From 9fa4986967f82db3cb9b51223b3988b9925e96ed Mon Sep 17 00:00:00 2001 From: Neil4561 Date: Thu, 25 Jun 2026 18:53:55 +0000 Subject: [PATCH 1/2] [DEMO] Reintroduce WrenchComposer zero-range regression from #5265 Remove the all-zero early-return guard in apply_external_force_torque so every step samples and sets zero-magnitude forces through the WrenchComposer path instead of short-circuiting. Reproduces upstream isaac-sim/IsaacLab#5265 (~throughput hit on locomotion/velocity tasks whose external-force event uses all-zero ranges, e.g. Isaac-Velocity-Flat-G1-v0). Demo only; not for merge. --- source/isaaclab/isaaclab/envs/mdp/events.py | 4 ---- 1 file changed, 4 deletions(-) diff --git a/source/isaaclab/isaaclab/envs/mdp/events.py b/source/isaaclab/isaaclab/envs/mdp/events.py index 491c8d983950..9e86bfb3cf05 100644 --- a/source/isaaclab/isaaclab/envs/mdp/events.py +++ b/source/isaaclab/isaaclab/envs/mdp/events.py @@ -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) From 33bd4b248d8c17e73db8a30e6b231cbbcf7d523f Mon Sep 17 00:00:00 2001 From: Neil4561 Date: Thu, 25 Jun 2026 18:53:55 +0000 Subject: [PATCH 2/2] [DEMO] Scope perf-smoke matrix to Cartpole + Factory + Velocity-Flat-G1 Trim to three well-baselined demo tasks (Cartpole physx/newton, Factory physx, G1 physx/newton) for a clean multi-row verdict table. Demo only; not for merge. --- tools/perf_smoke_test/tasks.json | 19 ------------------- 1 file changed, 19 deletions(-) diff --git a/tools/perf_smoke_test/tasks.json b/tools/perf_smoke_test/tasks.json index 21aeb76423ea..337fe5a1f340 100644 --- a/tools/perf_smoke_test/tasks.json +++ b/tools/perf_smoke_test/tasks.json @@ -38,25 +38,6 @@ } } }, - { - "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,