Add a self-contained Franka smoothie demonstration

[mataylor-nvidia]

Description

Adds IsaacContrib-Franka-Smoothie, a self-contained contributed Franka demonstration covering fruit pouring, tap filling, lid fastening, blender docking, and the blender button. Includes the robot and scene USD assets through Git LFS, live controllers, a NewtonGL runner, optional recording/playback, task tests, and a README with launch instructions.

The default runner uses the live controller and needs no checkpoint, recording, or private output directory. --record saves actions only after the explicit success condition is reached; --replay plays a user-generated recording. Liquid fill is a visual mesh/scalar approximation, not fluid simulation. This is a scripted demonstration, not a trained policy.

Try it

Prerequisites: Linux, Git LFS, uv, an NVIDIA GPU with a driver compatible with this branch's pinned CUDA dependencies, and a graphical desktop/OpenGL for the viewer.

git clone --branch mataylor/franka-smoothie https://github.com/mataylor-nvidia/IsaacLab.git
cd IsaacLab
git lfs install
git lfs pull
uv sync --frozen
uv run --frozen python scripts/environments/run_franka_smoothie.py

Headless launch check:

uv run --frozen python scripts/environments/run_franka_smoothie.py --headless --max_steps 100

For the complete sequence, omit --max_steps. Only Terminated at step ...: success. indicates completion; reaching the step limit is only a launch check.

uv run --frozen python scripts/environments/run_franka_smoothie.py --headless --record /tmp/smoothie.npz
uv run --frozen python scripts/environments/run_franka_smoothie.py --replay /tmp/smoothie.npz
uv run --frozen --extra test python -m pytest source/isaaclab_tasks/test/contrib/test_franka_smoothie.py -q

Validation and limits

• 25 tests and 6 subtests passed on the PR branch.
• Verified the recording regression fails without the explicit success check and passes with it.
• All bundled USD dependencies resolved.
• uv run isaaclab -f passed, using the PR's develop base for the changelog check.
• A 100-step headless launch passed using the PR source with the existing CUDA 12 environment on an NVIDIA L40. The fresh pinned CUDA 13 environment cannot run on this host's older driver. Solver convergence warnings were emitted during the smoke run.
• Full five-stage completion and interactive rendering are not yet verified on this branch.
• Strict documentation build passed with no warnings: UV_FROZEN=1 uv run --isolated --extra dev -- make -C docs current-docs. The dev extra supplies Sphinx; the workflow's test extra alone does not include it on this branch.

Type of change

• New feature
• Documentation update

Checklist

• Read the contribution guidelines
• Ran formatting and pre-commit checks
• Added documentation and runnable test instructions
• Changes generate no new warnings
• Added and ran focused tests
• Added a changelog fragment for the changed package
• Contributor is already listed in CONTRIBUTORS.md
• Backport to the active release branch