Add conveyor Franka tasks with Newton and CPU PhysX

.gitignore

@@ -14,6 +14,8 @@
 # No USD files allowed in the repo
 **/*.usd
 **/*.usda
+!source/isaaclab_tasks/isaaclab_tasks/contrib/conveyor_franka/assets/*.usda
+!source/isaaclab_tasks/isaaclab_tasks/contrib/conveyor_franka/assets/*.usd
 **/*.usdc
 **/*.usdz
 

docs/index.rst

@@ -91,6 +91,7 @@ Table of Contents
    source/setup/ecosystem
    source/setup/installation/index
    source/setup/environments
+   source/setup/conveyor_franka
    source/setup/quickstart
    source/setup/tutorial
    source/setup/demos

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

@@ -63,6 +63,9 @@
             ["IsaacContrib-AutoMate-Disassembly-Direct", "rl_games", "", "", "", "tasks/automate/01053_disassembly.jpg"],
             ["IsaacContrib-Cartpole-Camera-Showcase-Direct", "skrl", "", "", "box_box,box_discrete,box_multidiscrete,dict_box,dict_discrete,dict_multidiscrete,tuple_box,tuple_discrete,tuple_multidiscrete"],
             ["IsaacContrib-Cartpole-Showcase-Direct", "skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "box_box,box_discrete,box_multidiscrete,dict_box,dict_discrete,dict_multidiscrete,discrete_box,discrete_discrete,discrete_multidiscrete,multidiscrete_box,multidiscrete_discrete,multidiscrete_multidiscrete,tuple_box,tuple_discrete,tuple_multidiscrete"],
+            ["IsaacContrib-Conveyor-Franka-Newton-Play-v0", "rsl_rl", "", "", "", "conveyor_franka.jpg"],
+            ["IsaacContrib-Conveyor-Franka-Newton-v0", "rsl_rl", "", "", "", "conveyor_franka.jpg"],
+            ["IsaacContrib-Conveyor-Franka-PhysX-CPU-v0", "rsl_rl", "", "", "", "conveyor_franka.jpg"],
             ["IsaacContrib-Deploy-GearAssembly-Rizon4s-Grav", "rsl_rl", "", "", ""],
             ["IsaacContrib-Deploy-GearAssembly-Rizon4s-Grav-ROS-Inference", "rsl_rl", "", "", ""],
             ["IsaacContrib-Deploy-GearAssembly-UR10e-2F140", "rsl_rl", "", "", ""],

docs/source/api/lab/isaaclab.physics.rst

@@ -18,6 +18,8 @@ The following classes are part of the public :mod:`isaaclab.physics` API.
    PhysicsEvent
    PhysicsManager
    PhysxAutoCfg
+   SurfaceVelocitySpec
+   SurfaceVelocityView
 
 .. autoclass:: CallbackHandle
    :show-inheritance:
@@ -34,3 +36,9 @@ The following classes are part of the public :mod:`isaaclab.physics` API.
 
 .. autoclass:: PhysxAutoCfg
    :show-inheritance:
+
+.. autoclass:: SurfaceVelocitySpec
+   :show-inheritance:
+
+.. autoclass:: SurfaceVelocityView
+   :show-inheritance:

docs/source/api/lab_newton/isaaclab_newton.physics.rst

@@ -35,6 +35,7 @@
     KaminoPADMMSolverCfg
     MPMSolverCfg
     HydroelasticSDFCfg
+    SurfaceVelocity
 
 .. currentmodule:: isaaclab_newton.physics
 
@@ -154,6 +155,13 @@ Physics Configuration
   :show-inheritance:
   :exclude-members: __init__
 
+Surface Velocity
+----------------
+
+.. autoclass:: SurfaceVelocity
+  :members:
+  :show-inheritance:
+
 Solver Managers
 ---------------
 

docs/source/api/lab_physx/isaaclab_physx.physics.rst

@@ -11,6 +11,9 @@
     PhysxCfg
     PhysxBackendCfg
 
+    SurfaceVelocity
+    PhysxSurfaceVelocityTwist
+
 .. currentmodule:: isaaclab_physx.physics
 
 Physics Manager
@@ -33,6 +36,22 @@ Physics Configuration
   :show-inheritance:
   :exclude-members: __init__
 
+Surface Velocity
+----------------
+
+.. autoclass:: SurfaceVelocity
+  :members:
+  :show-inheritance:
+
+.. autoclass:: PhysxSurfaceVelocityTwist
+  :members:
+
+.. autofunction:: apply_surface_velocity_api
+
+.. autofunction:: compute_surface_velocity_twist
+
+.. autofunction:: resolve_surface_velocity_paths
+
 Additional Public Classes
 -------------------------
 

docs/source/setup/conveyor_franka.rst

@@ -0,0 +1,107 @@
+Conveyor Franka (Contrib)
+=========================
+
+Choose between the original four-cube racetrack task and the warehouse sorting task.
+Both use the same pretrained Franka policy and shared manipulation code. The sorter extends
+the base environment with textured cartons, elevated returns, gravity infeeds, and color dispatch.
+
+.. image:: ../_static/conveyor_franka.jpg
+   :alt: Franka sorting colored cartons between two conveyors in a warehouse
+   :width: 100%
+
+.. list-table:: Two tasks, one policy
+   :header-rows: 1
+   :widths: 22 24 54
+
+   * - Task
+     - Inventory
+     - Behavior
+   * - Racetrack transfer
+     - Four numbered cubes
+     - Original two closed racetracks; continuous alternating transfers.
+   * - Warehouse sorting
+     - 24 colored parcels
+     - Extended circulating conveyors; blue/green on one loop, orange/purple on the other.
+
+Both run on Newton GPU: select ``IsaacContrib-Conveyor-Franka-Newton-v0`` for the original
+racetracks or ``IsaacContrib-Conveyor-Franka-Newton-Play-v0`` for sorting. The original task
+also has a native PhysX CPU backend, described below. Sorting reuses the base configuration,
+agent configuration, and manipulation terms; only the warehouse adds parcel-slot reassignment
+and color-based dispatch.
+
+Run the pretrained policy
+-------------------------
+
+Use the standard Isaac Lab installation with the Isaac Sim extra for Kit/RTX visuals:
+
+.. code-block:: bash
+
+   uv run --extra isaacsim isaaclab play --rl_library rsl_rl \
+     --task IsaacContrib-Conveyor-Franka-Newton-Play-v0 \
+     --checkpoint https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.1/Isaac/IsaacLab/PretrainedCheckpoints/rsl_rl/IsaacContrib-Conveyor-Franka-Newton-v0_newtonmjwarp_none_rsl_rl.pt --num_envs 1 --device cuda:0 --viz kit --real-time \
+     --kit_args=--/UJITSO/geometry=false
+
+The first launch downloads the referenced Omniverse assets. The warehouse uses USD-authored
+materials and lighting; Kit/RTX is the intended viewer. The launch override disables experimental
+geometry streaming, including saved Kit preferences, which can hide meshes updated through Fabric.
+To record this view, append ``--video --video_length 1440 env.sim.physics.use_cuda_graph=False``.
+Disable CUDA graphs for this Kit recording path; compact training retains its graph-enabled default.
+
+For compact, lightweight playback:
+
+.. code-block:: bash
+
+   uv run isaaclab play --rl_library rsl_rl \
+     --task IsaacContrib-Conveyor-Franka-Newton-v0 \
+     --checkpoint pretrained --num_envs 8 --device cuda:0 --viz newton_gl --real-time
+
+The published policy is iteration 7998 of the
+`conveyor training run <https://wandb.ai/nvidia-isaac/isaaclab-conveyor-franka/runs/conveyor-franka-resume-22gpu-model3999-exactsrc-pxr1-l40-20260810-3>`__.
+The warehouse command uses that same checkpoint URL explicitly. Both retain 123 observations,
+eight actions, 120 Hz physics, and a 60 Hz policy rate. Checkpoints remain outside the repository.
+
+Train or compare backends
+-------------------------
+
+.. code-block:: bash
+
+   uv run isaaclab train --rl_library rsl_rl \
+     --task IsaacContrib-Conveyor-Franka-Newton-v0 --num_envs 256 --device cuda:0
+
+   uv run --extra isaacsim isaaclab play --rl_library rsl_rl \
+     --task IsaacContrib-Conveyor-Franka-PhysX-CPU-v0 \
+     --checkpoint /path/to/model.pt --num_envs 1 --device cpu --viz kit --real-time \
+     agent.device=cpu
+
+Native PhysX surface velocity requires CPU simulation for this task. GPU dynamics can drop
+belt contacts in the supported Isaac Sim runtime. The PhysX variant rejects CUDA devices;
+its separately named pretrained artifact is not published. Policy shape compatibility does
+not imply identical behavior between backends.
+
+Warehouse sorting
+-----------------
+
+The original manipulation straights and adjoining 90-degree bends remain fixed. Twenty-four
+40 mm cartons circulate through the extended layout. Each reset shuffles a balanced batch of
+six blue, six green, six orange, and six purple cartons. Blue/green belong on the positive-Y
+loop; orange/purple belong on the negative-Y loop. Four policy slots are reassigned to arriving
+parcels while an active grasp retains its identity. Destination classes are supervisory metadata;
+the state-based checkpoint does not recognize colors from images.
+
+This is a presentation and policy-reuse demonstration, not a reliably solved 24-parcel benchmark.
+The unchanged checkpoint can miss grasps and reset before finishing a batch. The original
+four-cube training and CPU reference configurations retain their compact layout.
+
+.. raw:: html
+
+   <video controls muted loop playsinline preload="metadata" style="width:100%;max-width:960px"
+          poster="../../_static/conveyor_franka.jpg">
+     <source src="https://github.com/maxkra15/IsaacLab/releases/download/conveyor-franka-preview/conveyor_franka.mp4" type="video/mp4">
+     Your browser does not support embedded video.
+   </video>
+
+`Download the warehouse preview <https://github.com/maxkra15/IsaacLab/releases/download/conveyor-franka-preview/conveyor_franka.mp4>`__.
+
+The task's
+:download:`README <../../../source/isaaclab_tasks/isaaclab_tasks/contrib/conveyor_franka/README.md>`
+describes the USD assets, collision ownership, slot adapter, and sorting metrics.

source/isaaclab/changelog.d/maximiliank-custom-mesh.minor.rst

@@ -0,0 +1,5 @@
+Added
+^^^^^
+
+* Added :class:`~isaaclab.sim.MeshCustomCfg` for spawning meshes from authored
+  vertices and triangular faces.

source/isaaclab/changelog.d/maximiliank-surface-velocity.minor.rst

@@ -0,0 +1,5 @@
+Added
+^^^^^
+
+* Added backend-neutral surface-velocity descriptions and a tensorized control contract under
+  ``isaaclab.physics.surface_velocity``.

source/isaaclab/isaaclab/physics/__init__.pyi

@@ -9,7 +9,10 @@ __all__ = [
     "PhysicsManager",
     "PhysicsCfg",
     "PhysxAutoCfg",
+    "SurfaceVelocitySpec",
+    "SurfaceVelocityView",
 ]
 
 from .physics_manager import CallbackHandle, PhysicsEvent, PhysicsManager
 from .physics_manager_cfg import PhysicsCfg, PhysxAutoCfg
+from .surface_velocity import SurfaceVelocitySpec, SurfaceVelocityView