[kellyguo11]

Summary

Completes the task, demo, benchmark, and Newton task changes from develop that were not fully present on release/3.0.0.

Backported source PRs: #7333, #7375, #7433, #7607, #7623, #7639, #7756, #7702, and #7520.

The heterogeneous multitask manipulation backport from #7375 was previously incomplete: five configuration files were present on the release branch, while its task modules, registrations, assets, and tests were missing. This PR restores the complete feature and groups the remaining related task/demo changes with it.

Validation

• 19 selected kitless task and benchmark tests passed
• changed-file pre-commit suite passed (Git LFS pointer hook skipped because git-lfs is unavailable locally; new images are ordinary, non-LFS blobs)
• changelog fragment validation passed
• git diff --check

One selected Newton test requires the unavailable newton package on macOS, and Isaac Sim-dependent collection cannot run on this host. CI remains authoritative for simulator-dependent coverage.

Full backport re-audit

The five multitask configuration modules now use the public isaaclab.utils.configclass export, completing #7646 for files that arrived after its original release backport.

The later #7375 backport also reintroduced multitask_manipulation.jpg after #7822 had removed repository-hosted task previews in favor of the S3 image base. The stale JPEG is removed again so #7822 remains fully effective after these PRs are combined.

Ruff, formatting, Python compilation, the S3 preview contract, and git diff --check pass for the follow-up.

Latest develop sync (2026-09-17)

Backports #7866 and #7870 exactly: Franka Pour, Lift, and Reorient explicitly select the convex-hull collider variants required by their task/reset contracts. Both cherry-picked patch IDs match develop exactly. The three focused config regressions pass, as do Ruff, formatting, aggregate git diff --check, and combined-tree provenance checks.

[greptile-apps]

Confidence Score: 4/5

The PR appears safe to merge after considering one non-blocking edge case in the optional Mimic failure-limit configuration.

Findings

1.  Failure Cap Allows Attempt ▶

Summary

This backport completes several task, benchmark, Mimic, renderer, and Newton changes from the development branch.

• Restores the heterogeneous multitask manipulation task, registration, task-specific policy/value heads, and selection-aware MDP terms.
• Adds a render benchmark task and CLI plus a shared renderer profiling scope.
• Adds Newton ball-joint coordinate/DOF conversion and enables Digit velocity tasks on MJWarp.
• Updates NuRec locomanipulation generation, Mimic failure limiting, demos, documentation, and associated tests.
• One lower-impact configuration edge case remains in the new Mimic failure limit.

Diagram

%%{init: {'theme': 'neutral'}}%%
flowchart LR
    Tasks[Task catalog] --> Multi[Multitask manipulation]
    Tasks --> Bench[Render benchmark task]
    Bench --> Camera[Tiled camera]
    Camera --> Scope[Shared render timing scope]
    Scope --> Report[Benchmark statistics]
    Mimic[Mimic generation] --> FailureCap[Optional failure cap]
    Mimic --> NuRec[NuRec scene placement and capture]
    Newton[Newton articulation] --> Convert[Coordinate / DOF conversion]
    Convert --> Digit[Digit MJWarp tasks]

Loading

_{Reviews (1) · Last reviewed commit: "Fix Newton joint positions in DOF space,..."}

[greptile-apps]

Failure Cap Allows Attempt

With max_num_failures=0 or a negative value, this check still allows one generation attempt because it runs only after env.step(). That conflicts with the documented maximum: zero should allow no failures, and negative limits should be rejected. Validate that the value is non-negative and check an already exhausted limit before stepping.

Knowledge Base Used: Imitation learning and data generation

[isaaclab-review-bot]

Isaac Lab Review Bot

The backport is broadly coherent, but two maintainability/documentation defects need correction: the SDG scene helper can permanently cache an empty pre-cloning pose, and the Newton changelog references a class name that the added module does not define.

• Design and architecture: The SDG SceneAsset cache conflicts with its lazy view lifecycle. Once get_pose() caches a result, it bypasses _get_xform_view(), preventing the documented rebuild of a view created before environment cloning.
• API: The Newton ball-joint changelog links to JointCoordinateMap, while the implementation exposes BallJointCoordinateMap. The release note should reference the actual symbol, or the symbol should be renamed/exported consistently.
• Implementation: Move the SDG pose-cache check behind validation or rebuilding of the transform view so an empty pre-cloning result cannot remain permanently cached. The other reviewed paths do not contribute additional accepted findings.

Minor fixes needed. Posted 2 actionable findings inline.

Automated review; human maintainers own approval decisions.

[isaaclab-review-bot]

🟡 Warning · Implementation — Pose cache bypasses lazy view rebuild

get_pose now returns _cached_pose before calling _get_xform_view, so the rebuild path documented in this file (a view created before environment cloning is rebuilt once cloned prims exist, clearing the cache) becomes unreachable once any pose is cached. A first read while the view still has count == 0 caches an empty tensor that every later read returns, since only set_pose refreshes it. Populate the cache only after obtaining a non-empty view.

[isaaclab-review-bot]

🟡 Warning · Api — Changelog names a nonexistent Newton class

The fragment cross-references isaaclab_newton.assets.articulation.joint_coordinates.JointCoordinateMap, but the added module defines BallJointCoordinateMap. The Sphinx reference will not resolve and readers following the release note cannot import the documented symbol. Update the fragment to the actual class name, or rename/export the class to match the documented name consistently.

[kellyguo11]

run-ci

[kellyguo11]

run-ci

[kellyguo11]

run-ci

[kellyguo11]

Superseded by the consolidated backport in #7851 so CI validates the complete dependency/runtime/task/tooling fix set together.