diff --git a/scripts/tutorials/05_controllers/run_diff_ik.py b/scripts/tutorials/05_controllers/run_diff_ik.py
index 9f91b6596195..ded79b628ec6 100644
--- a/scripts/tutorials/05_controllers/run_diff_ik.py
+++ b/scripts/tutorials/05_controllers/run_diff_ik.py
@@ -53,7 +53,7 @@
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets import FRANKA_PANDA_HIGH_PD_CFG, UR10_CFG  # isort:skip
+from isaaclab_assets import FRANKA_PANDA_LEGACY_HIGH_PD_CFG, UR10_CFG  # isort:skip
 
 
 @configclass
@@ -82,7 +82,7 @@ class TableTopSceneCfg(InteractiveSceneCfg):
 
     # articulation
     if args_cli.robot == "franka_panda":
-        robot = replace(FRANKA_PANDA_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+        robot = replace(FRANKA_PANDA_LEGACY_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
     elif args_cli.robot == "ur10":
         robot = replace(UR10_CFG, prim_path="{ENV_REGEX_NS}/Robot")
     else:
diff --git a/scripts/tutorials/05_controllers/run_osc.py b/scripts/tutorials/05_controllers/run_osc.py
index f2dddf957364..d1769389c14a 100644
--- a/scripts/tutorials/05_controllers/run_osc.py
+++ b/scripts/tutorials/05_controllers/run_osc.py
@@ -57,7 +57,7 @@
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets import FRANKA_PANDA_HIGH_PD_CFG  # isort:skip
+from isaaclab_assets import FRANKA_PANDA_LEGACY_HIGH_PD_CFG  # isort:skip
 
 
 @configclass
@@ -97,7 +97,7 @@ class SceneCfg(InteractiveSceneCfg):
         debug_vis=False,
     )
 
-    robot = replace(FRANKA_PANDA_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+    robot = replace(FRANKA_PANDA_LEGACY_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
     robot.actuators["panda_shoulder"].stiffness = 0.0
     robot.actuators["panda_shoulder"].damping = 0.0
     robot.actuators["panda_forearm"].stiffness = 0.0
diff --git a/source/isaaclab/changelog.d/maximiliank-direct-body-prim-resolution.skip b/source/isaaclab/changelog.d/maximiliank-direct-body-prim-resolution.skip
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/source/isaaclab/test/controllers/test_differential_ik.py b/source/isaaclab/test/controllers/test_differential_ik.py
index 4b91b1158cff..2b2af9e3ba68 100644
--- a/source/isaaclab/test/controllers/test_differential_ik.py
+++ b/source/isaaclab/test/controllers/test_differential_ik.py
@@ -31,7 +31,7 @@
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets import FRANKA_PANDA_HIGH_PD_CFG, UR10_CFG  # isort:skip
+from isaaclab_assets import FRANKA_PANDA_LEGACY_HIGH_PD_CFG, UR10_CFG  # isort:skip
 
 pytestmark = pytest.mark.integration
 
@@ -441,7 +441,7 @@ def test_franka_ik_pose_abs(sim):
     sim_context, num_envs, ee_pose_b_des_set = sim
 
     # Create robot instance
-    robot_cfg = replace(FRANKA_PANDA_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+    robot_cfg = replace(FRANKA_PANDA_LEGACY_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
     robot = Articulation(cfg=robot_cfg)
 
     # Create IK controller
diff --git a/source/isaaclab/test/controllers/test_operational_space.py b/source/isaaclab/test/controllers/test_operational_space.py
index 2dd6e63e4028..2e7a3e4b09a9 100644
--- a/source/isaaclab/test/controllers/test_operational_space.py
+++ b/source/isaaclab/test/controllers/test_operational_space.py
@@ -50,7 +50,7 @@
     subtract_frame_transforms,
 )
 
-from isaaclab_assets import FRANKA_PANDA_CFG, G1_29DOF_CFG  # isort:skip
+from isaaclab_assets import FRANKA_PANDA_LEGACY_CFG, G1_29DOF_CFG  # isort:skip
 
 pytestmark = pytest.mark.integration
 
@@ -95,7 +95,7 @@ def sim():
     # clone the env xform
     cloner.usd_replicate(stage, [env_fmt.format(0)], [env_fmt], env_ids, positions=env_origins)
 
-    robot_cfg = replace(FRANKA_PANDA_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+    robot_cfg = replace(FRANKA_PANDA_LEGACY_CFG, prim_path="{ENV_REGEX_NS}/Robot")
     # Explicit torque actuators enforce effort limits on the commands sent to the simulator.
     for actuator_name in ("panda_shoulder", "panda_forearm"):
         actuator_cfg = robot_cfg.actuators[actuator_name]
diff --git a/source/isaaclab_assets/changelog.d/maximiliank-franka-flat-config.changed.rst b/source/isaaclab_assets/changelog.d/maximiliank-franka-flat-config.changed.rst
new file mode 100644
index 000000000000..914acc9f2ee1
--- /dev/null
+++ b/source/isaaclab_assets/changelog.d/maximiliank-franka-flat-config.changed.rst
@@ -0,0 +1,8 @@
+* **Breaking:** changed ``FRANKA_PANDA_CFG`` and ``FRANKA_PANDA_HIGH_PD_CFG`` to use the shared
+  flat Franka asset with gripper-only collisions, a single ``panda_arm`` actuator group,
+  and a driven leader finger with a passive mimic follower.
+  Use ``FRANKA_PANDA_LEGACY_CFG`` and ``FRANKA_PANDA_LEGACY_HIGH_PD_CFG`` to retain the
+  original USD path, shoulder/forearm actuator groups, gains, and collision settings.
+  Select the ``Physics`` variant for the backend when using the main configs.
+* **Breaking:** the published ``franka_panda.usda`` now contains the flat asset. Consumers
+  needing the former nested hierarchy can explicitly select ``franka_panda_nestedInstance.usda``.
diff --git a/source/isaaclab_assets/changelog.d/maximiliank-franka-flat-config.major b/source/isaaclab_assets/changelog.d/maximiliank-franka-flat-config.major
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/source/isaaclab_assets/isaaclab_assets/__init__.pyi b/source/isaaclab_assets/isaaclab_assets/__init__.pyi
index 2c491a499d7d..60581e12024f 100644
--- a/source/isaaclab_assets/isaaclab_assets/__init__.pyi
+++ b/source/isaaclab_assets/isaaclab_assets/__init__.pyi
@@ -22,6 +22,8 @@ __all__ = [
     "GR1T2_CFG",
     "GR1T2_HIGH_PD_CFG",
     "FRANKA_PANDA_CFG",
+    "FRANKA_PANDA_LEGACY_CFG",
+    "FRANKA_PANDA_LEGACY_HIGH_PD_CFG",
     "FRANKA_PANDA_HIGH_PD_CFG",
     "FRANKA_PANDA_MENAGERIE_CFG",
     "FRANKA_ROBOTIQ_GRIPPER_CFG",
@@ -89,6 +91,8 @@ from .robots import (
     GR1T2_CFG,
     GR1T2_HIGH_PD_CFG,
     FRANKA_PANDA_CFG,
+    FRANKA_PANDA_LEGACY_CFG,
+    FRANKA_PANDA_LEGACY_HIGH_PD_CFG,
     FRANKA_PANDA_HIGH_PD_CFG,
     FRANKA_PANDA_MENAGERIE_CFG,
     FRANKA_ROBOTIQ_GRIPPER_CFG,
diff --git a/source/isaaclab_assets/isaaclab_assets/robots/__init__.pyi b/source/isaaclab_assets/isaaclab_assets/robots/__init__.pyi
index 023c8e801230..11b23110e810 100644
--- a/source/isaaclab_assets/isaaclab_assets/robots/__init__.pyi
+++ b/source/isaaclab_assets/isaaclab_assets/robots/__init__.pyi
@@ -22,6 +22,8 @@ __all__ = [
     "GR1T2_CFG",
     "GR1T2_HIGH_PD_CFG",
     "FRANKA_PANDA_CFG",
+    "FRANKA_PANDA_LEGACY_CFG",
+    "FRANKA_PANDA_LEGACY_HIGH_PD_CFG",
     "FRANKA_PANDA_HIGH_PD_CFG",
     "FRANKA_PANDA_MENAGERIE_CFG",
     "FRANKA_ROBOTIQ_GRIPPER_CFG",
@@ -82,6 +84,8 @@ from .cassie import CASSIE_CFG
 from .fourier import GR1T2_CFG, GR1T2_HIGH_PD_CFG
 from .franka import (
     FRANKA_PANDA_CFG,
+    FRANKA_PANDA_LEGACY_CFG,
+    FRANKA_PANDA_LEGACY_HIGH_PD_CFG,
     FRANKA_PANDA_HIGH_PD_CFG,
     FRANKA_PANDA_MENAGERIE_CFG,
     FRANKA_ROBOTIQ_GRIPPER_CFG,
diff --git a/source/isaaclab_assets/isaaclab_assets/robots/franka.py b/source/isaaclab_assets/isaaclab_assets/robots/franka.py
index c8749fab4fdd..8084402b2eee 100644
--- a/source/isaaclab_assets/isaaclab_assets/robots/franka.py
+++ b/source/isaaclab_assets/isaaclab_assets/robots/franka.py
@@ -7,11 +7,18 @@
 
 The following configurations are available:
 
-* :obj:`FRANKA_PANDA_CFG`: Franka Emika Panda robot with Panda hand
-* :obj:`FRANKA_PANDA_MENAGERIE_CFG`: Franka Emika Panda robot converted from MuJoCo Menagerie
-* :obj:`FRANKA_PANDA_HIGH_PD_CFG`: Franka Emika Panda robot with Panda hand with stiffer PD control
+* :obj:`FRANKA_PANDA_CFG`: Shared flat asset for maintained Franka tasks
+* :obj:`FRANKA_PANDA_HIGH_PD_CFG`: Flat asset with stiffer PD control
+* :obj:`FRANKA_PANDA_LEGACY_CFG`: Legacy asset and actuators
+* :obj:`FRANKA_PANDA_LEGACY_HIGH_PD_CFG`: Legacy high-PD configuration
+* :obj:`FRANKA_PANDA_MENAGERIE_CFG`: Menagerie actuator configuration
 * :obj:`FRANKA_ROBOTIQ_GRIPPER_CFG`: Franka robot with Robotiq_2f_85 gripper
 
+Use ``FRANKA_PANDA_CFG`` for new code and select its ``Physics`` variant for the chosen backend.
+Use the explicit ``LEGACY`` configurations to retain the original USD path and actuator groups.
+The published ``franka_panda.usda`` is now the flat asset; the former nested-instance file remains
+available as an explicit USD-path override.
+
 Reference: https://github.com/frankaemika/franka_ros
 """
 
@@ -28,7 +35,7 @@
 # Configuration
 ##
 
-FRANKA_PANDA_CFG = ArticulationCfg(
+FRANKA_PANDA_LEGACY_CFG = ArticulationCfg(
     spawn=sim_utils.UsdFileCfg(
         usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/Legacy/panda_instanceable.usd",
         activate_contact_sensors=False,
@@ -77,10 +84,78 @@
     },
     soft_joint_pos_limit_factor=1.0,
 )
-"""Configuration of Franka Emika Panda robot."""
+"""Configuration of the legacy Franka Emika Panda robot asset."""
+
 
+FRANKA_PANDA_LEGACY_HIGH_PD_CFG = clone(FRANKA_PANDA_LEGACY_CFG)
+FRANKA_PANDA_LEGACY_HIGH_PD_CFG.spawn.rigid_props.disable_gravity = True
+for actuator in ("panda_shoulder", "panda_forearm"):
+    FRANKA_PANDA_LEGACY_HIGH_PD_CFG.actuators[actuator].stiffness = 400.0
+    FRANKA_PANDA_LEGACY_HIGH_PD_CFG.actuators[actuator].damping = 80.0
+"""Configuration of the legacy Franka Emika Panda robot with stiffer PD control."""
+
+
+FRANKA_PANDA_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/franka_panda.usda",
+        variants={"Physics": "physx", "Colliders": "gripper_only"},
+        activate_contact_sensors=False,
+        rigid_props=PhysxRigidBodyCfg(disable_gravity=False, max_depenetration_velocity=5.0),
+        articulation_props=[
+            PhysxArticulationCfg(
+                enabled_self_collisions=False, solver_position_iteration_count=8, solver_velocity_iteration_count=0
+            ),
+            NewtonArticulationCfg(self_collision_enabled=False),
+        ],
+    ),
+    init_state=clone(FRANKA_PANDA_LEGACY_CFG.init_state),
+    actuators={
+        "panda_arm": ImplicitActuatorCfg(
+            joint_names_expr=["panda_joint[1-7]"],
+            joint_effort_limit={"panda_joint[1-4]": 87.0, "panda_joint[5-7]": 12.0},
+            joint_velocity_limit={"panda_joint[1-4]": 20.0, "panda_joint[5-7]": 25.0},
+            stiffness=None,
+            damping=None,
+            viscous_friction=0.0,
+        ),
+        "panda_hand": ImplicitActuatorCfg(
+            joint_names_expr=["panda_finger_joint1"],
+            joint_effort_limit=200.0,
+            stiffness=None,
+            damping=None,
+            viscous_friction=0.0,
+        ),
+        "panda_finger2_passive": ImplicitActuatorCfg(
+            joint_names_expr=["panda_finger_joint2"],
+            joint_effort_limit=200.0,
+            stiffness=0.0,
+            damping=0.0,
+            viscous_friction=0.0,
+        ),
+    },
+    soft_joint_pos_limit_factor=1.0,
+)
+"""Configuration of the Franka Emika Panda robot.
 
-FRANKA_PANDA_MENAGERIE_CFG = clone(FRANKA_PANDA_CFG)
+The flat asset contains PhysX and MuJoCo physics variants and gripper-only, primitive, and convex-hull
+collider variants. The gripper-only collider variant is the default. Explicit solver properties keep
+the actuator contract consistent across physics payloads. Only the leading finger has an active drive;
+the authored mimic constraint moves the passive follower. The standalone configuration selects the PhysX
+payload by default; direct Newton consumers must select the ``mujoco`` physics variant explicitly.
+"""
+
+
+FRANKA_PANDA_HIGH_PD_CFG = clone(FRANKA_PANDA_CFG)
+FRANKA_PANDA_HIGH_PD_CFG.spawn.rigid_props.disable_gravity = True
+FRANKA_PANDA_HIGH_PD_CFG.actuators["panda_arm"].stiffness = 400.0
+FRANKA_PANDA_HIGH_PD_CFG.actuators["panda_arm"].damping = 80.0
+"""Configuration of Franka Emika Panda robot with stiffer PD control.
+
+This configuration is useful for task-space control using differential IK.
+"""
+
+
+FRANKA_PANDA_MENAGERIE_CFG = clone(FRANKA_PANDA_LEGACY_CFG)
 FRANKA_PANDA_MENAGERIE_CFG.spawn.usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/franka_panda.usda"
 FRANKA_PANDA_MENAGERIE_CFG.actuators = {
     "panda_arm": ImplicitActuatorCfg(
@@ -95,27 +170,10 @@
         damping=None,
     ),
 }
-"""Configuration of the MuJoCo Menagerie-derived Franka Emika Panda robot.
+"""Configuration of the Franka Emika Panda robot with Menagerie actuator settings."""
 
-The converted model has different inertial and drive authoring from the legacy asset used by
-:attr:`FRANKA_PANDA_CFG`. The solver velocity limits provide consistent behavior across physics
-backends, while the arm and hand retain their USD-authored drives.
-"""
 
-
-FRANKA_PANDA_HIGH_PD_CFG = clone(FRANKA_PANDA_CFG)
-FRANKA_PANDA_HIGH_PD_CFG.spawn.rigid_props.disable_gravity = True
-FRANKA_PANDA_HIGH_PD_CFG.actuators["panda_shoulder"].stiffness = 400.0
-FRANKA_PANDA_HIGH_PD_CFG.actuators["panda_shoulder"].damping = 80.0
-FRANKA_PANDA_HIGH_PD_CFG.actuators["panda_forearm"].stiffness = 400.0
-FRANKA_PANDA_HIGH_PD_CFG.actuators["panda_forearm"].damping = 80.0
-"""Configuration of Franka Emika Panda robot with stiffer PD control.
-
-This configuration is useful for task-space control using differential IK.
-"""
-
-
-FRANKA_ROBOTIQ_GRIPPER_CFG = clone(FRANKA_PANDA_CFG)
+FRANKA_ROBOTIQ_GRIPPER_CFG = clone(FRANKA_PANDA_LEGACY_CFG)
 FRANKA_ROBOTIQ_GRIPPER_CFG.spawn.usd_path = f"{ISAAC_NUCLEUS_DIR}/Robots/FrankaRobotics/FrankaPanda/franka.usd"
 FRANKA_ROBOTIQ_GRIPPER_CFG.spawn.variants = {"Gripper": "Robotiq_2F_85"}
 FRANKA_ROBOTIQ_GRIPPER_CFG.spawn.rigid_props.disable_gravity = True
@@ -172,6 +230,4 @@
         damping=0.0,
     ),
 }
-
-
 """Configuration of Franka Emika Panda robot with Robotiq_2f_85 gripper."""
diff --git a/source/isaaclab_newton/changelog.d/maximiliank-franka-flat-config.skip b/source/isaaclab_newton/changelog.d/maximiliank-franka-flat-config.skip
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/source/isaaclab_newton/test/assets/test_articulation.py b/source/isaaclab_newton/test/assets/test_articulation.py
index 2bb728645b39..511de3ef2426 100644
--- a/source/isaaclab_newton/test/assets/test_articulation.py
+++ b/source/isaaclab_newton/test/assets/test_articulation.py
@@ -71,6 +71,11 @@
 from isaaclab_assets import ANYMAL_C_CFG, FRANKA_PANDA_CFG, FRANKA_PANDA_HIGH_PD_CFG  # isort:skip
 from isaaclab_assets.robots.shadow_hand import SHADOW_HAND_NEWTON_CFG
 
+_FRANKA_PANDA_NEWTON_CFG = clone(FRANKA_PANDA_CFG)
+_FRANKA_PANDA_NEWTON_CFG.spawn.variants = {"Physics": "mujoco", "Colliders": "gripper_only"}
+_FRANKA_PANDA_HIGH_PD_NEWTON_CFG = clone(FRANKA_PANDA_HIGH_PD_CFG)
+_FRANKA_PANDA_HIGH_PD_NEWTON_CFG.spawn.variants = {"Physics": "mujoco", "Colliders": "gripper_only"}
+
 SIM_CFGs = {
     "humanoid": SimulationCfg(
         physics=NewtonCfg(
@@ -229,7 +234,7 @@ def generate_articulation_cfg(
             actuators={"body": ImplicitActuatorCfg(joint_names_expr=[".*"], stiffness=stiffness, damping=damping)},
         )
     elif articulation_type == "panda":
-        articulation_cfg = FRANKA_PANDA_CFG
+        articulation_cfg = _FRANKA_PANDA_NEWTON_CFG
     elif articulation_type == "anymal":
         articulation_cfg = ANYMAL_C_CFG
     elif articulation_type == "shadow_hand":
@@ -440,7 +445,7 @@ def generate_articulation(
 def _setup_franka_at_home_pose(sim, *, zero_actuator_pd: bool = False, disable_gravity: bool = True):
     """Build a Franka articulation at its configured home pose.
 
-    Constructs :data:`FRANKA_PANDA_HIGH_PD_CFG`, optionally zeroes the
+    Constructs :data:`_FRANKA_PANDA_HIGH_PD_NEWTON_CFG`, optionally zeroes the
     arm-actuator PD gains, resets the simulator, and teleports the
     arm joints to :attr:`default_joint_pos` (the env reset path that
     normally does this is not invoked for standalone tests, so the
@@ -449,23 +454,21 @@ def _setup_franka_at_home_pose(sim, *, zero_actuator_pd: bool = False, disable_g
 
     Args:
         sim: The simulation context to use.
-        zero_actuator_pd: If True, sets the panda_shoulder/panda_forearm
-            actuator stiffness and damping to zero. Used by the OSC test
+        zero_actuator_pd: If True, sets the ``panda_arm`` actuator stiffness
+            and damping to zero. Used by the OSC test
             so OSC's joint-effort output is not opposed by the
             implicit-PD's residual ``kp·(target − q)``.
         disable_gravity: Per-body gravity flag written to the spawn config.
-            :data:`FRANKA_PANDA_HIGH_PD_CFG` ships with gravity disabled;
+            :data:`_FRANKA_PANDA_HIGH_PD_NEWTON_CFG` ships with gravity disabled;
             pass False for tests where the arm must feel scene gravity.
 
     Returns:
         Tuple of ``(robot, ee_frame_idx, ee_jacobi_idx, arm_joint_ids)``.
     """
-    cfg = replace(clone(FRANKA_PANDA_HIGH_PD_CFG), prim_path="/World/Env_[^/]*/Robot")
+    cfg = replace(_FRANKA_PANDA_HIGH_PD_NEWTON_CFG, prim_path="/World/Env_[^/]*/Robot")
     if zero_actuator_pd:
-        cfg.actuators["panda_shoulder"].stiffness = 0.0
-        cfg.actuators["panda_shoulder"].damping = 0.0
-        cfg.actuators["panda_forearm"].stiffness = 0.0
-        cfg.actuators["panda_forearm"].damping = 0.0
+        cfg.actuators["panda_arm"].stiffness = 0.0
+        cfg.actuators["panda_arm"].damping = 0.0
     cfg.spawn.rigid_props.disable_gravity = disable_gravity
     sim_utils.create_prim("/World/Env_0", "Xform", translation=(0.0, 0.0, 0.0))
     clone_plan_from_env_0(CloneCfg(clone_template="/World/Env_{}"), (cfg,), 1, 0.0)
@@ -1752,7 +1755,6 @@ def test_out_of_range_default_joint_state(sim, device, articulation_type, state_
     quantity = "positions" if state_field == "joint_pos" else "velocities"
     replicate(sim.get_clone_plan())
     with pytest.raises(ValueError, match=f"default {quantity} out of the limits"):
-        replicate(sim.get_clone_plan())
         sim.reset()
 
 
@@ -2544,29 +2546,30 @@ def test_write_joint_viscous_friction_to_sim(sim, num_articulations, device, art
 
     Static joint friction writes also propagate directly to the Newton model.
     """
-    articulation_cfg = generate_articulation_cfg(articulation_type)
-    articulation_cfg.actuators["panda_shoulder"].viscous_friction = 0.25
+    articulation_cfg = clone(generate_articulation_cfg(articulation_type))
+    articulation_cfg.actuators["panda_arm"].viscous_friction = 0.25
+    articulation_cfg.actuators["panda_arm"].damping = 2.0
     articulation, _ = generate_articulation(articulation_cfg, num_articulations, device)
     replicate(sim.get_clone_plan())
     sim.reset()
 
-    shoulder_joint_ids = articulation.actuators["panda_shoulder"].joint_indices
-    expected_viscous_friction = torch.full((articulation.num_instances, 4), 0.25, device=device)
+    arm_joint_ids = articulation.actuators["panda_arm"].joint_indices
+    expected_viscous_friction = torch.full((articulation.num_instances, len(arm_joint_ids)), 0.25, device=device)
     torch.testing.assert_close(
-        articulation.data.joint_viscous_friction_coeff.torch[:, shoulder_joint_ids], expected_viscous_friction
+        articulation.data.joint_viscous_friction_coeff.torch[:, arm_joint_ids], expected_viscous_friction
     )
     torch.testing.assert_close(
         wp.to_torch(articulation.root_view.get_attribute("joint_damping", SimulationManager.get_model()))[
-            :, 0, shoulder_joint_ids
+            :, 0, arm_joint_ids
         ],
         expected_viscous_friction,
     )
 
-    expected_pd_damping = torch.full_like(expected_viscous_friction, 4.0)
-    torch.testing.assert_close(articulation.data.joint_damping.torch[:, shoulder_joint_ids], expected_pd_damping)
+    expected_pd_damping = torch.full_like(expected_viscous_friction, 2.0)
+    torch.testing.assert_close(articulation.data.joint_damping.torch[:, arm_joint_ids], expected_pd_damping)
     torch.testing.assert_close(
         wp.to_torch(articulation.root_view.get_attribute("joint_target_kd", SimulationManager.get_model()))[
-            :, 0, shoulder_joint_ids
+            :, 0, arm_joint_ids
         ],
         expected_pd_damping,
     )
@@ -2872,7 +2875,7 @@ def test_heterogeneous_scene_per_view_shapes(sim, device, add_ground_plane, arti
     # per-articulation shape gate without that pre-existing quirk.
     num_per_type = 1
 
-    franka_cfg = replace(FRANKA_PANDA_CFG, prim_path="/World/Env_[^/]*/Franka")
+    franka_cfg = replace(_FRANKA_PANDA_NEWTON_CFG, prim_path="/World/Env_[^/]*/Franka")
     anymal_cfg = replace(ANYMAL_C_CFG, prim_path="/World/Env_[^/]*/Anymal")
     anymal_cfg.init_state.pos = (0.0, 5.0, anymal_cfg.init_state.pos[2])
 
diff --git a/source/isaaclab_ov/changelog.d/maximiliank-frame-transformer-nested-bodies.fixed.rst b/source/isaaclab_ov/changelog.d/maximiliank-frame-transformer-nested-bodies.fixed.rst
new file mode 100644
index 000000000000..2b8ebda96109
--- /dev/null
+++ b/source/isaaclab_ov/changelog.d/maximiliank-frame-transformer-nested-bodies.fixed.rst
@@ -0,0 +1,2 @@
+* Fixed frame-transformer path expressions that directly match a rigid body from also selecting
+  nested rigid-body descendants.
diff --git a/source/isaaclab_ov/isaaclab_ov/sensors/frame_transformer/frame_transformer.py b/source/isaaclab_ov/isaaclab_ov/sensors/frame_transformer/frame_transformer.py
index 3c9d0c633135..2c8f583ad5a9 100644
--- a/source/isaaclab_ov/isaaclab_ov/sensors/frame_transformer/frame_transformer.py
+++ b/source/isaaclab_ov/isaaclab_ov/sensors/frame_transformer/frame_transformer.py
@@ -172,17 +172,21 @@ def _initialize_impl(self) -> None:
         for frame, prim_path, offset, frame_type in zip(frames, frame_prim_paths, frame_offsets, frame_types):
             # Resolve source-side env prims and destination expressions. This keeps discovery plan-aware when
             # the active clone plan has physics clones without authored USD prims for every environment.
-            def has_rigid_body_api(prim) -> bool:
-                return bool(prim.HasAPI(UsdPhysics.RigidBodyAPI))
-
-            matches = resolve_matching_prims_from_source(
-                prim_path, predicate=has_rigid_body_api, raise_if_no_matches=False
-            )
+            matches = [
+                (prim, destination)
+                for prim, destination in resolve_matching_prims_from_source(prim_path, raise_if_no_matches=False)
+                if prim.HasAPI(UsdPhysics.RigidBodyAPI)
+            ]
             if not matches:
                 raise ValueError(
                     f"Failed to create frame transformer for frame '{frame}' with path '{prim_path}'."
                     " No matching rigid-body prims were found."
                 )
+            if frame_type == "source" and len(matches) != 1:
+                raise ValueError(
+                    f"Expected one source rigid-body prim for frame '{frame}' with path '{prim_path}',"
+                    f" found {len(matches)}."
+                )
             for prim, matching_prim_path in matches:
                 # Get the name of the body: use relative prim path for unique identification
                 body_name = self._get_relative_body_path(matching_prim_path)
@@ -296,8 +300,8 @@ def has_rigid_body_api(prim) -> bool:
         # -- target frames: use relative prim path for unique identification
         self._target_frame_body_names = [self._get_relative_body_path(prim_path) for prim_path in sorted_prim_paths]
 
-        # -- source frame: use relative prim path for unique identification
-        self._source_frame_body_name = self._get_relative_body_path(self.cfg.prim_path)
+        # -- source frame: retain the concrete body resolved from the configured expression
+        self._source_frame_body_name = tracked_body_names[0]
         source_frame_index = self._target_frame_body_names.index(self._source_frame_body_name)
 
         # Only remove source frame from tracked bodies if it is not also a target frame
diff --git a/source/isaaclab_ov/test/assets/test_articulation.py b/source/isaaclab_ov/test/assets/test_articulation.py
index ca62a9ca9d47..f116a632706e 100644
--- a/source/isaaclab_ov/test/assets/test_articulation.py
+++ b/source/isaaclab_ov/test/assets/test_articulation.py
@@ -2320,7 +2320,7 @@ def test_reset(sim, num_articulations, device):
 @pytest.mark.parametrize("device", test_devices())
 @pytest.mark.parametrize("add_ground_plane", [True])
 def test_apply_joint_command(sim, num_articulations, device, add_ground_plane):
-    """Test applying of joint position target functions correctly for a robotic arm."""
+    """Arm targets track commands while the passive finger follows the driven finger."""
     articulation_cfg = generate_articulation_cfg(articulation_type="panda")
     articulation, _ = generate_articulation(
         articulation_cfg=articulation_cfg, num_articulations=num_articulations, device=device
@@ -2338,6 +2338,10 @@ def test_apply_joint_command(sim, num_articulations, device, add_ground_plane):
     # reset dof state
     joint_pos = articulation.data.default_joint_pos.torch.clone()
     joint_pos[:, 3] = 0.0
+    leader_id = articulation.find_joints("panda_finger_joint1")[0][0]
+    follower_id = articulation.find_joints("panda_finger_joint2")[0][0]
+    initial_leader_pos = articulation.data.joint_pos.torch[:, leader_id].clone()
+    joint_pos[:, [leader_id, follower_id]] = 0.01
 
     # apply action to the articulation
     articulation.set_joint_position_target_index(target=joint_pos)
@@ -2354,6 +2358,11 @@ def test_apply_joint_command(sim, num_articulations, device, add_ground_plane):
     # every joint toward zero instead (the wrist ends near 0.3 rad instead of 3.0 rad).
     torch.testing.assert_close(articulation.data.joint_pos.torch[:, 3:], joint_pos[:, 3:], atol=0.1, rtol=0.0)
 
+    leader_pos = articulation.data.joint_pos.torch[:, leader_id]
+    follower_pos = articulation.data.joint_pos.torch[:, follower_id]
+    assert torch.all(torch.abs(leader_pos - initial_leader_pos) > 0.005)
+    torch.testing.assert_close(follower_pos, leader_pos, rtol=0.0, atol=5.0e-4)
+
 
 @pytest.mark.parametrize("num_articulations", [2])
 @pytest.mark.parametrize("device", test_devices())
diff --git a/source/isaaclab_ov/test/sensors/test_frame_transformer.py b/source/isaaclab_ov/test/sensors/test_frame_transformer.py
index 4f520bd382b0..185fb16143ea 100644
--- a/source/isaaclab_ov/test/sensors/test_frame_transformer.py
+++ b/source/isaaclab_ov/test/sensors/test_frame_transformer.py
@@ -47,9 +47,11 @@
 from isaaclab.sensors import BaseFrameTransformer, FrameTransformerCfg, OffsetCfg  # noqa: E402
 from isaaclab.sim import SimulationCfg, build_simulation_context  # noqa: E402
 from isaaclab.terrains import TerrainImporterCfg  # noqa: E402
+from isaaclab.test.utils import DeviceScope, test_devices  # noqa: E402
 from isaaclab.utils import configclass, replace  # noqa: E402
 
 from isaaclab_assets.robots.anymal import ANYMAL_C_CFG  # noqa: E402
+from isaaclab_assets.robots.franka import FRANKA_PANDA_CFG  # noqa: E402
 
 wp.init()
 
@@ -668,3 +670,33 @@ class MultiRobotSceneCfg(InteractiveSceneCfg):
                 assert any(torch.allclose(rf_pos, expected, atol=1e-5) for expected in expected_rf_positions), (
                     f"RF_SHANK position {rf_pos} doesn't match either configured body offset"
                 )
+
+
+@pytest.mark.parametrize("device", test_devices(DeviceScope.DEFAULT_CUDA))
+def test_frame_transformer_nested_rigid_bodies(device):
+    """Test that a matched rigid body does not include nested rigid-body descendants."""
+    with _ovphysx_sim_context(device=device) as sim:
+        sim._app_control_on_stop_handle = None
+        scene_cfg = _SceneCfg(num_envs=2, env_spacing=5.0, lazy_sensor_update=False)
+        scene_cfg.robot = replace(FRANKA_PANDA_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+        scene_cfg.frame_transformer = FrameTransformerCfg(
+            prim_path="{ENV_REGEX_NS}/Robot/(Geometry/)?panda_link0",
+            target_frames=[
+                FrameTransformerCfg.FrameCfg(prim_path="{ENV_REGEX_NS}/Robot/(Geometry/.*/)?panda_(hand|.*finger)"),
+            ],
+        )
+        scene = InteractiveScene(scene_cfg)
+
+        sim.reset()
+        scene.update(sim.get_physics_dt())
+
+        robot = scene.articulations["robot"]
+        source_id = robot.find_bodies("panda_link0")[0][0]
+        target_ids = robot.find_bodies(["panda_hand", "panda_leftfinger", "panda_rightfinger"])[0]
+        frame_data = scene.sensors["frame_transformer"].data
+
+        assert frame_data.target_frame_names == ["panda_hand", "panda_leftfinger", "panda_rightfinger"]
+        torch.testing.assert_close(frame_data.source_pos_w.torch, robot.data.body_pos_w.torch[:, source_id])
+        torch.testing.assert_close(frame_data.source_quat_w.torch, robot.data.body_quat_w.torch[:, source_id])
+        torch.testing.assert_close(frame_data.target_pos_w.torch, robot.data.body_pos_w.torch[:, target_ids])
+        torch.testing.assert_close(frame_data.target_quat_w.torch, robot.data.body_quat_w.torch[:, target_ids])
diff --git a/source/isaaclab_physx/changelog.d/maximiliank-frame-transformer-nested-bodies.fixed.rst b/source/isaaclab_physx/changelog.d/maximiliank-frame-transformer-nested-bodies.fixed.rst
new file mode 100644
index 000000000000..2b8ebda96109
--- /dev/null
+++ b/source/isaaclab_physx/changelog.d/maximiliank-frame-transformer-nested-bodies.fixed.rst
@@ -0,0 +1,2 @@
+* Fixed frame-transformer path expressions that directly match a rigid body from also selecting
+  nested rigid-body descendants.
diff --git a/source/isaaclab_physx/isaaclab_physx/sensors/frame_transformer/frame_transformer.py b/source/isaaclab_physx/isaaclab_physx/sensors/frame_transformer/frame_transformer.py
index 0401ab53868d..fa72c6e63371 100644
--- a/source/isaaclab_physx/isaaclab_physx/sensors/frame_transformer/frame_transformer.py
+++ b/source/isaaclab_physx/isaaclab_physx/sensors/frame_transformer/frame_transformer.py
@@ -185,18 +185,21 @@ def _initialize_impl(self):
         frame_offsets = [None] + [target_frame.offset for target_frame in self.cfg.target_frames]
         frame_types = ["source"] + ["target"] * len(self.cfg.target_frames)
         for frame, prim_path, offset, frame_type in zip(frames, frame_prim_paths, frame_offsets, frame_types):
-            # Resolve the source-side env prims (filtered to rigid bodies) and their destination
-            # expressions. Plan-aware: with an active ``ClonePlan``, only env-0 representatives
-            # are walked and dest expressions are rebuilt against the plan's destination glob.
-            def has_rigid_body_api(prim) -> bool:
-                return bool(prim.HasAPI(UsdPhysics.RigidBodyAPI))
-
-            matches = resolve_matching_prims_from_source(prim_path, has_rigid_body_api, raise_if_no_matches=False)
+            matches = [
+                (prim, destination)
+                for prim, destination in resolve_matching_prims_from_source(prim_path, raise_if_no_matches=False)
+                if prim.HasAPI(UsdPhysics.RigidBodyAPI)
+            ]
             if not matches:
                 raise ValueError(
                     f"Failed to create frame transformer for frame '{frame}' with path '{prim_path}'."
                     " No matching rigid-body prims were found."
                 )
+            if frame_type == "source" and len(matches) != 1:
+                raise ValueError(
+                    f"Expected one source rigid-body prim for frame '{frame}' with path '{prim_path}',"
+                    f" found {len(matches)}."
+                )
             for prim, matching_prim_path in matches:
                 # Get the name of the body: use relative prim path for unique identification
                 body_name = self._get_relative_body_path(matching_prim_path)
@@ -298,8 +301,8 @@ def extract_env_num_and_prim_path(item: str) -> tuple[int, str]:
         # -- target frames: use relative prim path for unique identification
         self._target_frame_body_names = [self._get_relative_body_path(prim_path) for prim_path in sorted_prim_paths]
 
-        # -- source frame: use relative prim path for unique identification
-        self._source_frame_body_name = self._get_relative_body_path(self.cfg.prim_path)
+        # -- source frame: retain the concrete body resolved from the configured expression
+        self._source_frame_body_name = tracked_body_names[0]
         source_frame_index = self._target_frame_body_names.index(self._source_frame_body_name)
 
         # Only remove source frame from tracked bodies if it is not also a target frame
diff --git a/source/isaaclab_physx/test/sensors/test_frame_transformer.py b/source/isaaclab_physx/test/sensors/test_frame_transformer.py
index 7d0ffb0d918a..a61dc3804246 100644
--- a/source/isaaclab_physx/test/sensors/test_frame_transformer.py
+++ b/source/isaaclab_physx/test/sensors/test_frame_transformer.py
@@ -32,6 +32,7 @@
 # Pre-defined configs
 ##
 from isaaclab_assets.robots.anymal import ANYMAL_C_CFG  # isort:skip
+from isaaclab_assets.robots.franka import FRANKA_PANDA_CFG  # isort:skip
 
 
 def quat_from_euler_rpy(roll, pitch, yaw, degrees=False):
@@ -720,3 +721,30 @@ def test_frame_transformer_invalidation_drops_cached_launch_state(monkeypatch):
     assert sensor._frame_physx_view is None
     assert sensor._raw_transforms is None
     assert sensor._update_cmd is None
+
+
+def test_frame_transformer_nested_rigid_bodies(sim):
+    """Test that a matched rigid body does not include nested rigid-body descendants."""
+    scene_cfg = MySceneCfg(num_envs=2, env_spacing=5.0, lazy_sensor_update=False)
+    scene_cfg.robot = replace(FRANKA_PANDA_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+    scene_cfg.frame_transformer = FrameTransformerCfg(
+        prim_path="{ENV_REGEX_NS}/Robot/(Geometry/)?panda_link0",
+        target_frames=[
+            FrameTransformerCfg.FrameCfg(prim_path="{ENV_REGEX_NS}/Robot/(Geometry/.*/)?panda_(hand|.*finger)"),
+        ],
+    )
+    scene = InteractiveScene(scene_cfg)
+
+    sim.reset()
+    scene.update(sim.get_physics_dt())
+
+    robot = scene.articulations["robot"]
+    source_id = robot.find_bodies("panda_link0")[0][0]
+    target_ids = robot.find_bodies(["panda_hand", "panda_leftfinger", "panda_rightfinger"])[0]
+    frame_data = scene.sensors["frame_transformer"].data
+
+    assert frame_data.target_frame_names == ["panda_hand", "panda_leftfinger", "panda_rightfinger"]
+    torch.testing.assert_close(frame_data.source_pos_w.torch, robot.data.body_pos_w.torch[:, source_id])
+    torch.testing.assert_close(frame_data.source_quat_w.torch, robot.data.body_quat_w.torch[:, source_id])
+    torch.testing.assert_close(frame_data.target_pos_w.torch, robot.data.body_pos_w.torch[:, target_ids])
+    torch.testing.assert_close(frame_data.target_quat_w.torch, robot.data.body_quat_w.torch[:, target_ids])
diff --git a/source/isaaclab_tasks/changelog.d/franka-pour-synced-mimic.fixed.rst b/source/isaaclab_tasks/changelog.d/franka-pour-synced-mimic.fixed.rst
new file mode 100644
index 000000000000..f68ef8e4c47f
--- /dev/null
+++ b/source/isaaclab_tasks/changelog.d/franka-pour-synced-mimic.fixed.rst
@@ -0,0 +1,2 @@
+* Fixed Franka Pour startup with the shared Franka asset by selecting its MuJoCo physics payload
+  and removing the obsolete duplicate-mimic workaround.
diff --git a/source/isaaclab_tasks/isaaclab_tasks/benchmark/render_benchmark/render_benchmark_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/benchmark/render_benchmark/render_benchmark_env_cfg.py
index a09bdf673811..54250dde7ca9 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/benchmark/render_benchmark/render_benchmark_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/benchmark/render_benchmark/render_benchmark_env_cfg.py
@@ -28,7 +28,7 @@
 from isaaclab_tasks.utils import PresetCfg
 from isaaclab_tasks.utils.presets import MultiBackendRendererCfg
 
-from isaaclab_assets.robots.franka import FRANKA_PANDA_HIGH_PD_CFG
+from isaaclab_assets.robots.franka import FRANKA_PANDA_LEGACY_HIGH_PD_CFG
 
 BenchmarkMode = Literal["render", "physics_render"]
 """Animation mode used by the render benchmark.
@@ -144,9 +144,9 @@ class RenderBenchmarkSceneCfg(InteractiveSceneCfg):
         init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 0.0, -0.05)),
     )
     robot: ArticulationCfg = replace(
-        FRANKA_PANDA_HIGH_PD_CFG,
+        FRANKA_PANDA_LEGACY_HIGH_PD_CFG,
         prim_path="{ENV_REGEX_NS}/Robot",
-        init_state=replace(FRANKA_PANDA_HIGH_PD_CFG.init_state, pos=(1.0, 0.0, 0.0), rot=(0.0, 0.0, 1.0, 0.0)),
+        init_state=replace(FRANKA_PANDA_LEGACY_HIGH_PD_CFG.init_state, pos=(1.0, 0.0, 0.0), rot=(0.0, 0.0, 1.0, 0.0)),
     )
     cabinet: ArticulationCfg = ArticulationCfg(
         prim_path="{ENV_REGEX_NS}/Cabinet",
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/franka/ik_abs_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/franka/ik_abs_env_cfg.py
index 7707d97e8a7e..76000c041c8d 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/franka/ik_abs_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/franka/ik_abs_env_cfg.py
@@ -12,7 +12,7 @@
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.robots.franka import FRANKA_PANDA_HIGH_PD_CFG  # isort: skip
+from isaaclab_assets.robots.franka import FRANKA_PANDA_LEGACY_HIGH_PD_CFG  # isort: skip
 
 
 @configclass
@@ -23,7 +23,7 @@ def __post_init__(self):
 
         # Set Franka as robot
         # We switch here to a stiffer PD controller for IK tracking to be better.
-        self.scene.robot = replace(FRANKA_PANDA_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+        self.scene.robot = replace(FRANKA_PANDA_LEGACY_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
 
         # Set actions for the specific robot type (franka)
         self.actions.arm_action = DifferentialInverseKinematicsActionCfg(
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/franka/ik_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/franka/ik_rel_env_cfg.py
index 7e2e96e9460e..e8da541c7b09 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/franka/ik_rel_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/franka/ik_rel_env_cfg.py
@@ -12,7 +12,7 @@
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.robots.franka import FRANKA_PANDA_HIGH_PD_CFG  # isort: skip
+from isaaclab_assets.robots.franka import FRANKA_PANDA_LEGACY_HIGH_PD_CFG  # isort: skip
 
 
 @configclass
@@ -23,7 +23,7 @@ def __post_init__(self):
 
         # Set Franka as robot
         # We switch here to a stiffer PD controller for IK tracking to be better.
-        self.scene.robot = replace(FRANKA_PANDA_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+        self.scene.robot = replace(FRANKA_PANDA_LEGACY_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
 
         # Set actions for the specific robot type (franka)
         self.actions.arm_action = DifferentialInverseKinematicsActionCfg(
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/franka_pour/pour_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/franka_pour/pour_env_cfg.py
index 1dc988351a67..a01d17f061d9 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/franka_pour/pour_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/franka_pour/pour_env_cfg.py
@@ -182,7 +182,7 @@ def spawn_franka_with_arm_collisions(
     orientation: tuple[float, float, float, float] | None = None,
     **kwargs,
 ):
-    """Spawn the canonical Franka with the intended mimic and arm-collision schemas."""
+    """Spawn the canonical Franka with writable convex-hull arm colliders."""
     from pxr import Usd, UsdPhysics  # noqa: PLC0415
 
     robot_prim = sim_utils.spawn_from_usd(prim_path, cfg, translation, orientation, **kwargs)
@@ -191,29 +191,6 @@ def spawn_franka_with_arm_collisions(
         if not self_collision or not self_collision.Set(True):
             raise RuntimeError(f"Franka asset at {root_prim.GetPath()} has no writable Newton self-collision flag.")
 
-        finger_joints = {
-            prim.GetName(): prim
-            for prim in Usd.PrimRange(root_prim, Usd.TraverseInstanceProxies())
-            if prim.GetName() in {"panda_finger_joint1", "panda_finger_joint2"}
-        }
-        if finger_joints.keys() != {"panda_finger_joint1", "panda_finger_joint2"}:
-            missing = sorted({"panda_finger_joint1", "panda_finger_joint2"}.difference(finger_joints))
-            raise RuntimeError(f"Franka asset at {root_prim.GetPath()} is missing finger joints: {missing}.")
-
-        leader_schemas = finger_joints["panda_finger_joint1"].GetMetadata("apiSchemas")
-        follower_schemas = finger_joints["panda_finger_joint2"].GetMetadata("apiSchemas")
-        leader_schema_names = [] if leader_schemas is None else list(leader_schemas.GetAppliedItems())
-        follower_schema_names = [] if follower_schemas is None else list(follower_schemas.GetAppliedItems())
-        if "NewtonMimicAPI" not in leader_schema_names or "PhysxMimicJointAPI:linear" not in follower_schema_names:
-            raise RuntimeError(
-                "The pinned Franka physics payload no longer has the expected duplicate finger-mimic schemas. "
-                "Update the asset hash and task-side override together."
-            )
-        if not finger_joints["panda_finger_joint1"].RemoveAppliedSchema("NewtonMimicAPI"):
-            raise RuntimeError("Failed to remove the redundant Franka Newton finger-mimic schema.")
-        if finger_joints["panda_finger_joint1"].HasAPI("NewtonMimicAPI"):
-            raise RuntimeError("The redundant Franka Newton finger-mimic schema is still composed after removal.")
-
         proxy_roots = {
             prim.GetName(): prim.GetParent().GetPath()
             for prim in Usd.PrimRange(root_prim, Usd.TraverseInstanceProxies())
@@ -339,7 +316,7 @@ class PourSceneCfg(InteractiveSceneCfg):
     )
     robot = replace(FRANKA_PANDA_CFG, prim_path="{ENV_REGEX_NS}/Robot")
     robot.spawn.usd_path = FRANKA_POUR_ROBOT_USD_PATH
-    robot.spawn.variants = {"Colliders": "convex_hulls"}
+    robot.spawn.variants = {"Physics": "mujoco", "Colliders": "convex_hulls"}
     robot.spawn.func = spawn_franka_with_arm_collisions
     # The pouring asset relies on arm self-collision; author it in both namespaces so whichever
     # backend resolves the articulation sees the flag.
@@ -349,22 +326,8 @@ class PourSceneCfg(InteractiveSceneCfg):
     next(
         frag for frag in robot.spawn.articulation_props if isinstance(frag, NewtonArticulationCfg)
     ).self_collision_enabled = True
-    robot.actuators = {
-        name: replace(
-            actuator_cfg, effort_limit_sim=None, velocity_limit_sim=None, stiffness=None, damping=None, armature=None
-        )
-        for name, actuator_cfg in robot.actuators.items()
-    }
-    robot.actuators["panda_shoulder"].stiffness = {
-        key: FRANKA_POUR_ARM_DRIVE_STIFFNESS[key] for key in ("panda_joint[1-2]", "panda_joint[3-4]")
-    }
-    robot.actuators["panda_shoulder"].damping = {
-        key: FRANKA_POUR_ARM_DRIVE_DAMPING[key] for key in ("panda_joint[1-2]", "panda_joint[3-4]")
-    }
-    robot.actuators["panda_forearm"].stiffness = {
-        "panda_joint[5-7]": FRANKA_POUR_ARM_DRIVE_STIFFNESS["panda_joint[5-7]"]
-    }
-    robot.actuators["panda_forearm"].damping = {"panda_joint[5-7]": FRANKA_POUR_ARM_DRIVE_DAMPING["panda_joint[5-7]"]}
+    robot.actuators["panda_arm"].stiffness = dict(FRANKA_POUR_ARM_DRIVE_STIFFNESS)
+    robot.actuators["panda_arm"].damping = dict(FRANKA_POUR_ARM_DRIVE_DAMPING)
     robot.spawn.joint_drive_props = MujocoJointCfg(actuatorgravcomp=True)
     robot.init_state.joint_pos.update(dict(zip(_ARM_JOINT_NAMES, _ARM_HOME, strict=True)))
     robot.init_state.joint_pos["panda_finger_joint.*"] = _GRIPPER_OPEN_POSITION
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/ik_abs_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/ik_abs_env_cfg.py
index 8bee40e4b2be..4c76b049a78c 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/ik_abs_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/ik_abs_env_cfg.py
@@ -12,7 +12,7 @@
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.robots.franka import FRANKA_PANDA_HIGH_PD_CFG  # isort: skip
+from isaaclab_assets.robots.franka import FRANKA_PANDA_LEGACY_HIGH_PD_CFG  # isort: skip
 
 
 ##
@@ -28,7 +28,7 @@ def __post_init__(self):
 
         # Set Franka as robot
         # We switch here to a stiffer PD controller for IK tracking to be better.
-        self.scene.robot = replace(FRANKA_PANDA_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+        self.scene.robot = replace(FRANKA_PANDA_LEGACY_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
 
         # Set actions for the specific robot type (franka)
         self.actions.arm_action = DifferentialInverseKinematicsActionCfg(
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/ik_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/ik_rel_env_cfg.py
index 4869b30b8521..141125da0b23 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/ik_rel_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/ik_rel_env_cfg.py
@@ -12,7 +12,7 @@
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.robots.franka import FRANKA_PANDA_HIGH_PD_CFG  # isort: skip
+from isaaclab_assets.robots.franka import FRANKA_PANDA_LEGACY_HIGH_PD_CFG  # isort: skip
 
 
 @configclass
@@ -23,7 +23,7 @@ def __post_init__(self):
 
         # Set Franka as robot
         # We switch here to a stiffer PD controller for IK tracking to be better.
-        self.scene.robot = replace(FRANKA_PANDA_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+        self.scene.robot = replace(FRANKA_PANDA_LEGACY_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
 
         # Set actions for the specific robot type (franka)
         self.actions.arm_action = DifferentialInverseKinematicsActionCfg(
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/joint_pos_env_cfg.py
index 5935bb95c19c..8a1dd9feebc8 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/joint_pos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/joint_pos_env_cfg.py
@@ -19,7 +19,7 @@
 # Pre-defined configs
 ##
 from isaaclab.markers.config import FRAME_MARKER_CFG  # isort: skip
-from isaaclab_assets.robots.franka import FRANKA_PANDA_CFG  # isort: skip
+from isaaclab_assets.robots.franka import FRANKA_PANDA_LEGACY_CFG  # isort: skip
 
 
 @configclass
@@ -29,7 +29,7 @@ def __post_init__(self):
         super().__post_init__()
 
         # Set Franka as robot
-        self.scene.robot = replace(FRANKA_PANDA_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+        self.scene.robot = replace(FRANKA_PANDA_LEGACY_CFG, prim_path="{ENV_REGEX_NS}/Robot")
 
         # Set actions for the specific robot type (franka)
         self.actions.arm_action = mdp.JointPositionActionCfg(
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/bin_stack_ik_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/bin_stack_ik_rel_env_cfg.py
index 858c095779aa..d93e3ee74cf4 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/bin_stack_ik_rel_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/bin_stack_ik_rel_env_cfg.py
@@ -12,7 +12,7 @@
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.robots.franka import FRANKA_PANDA_HIGH_PD_CFG  # isort: skip
+from isaaclab_assets.robots.franka import FRANKA_PANDA_LEGACY_HIGH_PD_CFG  # isort: skip
 
 
 @configclass
@@ -22,7 +22,7 @@ def __post_init__(self):
         super().__post_init__()
 
         # Set Franka as robot
-        self.scene.robot = replace(FRANKA_PANDA_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+        self.scene.robot = replace(FRANKA_PANDA_LEGACY_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
 
         # Set actions for the specific robot type (franka)
         self.actions.arm_action = DifferentialInverseKinematicsActionCfg(
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/bin_stack_joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/bin_stack_joint_pos_env_cfg.py
index 5d4e533e98a0..a5795efc2bec 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/bin_stack_joint_pos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/bin_stack_joint_pos_env_cfg.py
@@ -24,7 +24,7 @@
 # Pre-defined configs
 ##
 from isaaclab.markers.config import FRAME_MARKER_CFG  # isort: skip
-from isaaclab_assets.robots.franka import FRANKA_PANDA_CFG  # isort: skip
+from isaaclab_assets.robots.franka import FRANKA_PANDA_LEGACY_CFG  # isort: skip
 
 
 @configclass
@@ -96,7 +96,7 @@ def __post_init__(self):
         self.events = EventCfg()
 
         # Set Franka as robot
-        self.scene.robot = replace(FRANKA_PANDA_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+        self.scene.robot = replace(FRANKA_PANDA_LEGACY_CFG, prim_path="{ENV_REGEX_NS}/Robot")
         self.scene.robot.spawn.semantic_tags = [("class", "robot")]
 
         # Add semantics to table
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_abs_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_abs_env_cfg.py
index 7024329b8e57..ab1c2b72ecc0 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_abs_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_abs_env_cfg.py
@@ -18,7 +18,7 @@
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.robots.franka import FRANKA_PANDA_HIGH_PD_CFG  # isort: skip
+from isaaclab_assets.robots.franka import FRANKA_PANDA_LEGACY_HIGH_PD_CFG  # isort: skip
 
 
 def _build_franka_stack_pipeline():
@@ -114,7 +114,7 @@ def __post_init__(self):
 
         # Set Franka as robot
         # We switch here to a stiffer PD controller for IK tracking to be better.
-        self.scene.robot = replace(FRANKA_PANDA_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+        self.scene.robot = replace(FRANKA_PANDA_LEGACY_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
 
         # Set actions for the specific robot type (franka)
         self.actions.arm_action = DifferentialInverseKinematicsActionCfg(
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_blueprint_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_blueprint_env_cfg.py
index 2c74266768ff..a379eb0b5aba 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_blueprint_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_blueprint_env_cfg.py
@@ -31,7 +31,7 @@
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.robots.franka import FRANKA_PANDA_HIGH_PD_CFG  # isort: skip
+from isaaclab_assets.robots.franka import FRANKA_PANDA_LEGACY_HIGH_PD_CFG  # isort: skip
 
 
 def image(
@@ -217,7 +217,7 @@ def __post_init__(self):
 
         # Set Franka as robot
         # We switch here to a stiffer PD controller for IK tracking to be better.
-        self.scene.robot = replace(FRANKA_PANDA_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+        self.scene.robot = replace(FRANKA_PANDA_LEGACY_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
         self.scene.robot.spawn.semantic_tags = [("class", "robot")]
 
         # Set actions for the specific robot type (franka)
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_env_cfg.py
index 559058ab8673..515e69b18e18 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_env_cfg.py
@@ -22,7 +22,7 @@
 # Pre-defined configs
 ##
 from isaaclab_assets.robots.franka import (  # isort: skip
-    FRANKA_PANDA_HIGH_PD_CFG,
+    FRANKA_PANDA_LEGACY_HIGH_PD_CFG,
 )
 
 
@@ -37,7 +37,7 @@ def __post_init__(self):
         robot_init_state = self.scene.robot.init_state
         robot_semantic_tags = self.scene.robot.spawn.semantic_tags
         self.scene.robot = replace(
-            FRANKA_PANDA_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot", init_state=robot_init_state
+            FRANKA_PANDA_LEGACY_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot", init_state=robot_init_state
         )
         self.scene.robot.spawn.semantic_tags = robot_semantic_tags
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_env_cfg_skillgen.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_env_cfg_skillgen.py
index 9563cdc4f2fc..8861d9a3a5b8 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_env_cfg_skillgen.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_env_cfg_skillgen.py
@@ -16,7 +16,7 @@
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.robots.franka import FRANKA_PANDA_HIGH_PD_CFG  # isort: skip
+from isaaclab_assets.robots.franka import FRANKA_PANDA_LEGACY_HIGH_PD_CFG  # isort: skip
 
 
 @configclass
@@ -107,7 +107,7 @@ def __post_init__(self):
 
         # Set Franka as robot
         # We switch here to a stiffer PD controller for IK tracking to be better.
-        self.scene.robot = replace(FRANKA_PANDA_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+        self.scene.robot = replace(FRANKA_PANDA_LEGACY_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
 
         # Set actions for the specific robot type (franka)
         self.actions.arm_action = DifferentialInverseKinematicsActionCfg(
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_instance_randomize_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_instance_randomize_env_cfg.py
index 3ab5af14e90c..3de75bb15a36 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_instance_randomize_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_instance_randomize_env_cfg.py
@@ -12,7 +12,7 @@
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.robots.franka import FRANKA_PANDA_HIGH_PD_CFG  # isort: skip
+from isaaclab_assets.robots.franka import FRANKA_PANDA_LEGACY_HIGH_PD_CFG  # isort: skip
 
 
 @configclass
@@ -25,7 +25,7 @@ def __post_init__(self):
 
         # Set Franka as robot
         # We switch here to a stiffer PD controller for IK tracking to be better.
-        self.scene.robot = replace(FRANKA_PANDA_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+        self.scene.robot = replace(FRANKA_PANDA_LEGACY_HIGH_PD_CFG, prim_path="{ENV_REGEX_NS}/Robot")
 
         # Set actions for the specific robot type (franka)
         self.actions.arm_action = DifferentialInverseKinematicsActionCfg(
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_visuomotor_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_visuomotor_env_cfg.py
index 3d5572611523..ebd249665e19 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_visuomotor_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_visuomotor_env_cfg.py
@@ -28,7 +28,7 @@
 # Pre-defined configs
 ##
 from isaaclab.markers.config import FRAME_MARKER_CFG  # isort: skip
-from isaaclab_assets.robots.franka import FRANKA_PANDA_HIGH_PD_CFG  # isort: skip
+from isaaclab_assets.robots.franka import FRANKA_PANDA_LEGACY_HIGH_PD_CFG  # isort: skip
 
 # Default arm + gripper joint pose
 _FRANKA_STACK_IK_REL_INIT_JOINT_POS: dict[str, float] = {
@@ -221,7 +221,7 @@ def __post_init__(self):
         # Set Franka as robot
         # We switch here to a stiffer PD controller for IK tracking to be better.
         self.scene.robot = replace(
-            FRANKA_PANDA_HIGH_PD_CFG,
+            FRANKA_PANDA_LEGACY_HIGH_PD_CFG,
             prim_path="{ENV_REGEX_NS}/Robot",
             init_state=ArticulationCfg.InitialStateCfg(joint_pos=_FRANKA_STACK_IK_REL_INIT_JOINT_POS),
         )
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_joint_pos_env_cfg.py
index b384e71293b9..7f4517f4f8f3 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_joint_pos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_joint_pos_env_cfg.py
@@ -17,7 +17,7 @@
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets.robots.franka import FRANKA_PANDA_CFG  # isort: skip
+from isaaclab_assets.robots.franka import FRANKA_PANDA_LEGACY_CFG  # isort: skip
 
 # Default arm + gripper joint pose
 _FRANKA_STACK_IK_REL_INIT_JOINT_POS: dict[str, float] = {
@@ -51,7 +51,7 @@ def __post_init__(self):
 
         # Set Franka as robot
         self.scene.robot = replace(
-            FRANKA_PANDA_CFG,
+            FRANKA_PANDA_LEGACY_CFG,
             prim_path="{ENV_REGEX_NS}/Robot",
             init_state=ArticulationCfg.InitialStateCfg(joint_pos=_FRANKA_STACK_IK_REL_INIT_JOINT_POS),
         )
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_joint_pos_instance_randomize_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_joint_pos_instance_randomize_env_cfg.py
index c9700331c462..a48386cfd4c8 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_joint_pos_instance_randomize_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_joint_pos_instance_randomize_env_cfg.py
@@ -25,7 +25,7 @@
 # Pre-defined configs
 ##
 from isaaclab.markers.config import FRAME_MARKER_CFG  # isort: skip
-from isaaclab_assets.robots.franka import FRANKA_PANDA_CFG  # isort: skip
+from isaaclab_assets.robots.franka import FRANKA_PANDA_LEGACY_CFG  # isort: skip
 
 
 @configclass
@@ -73,7 +73,7 @@ def __post_init__(self):
         self.events = EventCfg()
 
         # Set Franka as robot
-        self.scene.robot = replace(FRANKA_PANDA_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+        self.scene.robot = replace(FRANKA_PANDA_LEGACY_CFG, prim_path="{ENV_REGEX_NS}/Robot")
 
         # Set actions for the specific robot type (franka)
         self.actions.arm_action = mdp.JointPositionActionCfg(
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/config/franka/cabinet_direct_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/config/franka/cabinet_direct_env_cfg.py
index b6f5f3e16ef0..f8b746bd4fef 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/config/franka/cabinet_direct_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/config/franka/cabinet_direct_env_cfg.py
@@ -9,7 +9,7 @@
 
 from isaaclab.utils import configclass, replace
 
-from isaaclab_assets.robots.franka import FRANKA_PANDA_CFG
+from isaaclab_assets.robots.franka import FRANKA_PANDA_LEGACY_CFG
 
 from ...cabinet_direct_env_cfg import CabinetDirectEnvCfg, CabinetDirectSceneCfg
 
@@ -18,7 +18,7 @@
 class FrankaCabinetDirectSceneCfg(CabinetDirectSceneCfg):
     """Direct-workflow cabinet scene configured for the Franka robot."""
 
-    robot = replace(FRANKA_PANDA_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+    robot = replace(FRANKA_PANDA_LEGACY_CFG, prim_path="{ENV_REGEX_NS}/Robot")
 
 
 @configclass
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/config/franka/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/config/franka/joint_pos_env_cfg.py
index 11fb2caee420..6a15539219a4 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/config/franka/joint_pos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/config/franka/joint_pos_env_cfg.py
@@ -9,7 +9,7 @@
 from isaaclab.sensors.frame_transformer import OffsetCfg
 from isaaclab.utils import configclass, replace
 
-from isaaclab_assets.robots.franka import FRANKA_PANDA_CFG
+from isaaclab_assets.robots.franka import FRANKA_PANDA_LEGACY_CFG
 
 from ... import mdp
 from ...cabinet_env_cfg import FRAME_MARKER_SMALL_CFG, CabinetEnvCfg, CabinetSceneCfg
@@ -19,7 +19,7 @@
 class FrankaCabinetSceneCfg(CabinetSceneCfg):
     """Cabinet scene configured for the Franka robot."""
 
-    robot = replace(FRANKA_PANDA_CFG, prim_path="{ENV_REGEX_NS}/Robot")
+    robot = replace(FRANKA_PANDA_LEGACY_CFG, prim_path="{ENV_REGEX_NS}/Robot")
     ee_frame = FrameTransformerCfg(
         prim_path="{ENV_REGEX_NS}/Robot/panda_link0",
         debug_vis=False,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka/franka_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka/franka_env_cfg.py
index 2d136cd8c31d..3fd5a0d2b251 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka/franka_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka/franka_env_cfg.py
@@ -16,7 +16,7 @@
 from isaaclab.utils import clone, configclass, replace
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
-from isaaclab_assets.robots import FRANKA_PANDA_CFG
+from isaaclab_assets.robots import FRANKA_PANDA_LEGACY_CFG
 
 from ... import lift_env_cfg as lift
 from ... import mdp
@@ -27,7 +27,7 @@
 
 # The lift tasks run the menagerie-converted asset (identified inertials, authored finger coupling) with
 # actuators calibrated for it, while the other Franka tasks keep the stock asset.
-FRANKA_PANDA_LIFT_CFG = clone(FRANKA_PANDA_CFG)
+FRANKA_PANDA_LIFT_CFG = clone(FRANKA_PANDA_LEGACY_CFG)
 FRANKA_PANDA_LIFT_CFG.spawn.usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/franka_panda.usda"
 # Reset clearance was calibrated for these arm meshes; the asset's primitive colliders intersect the ground.
 FRANKA_PANDA_LIFT_CFG.spawn.variants = {"Colliders": "convex_hulls"}
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reach/config/franka/franka_reach_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/reach/config/franka/franka_reach_env_cfg.py
index 1fb5f4847ea5..16fad7b84776 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reach/config/franka/franka_reach_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reach/config/franka/franka_reach_env_cfg.py
@@ -28,7 +28,7 @@
 
 from isaaclab_tasks.utils import PresetCfg, preset
 
-from isaaclab_assets import FRANKA_PANDA_CFG, FRANKA_PANDA_MENAGERIE_CFG
+from isaaclab_assets import FRANKA_PANDA_LEGACY_CFG, FRANKA_PANDA_MENAGERIE_CFG
 
 from ...reach_env_cfg import ReachEnvCfg
 
@@ -100,9 +100,9 @@ def __post_init__(self):
         self.scene.robot = replace(FRANKA_PANDA_MENAGERIE_CFG, prim_path="{ENV_REGEX_NS}/Robot")
         self.scene.robot.spawn.usd_path = preset(
             default=self.scene.robot.spawn.usd_path,
-            isaacsim_physx=FRANKA_PANDA_CFG.spawn.usd_path,
-            physx=FRANKA_PANDA_CFG.spawn.usd_path,
-            ovphysx=FRANKA_PANDA_CFG.spawn.usd_path,
+            isaacsim_physx=FRANKA_PANDA_LEGACY_CFG.spawn.usd_path,
+            physx=FRANKA_PANDA_LEGACY_CFG.spawn.usd_path,
+            ovphysx=FRANKA_PANDA_LEGACY_CFG.spawn.usd_path,
         )
         # IK targets need backend-native gravity control to hold steady between commands.
         self.scene.robot.spawn.rigid_props = [
diff --git a/source/isaaclab_tasks/test/contrib/test_franka_pour_env_cfg.py b/source/isaaclab_tasks/test/contrib/test_franka_pour_env_cfg.py
index 4e80cafc5d71..1728396c2f9a 100644
--- a/source/isaaclab_tasks/test/contrib/test_franka_pour_env_cfg.py
+++ b/source/isaaclab_tasks/test/contrib/test_franka_pour_env_cfg.py
@@ -113,7 +113,7 @@ def test_reset_dataset_contract_stores_root_relative_robot_asset_path():
     robot_asset = _reset_dataset_task_contract(cfg)["robot_asset"]
     assert robot_asset == "Robots/FrankaEmika/franka_panda.usda"
     assert f"{ISAACLAB_NUCLEUS_DIR}/{robot_asset}" == FRANKA_POUR_ROBOT_ASSET_ID
-    assert cfg.scene.robot.spawn.variants == {"Colliders": "convex_hulls"}
+    assert cfg.scene.robot.spawn.variants == {"Physics": "mujoco", "Colliders": "convex_hulls"}
 
 
 def test_capacity_resolution_only_updates_world_dependent_solver_limits():