Retune Franka deformable lift for stable grasping - #6831

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mmichelis wants to merge 41 commits into

isaac-sim:developfrom

mmichelis:mym/lift-soft

Commits on Aug 5, 2026

Retune Franka deformable lift for stable grasping
mmichelis
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cf0666b
Style: Minimize comments
mmichelis
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dd9798f
Style: Unnecessary invalidrobot state reset is removed (still trains without)
mmichelis
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8d50d91
Style: Unify termination cfg
mmichelis
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4034ef7
Style: Unnecessary deformable invalid state
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a41efb0
Fix: Policy still trains without delta position reward
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648721a
Fix: Remove duplicate terminations
mmichelis
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46f5cdd
Feat: new franka asset allows SDF using analytic shapes for the gripper. WIP training tuning
mmichelis
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5e637d2
Feat: Trainable mjwarp lift soft
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00cfa6e
Fix: Physx training
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8875f69
Feat: Tuned physx parameters with new franka asset
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9606f2d
Test: Higher friction and more action rate penalty
mmichelis
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946d2bb
Fix pre-commit formatting
mmichelis
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ebf371b
Remove video support from soft lift demo
mmichelis
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93b3861
Restore deformable collision validation
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c41c26e
Correct soft lift changelog fragment
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fb1999a
Fix: Use a consistent way of modifying gravity
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e9634de
Fix: Remove ovphysx since it does not support the new franka asset and requires workaround for the gravity curriculum
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96dba26
Style: Remove unnecessary event on material randomiztion
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2c1704f
Style: remove comments
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f982d86
Docs: Correctness i ndocstring
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f30a977
Fix: Check finite after gather
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4d9388d
Fix: Nan guards no longer needed for training soft env
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708fb00
Feat: Log the gravity curriculum without using ADR
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490205b
Fix: Unify the observations of lift task
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569d55b
Fix: Clean up lift mdp, unify the soft and core lift mdp.
mmichelis
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2f4d477
Feat: Cloth env cleanup for stable fast training
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1cadcf1
Style: Clean up generic success vis in pose command
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2541b19
FiX :Clean up gravity set
mmichelis
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c944d43
Style: Clean up soft rewards
mmichelis
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91abd1a
Fix: Edge refinement for the cuboid as config parameter
mmichelis
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d135083
Docs: Update changelogs and decsriptions
mmichelis
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2a563a1
Fix: Reset gripper separate from arm
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95f6ff3
Test: Soft environment tests
mmichelis
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8bee47b
Feat: State machine also resets on termination
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0f35580
Fix: joint preset actions by default in soft env
mmichelis
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db82df4
Test: Tune cloth env, working at 800 iterations
mmichelis
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00b6325
Style: Sync files after develop rebase
mmichelis
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163af91
Migrate articulation targets to canonical API
mmichelis
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cd13a7a
Update Newton dependency revision
mmichelis
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a5e6b8b
Fix: move video resolution
mmichelis
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7180920