[maxkra15]

Conveyor integration draft

Do not merge this PR. Review the component PRs individually; PhysX is an optional final layer.

PR	Scope	Included head
#8327	Experimental conveyor support in Contrib	619e4d24e125
#8331	Racetrack transfer task	b702f94a3074
#8332	Warehouse sorting task	8ff9bf90dbc2
#8794	Optional native CPU PhysX support	fbe9220ded23

Integration: ef7889e0f737. Base: 259e1a8cf79d. #8326 is superseded: both backends use the existing in-memory mesh spawner. No new mesh API or terrain importer is needed.

Validation

• 38 focused cases passed: 13 task/geometry, 4 warehouse assets, 15 Newton/spec, 5 optional PhysX and the existing native triangle-mesh owner case
• Native mesh replacement matches 90 mesh inputs and 16 finalized Newton geometry/material arrays; stock cuboid colors match all six original callers
• Single-pass visual stripping preserves physics ownership; normalized warehouse geometry/materials/cameras match after correcting the old duplicate robot height
• 84 action/tool/reset tensors and 261 dispatcher tensors match; existing keepers reject duplicate robot elevation and cross-environment slot broadcast mutations
• Newton GPU checkpoint: eight environments, 1200 steps, 15 transfers, zero failures/non-finite observations
• Optional PhysX native probe: two CPU environments, 135 steps, 16 surfaces, no fall-through; partial/full/hard reset and repeated close passed
• Full formatting/lint/changelog/LFS, lock consistency and generated environment-browser checks passed
• Clean strict Sphinx HTML build passed; existing JPEG previews retained

Warehouse policy limitation: Warehouse checkpoint model_1100: paired corrected historical/new scenes each completed zero transfers in two environments over 2400 steps (seed 41), with zero failures/non-finite observations; sorting capability remains unvalidated.

Refresh with:

uv run --no-project python tools/conveyor_stack.py --check --push

Add --checkpoint /path/to/model.pt for bounded racetrack evaluation. Refresh fetches current main and exact component heads, validates a temporary checkout and stops on merge/test failure.

[greptile-apps]

Confidence Score: 4/5

[Medium risk] Adds conveyor task environments and surface velocity physics features.

The PR is not ready to merge because default video recording on PhysX selects a Newton-only capture path.

Findings

1.  Parcel counters survive batch resets ▶

Summary

The PR adds shared conveyor surface controls and Franka racetrack-transfer and warehouse-sorting tasks, with a CPU PhysX reference. Since the previous review, it also revises training resets and checkpoint handling, adds bounded evaluation, and changes runtime, installation, and documentation workflows.

• Warehouse batch resets now clear parcel counters.
• Default video capture still needs to select a source compatible with PhysX.

Diagram

%%{init: {'theme': 'neutral'}}%%
flowchart LR
  A[Task configuration] --> B[Launch simulation]
  B --> C{Physics backend}
  C -->|Newton| D[Newton surface-force adapter]
  C -->|PhysX CPU| E[PhysX surface-velocity adapter]
  D --> F[Conveyor environment]
  E --> F
  F --> G[Transfer or sorting command]
  G --> H[Policy observations and actions]

Loading

_{Reviews (5) · Last reviewed commit: "Merge latest develop and migrate conveyo..."}

[isaaclab-review-bot]

Isaac Lab Review Bot

The public custom-mesh spawner and Newton conveyor task are coherently structured, but three scoped fixes are needed before merge: limit the new displayColor behavior so existing mesh spawners do not change rendering semantics, preserve supported environment constructor keywords such as render_mode, and apply the repository-mandated copyright header to the new task files.

• Design and architecture: The separation between procedural geometry, the Warp force driver, environment configuration, and the reusable MeshCustomCfg spawner is sound. However, renderer-independent color authoring was added to the shared mesh helper, unintentionally extending the behavior beyond custom meshes and creating inconsistent color/material handling for existing spawners.
• API: MeshCustomCfg and spawn_mesh_custom are consistently exported and documented through the public stubs and changelog. The task environment constructor currently discards all Gym-provided keyword arguments, narrowing the base ManagerBasedRLEnv constructor contract and breaking paths that rely on render_mode; supported arguments should be forwarded.
• Implementation: The custom-mesh validation, collision configuration, racetrack generation, and force-driver organization are internally coherent. Required corrections are to scope displayColor authoring appropriately, retain the kitless warning when material properties remain unapplied, and update the new files to the required 2022-2026 copyright header.

Minor fixes needed. Posted 3 actionable findings inline.

Automated review; human maintainers own approval decisions.

[maxkra15]

@greptileai check again

[maxkra15]

run-ci

[greptile-apps]

Parcel counters survive batch resets

When a warehouse environment resets for a new 24-parcel batch, this method restores its four slot IDs but leaves transfer_counts and assignment_counts from the previous batch. The new batch therefore inherits old transfer metrics, and those old assignment counts change which arriving parcels the dispatcher prioritizes. Clear both counters for the selected environments when resetting the slots.

Suggested change

	def reset(self, env_ids: Sequence[int] | torch.Tensor) -> None:
	"""Restore reset-recipe slot identities for selected environments."""
	self.slot_ids[env_ids] = torch.arange(CUBE_COUNT, device=self.slot_ids.device)
	def reset(self, env_ids: Sequence[int] | torch.Tensor) -> None:
	"""Restore slot identities and clear batch counters for selected environments."""
	self.slot_ids[env_ids] = torch.arange(CUBE_COUNT, device=self.slot_ids.device)
	self.assignment_counts[env_ids] = 0
	self.assignment_counts[env_ids, :CUBE_COUNT] = 1
	self.transfer_counts[env_ids] = 0

[maxkra15]

run-ci