[pull] develop from isaac-sim:develop

.github/workflows/build.yaml

@@ -969,9 +969,8 @@ jobs:
   performance-smoke:
     name: performance-smoke-benchmarks
     runs-on: [self-hosted, gpu]
-    # Ceiling is the sum of each leg's own bench_timeout_s x 3 + buffer
-    # Individual attempts are still bound tightly by `timeout` inside the loop.
-    timeout-minutes: 510
+    # Four legs x three samples, including one retry each: 372 minutes + setup/comparison buffer.
+    timeout-minutes: 450
     needs: [build, config]
     # Pull requests and manual dispatches run in gate mode. A push runs only on develop,
     # where it also records a baseline; pushes to main and release/** skip this job.
@@ -991,19 +990,13 @@ jobs:
         dockerfile-path: docker/Dockerfile.base
         cache-tag: cache-base
 
-    # One row per combination: name|task|num_envs|bench_timeout_s|args
+    # Kit-free combinations only: name|task|num_envs|bench_timeout_s|args
     - name: Define benchmark matrix
       run: |
         cat > benchmark-legs.tsv <<'EOF'
-        cartpole-physx|Isaac-Cartpole-Direct|4096|600|
         cartpole-newton|Isaac-Cartpole-Direct|4096|600|physics=newton_mjwarp
-        gear-mesh-physx|IsaacContrib-Factory-GearMesh-Direct|512|900|
-        shadow-camera-physx-rtx|IsaacContrib-Reorient-Cube-Shadow-Camera-Benchmark-Direct|512|1200|renderer=isaacsim_rtx
-        shadow-camera-physx-newton-renderer|IsaacContrib-Reorient-Cube-Shadow-Camera-Benchmark-Direct|512|1200|renderer=newton_renderer
-        shadow-camera-newton-rtx|IsaacContrib-Reorient-Cube-Shadow-Camera-Benchmark-Direct|512|1200|physics=newton_mjwarp renderer=isaacsim_rtx
         shadow-camera-newton-renderer|IsaacContrib-Reorient-Cube-Shadow-Camera-Benchmark-Direct|512|1200|physics=newton_mjwarp renderer=newton_renderer
         shadow-camera-ovphysx-newton|IsaacContrib-Reorient-Cube-Shadow-Camera-Benchmark-Direct|512|1200|physics=ovphysx renderer=newton_renderer
-        g1-physx|Isaac-Velocity-Flat-G1|512|720|
         g1-newton|Isaac-Velocity-Flat-G1|512|720|physics=newton_mjwarp
         EOF
 
@@ -1027,7 +1020,6 @@ jobs:
           perf-jit-warp${{ steps.warp_version.outputs.value }}-
 
     - name: Run runtime benchmarks
-      id: runtime_benchmark
       env:
         CI_IMAGE_TAG: ${{ needs.config.outputs.ci_image_tag }}
       run: |
@@ -1049,9 +1041,6 @@ jobs:
           container="performance-smoke-${GITHUB_RUN_ID}-${GITHUB_RUN_ATTEMPT}-${leg}-${sample}-${attempt}"
           cleanup_container
           timeout "${bench_timeout_s}" docker run --name "$container" --gpus all --network=host --ipc=host \
-            -e OMNI_KIT_ACCEPT_EULA=yes \
-            -e ACCEPT_EULA=Y \
-            -e ISAAC_SIM_HEADLESS=1 \
             -e WARP_CACHE_PATH=/tmp/jit-cache/warp \
             -e CUDA_CACHE_PATH=/tmp/jit-cache/nv \
             -v "${GITHUB_WORKSPACE}/jit-cache:/tmp/jit-cache" \
@@ -1100,8 +1089,12 @@ jobs:
               fi
             fi
           done
-          echo "$([ "$leg_ok" = true ] && echo ok || echo failed)" > "benchmark-output/${leg}/status"
-          [ "$leg_ok" = true ] || failed_legs+=("$leg")
+          if [ "$leg_ok" = true ]; then
+            echo ok > "benchmark-output/${leg}/status"
+          else
+            echo failed > "benchmark-output/${leg}/status"
+            failed_legs+=("$leg")
+          fi
           echo "::endgroup::"
         done < benchmark-legs.tsv
 

CONTRIBUTORS.md

@@ -229,6 +229,7 @@ Guidelines for modifications:
 * Yuguo Shan
 * Yujian Zhang
 * Yun Liu
+* Yusuf Guenena
 * YuTeh Shen
 * Zehao Wang
 * Zeng Qingcheng

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

@@ -36,14 +36,13 @@
             ["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-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", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,rgb,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl", "", false, {"*": ["rgb"]}],
+            ["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],
             ["Isaac-Reorient-Cube-Allegro", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "randomized,reset_only", "tasks/manipulation/allegro_cube.jpg", false, {"*": ["reset_only"]}],
             ["Isaac-Reorient-Cube-Shadow-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "tasks/manipulation/shadow_cube.jpg"],
             ["Isaac-Reorient-Cube-Shadow", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "asymmetric,randomized"],
             ["Isaac-Reorient-Cube-Shadow-Camera-Direct", "rl_games,rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,full,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl", "tasks/manipulation/shadow_cube.jpg", false, {"*": ["full"]}],
             ["Isaac-Reorient-Cube-Shadow-Camera", "rl_games,rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,full,randomized,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl", "", false, {"*": ["full"]}],
-            ["Isaac-Reorient-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,shapes", "", false, {"*": ["shapes"]}],
             ["Isaac-Reorient-KukaAllegro", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,shapes", "tasks/manipulation/kuka_allegro_reorient.jpg", false, {"*": ["shapes"]}],
             ["Isaac-Reorient-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_reorient.jpg", false, {"*": ["rgb64", "shapes", "single_camera"]}],
             ["Isaac-Shadow-Handover-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "tasks/manipulation/shadow_hand_over.jpg", false, {}, {"skrl": "MAPPO"}],
@@ -99,7 +98,7 @@
             ["IsaacContrib-Open-Drawer-Franka-IK-Abs", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
             ["IsaacContrib-Open-Drawer-Franka-IK-Rel", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
             ["IsaacContrib-Open-Drawer-OpenArm", "rl_games,rsl_rl", "", "", "", "tasks/manipulation/openarm_uni_open_drawer.jpg"],
-            ["IsaacContrib-PickPlace-FixedBaseUpperBodyIK-G1-Abs", "", "", "", "", "tasks/manipulation/g1_pick_place_fixed_base.jpg"],
+            ["IsaacContrib-PickPlace-FixedBaseUpperBodyIK-G1-Abs", "", "", "isaacsim_rtx,newton_renderer,ovrtx", "", "tasks/manipulation/g1_pick_place_fixed_base.jpg"],
             ["IsaacContrib-PickPlace-G1-InspireFTP-Abs", "", "", "", "", "tasks/manipulation/g1_pick_place.jpg"],
             ["IsaacContrib-PickPlace-GR1T2-Abs", "", "", "isaacsim_rtx,newton_renderer,ovrtx", "", "tasks/manipulation/gr-1_pick_place.jpg"],
             ["IsaacContrib-PickPlace-GR1T2-WaistEnabled-Abs", "", "", "", "", "tasks/manipulation/gr-1_pick_place_waist.jpg"],
@@ -336,7 +335,6 @@
             [/Reach-UR10/, "tasks/manipulation/ur10_reach.jpg"],
             [/Reorient-Cube-Allegro/, "tasks/manipulation/allegro_cube.jpg"],
             [/Reorient-Cube-Shadow/, "tasks/manipulation/shadow_cube.jpg"],
-            [/Reorient-Franka/, "tasks/manipulation/franka_lift.jpg"],
             [/Reorient-KukaAllegro/, "tasks/manipulation/kuka_allegro_reorient.jpg"],
             [/Shadow-Handover/, "tasks/manipulation/shadow_hand_over.jpg"],
             [/AnymalB/, "tasks/locomotion/anymal_b_flat.jpg"],

examples/heterogeneous_scene.py

@@ -95,7 +95,6 @@
     "IsaacContrib-Navigation-Flat-AnymalC",
     # arm and hand manipulation
     "Isaac-Lift-Franka",
-    "Isaac-Reorient-Franka",
     "Isaac-Lift-KukaAllegro",
     "Isaac-Reorient-KukaAllegro",
     "Isaac-Open-Drawer-Franka",

source/isaaclab/changelog.d/newton-collection-path-documentation.skip

@@ -0,0 +1 @@
+Removed the obsolete Newton collection path restriction from the configuration documentation.

source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection_cfg.py

@@ -27,9 +27,4 @@ class RigidObjectCollectionCfg:
     """Dictionary of rigid object configurations to spawn.
 
     The keys are the names for the objects, which are used as unique identifiers throughout the code.
-
-    .. note::
-
-       With the Newton backend, the configured root prim paths must share a combined prefix-and-suffix
-       pattern that does not match other rigid objects in the same world.
     """

source/isaaclab_newton/changelog.d/fix-newton-collection-exact-match.rst

@@ -0,0 +1,6 @@
+Fixed
+^^^^^
+
+* Fixed :class:`~isaaclab_newton.assets.RigidObjectCollection` selecting rigid bodies outside the
+  collection whose names share the members' prefix or suffix, and rejecting members at different
+  path depths. The collection view now matches each configured prim path exactly.

source/isaaclab_newton/isaaclab_newton/assets/rigid_object_collection/rigid_object_collection.py

@@ -5,7 +5,6 @@
 
 from __future__ import annotations
 
-import os
 import warnings
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
@@ -1207,22 +1206,19 @@ def has_rigid_body_api(prim) -> bool:
             root_prim_path_exprs.append(sim_utils.path_expr_to_glob(root_expr))
             self._body_names_list.append(name)
 
-        # Build a single pattern that matches ALL body types by wildcarding the differing path segment.
-        combined_pattern = self._build_combined_pattern(root_prim_path_exprs)
-
-        # Create a single ArticulationView matching all body types.
+        # Create a single ArticulationView matching exactly the configured bodies.
         # The 2nd dimension (matches per world) corresponds to the body types.
         self._root_view = ArticulationView(
             SimulationManager.get_model(),
-            combined_pattern,
+            root_prim_path_exprs,
             verbose=False,
         )
+        # Newton matches each body once, so members whose prim paths alias the same prim come up short here.
         if self._root_view.count_per_world != self.num_bodies:
             raise RuntimeError(
-                f"Rigid object collection pattern {combined_pattern!r} matched "
+                f"Rigid object collection patterns {root_prim_path_exprs} matched "
                 f"{self._root_view.count_per_world} objects per world, but the collection config contains "
-                f"{self.num_bodies}. Ensure collection prim paths share a prefix or suffix that distinguishes them "
-                "from other rigid objects."
+                f"{self.num_bodies}."
             )
 
         # container for data access
@@ -1345,49 +1341,6 @@ def _resolve_body_mask(self, body_mask: wp.array | None) -> wp.array | torch.Ten
             body_ids = self._ALL_BODY_INDICES
         return body_ids
 
-    @staticmethod
-    def _build_combined_pattern(prim_path_exprs: list[str]) -> str:
-        """Build a single fnmatch pattern that matches all body types.
-
-        Compares path segments across all expressions and wildcards only the differing portion of each segment.
-        For example, given::
-
-            ["/World/Env_*/Object_A", "/World/Env_*/Object_B"]
-
-        produces ``"/World/Env_*/Object_*"``. Retaining common prefixes and suffixes avoids selecting
-        unrelated sibling articulations from the same world.
-
-        Args:
-            prim_path_exprs: List of prim path expressions, one per body type.
-
-        Returns:
-            A single fnmatch pattern string.
-
-        Raises:
-            ValueError: If the expressions have different numbers of path segments.
-        """
-        if len(prim_path_exprs) == 1:
-            return prim_path_exprs[0]
-
-        split_paths = [p.split("/") for p in prim_path_exprs]
-        lengths = {len(s) for s in split_paths}
-        if len(lengths) != 1:
-            raise ValueError(
-                f"Cannot build combined pattern: path expressions have different segment counts: {prim_path_exprs}"
-            )
-
-        combined_segments = []
-        for segments in zip(*split_paths):
-            unique = set(segments)
-            if len(unique) == 1:
-                combined_segments.append(segments[0])
-            else:
-                common_prefix = os.path.commonprefix(segments)
-                remaining_segments = [segment[len(common_prefix) :] for segment in segments]
-                common_suffix = os.path.commonprefix([segment[::-1] for segment in remaining_segments])[::-1]
-                combined_segments.append(f"{common_prefix}*{common_suffix}")
-        return "/".join(combined_segments)
-
     """
     Internal simulation callbacks.
     """

source/isaaclab_newton/test/assets/test_rigid_object_collection.py

@@ -66,17 +66,19 @@ def generate_cubes_scene(
     kinematic_enabled: bool = False,
     device: str = "cuda:0",
     spawn_unrelated_sibling: bool = False,
+    object_paths: tuple[str, ...] | None = None,
 ) -> tuple[RigidObjectCollection, torch.Tensor]:
     """Generate a scene with the provided number of cubes.
 
     Args:
         num_envs: Number of envs to generate.
-        num_cubes: Number of cubes to generate.
+        num_cubes: Number of cubes to generate when object_paths is not specified.
         height: Height of the cubes.
         has_api: Whether the cubes have a rigid body API on them.
         kinematic_enabled: Whether the cubes are kinematic.
         device: Device to use for the simulation.
         spawn_unrelated_sibling: Whether to spawn a rigid body outside the collection in each environment.
+        object_paths: Member paths relative to each environment. Defaults to Object_0, Object_1, etc.
 
     Returns:
         A tuple containing the rigid object collection representing the cubes and the origins of the cubes.
@@ -100,45 +102,45 @@ def generate_cubes_scene(
 
     # create the rigid object configs
     cube_config_dict = {}
-    for i in range(num_cubes):
+    if object_paths is None:
+        object_paths = tuple(f"Object_{i}" for i in range(num_cubes))
+    for i, path in enumerate(object_paths):
         cube_object_cfg = RigidObjectCfg(
-            prim_path=f"/World/Env_[^/]*/Object_{i}",
+            prim_path=f"/World/Env_[^/]*/{path}",
             spawn=clone(spawn_cfg),
             init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 3 * i, height)),
         )
         cube_config_dict[f"cube_{i}"] = cube_object_cfg
     cfgs = list(cube_config_dict.values())
     if spawn_unrelated_sibling:
-        cfgs.append(AssetBaseCfg(prim_path="/World/Env_[^/]*/UnrelatedObject"))
+        cfgs.append(AssetBaseCfg(prim_path="/World/Env_[^/]*/Object_Target"))
     clone_plan_from_env_0(CloneCfg(clone_template="/World/Env_{}"), cfgs, num_envs, 3.0, positions=origins)
     if spawn_unrelated_sibling:
-        spawn_cfg.func(
-            "/World/Env_0/UnrelatedObject",
-            spawn_cfg,
-            translation=(0.0, -3.0, height),
-        )
+        spawn_cfg.func("/World/Env_0/Object_Target", spawn_cfg, translation=(0.0, -3.0, height))
     # create the rigid object collection
     cube_object_collection_cfg = RigidObjectCollectionCfg(rigid_objects=cube_config_dict)
     cube_object_collection = RigidObjectCollection(cfg=cube_object_collection_cfg)
 
     return cube_object_collection, torch.as_tensor(origins, device=device)
 
 
-@pytest.mark.parametrize(("num_envs", "num_cubes", "spawn_unrelated_sibling"), [(1, 1, False), (2, 3, True)])
+@pytest.mark.parametrize(
+    ("num_envs", "object_paths", "spawn_unrelated_sibling"),
+    [
+        (1, ("Object_A",), False),
+        (2, ("Object_A", "Object_B", "Object_C"), True),
+        (2, ("Object_A", "Shelf/Object_B"), False),
+    ],
+    ids=["single_member", "sibling_sharing_prefix", "nested_member"],
+)
 @pytest.mark.parametrize("device", test_devices())
-def test_initialization(num_envs, num_cubes, spawn_unrelated_sibling, device):
-    """Test initialization for prim with rigid body API at the provided prim path.
-
-    With an unrelated rigid body next to the cubes in each environment, the collection view must still
-    select only its configured rigid objects.
-    """
-    with _newton_sim_context(device, auto_add_lighting=True) as sim:
+def test_initialization(num_envs, object_paths, spawn_unrelated_sibling, device):
+    """Bind only configured members, including nested paths, and preserve each body's name-to-pose mapping."""
+    num_cubes = len(object_paths)
+    with _newton_sim_context(device, gravity_enabled=False, auto_add_lighting=True) as sim:
         sim._app_control_on_stop_handle = None
-        object_collection, _ = generate_cubes_scene(
-            num_envs=num_envs,
-            num_cubes=num_cubes,
-            device=device,
-            spawn_unrelated_sibling=spawn_unrelated_sibling,
+        object_collection, origins = generate_cubes_scene(
+            num_envs, device=device, spawn_unrelated_sibling=spawn_unrelated_sibling, object_paths=object_paths
         )
 
         # Check that the framework doesn't hold excessive strong references.
@@ -161,6 +163,12 @@ def test_initialization(num_envs, num_cubes, spawn_unrelated_sibling, device):
         assert object_collection.data.body_mass.torch.shape == (num_envs, num_cubes)
         assert object_collection.data.body_inertia.torch.shape == (num_envs, num_cubes, 9)
 
+        for name, member_cfg in object_collection.cfg.rigid_objects.items():
+            body_ids, _ = object_collection.find_bodies(name)
+            body_pos = object_collection.data.body_link_pos_w.torch[:, body_ids[0]] - origins
+            expected_pos = torch.tensor(member_cfg.init_state.pos, device=device).expand(num_envs, 3)
+            torch.testing.assert_close(body_pos, expected_pos, atol=1e-5, rtol=0.0)
+
 
 @pytest.mark.parametrize("device", test_devices())
 def test_set_body_inertial_properties_updates_inverses(device):

source/isaaclab_tasks/changelog.d/maximiliank-remove-franka-reorient.major.rst

@@ -0,0 +1,5 @@
+Removed
+^^^^^^^
+
+* Removed the unsupported ``Isaac-Reorient-Franka`` task and its environment configuration. Migrate custom
+  reorientation experiments to a maintained task or keep a local copy of the old configuration.

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

@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""Lift Franka reorient and lift environments."""
+"""Franka lift environment."""
 
 import gymnasium as gym
 
@@ -13,17 +13,6 @@
 # Register Gym environments.
 ##
 
-gym.register(
-    id="Isaac-Reorient-Franka",
-    entry_point="isaaclab.envs:ManagerBasedRLEnv",
-    disable_env_checker=True,
-    kwargs={
-        "env_cfg_entry_point": f"{__name__}.franka_env_cfg:FrankaReorientEnvCfg",
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:FrankaPPORunnerCfg",
-        "default_agent": "rsl_rl",
-    },
-)
-
 gym.register(
     id="Isaac-Lift-Franka",
     entry_point="isaaclab.envs:ManagerBasedRLEnv",