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Configure shared velocity presets directly
1 parent 98e8cf7 commit e31b9a9

10 files changed

Lines changed: 68 additions & 216 deletions

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‎source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/a1/flat_env_cfg.py‎

Lines changed: 6 additions & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -3,40 +3,22 @@
33
#
44
# SPDX-License-Identifier: BSD-3-Clause
55

6-
from isaaclab_newton.physics import KaminoPADMMSolverCfg, MJWarpSolverCfg, NewtonCfg
7-
8-
from isaaclab.sim import SimulationCfg
96
from isaaclab.utils.configclass import configclass
107

11-
from isaaclab_tasks.core.velocity.velocity_env_cfg import RoughPhysicsCfg
12-
138
from .rough_env_cfg import UnitreeA1RoughEnvCfg
149

1510

16-
@configclass
17-
class PhysicsCfg(RoughPhysicsCfg):
18-
newton_mjwarp = NewtonCfg(
19-
solver_cfg=MJWarpSolverCfg(
20-
njmax=60,
21-
nconmax=30,
22-
cone="pyramidal",
23-
impratio=1,
24-
integrator="implicitfast",
25-
),
26-
num_substeps=1,
27-
debug_mode=False,
28-
)
29-
newton_kamino = NewtonCfg(solver_cfg=KaminoPADMMSolverCfg(max_contacts_per_world=64))
30-
default = RoughPhysicsCfg().isaacsim_physx
31-
32-
3311
@configclass
3412
class UnitreeA1FlatEnvCfg(UnitreeA1RoughEnvCfg):
35-
sim: SimulationCfg = SimulationCfg(physics=PhysicsCfg())
36-
3713
def __post_init__(self):
3814
super().__post_init__()
3915

16+
# physics
17+
newton_mjwarp = self.sim.physics.newton_mjwarp
18+
newton_mjwarp.solver_cfg.njmax = 60
19+
newton_mjwarp.solver_cfg.nconmax = 30
20+
newton_mjwarp.num_substeps = 1
21+
self.sim.physics.default = self.sim.physics.isaacsim_physx
4022
# scene
4123
self.scene.terrain.terrain_type = "plane"
4224
self.scene.terrain.terrain_generator = None

‎source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_b/flat_env_cfg.py‎

Lines changed: 8 additions & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -3,40 +3,24 @@
33
#
44
# SPDX-License-Identifier: BSD-3-Clause
55

6-
from isaaclab_newton.physics import KaminoPADMMSolverCfg, MJWarpSolverCfg, NewtonCfg
7-
8-
from isaaclab.sim import SimulationCfg
96
from isaaclab.utils.configclass import configclass
107

11-
from isaaclab_tasks.core.velocity.velocity_env_cfg import RoughPhysicsCfg
12-
138
from .rough_env_cfg import AnymalBRoughEnvCfg
149

1510

16-
@configclass
17-
class PhysicsCfg(RoughPhysicsCfg):
18-
newton_mjwarp = NewtonCfg(
19-
solver_cfg=MJWarpSolverCfg(
20-
njmax=75,
21-
nconmax=15,
22-
cone="elliptic",
23-
impratio=100,
24-
integrator="implicitfast",
25-
),
26-
num_substeps=1,
27-
debug_mode=False,
28-
)
29-
newton_kamino = NewtonCfg(solver_cfg=KaminoPADMMSolverCfg(max_contacts_per_world=64))
30-
default = RoughPhysicsCfg().isaacsim_physx
31-
32-
3311
@configclass
3412
class AnymalBFlatEnvCfg(AnymalBRoughEnvCfg):
35-
sim: SimulationCfg = SimulationCfg(physics=PhysicsCfg())
36-
3713
def __post_init__(self):
3814
super().__post_init__()
3915

16+
# physics
17+
newton_mjwarp = self.sim.physics.newton_mjwarp
18+
newton_mjwarp.solver_cfg.njmax = 75
19+
newton_mjwarp.solver_cfg.nconmax = 15
20+
newton_mjwarp.solver_cfg.cone = "elliptic"
21+
newton_mjwarp.solver_cfg.impratio = 100.0
22+
newton_mjwarp.num_substeps = 1
23+
self.sim.physics.default = self.sim.physics.isaacsim_physx
4024
# scene
4125
self.scene.terrain.terrain_type = "plane"
4226
self.scene.terrain.terrain_generator = None

‎source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_c/flat_env_cfg.py‎

Lines changed: 8 additions & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -3,40 +3,24 @@
33
#
44
# SPDX-License-Identifier: BSD-3-Clause
55

6-
from isaaclab_newton.physics import KaminoPADMMSolverCfg, MJWarpSolverCfg, NewtonCfg
7-
8-
from isaaclab.sim import SimulationCfg
96
from isaaclab.utils.configclass import configclass
107

11-
from isaaclab_tasks.core.velocity.velocity_env_cfg import RoughPhysicsCfg
12-
138
from .rough_env_cfg import AnymalCRoughEnvCfg
149

1510

16-
@configclass
17-
class PhysicsCfg(RoughPhysicsCfg):
18-
newton_mjwarp = NewtonCfg(
19-
solver_cfg=MJWarpSolverCfg(
20-
njmax=120,
21-
nconmax=15,
22-
cone="elliptic",
23-
impratio=100,
24-
integrator="implicitfast",
25-
),
26-
num_substeps=1,
27-
debug_mode=False,
28-
)
29-
newton_kamino = NewtonCfg(solver_cfg=KaminoPADMMSolverCfg(max_contacts_per_world=64))
30-
default = RoughPhysicsCfg().isaacsim_physx
31-
32-
3311
@configclass
3412
class AnymalCFlatEnvCfg(AnymalCRoughEnvCfg):
35-
sim: SimulationCfg = SimulationCfg(physics=PhysicsCfg())
36-
3713
def __post_init__(self):
3814
super().__post_init__()
3915

16+
# physics
17+
newton_mjwarp = self.sim.physics.newton_mjwarp
18+
newton_mjwarp.solver_cfg.njmax = 120
19+
newton_mjwarp.solver_cfg.nconmax = 15
20+
newton_mjwarp.solver_cfg.cone = "elliptic"
21+
newton_mjwarp.solver_cfg.impratio = 100.0
22+
newton_mjwarp.num_substeps = 1
23+
self.sim.physics.default = self.sim.physics.isaacsim_physx
4024
# scene
4125
self.scene.terrain.terrain_type = "plane"
4226
self.scene.terrain.terrain_generator = None

‎source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/go1/flat_env_cfg.py‎

Lines changed: 6 additions & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -3,40 +3,22 @@
33
#
44
# SPDX-License-Identifier: BSD-3-Clause
55

6-
from isaaclab_newton.physics import KaminoPADMMSolverCfg, MJWarpSolverCfg, NewtonCfg
7-
8-
from isaaclab.sim import SimulationCfg
96
from isaaclab.utils.configclass import configclass
107

11-
from isaaclab_tasks.core.velocity.velocity_env_cfg import RoughPhysicsCfg
12-
138
from .rough_env_cfg import UnitreeGo1RoughEnvCfg
149

1510

16-
@configclass
17-
class PhysicsCfg(RoughPhysicsCfg):
18-
newton_mjwarp = NewtonCfg(
19-
solver_cfg=MJWarpSolverCfg(
20-
njmax=60,
21-
nconmax=25,
22-
cone="pyramidal",
23-
impratio=1,
24-
integrator="implicitfast",
25-
),
26-
num_substeps=1,
27-
debug_mode=False,
28-
)
29-
newton_kamino = NewtonCfg(solver_cfg=KaminoPADMMSolverCfg(max_contacts_per_world=64))
30-
default = RoughPhysicsCfg().isaacsim_physx
31-
32-
3311
@configclass
3412
class UnitreeGo1FlatEnvCfg(UnitreeGo1RoughEnvCfg):
35-
sim: SimulationCfg = SimulationCfg(physics=PhysicsCfg())
36-
3713
def __post_init__(self):
3814
super().__post_init__()
3915

16+
# physics
17+
newton_mjwarp = self.sim.physics.newton_mjwarp
18+
newton_mjwarp.solver_cfg.njmax = 60
19+
newton_mjwarp.solver_cfg.nconmax = 25
20+
newton_mjwarp.num_substeps = 1
21+
self.sim.physics.default = self.sim.physics.isaacsim_physx
4022
# scene
4123
self.scene.terrain.terrain_type = "plane"
4224
self.scene.terrain.terrain_generator = None

‎source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/flat_env_cfg.py‎

Lines changed: 8 additions & 23 deletions
Original file line numberDiff line numberDiff line change
@@ -3,39 +3,24 @@
33
#
44
# SPDX-License-Identifier: BSD-3-Clause
55

6-
from isaaclab_newton.physics import KaminoPADMMSolverCfg, MJWarpSolverCfg, NewtonCfg
7-
8-
from isaaclab.sim import SimulationCfg
96
from isaaclab.utils.configclass import configclass
107

11-
from isaaclab_tasks.core.velocity.velocity_env_cfg import RoughPhysicsCfg
12-
138
from .rough_env_cfg import AnymalDRoughEnvCfg
149

1510

16-
@configclass
17-
class PhysicsCfg(RoughPhysicsCfg):
18-
newton_mjwarp = NewtonCfg(
19-
solver_cfg=MJWarpSolverCfg(
20-
njmax=60,
21-
nconmax=25,
22-
cone="elliptic",
23-
impratio=100.0,
24-
),
25-
num_substeps=1,
26-
debug_mode=False,
27-
)
28-
newton_kamino = NewtonCfg(solver_cfg=KaminoPADMMSolverCfg(max_contacts_per_world=64))
29-
default = newton_mjwarp
30-
31-
3211
@configclass
3312
class AnymalDFlatEnvCfg(AnymalDRoughEnvCfg):
34-
sim: SimulationCfg = SimulationCfg(physics=PhysicsCfg())
35-
3613
def __post_init__(self):
3714
super().__post_init__()
3815

16+
# physics
17+
newton_mjwarp = self.sim.physics.newton_mjwarp
18+
newton_mjwarp.solver_cfg.njmax = 60
19+
newton_mjwarp.solver_cfg.nconmax = 25
20+
newton_mjwarp.solver_cfg.cone = "elliptic"
21+
newton_mjwarp.solver_cfg.impratio = 100.0
22+
newton_mjwarp.num_substeps = 1
23+
self.sim.physics.default = newton_mjwarp
3924
# scene
4025
self.scene.terrain.terrain_type = "plane"
4126
self.scene.terrain.terrain_generator = None

‎source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/cassie/flat_env_cfg.py‎

Lines changed: 6 additions & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -3,40 +3,22 @@
33
#
44
# SPDX-License-Identifier: BSD-3-Clause
55

6-
from isaaclab_newton.physics import KaminoPADMMSolverCfg, MJWarpSolverCfg, NewtonCfg
7-
8-
from isaaclab.sim import SimulationCfg
96
from isaaclab.utils.configclass import configclass
107

11-
from isaaclab_tasks.core.velocity.velocity_env_cfg import RoughPhysicsCfg
12-
138
from .rough_env_cfg import CassieRoughEnvCfg
149

1510

16-
@configclass
17-
class PhysicsCfg(RoughPhysicsCfg):
18-
newton_mjwarp = NewtonCfg(
19-
solver_cfg=MJWarpSolverCfg(
20-
njmax=52,
21-
nconmax=15,
22-
cone="pyramidal",
23-
impratio=1.0,
24-
integrator="implicitfast",
25-
),
26-
num_substeps=1,
27-
debug_mode=False,
28-
)
29-
newton_kamino = NewtonCfg(solver_cfg=KaminoPADMMSolverCfg(max_contacts_per_world=64))
30-
default = newton_mjwarp
31-
32-
3311
@configclass
3412
class CassieFlatEnvCfg(CassieRoughEnvCfg):
35-
sim: SimulationCfg = SimulationCfg(physics=PhysicsCfg())
36-
3713
def __post_init__(self):
3814
super().__post_init__()
3915

16+
# physics
17+
newton_mjwarp = self.sim.physics.newton_mjwarp
18+
newton_mjwarp.solver_cfg.njmax = 52
19+
newton_mjwarp.solver_cfg.nconmax = 15
20+
newton_mjwarp.num_substeps = 1
21+
self.sim.physics.default = newton_mjwarp
4022
# scene
4123
self.scene.terrain.terrain_type = "plane"
4224
self.scene.terrain.terrain_generator = None

‎source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/g1/flat_env_cfg.py‎

Lines changed: 6 additions & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -3,41 +3,23 @@
33
#
44
# SPDX-License-Identifier: BSD-3-Clause
55

6-
from isaaclab_newton.physics import KaminoPADMMSolverCfg, MJWarpSolverCfg, NewtonCfg
7-
86
from isaaclab.managers import SceneEntityCfg
9-
from isaaclab.sim import SimulationCfg
107
from isaaclab.utils.configclass import configclass
118

12-
from isaaclab_tasks.core.velocity.velocity_env_cfg import RoughPhysicsCfg
13-
149
from .rough_env_cfg import G1RoughEnvCfg
1510

1611

17-
@configclass
18-
class PhysicsCfg(RoughPhysicsCfg):
19-
newton_mjwarp = NewtonCfg(
20-
solver_cfg=MJWarpSolverCfg(
21-
njmax=95,
22-
nconmax=10,
23-
cone="pyramidal",
24-
impratio=1.0,
25-
integrator="implicitfast",
26-
),
27-
num_substeps=1,
28-
debug_mode=False,
29-
)
30-
newton_kamino = NewtonCfg(solver_cfg=KaminoPADMMSolverCfg(max_contacts_per_world=64))
31-
default = newton_mjwarp
32-
33-
3412
@configclass
3513
class G1FlatEnvCfg(G1RoughEnvCfg):
36-
sim: SimulationCfg = SimulationCfg(physics=PhysicsCfg())
37-
3814
def __post_init__(self):
3915
super().__post_init__()
4016

17+
# physics
18+
newton_mjwarp = self.sim.physics.newton_mjwarp
19+
newton_mjwarp.solver_cfg.njmax = 95
20+
newton_mjwarp.solver_cfg.nconmax = 10
21+
newton_mjwarp.num_substeps = 1
22+
self.sim.physics.default = newton_mjwarp
4123
# scene
4224
self.scene.terrain.terrain_type = "plane"
4325
self.scene.terrain.terrain_generator = None

‎source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/go2/flat_env_cfg.py‎

Lines changed: 6 additions & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -3,40 +3,22 @@
33
#
44
# SPDX-License-Identifier: BSD-3-Clause
55

6-
from isaaclab_newton.physics import KaminoPADMMSolverCfg, MJWarpSolverCfg, NewtonCfg
7-
8-
from isaaclab.sim import SimulationCfg
96
from isaaclab.utils.configclass import configclass
107

11-
from isaaclab_tasks.core.velocity.velocity_env_cfg import RoughPhysicsCfg
12-
138
from .rough_env_cfg import UnitreeGo2RoughEnvCfg
149

1510

16-
@configclass
17-
class PhysicsCfg(RoughPhysicsCfg):
18-
newton_mjwarp = NewtonCfg(
19-
solver_cfg=MJWarpSolverCfg(
20-
njmax=65,
21-
nconmax=35,
22-
cone="pyramidal",
23-
impratio=1.0,
24-
integrator="implicitfast",
25-
),
26-
num_substeps=1,
27-
debug_mode=False,
28-
)
29-
newton_kamino = NewtonCfg(solver_cfg=KaminoPADMMSolverCfg(max_contacts_per_world=64))
30-
default = newton_mjwarp
31-
32-
3311
@configclass
3412
class UnitreeGo2FlatEnvCfg(UnitreeGo2RoughEnvCfg):
35-
sim: SimulationCfg = SimulationCfg(physics=PhysicsCfg())
36-
3713
def __post_init__(self):
3814
super().__post_init__()
3915

16+
# physics
17+
newton_mjwarp = self.sim.physics.newton_mjwarp
18+
newton_mjwarp.solver_cfg.njmax = 65
19+
newton_mjwarp.solver_cfg.nconmax = 35
20+
newton_mjwarp.num_substeps = 1
21+
self.sim.physics.default = newton_mjwarp
4022
# scene
4123
self.scene.terrain.terrain_type = "plane"
4224
self.scene.terrain.terrain_generator = None

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