Migrate Franka Lift and deformable tasks to the flat asset

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

@@ -25,7 +25,7 @@
             ["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", "", "arm_collisions,cube,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"],

source/isaaclab_tasks/changelog.d/maximiliank-franka-lift-soft.major.rst

@@ -0,0 +1,11 @@
+Changed
+^^^^^^^
+
+* Migrated Franka rigid and deformable Lift tasks to the shared flat asset, with backend-specific physics
+  and gripper-only collisions by default. Select ``arm_collisions`` to enable primitive arm contacts.
+
+Fixed
+^^^^^
+
+* Corrected rigid Lift reset sampling and success-driven motion regularization without changing
+  Kuka-Allegro rewards. Requalify existing Franka Lift checkpoints because the reset distribution changed.

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

@@ -7,30 +7,24 @@
 
 from isaaclab.actuators import ImplicitActuatorCfg
 from isaaclab.assets import ArticulationCfg
+from isaaclab.managers import CurriculumTermCfg as CurrTerm
 from isaaclab.managers import EventTermCfg as EventTerm
 from isaaclab.managers import ObservationTermCfg as ObsTerm
 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.utils import clone, configclass, replace
-from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
-from isaaclab_assets.robots import FRANKA_PANDA_CFG
+from isaaclab_tasks.utils import preset
+
+from isaaclab_assets.robots import FRANKA_PANDA_FLAT_CFG
 
 from ... import lift_env_cfg as lift
 from ... import mdp
 
-##
-# Scene assets
-##
-
-# The lift tasks run the menagerie-converted asset (identified inertials, authored finger coupling) with
-# actuators calibrated for it, while the other Franka tasks keep the stock asset.
-FRANKA_PANDA_LIFT_CFG = clone(FRANKA_PANDA_CFG)
-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"}
+# Lift uses task-specific actuators calibrated for contact-rich manipulation.
+FRANKA_PANDA_LIFT_CFG = clone(FRANKA_PANDA_FLAT_CFG)
 FRANKA_PANDA_LIFT_CFG.actuators = {
     # inspired by libfranka's joint_impedance_control.cpp; ``actuator_velocity_limit`` is the soft task
     # limit and ``joint_velocity_limit`` the separate solver request
@@ -51,6 +45,7 @@
             "panda_joint6": 25.0,
             "panda_joint7": 15.0,
         },
+        viscous_friction=0.0,
         armature={
             "panda_joint[1-2]": 0.6057,
             "panda_joint[3-4]": 0.4625,
@@ -64,6 +59,7 @@
         joint_velocity_limit=2.0,
         stiffness=350.0,
         damping=175.0,
+        viscous_friction=0.0,
         armature=0.1,
     ),
     "panda_finger2_passive": ImplicitActuatorCfg(
@@ -73,6 +69,7 @@
         joint_velocity_limit=2.0,
         stiffness=0.0,
         damping=0.0,
+        viscous_friction=0.0,
         armature=0.1,
     ),
 }
@@ -102,6 +99,12 @@ class FrankaSceneCfg(lift.SceneCfg):
 
     def __post_init__(self):
         super().__post_init__()
+        # Lift only requires hand-object and fingertip-object contacts; the asset's
+        # complete primitive colliders remain available for general robot use.
+        self.robot.spawn.variants = {
+            "Physics": preset(default="mujoco", isaacsim_physx="physx", physx="physx", ovphysx="physx"),
+            "Colliders": preset(default="gripper_only", arm_collisions="primitives"),
+        }
         self.robot.spawn.activate_contact_sensors = True
         # the base is rotated by 180 degrees about z so the workspace lies at positive x
         self.robot.init_state.rot = (0.0, 0.0, 1.0, 0.0)
@@ -157,9 +160,12 @@ class FrankaRelJointPosActionCfg:
 
 
 @configclass
-class FrankaReorientRewardCfg(lift.RewardsCfg):
+class FrankaLiftRewardCfg(lift.RewardsCfg):
     """Reward terms for the MDP, with the Franka finger contact sensors filled in."""
 
+    action_rate = RewTerm(func=mdp.action_rate_l2, weight=-1e-4)
+    joint_vel = RewTerm(func=mdp.joint_vel_l2, weight=-1e-4, params={"asset_cfg": SceneEntityCfg("robot")})
+
     good_finger_contact = RewTerm(
         func=mdp.contacts,
         weight=0.75,
@@ -186,6 +192,28 @@ def __post_init__(self):
         self.success.params["finger_names"] = FINGER_SENSORS
 
 
+@configclass
+class FrankaLiftCurriculumCfg(lift.CurriculumCfg):
+    """Franka-specific motion regularization as grasp difficulty increases."""
+
+    action_rate = CurrTerm(
+        func=mdp.modify_term_cfg,
+        params={
+            "address": "rewards.action_rate.weight",
+            "modify_fn": mdp.difficulty_interpolate_float,
+            "modify_params": {"initial_value": -1e-4, "final_value": -1e-1, "difficulty_term_str": "adr"},
+        },
+    )
+    joint_vel = CurrTerm(
+        func=mdp.modify_term_cfg,
+        params={
+            "address": "rewards.joint_vel.weight",
+            "modify_fn": mdp.difficulty_interpolate_float,
+            "modify_params": {"initial_value": -1e-4, "final_value": -1e-1, "difficulty_term_str": "adr"},
+        },
+    )
+
+
 @configclass
 class FrankaEventCfg(lift.EventCfg):
     """Franka-specific event configuration."""
@@ -243,10 +271,10 @@ def __post_init__(self):
 
 @configclass
 class FrankaMixinCfg:
-    """Franka-specific scene, observation, action, reward and event terms, mixed into the task configurations."""
+    """Franka scene, observation, action, reward and event terms for the lift task."""
 
     scene: FrankaSceneCfg = FrankaSceneCfg(num_envs=4096, env_spacing=3, replicate_physics=True)
-    rewards: FrankaReorientRewardCfg = FrankaReorientRewardCfg()
+    rewards: FrankaLiftRewardCfg = FrankaLiftRewardCfg()
     observations: StateObservationCfg = StateObservationCfg()
     actions: FrankaRelJointPosActionCfg = FrankaRelJointPosActionCfg()
     events: FrankaEventCfg = FrankaEventCfg()
@@ -256,13 +284,37 @@ def __post_init__(self):
         self.commands.object_pose.body_name = "panda_hand"
         # Franka base is rotated 180 deg about z, so the workspace mirrors to positive x.
         self.commands.object_pose.ranges.pos_x = (0.3, 0.7)
+        # The actuator limits are nominal policy limits, not evidence of unstable physics.
+        # Reserve the abnormal-state termination for velocities beyond the solver contract.
+        self.terminations.abnormal_robot.func = mdp.abnormal_robot_state
         self.terminations.abnormal_robot.params["asset_cfg"] = SceneEntityCfg("robot", joint_names="panda_joint.*")
 
 
 @configclass
 class FrankaLiftEnvCfg(FrankaMixinCfg, lift.LiftEnvCfg):
     """Franka object lifting environment."""
 
+    curriculum: FrankaLiftCurriculumCfg | None = FrankaLiftCurriculumCfg()
+
+    def __post_init__(self):
+        super().__post_init__()
+        reset = self.events.conditional_reset.params
+        terms = reset["terms"]
+        # The aligned opening must be written after the generic gripper-width reset.
+        pregrasp = terms.pop("reset_object_to_target")
+        terms["reset_object_to_target"] = pregrasp
+        pregrasp.func = mdp.reset_to_grasp
+        pregrasp.params.update(
+            probability=0.75,
+            gripper_cfg=SceneEntityCfg("robot", joint_names="panda_finger_joint.*"),
+            pose_range={"x": (-0.002, 0.002), "y": (-0.002, 0.002), "z": (0.1, 0.1)},
+            gripper_joint_positions=[0.026, 0.026, 0.0135, 0.026, 0.021, 0.026, 0.026, 0.011],
+            asset_orientations=[(0.0, 0.0, 0.0, 1.0)] * 5 + [(0.0, 2.0**-0.5, 0.0, 2.0**-0.5)] * 3,
+        )
+        pregrasp.params.pop("velocity_range")
+        # Farthest-point thinning discards valid near-grasp starts.
+        reset["diversity_feature"] = None
+
     def play_mode(self):
         super().play_mode()
         # evaluate at the datasheet gripper speed: without the closing-speed randomization the hand

source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/franka_soft_env_cfg.py

@@ -48,15 +48,15 @@
 from isaaclab_tasks.utils import PresetCfg, preset
 from isaaclab_tasks.utils.presets import MultiBackendRendererCfg
 
-from isaaclab_assets.robots.franka import FRANKA_PANDA_MENAGERIE_CFG
+from isaaclab_assets.robots.franka import FRANKA_PANDA_FLAT_CFG
 
 from ... import mdp
 
 ##
 # Scene assets
 ##
 
-# shared volume material parameters; the Newton configuration uses the equivalent Lame parameters
+# Shared volume material parameters. The Newton config below uses the equivalent Lame parameters.
 YOUNGS_MODULUS = 2e5
 POISSONS_RATIO = 0.3
 
@@ -190,12 +190,12 @@ class PhysicsCfg(PresetCfg):
 class FrankaSoftBaseSceneCfg(InteractiveSceneCfg):
     """Scene for the Franka deformable environment, also the base of the cloth and cable scenes."""
 
-    robot: ArticulationCfg = replace(FRANKA_PANDA_MENAGERIE_CFG, prim_path="{ENV_REGEX_NS}/Robot")
-    robot.spawn.variants = preset(
-        default={"Physics": "mujoco"},
-        isaacsim_physx={"Physics": "physx"},
-        physx={"Physics": "physx"},
-    )
+    robot: ArticulationCfg = replace(FRANKA_PANDA_FLAT_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+    # Deformable contact is restricted to the hand and fingertips for throughput.
+    robot.spawn.variants = {
+        "Physics": preset(default="mujoco", isaacsim_physx="physx", physx="physx", ovphysx="physx"),
+        "Colliders": "gripper_only",
+    }
 
     # end-effector frame for reward shaping
     ee_frame: FrameTransformerCfg = FrameTransformerCfg(
@@ -257,6 +257,7 @@ def __post_init__(self):
                     "panda_joint6": 25.0,
                     "panda_joint7": 15.0,
                 },
+                viscous_friction=0.0,
                 armature={
                     "panda_joint[1-2]": 0.6057,
                     "panda_joint[3-4]": 0.4625,
@@ -270,6 +271,7 @@ def __post_init__(self):
                 joint_velocity_limit=2.0,
                 stiffness=350.0,
                 damping=175.0,
+                viscous_friction=0.0,
                 armature=0.1,
             ),
             "panda_finger2_passive": ImplicitActuatorCfg(
@@ -279,6 +281,7 @@ def __post_init__(self):
                 joint_velocity_limit=2.0,
                 stiffness=0.0,
                 damping=0.0,
+                viscous_friction=0.0,
                 armature=0.1,
             ),
         }

source/isaaclab_tasks/isaaclab_tasks/core/lift/mdp/__init__.pyi

@@ -31,6 +31,7 @@ __all__ = [
     "deformable_ee_distance",
     "deformable_lifting",
     "deformable_outside_bounds",
+    "difficulty_interpolate_float",
     "ee_below_minimum",
     "fingers_contact_force_b",
     "get_reset_state",
@@ -51,6 +52,7 @@ __all__ = [
     "reset_cable_state_uniform",
     "reset_deformable_over_support",
     "reset_joints_shared_offset",
+    "reset_to_grasp",
     "reset_to_target",
     "set_reset_state",
     "slab_clearance",
@@ -61,14 +63,15 @@ __all__ = [
 from isaaclab_tasks.utils.success_monitor import SuccessMonitor, SuccessMonitorCfg
 
 from .commands import CableUniformPoseCommandCfg, DeformableUniformPoseCommandCfg, ObjectUniformPoseCommandCfg
-from .curriculums import gravity_range_linear
+from .curriculums import difficulty_interpolate_float, gravity_range_linear
 from .events import (
     conditional_reset,
     grasp_travel_distance,
     mesh_clearance,
     reset_cable_state_uniform,
     reset_deformable_over_support,
     reset_joints_shared_offset,
+    reset_to_grasp,
     reset_to_target,
     slab_clearance,
 )

source/isaaclab_tasks/isaaclab_tasks/core/lift/mdp/curriculums.py

@@ -14,6 +14,20 @@
     from isaaclab.envs import ManagerBasedRLEnv
 
 
+def difficulty_interpolate_float(
+    env: ManagerBasedRLEnv,
+    _env_ids: Sequence[int],
+    _data: float,
+    initial_value: float,
+    final_value: float,
+    difficulty_term_str: str,
+) -> float:
+    """Interpolate a scalar continuously with an ADR term's success-driven difficulty."""
+    difficulty_term = getattr(env.curriculum_manager.cfg, difficulty_term_str).func
+    fraction = min(max(difficulty_term.difficulty_frac, 0.0), 1.0)
+    return initial_value + fraction * (final_value - initial_value)
+
+
 def gravity_range_linear(
     env: ManagerBasedRLEnv,
     _env_ids: Sequence[int],