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Migrate Franka tasks to the shared asset and add minimal presets - #8170

Merged

kellyguo11 merged 32 commits into

isaac-sim:developfrom

maxkra15:maximiliank/franka-reach-drawer-upstream

Oct 2, 2026

Merged

Migrate Franka tasks to the shared asset and add minimal presets#8170
kellyguo11 merged 32 commits into
isaac-sim:developfrom
maxkra15:maximiliank/franka-reach-drawer-upstream

Commits on Sep 29, 2026
- Add flat Franka asset and backend body-resolution support
  maxkra15
  committed
  0d21518
- Migrate Franka Reach and Drawer to flat asset
  maxkra15
  committed
  7d4731f
- Update Franka environment browser presets
  maxkra15
  committed
  b0f54b4
- Verify backend payload selection for cabinet IK
  maxkra15
  committed
  4f84d15
- Scope shared-asset tests to migrated rigid tasks
  maxkra15
  committed
  e1ffab9
- Preserve Franka compatibility and fix direct clone matching
  maxkra15
  committed
  c40b2ad
- Align Reach preset test with preserved Menagerie asset
  maxkra15
  committed
  69031a3
- Keep published Menagerie URL during Franka migration
  maxkra15
  committed
  6f4affd
Commits on Sep 30, 2026
Commits on Oct 1, 2026
- Merge develop and resolve Franka main config migration
  StafaH
  committed
  7fd9f45
- Clarify Franka migration names and retain behavioral alias coverage
  StafaH
  committed
  8108835
- Merge remote-tracking branch 'origin/develop' into maximiliank/franka-reach-drawer-upstream
  maxkra15
  committed
  58bd446
- Separate Franka asset migration and add explicit minimal Reach task
  maxkra15
  committed
  e58a1f5
- Document the full-collision Franka configuration migration
  maxkra15
  committed
  25ad1ec
- Fix Franka migration CI regressions
  maxkra15
  committed
  90960d4
- Move Franka collision guidance out of the environment browser
  maxkra15
  committed
  817b5bf
- Replace minimal Franka task with Reach and Lift presets
  StafaH
  committed
  6cf973c
- Update Franka asset guidance to use the minimal preset
  StafaH
  committed
  4123063
- Merge remote-tracking branch 'upstream/develop' into pr-8170-minimal-preset
  StafaH
  committed
  123d489
- Remove Franka collision scope documentation
  StafaH
  committed
  d38266b
- Prune redundant Franka migration test coverage
  StafaH
  committed
  6e9075a

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Migrate Franka tasks to the shared asset and add minimal presets - #8170

Migrate Franka tasks to the shared asset and add minimal presets#8170
kellyguo11 merged 32 commits into
isaac-sim:developfrom
maxkra15:maximiliank/franka-reach-drawer-upstream

Commits on Sep 29, 2026

Add flat Franka asset and backend body-resolution support

Migrate Franka Reach and Drawer to flat asset

Update Franka environment browser presets

Verify backend payload selection for cabinet IK

Scope shared-asset tests to migrated rigid tasks

Preserve Franka compatibility and fix direct clone matching

Align Reach preset test with preserved Menagerie asset

Keep published Menagerie URL during Franka migration

Commits on Sep 30, 2026

Preserve mixed body matches and correct Franka migration defaults

Merge remote-tracking branch 'origin/develop' into maximiliank/franka-flat-backend-upstream

Address Franka task migration review feedback

Merge develop into Franka Reach and Drawer migration

Select PhysX explicitly in controller tutorials

Declare the canonical Franka configuration independently

Simplify inherited Franka IK controller settings

Merge remote-tracking branch 'origin/develop' into maximiliank/franka-flat-backend-upstream

Merge remote-tracking branch 'origin/develop' into maximiliank/franka-reach-drawer-upstream

Migrate Franka changelog fragments to Towncrier

Migrate Franka task changelogs to Towncrier fragments

Merge branch 'maximiliank/franka-flat-backend-upstream' into maximiliank/franka-reach-drawer-upstream

Commits on Oct 1, 2026

Merge develop and resolve Franka main config migration

Clarify Franka migration names and retain behavioral alias coverage

Merge remote-tracking branch 'origin/develop' into maximiliank/franka-reach-drawer-upstream

Separate Franka asset migration and add explicit minimal Reach task

Document the full-collision Franka configuration migration

Fix Franka migration CI regressions

Move Franka collision guidance out of the environment browser

Replace minimal Franka task with Reach and Lift presets

Update Franka asset guidance to use the minimal preset

Merge remote-tracking branch 'upstream/develop' into pr-8170-minimal-preset

Remove Franka collision scope documentation

Prune redundant Franka migration test coverage