Fix Factory preset and smoke CI

Author: ooctipus

source/isaaclab_tasks/isaaclab_tasks/contrib/nist/factory_assets_cfg.py

@@ -42,7 +42,8 @@ class _SocketCollisionPropsCfg(PresetCfg):
         sdf_narrow_band_inner=-0.005,
         sdf_narrow_band_outer=0.005,
     )
-    physx = default
+    isaacsim_physx = default
+    physx = isaacsim_physx
 
 
 @configclass
@@ -58,7 +59,8 @@ class _PlugCollisionPropsCfg(PresetCfg):
         sdf_narrow_band_inner=-0.005,
         sdf_narrow_band_outer=0.005,
     )
-    physx = default
+    isaacsim_physx = default
+    physx = isaacsim_physx
 
 
 ASSEMBLY_SOCKET_COLLISION_PROPS_CFG = _SocketCollisionPropsCfg()

source/isaaclab_tasks/isaaclab_tasks/contrib/nist/factory_scenes_cfg.py

@@ -17,6 +17,8 @@
 from isaaclab_tasks.contrib.nist import factory_assets_cfg as assets
 from isaaclab_tasks.utils import PresetCfg, preset
 
+_FRANKA_PANDA_PHYSX_CFG = assets.FRANKA_PANDA_PHYSX_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+
 
 @configclass
 class FactorySceneBase(InteractiveSceneCfg):
@@ -27,8 +29,9 @@ class FactorySceneBase(InteractiveSceneCfg):
     table = assets.TABLE_CFG
     nistboard = assets.NISTBOARD_CFG
     robot: ArticulationCfg = preset(  # type: ignore[assignment]
-        default=assets.FRANKA_PANDA_PHYSX_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot"),
-        physx=assets.FRANKA_PANDA_PHYSX_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot"),
+        default=_FRANKA_PANDA_PHYSX_CFG,
+        isaacsim_physx=_FRANKA_PANDA_PHYSX_CFG,
+        physx=_FRANKA_PANDA_PHYSX_CFG,
         newton_mjwarp=assets.FRANKA_PANDA_NEWTON_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot"),
     )
     dome_light = assets.DOMELIGHT_CFG

source/isaaclab_tasks/test/env_test_utils.py

@@ -457,6 +457,9 @@ def _check_random_actions(
             # the scene config with the preset's default num_envs.
             if num_envs is not None:
                 env_cfg.scene.num_envs = num_envs
+        reset_event = getattr(env_cfg.events, "reset_strategies", None)
+        if reset_event is not None and "state_table_size" in reset_event.params:
+            reset_event.params["state_table_size"] = min(32, reset_event.params["state_table_size"])
         # set config args
         env_cfg.sim.create_stage_in_memory = create_stage_in_memory
         if disable_clone_in_fabric: