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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 24 mm suction cups sorts twelve parcels into five powered outfeeds and physical bins. Parcels span 8.5–19 cm and 64–431 g. Newton's compliant suction forces move parcels without pose attachment.Each verified delivery earns a success and reward, then selects another parcel in the same scene. The first receipt from a sampled reset immediately updates its
SuccessMonitoroutcome. Later deliveries continue earning rewards; failures cannot erase earlier credit. All parcels start unsorted. Batch completion replenishes the scene and is measured separately from delivery success.The task reuses the conveyor lifecycle and shared
ResetStateSampler, with 96 reset recipes, 52 observations and four actions. Receipts require a qualified lift, release, correct-bin containment and settlement. Dimensions determine destinations; colors are visual only. Earlier finger-gripper, 51-input and smaller-parcel checkpoints require their matching configurations.Dependencies and review
Depends on #8327, #8331 and #8872. This draft pins public Newton fork
fd83c643, extracting the unmerged surface-gripper prototype, with MuJoCo/MJWarp 3.16.Files changed includes prerequisites and the separately authored MPM inertial fix, which is preserved. Warehouse sorting and optional PhysX support are excluded.
Validation and limits
0ca25c56; no skip or dependency workaround was added.