Validate the config when resolving a combination

The env constructor calls cfg.validate() before it builds anything, and tasks put
their cross-axis rules there: Reach rejects the newton_ik action preset unless
physics is Newton, and Lift rejects camera data types the Warp renderer cannot
produce. Resolution stopped short of that call, so discovery reported those
pairings as runnable and they failed on the first reset instead -- six OSMO jobs
for Reach alone.

Registry-wide this drops 1180 resolved combinations to 1027. Spot-checked: the
Warp renderer keeps rgb and depth and loses albedo and simple_shading, which is
exactly what lift_env_cfg allows, and albedo still resolves on isaacsim_rtx. No
task loses every mode.

Author: AntoineRichard

tools/task_discovery.py

@@ -172,6 +172,10 @@ def _mode_resolves(
         args, remaining = setup_preset_cli(parser, argv)
         sys.argv = [sys.argv[0]] + remaining
         env_cfg, _ = resolve_task_config(args.task, args.agent)
+        # The env constructor validates before it builds anything, and tasks put their
+        # cross-axis rules there -- Reach rejects ``newton_ik`` without Newton physics.
+        # Skipping it reports those combinations legal and fails them at launch instead.
+        env_cfg.validate()
         config_scan = scan(env_cfg, args)
         _validate_runtime(config_scan, _get_kit_runtime_sources(config_scan, args))
         fingerprint = hashlib.sha256(repr(env_cfg.to_dict()).encode()).hexdigest()

tools/test/test_task_discovery_resolve.py

@@ -59,6 +59,17 @@ def test_a_kit_backed_physics_and_a_kitless_renderer_are_rejected() -> None:
     assert _mode_resolves("Isaac-Cartpole-Camera", "ovphysx", "ovrtx", None) is not None
 
 
+def test_a_cross_axis_rule_the_task_declares_is_enforced() -> None:
+    """Tasks put cross-axis rules in ``validate_config``, which the env constructor runs.
+
+    Reach rejects ``newton_ik`` without Newton physics. Resolving without validating
+    reported those pairings legal, and they died on the first reset instead.
+    """
+    assert _mode_resolves("Isaac-Reach-Franka", "isaacsim_physx", None, "newton_ik") is None
+    assert _mode_resolves("Isaac-Reach-Franka", "ovphysx", None, "newton_ik") is None
+    assert _mode_resolves("Isaac-Reach-Franka", "newton_mjwarp", None, "newton_ik") is not None
+
+
 def test_the_fingerprint_identifies_a_run() -> None:
     """The collapse is only as good as this: stable per run, distinct across runs.