[DRAFT DO NOT MERGE] Restore post Isaac-cap commits to main branch

[peterd-NV]

Summary

Short description of the change (max 50 chars)

Detailed description

• What was the reason for the change?
• What has been changed?
• What is the impact of this change?

[arena-review-bot]

🤖 Isaac Lab-Arena Review Bot

Summary

This PR replays 46 commits merged to main after 311d0f0, without the temporary Isaac CAP work, and adds one new commit (3ad21a0, stage reset during teardown). I compared the PR head with the last main before the reset (f271340, the merge of #1337). Outside isaaclab_arena_environments/isaac_cap/, the only differences are:

• the test_isaac_cap CI job, the cap extra (msgpack/msgpack-numpy in pyproject.toml/uv.lock), the isaac_cap pytest marker and register_components() in cli.py are removed;
• tests no longer depend on CAP: the CAP skip is gone from test_all_environments.py, test_placement_layout_replay.py builds its own two-arm robot USD instead of the bimanual YAM, and CAP names are renamed in two other tests;
• the new teardown fix and its test.

No non-CAP code from the original PRs is missing. The new teardown change uses close_stage/get_current_stage, which exist in the pinned IsaacLab submodule (28a386f). The new test checks the real failure (Isaac Lab keeps the old in-memory stage) and runs cheaply in Phase 1 on the persistent app.

Findings

🔵 PR description. The body is still the empty template. For a 47-commit restore, could it list the PRs left out (#1241, #1257, #1263, #1267, #1270, #1274, #1281, #1283, #1295, #1296, #1299, #1315, #1324, #1325, #1328, #1331, #1334) and the 8 commits without PR numbers that rework CAP PRs into core-only changes (e.g. #1261 → "Add composite predicates…", #1262 → "Add YAML environment configuration overrides", #1310 → "Add decorator registration…")? Reviewers could then trace each commit back to its original review.

🔵 Merge method. Could this be merged with rebase or a merge commit rather than squash? A squash would fold 47 commits from different authors into one, and per-PR history, git blame and DCO sign-offs would be lost.

🟡 Infra. .github/workflows/ci.yml, docker/ and the IsaacLab submodule bump (#1275, #1280, #1282, #1321) come back with this PR. Their content matches what was already reviewed, but CI (still pending) should pass on the restored workflow before merge.

Verdict

Ship it (once CI is green and the description is filled in)

[greptile-apps]

Confidence Score: 4/5

[High risk] Rebuilds Docker image build and CI pipeline infrastructure.

Fix missing structured-list entries before merging; that override path currently stops environment setup.

Findings

1.  Adding solver entries fails ▶
2.  Reset drops configured motion ▶
3.  Older reports lose milestones ▶

Summary

Restore environment, task, placement, recording, and container changes on top of the newer Isaac Lab checkout.

• Add deformable assets, settled-layout recording and replay, and optional trajectory recording.
• Replace separate progress objectives with task-owned completion criteria.
• Build candidate Docker images before tests and publish the tested image.
• Fix structured-list overrides before merging. Also preserve configured deformable velocity and older report records.

Diagram

%%{init: {'theme': 'neutral'}}%%
flowchart LR
  Graph[Environment graph] --> Builder[Arena environment builder]
  Assets[Assets and robot] --> Builder
  Task[Task completion criteria] --> Builder
  Solver[Relation solver] --> Pool[Placement pool]
  Pool --> Settle[Physics settling and checks]
  Settle --> JSONL[Saved layouts]
  JSONL --> Builder
  Builder --> Env[Running environment]
  Env --> Records[Episode and trajectory records]
  Records --> Report[Evaluation report]

Loading

_{Reviews (1) · Last reviewed commit: "Reset Isaac Lab stage during simulation ..."}

[greptile-apps]

Adding solver entries fails

Extending an existing CouplerProxyCfg.entries list with a plain mapping passes current_value=None for the new entry. This code then calls _materialize_targets(None, ...), which raises TypeError at dataclasses.fields(NoneType) and stops environment setup. Construct missing entries from concrete_type instead of trying to inspect a missing instance.

[greptile-apps]

Reset drops configured motion

set_initial_velocity is ignored when a deformable uses PosePerEnv. This event passes only the poses, and set_deformable_object_pose_per_env calls the nodal helper without a velocity. The helper writes zero velocity on every reset, even after the caller configured nonzero motion. Pass initial_velocity through this reset path, or reject that combination explicitly.

[greptile-apps]

Older reports lose milestones

Previously saved episode files contain progress.objectives and events with objective, but the new readers accept only criteria_by_name and criteria_name. The file loader still accepts those older files unchanged, so their task details and funnels disappear without a warning. Normalize both formats when reading, while keeping the new names for newly written records.