.outputs.current }}
           CANDIDATE_PIN: ${{ steps.pin.outputs.candidate }}
           DIGEST: ${{ steps.pin.outputs.digest }}
+          BRANCH_CHANGED: ${{ steps.pin.outputs.branch_changed }}
         run: |
           set -euo pipefail
 
@@ -186,6 +187,8 @@ jobs:
           title="[CI] Bump Isaac Sim image to $short_digest"
           body_file="$RUNNER_TEMP/isaacsim-image-update.md"
           {
+            echo "# Description"
+            echo
             echo "This automated draft updates CI to the current Isaac Sim nightly image."
             echo
             echo "| Field | Value |"
@@ -198,6 +201,30 @@ jobs:
             echo "Source: https://registry.ngc.nvidia.com/orgs/0947644777160149/teams/internal/containers/isaac-sim/tags"
             echo
             echo "New PRs are opened as drafts so maintainers can merge after the CI results are acceptable."
+            echo
+            echo "## Type of change"
+            echo
+            echo "- Infrastructure update"
+            echo
+            echo "## Release backport"
+            echo
+            echo '- [ ] <!-- backport-active-release --> Backport this pull request to the active release branch after it merges into `develop`'
+            echo
+            echo "## Screenshots"
+            echo
+            echo "Not applicable."
+            echo
+            echo "## Checklist"
+            echo
+            echo "Docker and GPU tests run on demand. This workflow comments \`run-ci\` after opening the pull request or updating its commit."
+            echo
+            echo '- [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)'
+            echo '- [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format`'
+            echo '- [ ] I have made corresponding changes to the documentation'
+            echo '- [ ] My changes generate no new warnings'
+            echo '- [ ] I have added tests that prove my fix is effective or that my feature works'
+            echo '- [ ] I have added a changelog fragment under `source/<pkg>/changelog.d/` for every touched package (do **not** edit `CHANGELOG.rst` or bump `extension.toml` — CI handles that)'
+            echo '- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there'
           } > "$body_file"
 
           repository_owner=${REPOSITORY%%/*}
@@ -207,6 +234,7 @@ jobs:
             -f head="$repository_owner:$UPDATE_BRANCH" \
             --jq '.[0].number // empty')
 
+          pr_created=false
           if [ -n "$pr_number" ]; then
             pr_url=$(gh api --method PATCH "repos/$REPOSITORY/pulls/$pr_number" \
               -f title="$title" \
@@ -222,10 +250,18 @@ jobs:
               -F body=@"$body_file" \
               -F draft=true \
               --jq '.html_url')
+            pr_number=${pr_url##*/}
+            pr_created=true
             echo "Opened draft PR: $pr_url"
             echo "Draft PR: $pr_url" >> "$GITHUB_STEP_SUMMARY"
           fi
 
+          if [ "$BRANCH_CHANGED" = "true" ] || [ "$pr_created" = "true" ]; then
+            gh api --method POST "repos/$REPOSITORY/issues/$pr_number/comments" \
+              -f body='run-ci' >/dev/null
+            echo "Triggered CI on PR #$pr_number."
+          fi
+
       - name: Report no-op or dry run
         if: ${{ steps.pin.outputs.changed != 'true' || inputs.dry_run }}
         env:

source/isaaclab/changelog.d/fix-osc-link-velocity.rst

@@ -0,0 +1,5 @@
+Fixed
+^^^^^
+
+* Fixed operational-space controller velocity feedback to use the same link origins as the end-effector pose and
+  Jacobian in the action term and integration tests.

source/isaaclab/changelog.d/fix-standalone-soak-deadline.skip

@@ -0,0 +1 @@
+Allowed standalone smoke tests that reached readiness before the startup deadline to complete their full soak interval.

source/isaaclab/isaaclab/envs/mdp/actions/task_space_actions.py

@@ -712,10 +712,10 @@ def _compute_ee_pose(self):
 
     def _compute_ee_velocity(self):
         """Computes the velocity of the ee frame in root frame."""
-        # Extract end-effector velocity in the world frame
-        self._ee_vel_w[:] = self._asset.data.body_vel_w.torch[:, self._ee_body_idx, :]
+        # Match the link-origin reference point used by the pose and Jacobian.
+        self._ee_vel_w[:] = self._asset.data.body_link_vel_w.torch[:, self._ee_body_idx, :]
         # Compute the relative velocity in the world frame
-        relative_vel_w = self._ee_vel_w - self._asset.data.root_vel_w.torch
+        relative_vel_w = self._ee_vel_w - self._asset.data.root_link_vel_w.torch
 
         # Convert ee velocities from world to root frame
         root_quat_w = self._asset.data.root_quat_w.torch

source/isaaclab/test/app/standalone_script_cases.py

@@ -489,7 +489,7 @@ def read_available_output(timeout: float) -> bool:
                 _terminate_process_group(process)
                 returncode = process.poll()
                 break
-            if now - start_time >= startup_timeout:
+            if ready_at is None and now - start_time >= startup_timeout:
                 _terminate_process_group(process)
                 returncode = process.poll()
                 break

source/isaaclab/test/app/test_standalone_scripts.py

@@ -22,6 +22,7 @@
 import sys
 from dataclasses import replace
 from pathlib import Path
+from unittest import mock
 
 import pytest
 import standalone_script_cases as script_cases
@@ -371,6 +372,37 @@ def test_subprocess_supervisor_soaks_then_stops_process_group():
     assert result.elapsed < 2.0
 
 
+def test_subprocess_supervisor_completes_soak_after_startup_deadline(monkeypatch):
+    """Readiness just before the startup deadline must still receive the full soak."""
+    process = mock.Mock(returncode=None)
+    process.poll.side_effect = lambda: process.returncode
+    process.communicate.return_value = (b"", None)
+    selector = mock.Mock()
+    now = 0.0
+    poll_times = iter((299.0, 300.0, 304.0))
+
+    def select(timeout):
+        nonlocal now
+        if timeout == 0.0:
+            return []
+        now = next(poll_times)
+        if now == 299.0:
+            return [(mock.Mock(fileobj=process.stdout), script_cases.selectors.EVENT_READ)]
+        return []
+
+    selector.select.side_effect = select
+    monkeypatch.setattr(script_cases.subprocess, "Popen", lambda *args, **kwargs: process)
+    monkeypatch.setattr(script_cases.selectors, "DefaultSelector", lambda: selector)
+    monkeypatch.setattr(script_cases.os, "read", lambda *args: b"READY\n")
+    monkeypatch.setattr(script_cases.time, "monotonic", lambda: now)
+    monkeypatch.setattr(script_cases, "_terminate_process_group", lambda process: setattr(process, "returncode", -15))
+
+    result = run_until_ready(["demo.py"], r"READY", startup_timeout=300.0, soak_time=5.0)
+    assert result.ready
+    assert result.stopped_after_soak
+    assert result.elapsed == 304.0
+
+
 def test_subprocess_supervisor_ignores_fatal_output_after_intentional_teardown(monkeypatch):
     """Fatal-looking output caused by intentional teardown must not fail a healthy launch."""
 

source/isaaclab/test/controllers/test_operational_space.py

@@ -12,6 +12,8 @@
 
 """Rest everything follows."""
 
+from types import SimpleNamespace
+
 import numpy as np
 import pytest
 import torch
@@ -31,6 +33,7 @@
 ##
 from isaaclab.envs import ManagerBasedEnv, ManagerBasedEnvCfg
 from isaaclab.envs.mdp.actions.actions_cfg import OperationalSpaceControllerActionCfg
+from isaaclab.envs.mdp.actions.task_space_actions import OperationalSpaceControllerAction
 from isaaclab.managers import ObservationGroupCfg as ObsGroup
 from isaaclab.managers import ObservationTermCfg as ObsTerm
 from isaaclab.managers import SceneEntityCfg
@@ -861,6 +864,23 @@ def test_franka_hybrid_variable_kp_impedance(sim):
     )
 
 
+@pytest.mark.isaacsim_ci
+def test_task_frame_conversion_preserves_absolute_target():
+    """A rounded pose command must resolve to the same target through either reference frame."""
+    osc_cfg = OperationalSpaceControllerCfg(target_types=["pose_abs"])
+    osc = OperationalSpaceController(osc_cfg, num_envs=1, device="cpu")
+    target_b = torch.tensor([[0.5, -0.4, 0.6, 0.707, 0.0, 0.0, 0.707]])
+    command = target_b.clone()
+    resolved_targets = []
+    for frame in ("root", "task"):
+        converted_command, task_frame_pose_b = _convert_to_task_frame(osc, command, target_b, frame)
+        osc.set_command(converted_command, current_task_frame_pose_b=task_frame_pose_b)
+        resolved_targets.append(osc.desired_ee_pose_b.clone())
+
+    torch.testing.assert_close(resolved_targets[0], resolved_targets[1], atol=1e-6, rtol=0.0)
+    torch.testing.assert_close(command, target_b, atol=0.0, rtol=0.0)
+
+
 @pytest.mark.isaacsim_ci
 def test_franka_taskframe_pose_abs(sim):
     """Test absolute pose control in task frame with fixed impedance and inertial dynamics decoupling."""
@@ -1336,6 +1356,51 @@ class _FloatingBaseOscEnvCfg(ManagerBasedEnvCfg):
     sim: sim_utils.SimulationCfg = sim_utils.SimulationCfg(dt=0.01)
 
 
+@pytest.mark.isaacsim_ci
+@pytest.mark.parametrize("feedback_source", ["test_helper", "action"])
+def test_franka_velocity_feedback_matches_jacobian(sim, feedback_source):
+    """Both OSC callers must measure velocity at the link origin used by the Jacobian."""
+    sim_context, num_envs, robot_cfg, *_ = sim
+    robot = Articulation(cfg=robot_cfg)
+    sim_context.reset()
+    arm_joint_ids, _ = robot.find_joints("panda_joint.*")
+    ee_frame_idx = robot.find_bodies("panda_hand")[0][0]
+
+    joint_vel = torch.zeros_like(robot.data.default_joint_vel.torch)
+    joint_vel[:, arm_joint_ids] = torch.linspace(0.1, 0.7, len(arm_joint_ids), device=sim_context.device)
+    robot.write_joint_state_to_sim_index(position=robot.data.default_joint_pos.torch, velocity=joint_vel)
+    sim_context.step(render=False)
+    robot.update(sim_context.get_physics_dt())
+
+    # Angular motion and the hand's COM offset must expose the reference-point mismatch.
+    assert not torch.allclose(
+        robot.data.body_com_vel_w.torch[:, ee_frame_idx, :3],
+        robot.data.body_link_vel_w.torch[:, ee_frame_idx, :3],
+        atol=1e-4,
+        rtol=1e-4,
+    )
+    if feedback_source == "test_helper":
+        states = _update_states(robot, ee_frame_idx, arm_joint_ids, sim_context, None, num_envs)
+        jacobian_b, _, _, _, ee_vel_b, _, _, _, _, joint_vel = states
+    else:
+        env = SimpleNamespace(scene={"robot": robot}, sim=sim_context, num_envs=num_envs, device=sim_context.device)
+        action_cfg = OperationalSpaceControllerActionCfg(
+            asset_name="robot",
+            joint_names=["panda_joint.*"],
+            body_name="panda_hand",
+            controller_cfg=OperationalSpaceControllerCfg(target_types=["pose_abs"]),
+        )
+        action_term = OperationalSpaceControllerAction(action_cfg, env)
+        action_term._compute_ee_jacobian()
+        action_term._compute_ee_velocity()
+        jacobian_b, ee_vel_b = action_term._jacobian_b, action_term._ee_vel_b
+        joint_vel = robot.data.joint_vel.torch[:, arm_joint_ids]
+
+    # With a stationary fixed base, the link twist must equal J(q) * q_dot.
+    expected_vel_b = torch.bmm(jacobian_b, joint_vel.unsqueeze(-1)).squeeze(-1)
+    torch.testing.assert_close(ee_vel_b, expected_vel_b, atol=1e-4, rtol=1e-4)
+
+
 @pytest.mark.isaacsim_ci
 def test_floating_base_osc_action_term_indexing():
     """Regression test for #4999 / PR #5107: verify OperationalSpaceControllerAction uses correct
@@ -1635,9 +1700,9 @@ def _update_states(
     )
     ee_pose_b = torch.cat([ee_pos_b, ee_quat_b], dim=-1)
 
-    # Compute the current velocity of the end-effector
-    ee_vel_w = robot.data.body_vel_w.torch[:, ee_frame_idx, :]  # Extract end-effector velocity in the world frame
-    root_vel_w = robot.data.root_vel_w.torch  # Extract root velocity in the world frame
+    # Match the link-origin reference point used by the pose and Jacobian.
+    ee_vel_w = robot.data.body_link_vel_w.torch[:, ee_frame_idx, :]
+    root_vel_w = robot.data.root_link_vel_w.torch
     relative_vel_w = ee_vel_w - root_vel_w  # Compute the relative velocity in the world frame
     ee_lin_vel_b = quat_apply_inverse(robot.data.root_quat_w.torch, relative_vel_w[:, 0:3])  # From world to root frame
     ee_ang_vel_b = quat_apply_inverse(robot.data.root_quat_w.torch, relative_vel_w[:, 3:6])
@@ -1754,6 +1819,8 @@ def _convert_to_task_frame(
         # Convert target commands from base to the task frame
         command = command.clone()
         task_frame_pose_b = ee_target_pose_b.clone()
+        # Rounded goal quaternions must define a unit rotation when used as a reference frame.
+        task_frame_pose_b[:, 3:] /= torch.linalg.vector_norm(task_frame_pose_b[:, 3:], dim=-1, keepdim=True)
 
         cmd_idx = 0
         for target_type in osc.cfg.target_types:

source/isaaclab_tasks/changelog.d/fix-franka-lift-collider-variant.rst

@@ -0,0 +1,5 @@
+Fixed
+^^^^^
+
+* Fixed Franka Lift and Reorient reset sampling with updated Franka assets by explicitly selecting the convex-hull
+  arm colliders used by the tasks' clearance criteria.

source/isaaclab_tasks/changelog.d/fix-franka-pour-convex-hulls.rst

@@ -0,0 +1,5 @@
+Fixed
+^^^^^
+
+* Fixed the Franka Pour task selecting the primitive robot collider variant,
+  which omitted the arm collision meshes required by the task.

source/isaaclab_tasks/isaaclab_tasks/contrib/franka_pour/pour_env_cfg.py

@@ -339,6 +339,7 @@ class PourSceneCfg(InteractiveSceneCfg):
     )
     robot = FRANKA_PANDA_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
     robot.spawn.usd_path = FRANKA_POUR_ROBOT_USD_PATH
+    robot.spawn.variants = {"Colliders": "convex_hulls"}
     robot.spawn.func = spawn_franka_with_arm_collisions
     robot.spawn.articulation_props.enabled_self_collisions = True
     robot.actuators = {

source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka/franka_env_cfg.py

@@ -24,6 +24,8 @@
 # legacy asset so the upstream franka tasks keep their demos and baselines.
 FRANKA_PANDA_LIFT_CFG = FRANKA_PANDA_CFG.copy()
 FRANKA_PANDA_LIFT_CFG.spawn.usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/franka_panda.usda"
+# Reset clearance was calibrated for these arm meshes; the asset's primitive colliders intersect the ground.
+FRANKA_PANDA_LIFT_CFG.spawn.variants = {"Colliders": "convex_hulls"}
 FRANKA_PANDA_LIFT_CFG.actuators = {
     # Inspired by libfranka's joint_impedance_control.cpp. ``actuator_velocity_limit``
     # remains the soft task-limit snapshot; ``joint_velocity_limit`` is the

source/isaaclab_tasks/test/contrib/test_franka_pour_env_cfg.py

@@ -111,6 +111,7 @@ def test_reset_dataset_contract_stores_root_relative_robot_asset_path():
     robot_asset = _reset_dataset_task_contract(cfg)["robot_asset"]
     assert robot_asset == "Robots/FrankaEmika/franka_panda.usda"
     assert f"{ISAACLAB_NUCLEUS_DIR}/{robot_asset}" == FRANKA_POUR_ROBOT_ASSET_ID
+    assert cfg.scene.robot.spawn.variants == {"Colliders": "convex_hulls"}
 
 
 def test_capacity_resolution_only_updates_world_dependent_solver_limits():

source/isaaclab_tasks/test/core/test_lift_env_cfg.py

@@ -10,9 +10,13 @@
 import pytest
 import torch
 
+from pxr import Usd
+
 from isaaclab.managers import CommandTerm
+from isaaclab.sim import select_usd_variants
 
 from isaaclab_tasks.core.lift import mdp
+from isaaclab_tasks.core.lift.config.franka.franka_env_cfg import FrankaLiftEnvCfg, FrankaReorientEnvCfg
 from isaaclab_tasks.core.lift.config.franka_soft.franka_soft_env_cfg import FrankaSoftEnvCfg
 from isaaclab_tasks.core.lift.mdp.commands.pose_commands import (
     CableUniformPoseCommand,
@@ -58,6 +62,29 @@ def test_franka_soft_robot_physics_variant_matches_backend(
     assert cfg.scene.robot.spawn.variants == {"Physics": expected_physics}
 
 
+@pytest.mark.parametrize("cfg_type", [FrankaLiftEnvCfg, FrankaReorientEnvCfg])
+def test_franka_rigid_tasks_select_collision_meshes_for_reset_clearance(cfg_type) -> None:
+    """Reset validation keeps the original arm meshes when the asset defaults to capsules."""
+    cfg = cfg_type()
+    stage = Usd.Stage.CreateInMemory()
+    robot = stage.DefinePrim("/Robot", "Xform")
+    colliders = robot.GetVariantSets().AddVariantSet("Colliders")
+    for selection, prim_path, prim_type in (
+        ("convex_hulls", "/Robot/link1_c/link1_c", "Mesh"),
+        ("primitives", "/Robot/link1_capsule", "Capsule"),
+    ):
+        colliders.AddVariant(selection)
+        colliders.SetVariantSelection(selection)
+        with colliders.GetVariantEditContext():
+            stage.DefinePrim(prim_path, prim_type)
+    colliders.SetVariantSelection("primitives")
+
+    select_usd_variants("/Robot", cfg.scene.robot.spawn.variants or {}, stage=stage)
+
+    assert stage.GetPrimAtPath("/Robot/link1_c/link1_c").IsValid()
+    assert not stage.GetPrimAtPath("/Robot/link1_capsule").IsValid()
+
+
 def test_camera_normalization_is_stationary() -> None:
     """RGB and depth normalization must not depend on per-frame statistics."""
     rgb = torch.tensor([0.0, 127.5, 255.0])