Retune Newton and PhysX environments for Franka cloth lift (#6998)

# Description

Adds `isaacsim_physx` support to the Franka cloth lift tasks as a
follow-up to #6831, while retaining `newton_mjwarp_vbd_proxy` as the
default physics preset.

This PR:

- Adds PhysX physics, deformable material, collision, and scene presets
for the standard and camera cloth tasks.
- Disables scene replication for PhysX deformables and increases the GPU
found/lost pair capacity for large environments.
- Matches backend-specific cloth density and material conventions,
lowers support friction, adjusts reset clearance, and fully closes the
gripper on the thin cloth.
- Updates the state-machine demo to use the task-specific IK preset,
allow enough time for the low-PD Franka, and grasp the raised cloth
fold.
- Updates the environment catalog and generated browser data to
advertise PhysX support.
- Restores the already released removal of `NewtonCfg.simplify_meshes`,
which was reintroduced during branch integration, and records the
Newton-only cleanup with a skip fragment.

No new dependencies are required.

### Validation

- [x] `uv run isaaclab -f`
- [x] `uv run python tools/changelog/cli.py check develop` in a clean
clone
- [x] `uv run --isolated --extra test -- make -C docs current-docs` in a
clean clone
- [x] `PYTHONPATH="$PWD/source/isaaclab_tasks:$PYTHONPATH" uv run python
scripts/environments/state_machine/lift_franka_soft.py --task
Isaac-Lift-Cloth-Franka --num_envs 1 --num_steps 500 --viz none
presets=isaacsim_physx`

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)
- Documentation update

## Screenshots

Not applicable.

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the pre-commit checks with `uv run isaaclab -f`
- [x] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have added a changelog fragment under
`source/<pkg>/changelog.d/` for every touched package
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

Author: mmichelis

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

@@ -21,8 +21,8 @@
             ["Isaac-Fourbar-Pole-Swingup", "rsl_rl", "newton_kamino", "", ""],
             ["Isaac-Humanoid-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
             ["Isaac-Humanoid", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
-            ["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-Cloth-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "", "ik,joint"],
+            ["Isaac-Lift-Cloth-Franka-Camera", "rsl_rl", "isaacsim_physx,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"],

docs/source/overview/environments.rst

@@ -256,11 +256,11 @@ for the lift-cube environment:
     |                         |                              |                                                                             | ``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=**                            |
+    | |lift-cloth-franka|     | |lift-cloth-franka-link|     | Lift a deformable cloth from a table with the Franka robot                  | **physics=** ``isaacsim_physx``,        |
     |                         |                              |                                                                             | ``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=**                            |
+    | |lift-cloth-franka|     | |lift-cloth-franka-cam-link| | Camera (vision) variant of the cloth lift task using RGB observations       | **physics=** ``isaacsim_physx``,        |
     |                         |                              |                                                                             | ``newton_mjwarp_vbd_proxy``             |
     |                         |                              |                                                                             | **renderer=** ``isaacsim_rtx``,         |
     |                         |                              |                                                                             | ``newton_renderer``, ``ovrtx``          |
@@ -1115,12 +1115,12 @@ including disabling runtime perturbations used for training.
     * - Isaac-Lift-Cloth-Franka
       - Manager Based
       - **rsl_rl** (PPO)
-      - | **physics=** ``newton_mjwarp_vbd_proxy``
+      - | **physics=** ``isaacsim_physx``, ``newton_mjwarp_vbd_proxy``
           | **presets=** ``ik``, ``joint``
     * - Isaac-Lift-Cloth-Franka-Camera
       - Manager Based
       - **rsl_rl** (PPO)
-      - | **physics=** ``newton_mjwarp_vbd_proxy``
+      - | **physics=** ``isaacsim_physx``, ``newton_mjwarp_vbd_proxy``
           | **renderer=** ``isaacsim_rtx``, ``newton_renderer``, ``ovrtx``
           | **presets=** ``ik``, ``joint``
     * - Isaac-Lift-Franka

scripts/environments/state_machine/lift_franka_soft.py

@@ -32,7 +32,6 @@
 from isaaclab.visualizers import VisualizerCfg
 
 import isaaclab_tasks  # noqa: F401
-from isaaclab_tasks.core.lift.config.franka_soft.franka_soft_env_cfg import ActionsCfg
 from isaaclab_tasks.utils import resolve_task_config, setup_preset_cli
 
 # add argparse arguments
@@ -167,7 +166,7 @@ class PickSmWaitTime:
     REST = wp.constant(0.2)
     APPROACH_ABOVE_OBJECT = wp.constant(1.0)
     APPROACH_OBJECT = wp.constant(1.5)
-    GRASP_OBJECT = wp.constant(1.0)
+    GRASP_OBJECT = wp.constant(1.5)
     LIFT_OBJECT = wp.constant(1.5)
     OPEN_GRIPPER = wp.constant(0.0)
 
@@ -265,9 +264,17 @@ def main():
     env_cfg, _ = resolve_task_config(args_cli.task, "")
     env_cfg.sim.device = args_cli.device
     env_cfg.scene.num_envs = args_cli.num_envs
-    # the state machine emits absolute end-effector poses, so pick the IK action preset; the env
-    # defaults to relative joint targets, which RL trains on.
-    env_cfg.actions = ActionsCfg().ik
+    # Scripted demo: keep only the time-out, extended to 10 s so the slow low-PD Franka can finish a
+    # pick-and-lift, and drop the failure terminations so a transient bound or velocity spike does
+    # not cut a run short.
+    env_cfg.episode_length_s = 10.0
+    for term_name in list(vars(env_cfg.terminations)):
+        if term_name != "time_out":
+            setattr(env_cfg.terminations, term_name, None)
+    # the state machine emits absolute end-effector poses, so pick the task's own IK action preset
+    # (e.g. the cloth closes the gripper fully); the env otherwise defaults to relative joint
+    # targets, which RL trains on.
+    env_cfg.actions = type(env_cfg)().actions.ik
     env_cfg.viewer.eye = (1.3, 0.6, 0.5)
     env_cfg.viewer.lookat = (0.5, 0.0, 0.05)
     env_cfg.sim.default_visualizer_cfg = VisualizerCfg(eye=env_cfg.viewer.eye, lookat=env_cfg.viewer.lookat)
@@ -291,7 +298,10 @@ def main():
         object_grasp_orientation = torch.zeros((env.unwrapped.num_envs, 4), device=env.unwrapped.device)
         object_grasp_orientation[:, 0] = 1.0
         # Grasp 1 cm below the deformable's centre of mass, so the fingers close around its lower half.
-        object_local_grasp_position = torch.tensor([0.0, 0.0, -0.01], device=env.unwrapped.device)
+        # The cloth drapes over a support cube, so its COM sits well below the graspable fold; reach
+        # 8 cm higher to close on the raised cloth instead of the table.
+        grasp_z = -0.01 + (0.08 if "Cloth" in args_cli.task else 0.0)
+        object_local_grasp_position = torch.tensor([0.0, 0.0, grasp_z], device=env.unwrapped.device)
 
         # create state machine
         pick_sm = PickAndLiftSm(env_cfg.sim.dt * env_cfg.decimation, env.unwrapped.num_envs, env.unwrapped.device)

source/isaaclab_newton/changelog.d/lift-cloth.skip

@@ -0,0 +1 @@
+Internal: restored the already released removal of ``NewtonCfg.simplify_meshes`` after a merge reintroduced the field.

source/isaaclab_newton/isaaclab_newton/physics/newton_manager_cfg.py

@@ -191,13 +191,6 @@ class NewtonCfg(PhysicsCfg):
     :class:`NewtonShapeCfg` for the declared fields.
     """
 
-    simplify_meshes: bool = True
-    """Whether Newton replication simplifies mesh colliders to convex hulls.
-
-    Keep this enabled for most rigid-body scenes. Disable it when exact triangle
-    meshes are intentional, for example thin or hollow MPM colliders.
-    """
-
     load_visual_shapes: bool | None = None
     """Whether Newton replication imports visual-only geometry from USD.
 

source/isaaclab_tasks/changelog.d/mym-lift-soft.minor.rst

@@ -0,0 +1,10 @@
+Added
+^^^^^
+
+* Added ``isaacsim_physx`` support to the Franka cloth lift tasks.
+
+Fixed
+^^^^^
+
+* Fixed success table visualization markers appearing at the world origin
+  before the first environment step.

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

@@ -10,13 +10,17 @@
 from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg, NewtonCollisionPipelineCfg
 from isaaclab_newton.sim.schemas import NewtonDeformableBodyPropertiesCfg
 from isaaclab_newton.sim.spawners.materials import NewtonSurfaceDeformableBodyMaterialCfg
+from isaaclab_physx.physics import PhysxCfg
+from isaaclab_physx.sim.schemas import PhysxCollisionCfg, PhysxDeformableBodyPropertiesCfg
+from isaaclab_physx.sim.spawners.materials import PhysxSurfaceDeformableBodyMaterialCfg
 
 import isaaclab.sim as sim_utils
-from isaaclab.assets import AssetBaseCfg, RigidObjectCfg
+from isaaclab.assets import RigidObjectCfg
 from isaaclab.assets.deformable_object import DeformableObjectCfg
 from isaaclab.managers import EventTermCfg as EventTerm
 from isaaclab.managers import RewardTermCfg as RewTerm
 from isaaclab.managers import SceneEntityCfg
+from isaaclab.physics import PhysxAutoCfg
 from isaaclab.sensors import CameraCfg
 from isaaclab.utils.configclass import configclass
 
@@ -28,7 +32,6 @@
 from ... import mdp
 from .franka_soft_env_cfg import (
     FRANKA_CAMERA_CFG,
-    TABLE_SPAWN_CFG,
     FrankaCameraObservationsCfg,
     FrankaSoftEnvCfg,
     _FrankaSoftSceneCfg,
@@ -87,6 +90,10 @@ class PhysicsCfg(PresetCfg):
         num_substeps=2,
     )
 
+    isaacsim_physx: PhysxCfg = PhysxCfg(gpu_found_lost_pairs_capacity=2**22)
+
+    physx: PhysxAutoCfg = PhysxAutoCfg(isaacsim_physx=isaacsim_physx)
+
     default = newton_mjwarp_vbd_proxy
 
 
@@ -95,14 +102,14 @@ class PhysicsCfg(PresetCfg):
     rigid_props=sim_utils.RigidBodyPropertiesCfg(kinematic_enabled=True, disable_gravity=True),
     mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
     collision_props=sim_utils.CollisionPropertiesCfg(),
-    physics_material=sim_utils.RigidBodyMaterialCfg(static_friction=0.1, dynamic_friction=0.1),
+    physics_material=sim_utils.RigidBodyMaterialCfg(static_friction=0.01, dynamic_friction=0.01),
     visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.2, 0.2, 0.25)),
 )
 
 
 @configclass
 class DeformableCfg(PresetCfg):
-    """Preset config for the deformable object, matching the Newton example."""
+    """Preset configurations for the cloth."""
 
     newton_mjwarp_vbd_proxy: DeformableObjectCfg = DeformableObjectCfg(
         prim_path="{ENV_REGEX_NS}/Deformable",
@@ -113,7 +120,7 @@ class DeformableCfg(PresetCfg):
             deformable_props=NewtonDeformableBodyPropertiesCfg(),
             visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.95, 0.85, 0.1)),
             physics_material=NewtonSurfaceDeformableBodyMaterialCfg(
-                density=10.0,
+                density=1.0,
                 particle_radius=0.002,
                 tri_ke=5e2,
                 tri_ka=5e2,
@@ -124,6 +131,30 @@ class DeformableCfg(PresetCfg):
         ),
     )
 
+    physx: DeformableObjectCfg = DeformableObjectCfg(
+        prim_path="{ENV_REGEX_NS}/Deformable",
+        init_state=DeformableObjectCfg.InitialStateCfg(pos=(0.4, 0.0, 0.102), rot=(0.70710678, 0.0, 0.0, 0.70710678)),
+        spawn=sim_utils.MeshRectangleCfg(
+            size=(0.2, 0.2),
+            resolution=(8, 8),
+            deformable_props=PhysxDeformableBodyPropertiesCfg(),
+            collision_props=[PhysxCollisionCfg(rest_offset=0.002, contact_offset=0.01)],
+            visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.95, 0.85, 0.1)),
+            physics_material=PhysxSurfaceDeformableBodyMaterialCfg(
+                density=1000.0,
+                surface_thickness=0.001,
+                poissons_ratio=0.25,
+                youngs_modulus=1e6,
+                surface_bend_stiffness=1e6,
+                elasticity_damping=1e-1,
+                bend_damping=1e-1,
+                static_friction=10.0,
+                dynamic_friction=10.0,
+            ),
+        ),
+    )
+    isaacsim_physx = physx
+
     default = newton_mjwarp_vbd_proxy
 
 
@@ -133,17 +164,6 @@ class FrankaClothSceneCfg(_FrankaSoftSceneCfg):
 
     deformable: DeformableCfg = DeformableCfg()
 
-    # Low-friction table so the cloth slides freely instead of sticking. Effective cloth-table
-    # friction is sqrt(soft_contact_mu * shape_mu); this sets shape_mu without touching the global
-    # soft_contact_mu that governs the gripper's hold on the cloth.
-    table: AssetBaseCfg = AssetBaseCfg(
-        prim_path="{ENV_REGEX_NS}/Table",
-        init_state=AssetBaseCfg.InitialStateCfg(pos=[0.5, 0.0, -0.525]),
-        spawn=TABLE_SPAWN_CFG.replace(
-            physics_material=sim_utils.RigidBodyMaterialCfg(static_friction=0.1, dynamic_friction=0.1),
-        ),
-    )
-
     support_neg_y: RigidObjectCfg = RigidObjectCfg(
         prim_path="{ENV_REGEX_NS}/SupportNegY",
         init_state=RigidObjectCfg.InitialStateCfg(pos=(0.4, -0.02, 0.075)),
@@ -164,6 +184,10 @@ class FrankaClothScenePresetCfg(PresetCfg):
         num_envs=2048, env_spacing=2.0, replicate_physics=True
     )
 
+    # PhysX does not support replicating physics for deformable objects
+    physx: FrankaClothSceneCfg = FrankaClothSceneCfg(num_envs=2048, env_spacing=2.0, replicate_physics=False)
+    isaacsim_physx = physx
+
     default = newton_mjwarp_vbd_proxy
 
 
@@ -174,6 +198,18 @@ class FrankaClothCameraSceneCfg(FrankaClothSceneCfg):
     base_camera: CameraCfg = FRANKA_CAMERA_CFG
 
 
+@configclass
+class FrankaClothCameraScenePresetCfg(PresetCfg):
+    """Scene presets for visual Franka cloth lifting."""
+
+    newton_mjwarp_vbd_proxy: FrankaClothCameraSceneCfg = FrankaClothCameraSceneCfg(
+        num_envs=128, env_spacing=2.5, replicate_physics=True
+    )
+    physx: FrankaClothCameraSceneCfg = FrankaClothCameraSceneCfg(num_envs=128, env_spacing=2.5, replicate_physics=False)
+    isaacsim_physx = physx
+    default = newton_mjwarp_vbd_proxy
+
+
 @configclass
 class FrankaClothEventCfg(FrankaSoftEventCfg):
     """Reset and startup events for the Franka cloth environment."""
@@ -183,7 +219,7 @@ class FrankaClothEventCfg(FrankaSoftEventCfg):
         mode="reset",
         params={
             "position_range": {"x": (-0.1, 0.1), "y": (-0.25, 0.25), "z": (0.0, 0.0)},
-            "clear_gap_range": (0.008, 0.03),
+            "clear_gap_range": (0.01, 0.03),
             "asset_cfg": SceneEntityCfg("deformable"),
             "support_cfg": (SceneEntityCfg("support_neg_y"), SceneEntityCfg("support_pos_y")),
         },
@@ -224,13 +260,15 @@ def __post_init__(self) -> None:
         super().__post_init__()
         # override the soft-beam physics with the cloth presets
         self.sim.physics = PhysicsCfg()
+        # Fully close the gripper on the thin cloth; the shared beam default only closes to 0.01 m.
+        self.actions.ik.gripper_action.close_command_expr = {"panda_finger_joint1": 0.0}
 
 
 @configclass
 class FrankaClothCameraEnvCfg(FrankaClothEnvCfg):
     """Visual Franka surface-deformable lifting environment."""
 
-    scene: FrankaClothCameraSceneCfg = FrankaClothCameraSceneCfg(num_envs=128, env_spacing=2.5, replicate_physics=True)
+    scene: FrankaClothCameraScenePresetCfg = FrankaClothCameraScenePresetCfg()
     observations: FrankaCameraObservationsCfg = FrankaCameraObservationsCfg()
 
     def __post_init__(self) -> None:

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

@@ -182,10 +182,7 @@ class PhysicsCfg(PresetCfg):
         num_substeps=2,
     )
 
-    isaacsim_physx: PhysxCfg = PhysxCfg(
-        friction_offset_threshold=0.005,
-        friction_correlation_distance=0.01,
-    )
+    isaacsim_physx: PhysxCfg = PhysxCfg()
 
     physx: PhysxAutoCfg = PhysxAutoCfg(isaacsim_physx=isaacsim_physx)
 
@@ -369,7 +366,7 @@ class _IkActionsCfg:
         asset_name="robot",
         joint_names=["panda_finger_joint1"],
         open_command_expr={"panda_finger_joint1": 0.04},
-        close_command_expr={"panda_finger_joint1": 0.015},
+        close_command_expr={"panda_finger_joint1": 0.01},
     )
 
 

source/isaaclab_tasks/isaaclab_tasks/core/lift/mdp/commands/pose_commands.py

@@ -90,6 +90,8 @@ def __init__(self, cfg: ObjectUniformPoseCommandCfg, env: ManagerBasedEnv):
 
         self.success_visualizer = VisualizationMarkers(self.cfg.success_visualizer_cfg)
         self.success_visualizer.set_visibility(True)
+        if self.success_vis_asset is not None:
+            self.success_visualizer.visualize(self._get_success_vis_pos_w())
 
         # adds (optional) cmd kind and element names for leapp export
         # during export, semantic data about this command will be used to annotate the command input