Add proxy-coupled MJWarp+VBD solver and Franka cable lifting task#5657

Closed

mmichelis wants to merge 45 commits into

isaac-sim:developfrom

mmichelis:mym/proxycoupling

Commits on May 20, 2026

Feat: Add Cables as spawnable shape, with cable material. Spawned as BasisCurve in USD. Currently only supported in Newton backend as add_rod_graph
mmichelis
committed
Style: Add comments on cable being newton only
mmichelis
committed
Feat: Visualization in kit for cables, fabric syncing only supported on cpu for now
mmichelis
committed
Test: Mark cable state as dirty for fabric syncing
mmichelis
committed
Feat: Add a cable demo
mmichelis
committed
Fix: Newton eval_fk does not work for cable joints. Temporarily patch this.
mmichelis
committed
Style: lint
mmichelis
committed
Fix: Clear removed from coupled managers
mmichelis
committed
Docs: Add documentation on cables
mmichelis
committed
Docs: fix
mmichelis
committed
Style: More assertions and cleanup
mmichelis
committed
Feat: Set rod connections in USD
mmichelis
committed
Feat: Add AVBD beta parameter
mmichelis
committed
Fix: Cables tend to self-collide, prevent this.
mmichelis
committed
Fix: FK evaluated for cable joint after all, fix after start simulation
mmichelis
committed
Test: USD loadable cables
mmichelis
committed
Fix: Environments properly initialized
mmichelis
committed
Fix: remove fixed mask
mmichelis
committed
Fix: typo
mmichelis
committed
Feat: Reset of cables to init state
mmichelis
committed
Docs: update cables usd loading and resetting
mmichelis
committed
Docs: Update parameter docstring
mmichelis
committed
Fix: unit tests
mmichelis
committed
Test: Add cabl;e reset test
mmichelis
committed
Style: lint
mmichelis
committed
Style: Clean up demo
mmichelis
committed
Feat: Initial proxy coupled solve for mjwarp vbd with cable environment
mmichelis
committed
Style: use scene entities for easier access
mmichelis
committed
Feat: solver bodies passed through scene entities as well
mmichelis
committed
Docs: Reduce comments
mmichelis
committed
Style: Clean up and compact coupled solver environments
mmichelis
committed
Fix: Set wildcard env_idx properly for cable labels
mmichelis
committed
Style: cleanup coupled manager
mmichelis
committed
Feat: Working lift franka for cables
mmichelis
committed
Test: Working franka gripping environment
mmichelis
committed
Scaffold cable_tuning package and gitignore tuning_results
mmichelis
committed
Add dotted-path override helper for cable tuning
mmichelis
committed
Add tiered cost function for cable tuning runs
mmichelis
committed
Add headless eval runner with per-step metrics and NaN guard
mmichelis
committed
Align command name with cfg and add bisection tuning driver
mmichelis
committed
Test: Stability of lift franka cable with gravity
mmichelis
committed
Test: Clean up visualization for cable env
mmichelis
committed
Test: Tweak cable sim
mmichelis
committed
Fix: configclass import
mmichelis
committed
Fix: Temporary fix until reset is properly debugged
mmichelis
committed