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Retune Franka deformable lift for stable grasping #6831

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Retune Franka deformable lift for stable grasping #6831

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1ee24bf
Retune Franka deformable lift for stable grasping
mmichelis Jul 31, 2026
407acdd
Style: Minimize comments
mmichelis Jul 31, 2026
6901596
Style: Unnecessary invalidrobot state reset is removed (still trains …
mmichelis Jul 31, 2026
f233dd7
Style: Unify termination cfg
mmichelis Jul 31, 2026
f2c703e
Style: Unnecessary deformable invalid state
mmichelis Jul 31, 2026
85d850f
Fix: Policy still trains without delta position reward
mmichelis Aug 3, 2026
004b0d5
Fix: Remove duplicate terminations
mmichelis Aug 3, 2026
6e0a79c
Feat: new franka asset allows SDF using analytic shapes for the gripp…
mmichelis Aug 3, 2026
5f5f53a
Feat: Trainable mjwarp lift soft
mmichelis Aug 3, 2026
9bd893a
Fix: Physx training
mmichelis Aug 3, 2026
16ff381
Feat: Tuned physx parameters with new franka asset
mmichelis Aug 3, 2026
7e1d2a9
Test: Higher friction and more action rate penalty
mmichelis Aug 3, 2026
3fd5cdd
Fix pre-commit formatting
mmichelis Aug 4, 2026
3954ce6
Remove video support from soft lift demo
mmichelis Aug 4, 2026
9bafc7f
Restore deformable collision validation
mmichelis Aug 4, 2026
187c7b2
Correct soft lift changelog fragment
mmichelis Aug 4, 2026
386b329
Fix: Use a consistent way of modifying gravity
mmichelis Aug 4, 2026
cc79dba
Fix: Remove ovphysx since it does not support the new franka asset an…
mmichelis Aug 4, 2026
d55627b
Style: Remove unnecessary event on material randomiztion
mmichelis Aug 4, 2026
e9225ac
Style: remove comments
mmichelis Aug 4, 2026
4c35e1b
Docs: Correctness i ndocstring
mmichelis Aug 4, 2026
27741c8
Fix: Check finite after gather
mmichelis Aug 4, 2026
b621609
Fix: Nan guards no longer needed for training soft env
mmichelis Aug 4, 2026
f5c5ef4
Feat: Log the gravity curriculum without using ADR
mmichelis Aug 4, 2026
fd59094
Fix: Unify the observations of lift task
mmichelis Aug 4, 2026
6ea484f
Fix: Clean up lift mdp, unify the soft and core lift mdp.
mmichelis Aug 4, 2026
063983e
Feat: Cloth env cleanup for stable fast training
mmichelis Aug 4, 2026
1593f34
Style: Clean up generic success vis in pose command
mmichelis Aug 4, 2026
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8 changes: 4 additions & 4 deletions docs/source/_static/css/environment-browser.js
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Original file line number Diff line number Diff line change
Expand Up @@ -21,13 +21,13 @@
["Isaac-Fourbar-Pole-Swingup", "rsl_rl", "newton_kamino", "", ""],
["Isaac-Humanoid", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_mjwarp", "", ""],
["Isaac-Humanoid-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
["Isaac-Lift-Cloth-Franka", "rsl_rl", "newton_mjwarp_vbd_proxy,ovphysx", "", ""],
["Isaac-Lift-Cloth-Franka-Camera", "rsl_rl", "newton_mjwarp_vbd_proxy,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", ""],
["Isaac-Lift-Cloth-Franka", "rsl_rl", "newton_mjwarp_vbd_proxy", "", "ik,joint"],
["Isaac-Lift-Cloth-Franka-Camera", "rsl_rl", "newton_mjwarp_vbd_proxy", "isaacsim_rtx,newton_renderer,ovrtx", "ik,joint"],
["Isaac-Lift-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp", "", "cube,shapes"],
["Isaac-Lift-KukaAllegro", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,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"],
["Isaac-Lift-Soft-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy,ovphysx", "", ""],
["Isaac-Lift-Soft-Franka-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", ""],
["Isaac-Lift-Soft-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "", "ik,joint"],
["Isaac-Lift-Soft-Franka-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "isaacsim_rtx,newton_renderer,ovrtx", "ik,joint"],
["Isaac-Open-Drawer-Franka", "rl_games,rsl_rl,skrl", "", "", ""],
["Isaac-Open-Drawer-Franka-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
["Isaac-Pendulum-Direct", "rl_games,skrl", "", "", ""],
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2 changes: 1 addition & 1 deletion docs/source/overview/core-concepts/physical-backends/newton/using-vbd-solver.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -272,7 +272,7 @@ The core Franka soft-body task demonstrates the proxy configuration:
.. literalinclude:: ../../../../../../source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/franka_soft_env_cfg.py
:language: python
:start-at: newton_mjwarp_vbd_proxy: NewtonCfg
:end-before: isaacsim_physx: PhysxCfg = PhysxCfg()
:end-before: isaacsim_physx: PhysxCfg = PhysxCfg(
:dedent: 4

What the selectors do:
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28 changes: 16 additions & 12 deletions docs/source/overview/environments.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -232,24 +232,24 @@ for the lift-cube environment:
| |lift-cube| | |lift-cube-link| | Pick a cube and bring it to a sampled target position with the Franka robot | |
+-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------------------------+
| |lift-soft-franka| | |lift-soft-franka-link| | Pick a deformable soft body and bring it to a sampled target position with | **physics=** ``isaacsim_physx``, |
| | | the Franka robot | ``newton_mjwarp_vbd_proxy``, |
| | | | ``ovphysx`` |
| | | the Franka robot | ``newton_mjwarp_vbd_proxy`` |
| | | | **presets=** ``ik``, ``joint`` |
+-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------------------------+
| |lift-soft-franka| | |lift-soft-franka-cam-link| | Camera (vision) variant of the soft-body lift task using RGB observations | **physics=** ``isaacsim_physx``, |
| | | | ``newton_mjwarp_vbd_proxy``, |
| | | | ``ovphysx`` |
| | | | ``newton_mjwarp_vbd_proxy`` |
| | | | **renderer=** ``isaacsim_rtx``, |
| | | | ``newton_renderer``, ``ovrtx`` |
| | | | **presets=** ``ik``, ``joint`` |
+-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------------------------+
| |lift-cloth-franka| | |lift-cloth-franka-link| | Lift a deformable cloth from a table with the Franka robot | **physics=** |
| | | | ``newton_mjwarp_vbd_proxy``, |
| | | | ``ovphysx`` |
| | | | ``newton_mjwarp_vbd_proxy`` |
| | | | **presets=** ``ik``, ``joint`` |
+-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------------------------+
| |lift-cloth-franka| | |lift-cloth-franka-cam-link| | Camera (vision) variant of the cloth lift task using RGB observations | **physics=** |
| | | | ``newton_mjwarp_vbd_proxy``, |
| | | | ``ovphysx`` |
| | | | ``newton_mjwarp_vbd_proxy`` |
| | | | **renderer=** ``isaacsim_rtx``, |
| | | | ``newton_renderer``, ``ovrtx`` |
| | | | **presets=** ``ik``, ``joint`` |
+-------------------------+------------------------------+-----------------------------------------------------------------------------+-----------------------------------------+
| |stack-cube| | |stack-cube-link| | Stack three cubes (bottom to top: blue, red, green) with the Franka robot. | **physics=** ``isaacsim_physx``, |
| | | Blueprint env used for the NVIDIA Isaac GR00T blueprint for synthetic | ``newton_mjwarp`` |
Expand Down Expand Up @@ -1093,12 +1093,14 @@ including disabling runtime perturbations used for training.
* - Isaac-Lift-Cloth-Franka
- Manager Based
- **rsl_rl** (PPO)
- **physics=** ``newton_mjwarp_vbd_proxy``, ``ovphysx``
- | **physics=** ``newton_mjwarp_vbd_proxy``
| **presets=** ``ik``, ``joint``
* - Isaac-Lift-Cloth-Franka-Camera
- Manager Based
- **rsl_rl** (PPO)
- | **physics=** ``newton_mjwarp_vbd_proxy``, ``ovphysx``
- | **physics=** ``newton_mjwarp_vbd_proxy``
| **renderer=** ``isaacsim_rtx``, ``newton_renderer``, ``ovrtx``
| **presets=** ``ik``, ``joint``
* - Isaac-Lift-Franka
- Manager Based
- **rsl_rl** (PPO)
Expand All @@ -1118,12 +1120,14 @@ including disabling runtime perturbations used for training.
* - Isaac-Lift-Soft-Franka
- Manager Based
- **rsl_rl** (PPO)
- **physics=** ``isaacsim_physx``, ``newton_mjwarp_vbd_proxy``, ``ovphysx``
- | **physics=** ``isaacsim_physx``, ``newton_mjwarp_vbd_proxy``
| **presets=** ``ik``, ``joint``
* - Isaac-Lift-Soft-Franka-Camera
- Manager Based
- **rsl_rl** (PPO)
- | **physics=** ``isaacsim_physx``, ``newton_mjwarp_vbd_proxy``, ``ovphysx``
- | **physics=** ``isaacsim_physx``, ``newton_mjwarp_vbd_proxy``
| **renderer=** ``isaacsim_rtx``, ``newton_renderer``, ``ovrtx``
| **presets=** ``ik``, ``joint``
* - Isaac-Open-Drawer-Franka
- Manager Based
- **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO)
Expand Down
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