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[DEMO] WrenchComposer zero-range regression (perf-gate demo) #5

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[DEMO] WrenchComposer zero-range regression (perf-gate demo) #5

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9eb2014
[DEMO] Reintroduce WrenchComposer zero-range regression from #5265
Jun 22, 2026
3819721
[DEMO] Scope perf-gate matrix to Cartpole + Velocity-Flat-G1
Jun 22, 2026
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4 changes: 0 additions & 4 deletions source/isaaclab/isaaclab/envs/mdp/events.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1722,10 +1722,6 @@ def apply_external_force_torque(
# resolve number of bodies
num_bodies = len(asset_cfg.body_ids) if isinstance(asset_cfg.body_ids, list) else asset.num_bodies

# Skip force application if the wrench ranges are zero
if force_range[0] == 0.0 and force_range[1] == 0.0 and torque_range[0] == 0.0 and torque_range[1] == 0.0:
return

# sample random forces and torques
size = (len(env_ids), num_bodies, 3)
forces = math_utils.sample_uniform(*force_range, size, asset.device)
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31 changes: 0 additions & 31 deletions tools/perf_regression_gate/tasks.json
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Original file line number Diff line number Diff line change
Expand Up @@ -26,37 +26,6 @@
}
}
},
{
"task_id": "Isaac-Factory-GearMesh-Direct-v0",
"timeout_minutes": 15,
"backends": [
{"physics": "physx"}
],
"fps_mean_floor": {
"L40S": {
"physx": 30.0
}
}
},
{
"task_id": "Isaac-Repose-Cube-Shadow-Vision-Direct-v0",
"timeout_minutes": 20,
"tags": ["camera"],
"backends": [
{"physics": "physx"},
{"physics": "physx", "render": "newton_renderer"},
{"physics": "newton"},
{"physics": "newton", "render": "newton_renderer"}
],
"fps_mean_floor": {
"L40S": {
"physx": 20.0,
"physx_newton_renderer": 0.0,
"newton": 0.0,
"newton_newton_renderer": 0.0
}
}
},
{
"task_id": "Isaac-Velocity-Flat-G1-v0",
"timeout_minutes": 12,
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