Restore primitive gripper contacts for Franka Lift and Reorient

source/isaaclab_tasks/changelog.d/fix-franka-lift-primitive-contacts.rst

@@ -0,0 +1,9 @@
+Fixed
+^^^^^
+
+* Restored hand-capsule and finger-pad contacts for rigid Franka Lift and Reorient by
+  disabling the primitive asset's arm capsules through a task-local spawn override.
+  This replaced the convex-hull selection, which also enabled arm and hand mesh contacts.
+* Made Lift/Reorient reset clearance ignore colliders with disabled collision, preventing
+  inactive arm capsules from blocking reset sampling. Reset acceptance now follows enabled
+  collision geometry; disabled arm meshes are no longer used as clearance proxies.

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

@@ -10,7 +10,7 @@
 from isaaclab.managers import RewardTermCfg as RewTerm
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.sensors import ContactSensorCfg
-from isaaclab.sim import MeshCapsuleCfg, MeshCuboidCfg, MeshSphereCfg
+from isaaclab.sim import MeshCapsuleCfg, MeshCuboidCfg, MeshSphereCfg, UsdPhysicsCollisionCfg
 from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
@@ -24,8 +24,11 @@
 # 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"}
+# Preserve hand/finger-only contacts after the asset added arm capsules to its primitive variant.
+FRANKA_PANDA_LIFT_CFG.spawn.variants = {"Colliders": "primitives"}
+FRANKA_PANDA_LIFT_CFG.spawn.collision_props = {
+    "/Geometry/.*/link[0-7]_capsule(_[0-9]+)?": [UsdPhysicsCollisionCfg(collision_enabled=False)],
+}
 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/isaaclab_tasks/core/lift/mdp/utils.py

@@ -277,7 +277,7 @@ def farthest_point_sampling(
 
 
 def collect_collision_meshes(root_prim, owner_frame_fn: Callable) -> dict[int, trimesh.Trimesh]:
-    """Collect collision meshes under ``root_prim``, grouped in caller-selected frames."""
+    """Collect enabled collision meshes under ``root_prim``, grouped in caller-selected frames."""
     import trimesh
 
     from pxr import UsdPhysics
@@ -287,7 +287,9 @@ def collect_collision_meshes(root_prim, owner_frame_fn: Callable) -> dict[int, t
     mesh_types = PRIMITIVE_MESH_TYPES + ["Mesh"]
     mesh_prims = sim_utils.get_all_matching_child_prims(
         root_prim.GetPath(),
-        lambda prim: prim.GetTypeName() in mesh_types and prim.HasAPI(UsdPhysics.CollisionAPI),
+        lambda prim: prim.GetTypeName() in mesh_types
+        and prim.HasAPI(UsdPhysics.CollisionAPI)
+        and UsdPhysics.CollisionAPI(prim).GetCollisionEnabledAttr().Get(),
     )
 
     meshes_by_owner: dict[int, list[trimesh.Trimesh]] = {}

source/isaaclab_tasks/test/core/test_lift_env_cfg.py

@@ -10,19 +10,19 @@
 import pytest
 import torch
 
-from pxr import Usd
+from pxr import Usd, UsdGeom, UsdPhysics
 
 from isaaclab.managers import CommandTerm
-from isaaclab.sim import select_usd_variants
+from isaaclab.sim import use_stage
 
 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,
     DeformableUniformPoseCommand,
     ObjectUniformPoseCommand,
 )
+from isaaclab_tasks.core.lift.mdp.utils import collect_collision_meshes
 from isaaclab_tasks.utils.hydra import resolve_presets
 
 
@@ -62,27 +62,21 @@ 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()
+def test_reset_clearance_ignores_disabled_collision_geometry() -> None:
+    """Disabled colliders and visual-only geometry must not reject reset candidates."""
     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()
+    root = stage.DefinePrim("/Object", "Xform")
+    for name, enabled in (("default_enabled", None), ("explicit_enabled", True), ("disabled", False)):
+        prim = UsdGeom.Cube.Define(stage, f"/Object/{name}").GetPrim()
+        collision = UsdPhysics.CollisionAPI.Apply(prim)
+        if enabled is not None:
+            collision.CreateCollisionEnabledAttr(enabled)
+    UsdGeom.Cube.Define(stage, "/Object/visual_only")
+
+    with use_stage(stage):
+        meshes = collect_collision_meshes(root, lambda prim: (prim.GetName(), root))
+
+    assert set(meshes) == {"default_enabled", "explicit_enabled"}
 
 
 def test_camera_normalization_is_stationary() -> None: