Fix Factory collision prim resolution

[ooctipus]

Description

Fixes IsaacContrib-Factory-Franka startup after segment-safe prim-path expressions were introduced in #6841.

The Factory collision analyzer assumed cloned environment expressions contained .*. It rewrote that spelling to 0 to find a source prim, then rebuilt an env_.* expression. The current {ENV_REGEX_NS} expansion is /World/envs/env_[^/]+, so the rewrite no longer produced a concrete USD path and startup failed with:

ValueError: Prim at path /World/envs/env_[^/]+/Robot is not valid.

This change resolves each collision body through resolve_matching_prims_from_source, the clone-plan-owned resolver. Its returned destination path expression is passed directly to point-cloud sampling, removing both wildcard-spelling rewrites and keeping ownership of clone-path resolution in the cloning subsystem.

No new dependencies or test files are introduced.

Type of change

• Bug fix (non-breaking change which fixes an issue)

Screenshots

Not applicable; this is an environment-startup fix.

Validation

• Reproduced the exact failure on unmodified latest develop with the existing consolidated Factory smoke case.
• Existing IsaacContrib-Factory-Franka smoke case: 1 passed in 39.33s, including two environments and 20 random-action steps.
• Full uv run isaaclab -f equivalent repository hook suite: passed.
• git diff --check upstream/develop...HEAD: passed.

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks with isaaclab -f
• Documentation changes are not required; the changelog fragment documents the fix
• My changes generate no new warnings
• The existing consolidated Factory smoke test proves the fix; no new test file is required
• I have added a changelog fragment under source/isaaclab_tasks/changelog.d/
• My name already exists in CONTRIBUTORS.md

[isaaclab-review-bot]

Isaac Lab Review Bot

The change replaces Factory collision analyzer wildcard string rewrites with the cloning subsystem’s prim resolver and adds the required task-package changelog fragment. The changed path-resolution flow is consistent with segment-safe environment expressions.

• Design and architecture: Clone-path resolution is now owned by resolve_matching_prims_from_source rather than duplicated through assumptions about .*, env_0, or env_.*. This is a focused correction that preserves the surrounding collision-analysis design.
• API: No public signature or consumer interface changes are introduced. CollisionAnalyzer still passes a string prim-path pattern to sample_object_point_cloud, now using the resolver-provided destination expression. The changelog fragment is correctly scoped to isaaclab_tasks.
• Implementation: The per-body predicate resolves one rigid-body match and forwards its destination pattern directly to point-cloud sampling. Existing point-cloud filtering and body-index bookkeeping remain unchanged. A missing or ambiguous body now surfaces through the resolver’s match validation, which is a reasonable diagnostic tradeoff.

No blocking issues. No inline issue met the actionable-evidence threshold; the assessment above records the review feedback.

Automated review; human maintainers own approval decisions.

[greptile-apps]

Greptile Summary

Replaces Factory collision prim-path string rewriting with the clone-plan-aware resolver, allowing segment-safe environment expressions to initialize correctly.

• Resolves each configured rigid body through resolve_matching_prims_from_source.
• Passes the resolver-owned destination expression directly into point-cloud sampling.
• Adds a changelog fragment documenting the Factory startup fix.

Confidence Score: 5/5

The PR appears safe to merge with no actionable regressions identified.

The resolver returns the canonical segment-safe destination expression accepted by clone-path matching and point-cloud source discovery, while removing the brittle wildcard spelling assumptions that caused Factory startup to fail.

Important Files Changed

Filename	Overview
source/isaaclab_tasks/isaaclab_tasks/contrib/nist/utils/collision_analyzer.py	Replaces wildcard-specific path manipulation with the canonical clone-plan resolver; the returned segment-safe expression is compatible with downstream source discovery.
source/isaaclab_tasks/changelog.d/zhengyuz-factory-env-regex.rst	Accurately documents the Factory startup fix.

_{Reviews (1): Last reviewed commit: "Fix Factory collision prim resolution" | Re-trigger Greptile}