Migrate Franka tasks to the shared asset and add minimal presets

docs/source/_static/css/environment-browser.js

@@ -25,16 +25,16 @@
             ["Isaac-Lift-Cable-Franka-Camera", "rsl_rl", "newton_mjwarp_vbd_proxy", "isaacsim_rtx,newton_renderer,ovrtx", "ik,joint", "tasks/manipulation/franka_lift_cable.jpg", false, {"*": ["joint"]}],
             ["Isaac-Lift-Cloth-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "", "ik,joint", "tasks/manipulation/franka_lift_cloth.jpg", false, {"*": ["joint"]}],
             ["Isaac-Lift-Cloth-Franka-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "isaacsim_rtx,newton_renderer,ovrtx", "ik,joint", "tasks/manipulation/franka_lift_cloth.jpg", false, {"*": ["joint"]}],
-            ["Isaac-Lift-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,shapes", "", false, {"*": ["shapes"]}],
+            ["Isaac-Lift-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,minimal,shapes", "", false, {"*": ["shapes"]}],
             ["Isaac-Lift-KukaAllegro", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,shapes", "tasks/manipulation/kuka_allegro_lift.jpg", false, {"*": ["shapes"]}],
             ["Isaac-Lift-KukaAllegro-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo128,albedo256,albedo64,cube,depth128,depth256,depth64,duo_camera,raycaster_depth128,raycaster_depth256,raycaster_depth64,rgb128,rgb256,rgb64,semantic_segmentation128,semantic_segmentation256,semantic_segmentation64,shapes,simple_shading_constant_diffuse128,simple_shading_constant_diffuse256,simple_shading_constant_diffuse64,simple_shading_diffuse_mdl128,simple_shading_diffuse_mdl256,simple_shading_diffuse_mdl64,simple_shading_full_mdl128,simple_shading_full_mdl256,simple_shading_full_mdl64,single_camera", "tasks/manipulation/kuka_allegro_lift.jpg", false, {"*": ["rgb64", "shapes", "single_camera"]}],
             ["Isaac-Lift-Soft-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "", "ik,joint", "newton/franka-mjwarp-vbd-coupling.png", false, {"*": ["joint"]}, {}, "tetrahedralization"],
             ["Isaac-Lift-Soft-Franka-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "isaacsim_rtx,newton_renderer,ovrtx", "ik,joint", "newton/franka-mjwarp-vbd-coupling.png", false, {"*": ["joint"]}, {}, "tetrahedralization"],
             ["Isaac-Open-Drawer-Franka-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "tasks/manipulation/franka_open_drawer.jpg"],
             ["Isaac-Open-Drawer-Franka", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "tasks/manipulation/franka_open_drawer.jpg"],
             ["Isaac-Pendulum-MARL-Direct", "rl_games,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", "tasks/classic/cart_double_pendulum.jpg", false, {}, {"skrl": "MAPPO"}],
-            ["Isaac-Reach-Franka", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "diffik,diffik_abs,joint_pos,newton_ik", "tasks/manipulation/franka_reach.jpg", true, {"*": ["joint_pos"]}],
-            ["Isaac-Reach-Franka-OSC", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "diffik_abs", "tasks/manipulation/franka_reach.jpg", false, {"*": ["diffik_abs"]}],
+            ["Isaac-Reach-Franka", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "diffik,diffik_abs,joint_pos,minimal,newton_ik", "tasks/manipulation/franka_reach.jpg", true, {"*": ["joint_pos"]}],
+            ["Isaac-Reach-Franka-OSC", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "diffik_abs,minimal", "tasks/manipulation/franka_reach.jpg", false, {"*": ["diffik_abs"]}],
             ["Isaac-Reach-UR10", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "tasks/manipulation/ur10_reach.jpg", true],
             ["Isaac-RenderBenchmark-Franka-Cabinet", "", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,rgb,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl", "", false, {"*": ["rgb"]}],
             ["Isaac-Reorient-Cube-Allegro-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "tasks/manipulation/allegro_cube.jpg", true],

examples/haply_teleoperation.py

@@ -131,6 +131,7 @@ class FrankaHaplySceneCfg(InteractiveSceneCfg):
     robot = instantiate(robot_cfg)
     robot.init_state.pos = (-0.02, 0.0, 1.05)
     robot.spawn.activate_contact_sensors = True
+    robot.spawn.variants["Physics"] = "mujoco" if args_cli.physics == "newton_mjwarp" else "physx"
 
     cube = RigidObjectCfg(
         prim_path="{ENV_REGEX_NS}/Cube",
@@ -146,15 +147,15 @@ class FrankaHaplySceneCfg(InteractiveSceneCfg):
     )
 
     left_finger_contact_sensor = ContactSensorCfg(
-        prim_path="{ENV_REGEX_NS}/Robot/panda_leftfinger",
+        prim_path="{ENV_REGEX_NS}/Robot/(Geometry/.*/)?panda_leftfinger",
         update_period=0.0,
         history_length=3,
         debug_vis=True,
         track_pose=True,
     )
 
     right_finger_contact_sensor = ContactSensorCfg(
-        prim_path="{ENV_REGEX_NS}/Robot/panda_rightfinger",
+        prim_path="{ENV_REGEX_NS}/Robot/(Geometry/.*/)?panda_rightfinger",
         update_period=0.0,
         history_length=3,
         debug_vis=True,

scripts/tutorials/05_controllers/run_diff_ik.py

@@ -9,6 +9,9 @@
 The differential IK controller can be configured in different modes. It uses the Jacobians computed by
 PhysX. This helps perform parallelized computation of the inverse kinematics.
 
+The Franka high-PD preset uses the same USD and effort limits as the base preset, with stiffer gains
+for tracking IK targets. Other tasks can retain their calibrated actuator gains.
+
 .. code-block:: bash
 
     # Usage
@@ -53,7 +56,7 @@
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets import FRANKA_PANDA_LEGACY_HIGH_PD_CFG, UR10_CFG  # isort:skip
+from isaaclab_assets import FRANKA_PANDA_HIGH_PD_CFG, UR10_CFG  # isort:skip
 
 
 @configclass
@@ -82,7 +85,8 @@ class TableTopSceneCfg(InteractiveSceneCfg):
 
     # articulation
     if args_cli.robot == "franka_panda":
-        robot = replace(FRANKA_PANDA_LEGACY_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+        robot = replace(FRANKA_PANDA_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+        robot.spawn.variants["Physics"] = "physx"
     elif args_cli.robot == "ur10":
         robot = replace(UR10_CFG, prim_path="{ENV_REGEX_NS}/Robot")
     else:

scripts/tutorials/05_controllers/run_osc.py

@@ -57,7 +57,7 @@
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets import FRANKA_PANDA_LEGACY_HIGH_PD_CFG  # isort:skip
+from isaaclab_assets import FRANKA_PANDA_HIGH_PD_CFG  # isort:skip
 
 
 @configclass
@@ -97,11 +97,10 @@ class SceneCfg(InteractiveSceneCfg):
         debug_vis=False,
     )
 
-    robot = replace(FRANKA_PANDA_LEGACY_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
-    robot.actuators["panda_shoulder"].stiffness = 0.0
-    robot.actuators["panda_shoulder"].damping = 0.0
-    robot.actuators["panda_forearm"].stiffness = 0.0
-    robot.actuators["panda_forearm"].damping = 0.0
+    robot = replace(FRANKA_PANDA_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+    robot.spawn.variants["Physics"] = "physx"
+    robot.actuators["panda_arm"].stiffness = 0.0
+    robot.actuators["panda_arm"].damping = 0.0
     robot.spawn.rigid_props.disable_gravity = True
 
 

source/isaaclab/changelog.d/maximiliank-diffik-action-offset.added.rst

@@ -0,0 +1,2 @@
+* Added an ``offset`` to ``DifferentialInverseKinematicsActionCfg`` so normalized policies can use
+  an affine task-space action transform. The default is zero and preserves existing configurations.

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

@@ -325,6 +325,8 @@ class OffsetCfg:
     """Offset of target frame w.r.t. to the body frame. Defaults to None, in which case no offset is applied."""
     scale: float | tuple[float, ...] = 1.0
     """Scale factor for the action. Defaults to 1.0."""
+    offset: float | tuple[float, ...] = 0.0
+    """Offset applied to the scaled action in controller-specific units. Defaults to 0.0."""
     controller: DifferentialIKControllerCfg = MISSING
     """The configuration for the differential IK controller."""
 

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

@@ -34,23 +34,25 @@
 class DifferentialInverseKinematicsAction(ActionTerm):
     r"""Inverse Kinematics action term.
 
-    This action term performs pre-processing of the raw actions using scaling transformation.
+    This action term pre-processes raw actions using an affine transformation.
 
     .. math::
-        \text{action} = \text{scaling} \times \text{input action}
+        \text{action} = \text{offset} + \text{scaling} \times \text{input action}
         \text{joint position} = J^{-} \times \text{action}
 
-    where :math:`\text{scaling}` is the scaling applied to the input action, and :math:`\text{input action}`
-    is the input action from the user, :math:`J` is the Jacobian over the articulation's actuated joints,
-    and \text{joint position} is the desired joint position command for the articulation's joints.
+    where :math:`\text{offset}` and :math:`\text{scaling}` define the affine transformation,
+    :math:`\text{input action}` is the input action from the user, :math:`J` is the Jacobian over the
+    articulation's actuated joints, and \text{joint position} is the desired joint position command.
     """
 
     cfg: actions_cfg.DifferentialInverseKinematicsActionCfg
     """The configuration of the action term."""
     _asset: Articulation
     """The articulation asset on which the action term is applied."""
     _scale: torch.Tensor
-    """The scaling factor applied to the input action. Shape is (1, action_dim)."""
+    """The scaling factor applied to the input action. Shape is (num_envs, action_dim)."""
+    _offset: torch.Tensor
+    """The offset applied to the scaled action. Shape is (num_envs, action_dim)."""
     _clip: torch.Tensor
     """The clip applied to the input action."""
 
@@ -100,9 +102,11 @@ def __init__(self, cfg: actions_cfg.DifferentialInverseKinematicsActionCfg, env:
         # owned buffer; _compute_frame_jacobian mutates this, not the data-layer view.
         self._jacobian_b = torch.zeros(self.num_envs, 6, len(self._jacobi_joint_ids), device=self.device)
 
-        # save the scale as tensors
+        # save the affine transform as tensors
         self._scale = torch.zeros((self.num_envs, self.action_dim), device=self.device)
         self._scale[:] = torch.tensor(self.cfg.scale, device=self.device)
+        self._offset = torch.zeros((self.num_envs, self.action_dim), device=self.device)
+        self._offset[:] = torch.tensor(self.cfg.offset, device=self.device)
 
         # convert the fixed offsets to torch tensors of batched shape
         if self.cfg.body_offset is not None:
@@ -160,6 +164,7 @@ def IO_descriptor(self) -> GenericActionIODescriptor:
         - body_name: The name of the body.
         - joint_names: The names of the joints.
         - scale: The scale of the action term.
+        - offset: The offset of the action term.
         - clip: The clip of the action term.
         - controller_cfg: The configuration of the controller.
         - body_offset: The offset of the body.
@@ -174,6 +179,7 @@ def IO_descriptor(self) -> GenericActionIODescriptor:
         self._IO_descriptor.body_name = self._body_name
         self._IO_descriptor.joint_names = self._joint_names
         self._IO_descriptor.scale = self._scale
+        self._IO_descriptor.offset = self._offset
         if self.cfg.clip is not None:
             self._IO_descriptor.clip = self.cfg.clip
         else:
@@ -189,7 +195,7 @@ def IO_descriptor(self) -> GenericActionIODescriptor:
     def process_actions(self, actions: torch.Tensor):
         # store the raw actions
         self._raw_actions[:] = actions
-        self._processed_actions[:] = self.raw_actions * self._scale
+        self._processed_actions[:] = self.raw_actions * self._scale + self._offset
         if self.cfg.clip is not None:
             self._processed_actions = torch.clamp(
                 self._processed_actions, min=self._clip[:, :, 0], max=self._clip[:, :, 1]

source/isaaclab/test/controllers/test_differential_ik.py

@@ -31,7 +31,7 @@
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets import FRANKA_PANDA_LEGACY_HIGH_PD_CFG, UR10_CFG  # isort:skip
+from isaaclab_assets import FRANKA_PANDA_HIGH_PD_CFG, UR10_CFG  # isort:skip
 
 pytestmark = pytest.mark.integration
 
@@ -441,7 +441,7 @@ def test_franka_ik_pose_abs(sim):
     sim_context, num_envs, ee_pose_b_des_set = sim
 
     # Create robot instance
-    robot_cfg = replace(FRANKA_PANDA_LEGACY_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+    robot_cfg = replace(FRANKA_PANDA_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
     robot = Articulation(cfg=robot_cfg)
 
     # Create IK controller

source/isaaclab/test/controllers/test_operational_space.py

@@ -95,6 +95,7 @@ def sim():
     # clone the env xform
     cloner.usd_replicate(stage, [env_fmt.format(0)], [env_fmt], env_ids, positions=env_origins)
 
+    # Keep controller regressions on their original plant; canonical asset parity is tested by each backend.
     robot_cfg = replace(FRANKA_PANDA_LEGACY_CFG, prim_path="{ENV_REGEX_NS}/Robot")
     # Explicit torque actuators enforce effort limits on the commands sent to the simulator.
     for actuator_name in ("panda_shoulder", "panda_forearm"):

source/isaaclab/test/envs/test_diffik_jacobian_aliasing.py

@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""Regression tests for task-space body offsets and DiffIK Jacobian aliasing (NVBug 6043099).
+"""Tests for task-space action processing, body offsets, and Jacobian aliasing (NVBug 6043099).
 
 ``DifferentialInverseKinematicsAction._compute_frame_jacobian`` historically
 aliased the parent Jacobian and applied the body-offset correction in place.
@@ -19,6 +19,8 @@
 import pytest
 import torch
 
+from isaaclab.controllers import DifferentialIKControllerCfg
+from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
 from isaaclab.envs.mdp.actions.task_space_actions import (
     DifferentialInverseKinematicsAction,
     OperationalSpaceControllerAction,
@@ -63,6 +65,41 @@ def _make_stub(num_envs: int, num_joints: int, body_offset_pos, body_offset_rot,
     return _Stub(num_envs, num_joints, body_offset_pos, body_offset_rot, backing_buffer)
 
 
+def test_process_actions_applies_scale_then_offset(monkeypatch: pytest.MonkeyPatch) -> None:
+    """DiffIK actions use the configured affine transformation before reaching the controller."""
+    num_envs = 2
+    controller_cfg = DifferentialIKControllerCfg(command_type="position", use_relative_mode=False, ik_method="dls")
+    cfg = DifferentialInverseKinematicsActionCfg(
+        asset_name="robot",
+        joint_names=[".*"],
+        body_name="tool",
+        scale=(0.5, 2.0, -1.0),
+        offset=(0.1, -0.2, 0.3),
+        controller=controller_cfg,
+    )
+    asset = SimpleNamespace(
+        find_joints=lambda _names: ([0, 1, 2], ["joint1", "joint2", "joint3"]),
+        find_bodies=lambda _name: ([0], ["tool"]),
+        num_joints=3,
+        num_base_dofs=0,
+        is_fixed_base=False,
+    )
+    env = SimpleNamespace(scene={"robot": asset}, num_envs=num_envs, device="cpu")
+    action = DifferentialInverseKinematicsAction(cfg, env)
+    ee_pos = torch.zeros(num_envs, 3)
+    ee_quat = torch.tensor([[0.0, 0.0, 0.0, 1.0]]).repeat(num_envs, 1)
+    monkeypatch.setattr(action, "_compute_frame_pose", lambda: (ee_pos, ee_quat))
+
+    raw_actions = torch.tensor([[1.0, -2.0, 0.5], [-1.0, 0.25, -0.5]])
+    expected = torch.tensor([[0.6, -4.2, -0.2], [-0.4, 0.3, 0.8]])
+
+    action.process_actions(raw_actions)
+
+    torch.testing.assert_close(action.raw_actions, raw_actions)
+    torch.testing.assert_close(action.processed_actions, expected)
+    torch.testing.assert_close(action._ik_controller.ee_pos_des, expected)
+
+
 def test_compute_frame_jacobian_is_idempotent_within_step():
     """Two consecutive calls under the same state must return identical Jacobians.
 

source/isaaclab_assets/changelog.d/franka-collision-configs.added.rst

@@ -0,0 +1,2 @@
+* Added ``FRANKA_MINIMAL_CFG`` using the same USD and actuator settings as ``FRANKA_PANDA_CFG`` with only
+  hand and fingertip colliders for applications that do not need arm contacts.

source/isaaclab_assets/changelog.d/franka-collision-configs.changed.rst

@@ -0,0 +1,3 @@
+* **Breaking:** Enabled full primitive arm and gripper collisions in ``FRANKA_PANDA_CFG`` and its high-PD
+  derivative. Use ``FRANKA_MINIMAL_CFG`` or select ``Colliders=gripper_only`` to retain the previous reduced
+  collision scope. Requalify policies against the chosen robot configuration.

source/isaaclab_assets/isaaclab_assets/__init__.pyi

@@ -22,6 +22,7 @@ __all__ = [
     "GR1T2_CFG",
     "GR1T2_HIGH_PD_CFG",
     "FRANKA_PANDA_CFG",
+    "FRANKA_MINIMAL_CFG",
     "FRANKA_PANDA_LEGACY_CFG",
     "FRANKA_PANDA_LEGACY_HIGH_PD_CFG",
     "FRANKA_PANDA_HIGH_PD_CFG",
@@ -91,6 +92,7 @@ from .robots import (
     GR1T2_CFG,
     GR1T2_HIGH_PD_CFG,
     FRANKA_PANDA_CFG,
+    FRANKA_MINIMAL_CFG,
     FRANKA_PANDA_LEGACY_CFG,
     FRANKA_PANDA_LEGACY_HIGH_PD_CFG,
     FRANKA_PANDA_HIGH_PD_CFG,

source/isaaclab_assets/isaaclab_assets/robots/__init__.pyi

@@ -22,6 +22,7 @@ __all__ = [
     "GR1T2_CFG",
     "GR1T2_HIGH_PD_CFG",
     "FRANKA_PANDA_CFG",
+    "FRANKA_MINIMAL_CFG",
     "FRANKA_PANDA_LEGACY_CFG",
     "FRANKA_PANDA_LEGACY_HIGH_PD_CFG",
     "FRANKA_PANDA_HIGH_PD_CFG",
@@ -84,6 +85,7 @@ from .cassie import CASSIE_CFG
 from .fourier import GR1T2_CFG, GR1T2_HIGH_PD_CFG
 from .franka import (
     FRANKA_PANDA_CFG,
+    FRANKA_MINIMAL_CFG,
     FRANKA_PANDA_LEGACY_CFG,
     FRANKA_PANDA_LEGACY_HIGH_PD_CFG,
     FRANKA_PANDA_HIGH_PD_CFG,

source/isaaclab_assets/isaaclab_assets/robots/franka.py

@@ -8,6 +8,7 @@
 The following configurations are available:
 
 * :obj:`FRANKA_PANDA_CFG`: Shared flat asset for maintained Franka tasks
+* :obj:`FRANKA_MINIMAL_CFG`: Shared asset with gripper-only colliders
 * :obj:`FRANKA_PANDA_HIGH_PD_CFG`: Flat asset with stiffer PD control
 * :obj:`FRANKA_PANDA_LEGACY_CFG`: Legacy asset and actuators
 * :obj:`FRANKA_PANDA_LEGACY_HIGH_PD_CFG`: Legacy high-PD configuration
@@ -98,7 +99,7 @@
 FRANKA_PANDA_CFG = ArticulationCfg(
     spawn=sim_utils.UsdFileCfg(
         usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/franka_panda.usda",
-        variants={"Physics": "physx", "Colliders": "gripper_only"},
+        variants={"Physics": "physx", "Colliders": "primitives"},
         activate_contact_sensors=False,
         rigid_props=PhysxRigidBodyCfg(disable_gravity=False, max_depenetration_velocity=5.0),
         articulation_props=[
@@ -138,13 +139,23 @@
 """Configuration of the Franka Emika Panda robot.
 
 The flat asset contains PhysX and MuJoCo physics variants and gripper-only, primitive, and convex-hull
-collider variants. The gripper-only collider variant is the default. Explicit solver properties keep
+collider variants. Full primitive arm and gripper collisions are enabled by default. Explicit solver properties keep
 the actuator contract consistent across physics payloads. Only the leading finger has an active drive;
 the authored mimic constraint moves the passive follower. The standalone configuration selects the PhysX
 payload by default; direct Newton consumers must select the ``mujoco`` physics variant explicitly.
 """
 
 
+FRANKA_MINIMAL_CFG = clone(FRANKA_PANDA_CFG)
+FRANKA_MINIMAL_CFG.spawn.variants["Colliders"] = "gripper_only"
+"""Configuration of Franka with only hand and fingertip collision geometry.
+
+This configuration shares the main USD, inertial properties, actuators, and backend payloads.
+Use it when arm contacts are not required to reduce collision-processing cost. Policies must be
+qualified for the selected collision scope.
+"""
+
+
 FRANKA_PANDA_HIGH_PD_CFG = clone(FRANKA_PANDA_CFG)
 FRANKA_PANDA_HIGH_PD_CFG.spawn.rigid_props.disable_gravity = True
 FRANKA_PANDA_HIGH_PD_CFG.actuators["panda_arm"].stiffness = 400.0

source/isaaclab_mimic/changelog.d/franka-curobo-world.fixed.rst

@@ -0,0 +1 @@
+* Excluded the robot subtree from cuRobo world obstacles even when custom world ignore substrings were configured.

source/isaaclab_mimic/isaaclab_mimic/motion_planners/curobo/curobo_planner.py

@@ -358,6 +358,7 @@ def _initialize_static_world(self) -> None:
 
         self._static_world_config = self.usd_helper.get_obstacles_from_stage(
             only_paths=[env_prim_path],
+            ignore_paths=[robot_prim_path],
             reference_prim_path=robot_prim_path,
             ignore_substring=ignore_list,
         )

source/isaaclab_rl/changelog.d/maximiliank-diffik-zero-agent.fixed.rst

@@ -0,0 +1 @@
+* Corrected zero-agent hold actions for absolute differential IK configured with a nonzero action offset.

source/isaaclab_rl/isaaclab_rl/entrypoints/simple_agents.py

@@ -192,7 +192,7 @@ def pink_policy() -> torch.Tensor:
         def differential_ik_policy() -> torch.Tensor:
             ee_pos, ee_quat = term._compute_frame_pose()
             command = ee_pos if term.cfg.controller.command_type == "position" else torch.cat((ee_pos, ee_quat), dim=-1)
-            return _unscale_action(command, term._scale)
+            return _unscale_action(command - term._offset, term._scale)
 
         return differential_ik_policy