Select supported backends in core smoke tests

Author: StafaH

source/isaaclab_tasks/test/core/test_environment_determinism.py

@@ -23,12 +23,7 @@
 
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.hydra import resolve_presets
-from isaaclab_tasks.utils.parse_cfg import load_cfg_from_registry
-
-# Bit-wise determinism is a physics-backend property, so keep these checks on
-# Isaac Sim PhysX rather than following a task's evolving default. Newton
-# MJWarp is not yet run-to-run deterministic on CUDA for the locomotion tasks.
-_PINNED_PHYSICS_PRESET = "isaacsim_physx"
+from isaaclab_tasks.utils.parse_cfg import load_cfg_from_registry, parse_env_cfg
 
 
 @pytest.fixture(scope="module", autouse=True)
@@ -63,7 +58,7 @@ def test_manipulation_env_determinism(task_name, device):
 @pytest.mark.parametrize("device", ["cuda", "cpu"])
 def test_locomotion_env_determinism(task_name, device):
     """Check deterministic environment creation for locomotion."""
-    _test_environment_determinism(task_name, device)
+    _test_environment_determinism(task_name, device, physics_preset_name="physx")
 
 
 @pytest.mark.parametrize(
@@ -105,7 +100,7 @@ def _test_environment_determinism(
     device: str,
     *,
     num_steps: int = 100,
-    physics_preset_name: str = _PINNED_PHYSICS_PRESET,
+    physics_preset_name: str | None = None,
     deterministic_mode: str | None = None,
 ):
     """Check deterministic environment creation."""
@@ -143,18 +138,21 @@ def _obtain_transition_tuples(
     device: str,
     num_steps: int,
     *,
-    physics_preset_name: str,
+    physics_preset_name: str | None = None,
     deterministic_mode: str | None = None,
 ) -> tuple[dict, torch.Tensor]:
     """Run random actions and obtain transition tuples after fixed number of steps."""
     # create a new stage
     sim_utils.create_new_stage()
     try:
-        # Parse configuration with an explicit physics backend.
-        env_cfg = load_cfg_from_registry(task_name, "env_cfg_entry_point")
-        env_cfg = resolve_presets(env_cfg, selected=(physics_preset_name,))
-        env_cfg.sim.device = device
-        env_cfg.scene.num_envs = num_envs
+        # Parse configuration.
+        if physics_preset_name is None:
+            env_cfg = parse_env_cfg(task_name, device=device, num_envs=num_envs)
+        else:
+            env_cfg = load_cfg_from_registry(task_name, "env_cfg_entry_point")
+            env_cfg = resolve_presets(env_cfg, selected=(physics_preset_name,))
+            env_cfg.sim.device = device
+            env_cfg.scene.num_envs = num_envs
         if deterministic_mode is not None:
             assert isinstance(env_cfg.sim.physics, NewtonCfg)
             env_cfg.sim.physics.deterministic_mode = deterministic_mode

source/isaaclab_tasks/test/core/test_environments.py

@@ -16,21 +16,45 @@
 
 import pytest
 
+from isaaclab.physics import PhysicsCfg
+
 import isaaclab_tasks  # noqa: F401
+from isaaclab_tasks.utils.hydra import collect_presets
+from isaaclab_tasks.utils.parse_cfg import load_cfg_from_registry
 
 # Local imports should be imported last
 from env_test_utils import _run_environments, setup_environment  # isort: skip
 
 
-@pytest.mark.parametrize("physics_preset_name", ["newton_mjwarp", "physx", "isaacsim_physx"])
+_PHYSICS_PRESET_NAMES = ("newton_mjwarp", "physx", "isaacsim_physx")
+
+
+def _core_physics_params() -> list:
+    """Return core task/backend pairs for explicitly supported physics presets."""
+    params = []
+    for task_param in setup_environment(multi_agent=False, tier="core"):
+        task_name = getattr(task_param, "values", (task_param,))[0]
+        marks = getattr(task_param, "marks", ())
+        env_cfg = load_cfg_from_registry(task_name, "env_cfg_entry_point")
+        physics_preset_groups = collect_presets(env_cfg).values()
+        for physics_preset_name in _PHYSICS_PRESET_NAMES:
+            if any(
+                physics_preset_name in preset_group and isinstance(preset_group[physics_preset_name], PhysicsCfg)
+                for preset_group in physics_preset_groups
+            ):
+                params.append(
+                    pytest.param(
+                        task_name,
+                        physics_preset_name,
+                        id=f"{task_name}-{physics_preset_name}",
+                        marks=marks,
+                    )
+                )
+    return params
+
+
+@pytest.mark.parametrize("task_name, physics_preset_name", _core_physics_params())
 @pytest.mark.parametrize("num_envs, device", [(2, "cuda"), (1, "cuda")])
-@pytest.mark.parametrize(
-    "task_name",
-    setup_environment(
-        multi_agent=False,
-        tier="core",
-    ),
-)
 @pytest.mark.isaacsim_ci
 def test_environments(task_name, physics_preset_name, num_envs, device):
     # run environments without stage in memory

source/isaaclab_visualizers/changelog.d/default-newton-locomotion.skip

@@ -1585,8 +1585,7 @@ def _make_anymal_d_env(visualizer_kind: str | tuple[str, ...], backend_kind: str
     from isaaclab.envs import ManagerBasedRLEnv
 
     env_cfg = copy.deepcopy(AnymalDFlatEnvCfg())
-    preset_key = "newton_mjwarp" if backend_kind == "newton" else "default"
-    env_cfg.sim.physics = getattr(env_cfg.sim.physics, preset_key)
+    env_cfg = _apply_env_cfg_preset(env_cfg, "newton_mjwarp" if backend_kind == "newton" else "physx")
     env_cfg.scene.num_envs = (
         _ANYMAL_D_TILED_CAMERA_INTEGRATION_NUM_ENVS if tiled_camera else _ANYMAL_D_INTEGRATION_NUM_ENVS
     )