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…conveyor-foundations
Keep the custom mesh branch current with develop at 9b6d2d8.\n\nThe unchanged feature diff passed the mesh spawner tests and the\nrepository-wide validation gate before this merge was committed.
Integrate the recorded main revision while preserving the PR scope. Validate the merged tree with focused tests and full repository hooks.
Integrate upstream main e907f82 to keep this branch current while preserving its feature scope.
Use the clone configuration owner for existing conveyor namespace defaults. This preserves the public values while satisfying the current clone-ownership check across the integrated task stack. Recorded upstream main: e907f82
Integrate upstream main d78054a to retain compatibility with current backend ownership and dependencies.
Integrate upstream main at ce2900d to keep the branch current with shared API and dependency changes. Validate the merged revision with focused checks and full formatting and lint hooks before committing. Remote CI remains separate.
Reuse the racetrack conveyor lifecycle and public reset state sampler for a physical 12-parcel suction task. Keep the experimental Newton prototype pin explicit and preserve the public solver-observables API.
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Integrate upstream main at 6d37745 to keep the branch current with shared API and dependency changes. Validate the merged revision with focused checks and all repository formatting and lint hooks. Remote CI remains separate.
Keep authored rigid-body mass and inertia available to MuJoCo while Newton applies kinematic collider mass locally in its MPM solver. Avoid erasing the pouring target inertials before solver creation. Retain coverage of shared rigid/MPM construction and the native pouring regression, including failure proofs before the fix.
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Description
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IsaacContrib-Conveyor-Suction-Sorting: a Franka with four suction cups sorts twelve differently sized cuboids into five powered outfeeds and physical bins. One policy uses 51 observations and four actions. Newton's seal prototype applies compliant forces; parcels are never attached by writing their poses.The task reuses the conveyor lifecycle and shared success-guided sampler. Training and playback target twelve deliveries within 240 seconds. Its 96 reset recipes initialize partial physical batches for shorter remaining-batch problems. Pre-sorted inventory earns no receipt reward; playback starts with every parcel unsorted.
Dependencies and review
Depends on #8327, #8331 and #8872. Warehouse sorting and optional PhysX support are excluded.
Original task-only comparison: 25 files, +1,964/−34, including 272 test lines. This immutable comparison excludes the later main merge, MPM inertial fix, and one-line index-allocation cleanup. Current Files changed includes the prerequisite PRs and the separately authored MPM fix, which is preserved.
This draft pins an experimental public extraction of Newton's unmerged surface-gripper prototype and matching MuJoCo/MJWarp 3.16 dependencies.
Validation and limits
CI currently fails the fixed-only URDF PhysX-variant assertion: the standalone importer emits
none/physics, while the test expectsphysx. The test, converter and importer pins are byte-identical to main. A matching baseline runtime was unavailable locally; no task-dependency workaround or skip was added. ARM rendering also failed: the first attempt exceeded an image threshold by 0.01 percentage point; one retry hit a CUDA illegal-memory-access error in Shadow Hand segmentation. No originating kernel or suction-task regression has been established. Reliable full-batch learning and the upstream gripper dependency remain open.