Make flat Franka the main config and fix backend body resolution

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:

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

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

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]

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``.

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,

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,

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."""

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])
 

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.