Make KaminoSolverCfgBase public

docs/source/api/lab_newton/isaaclab_newton.physics.rst

@@ -29,6 +29,7 @@
     KaminoMaterialsCfg
     KaminoPADMMCfg
     KaminoPADMMSolverCfg
+    KaminoSolverCfgBase
     MPMSolverCfg
     HydroelasticSDFCfg
 
@@ -105,6 +106,11 @@ Physics Configuration
   :show-inheritance:
   :exclude-members: __init__
 
+.. autoclass:: KaminoSolverCfgBase
+  :members:
+  :show-inheritance:
+  :exclude-members: __init__
+
 .. autoclass:: KaminoPADMMSolverCfg
   :members:
   :show-inheritance:

docs/source/overview/core-concepts/physical-backends/newton/kamino-solver.rst

@@ -180,9 +180,8 @@ Kamino Solver Parameters
 ------------------------
 
 The following fields are shared by
-:class:`~isaaclab_newton.physics.KaminoPADMMSolverCfg` and
-:class:`~isaaclab_newton.physics.KaminoDVISolverCfg`. They are grouped by the part
-of the solver they affect.
+:class:`~isaaclab_newton.physics.KaminoSolverCfgBase`. They are grouped by the part of
+the solver they affect.
 
 Core Integration
 ^^^^^^^^^^^^^^^^

source/isaaclab_contrib/changelog.d/kamino-solver-cfg-base-contrib.skip

@@ -0,0 +1,2 @@
+Internal coupler type-check update accompanying the public Kamino solver
+configuration base class.

source/isaaclab_contrib/isaaclab_contrib/coupling/coupler.py

@@ -12,8 +12,7 @@
 
 import warp as wp
 from isaaclab_newton.physics import (
-    KaminoDVISolverCfg,
-    KaminoPADMMSolverCfg,
+    KaminoSolverCfgBase,
     MJWarpSolverCfg,
     MPMSolverCfg,
     NewtonCollisionPipelineCfg,
@@ -64,7 +63,7 @@ def _requires_external_contacts(solver_cfg: NewtonSolverCfg) -> bool:
         """
         if isinstance(solver_cfg, MJWarpSolverCfg):
             return not solver_cfg.use_mujoco_contacts
-        if isinstance(solver_cfg, (KaminoPADMMSolverCfg, KaminoDVISolverCfg)):
+        if isinstance(solver_cfg, KaminoSolverCfgBase):
             return not solver_cfg.use_collision_detector
         if isinstance(solver_cfg, MPMSolverCfg):
             return False
@@ -153,7 +152,7 @@ def _validate_config(cls, solver_cfg: CouplerCfg) -> None:
                     f"CouplerEntryCfg {entry.name!r} uses {type(nested_cfg).__name__}, whose manager "
                     "does not implement nested solver construction."
                 )
-            if isinstance(nested_cfg, (KaminoPADMMSolverCfg, KaminoDVISolverCfg)):
+            if isinstance(nested_cfg, KaminoSolverCfgBase):
                 raise NotImplementedError(
                     f"CouplerEntryCfg {entry.name!r} uses a Kamino solver config, whose manager-specific FK/reset "
                     "lifecycle cannot yet be preserved inside Newton's coupled-solver entry API."

source/isaaclab_newton/changelog.d/kamino-solver-cfg-base.minor.rst

@@ -0,0 +1,5 @@
+Added
+^^^^^
+
+* Added :class:`~isaaclab_newton.physics.KaminoSolverCfgBase` as the public
+  base configuration class for Kamino solvers.

source/isaaclab_newton/isaaclab_newton/physics/__init__.pyi

@@ -15,6 +15,7 @@ __all__ = [
     "KaminoMaterialsCfg",
     "KaminoPADMMCfg",
     "KaminoPADMMSolverCfg",
+    "KaminoSolverCfgBase",
     "MPMSolverCfg",
     "MJWarpSolverCfg",
     "NewtonCfg",
@@ -43,6 +44,7 @@ from .kamino_manager_cfg import (
     KaminoMaterialsCfg,
     KaminoPADMMCfg,
     KaminoPADMMSolverCfg,
+    KaminoSolverCfgBase,
 )
 from .mjwarp_manager import NewtonMJWarpManager
 from .mjwarp_manager_cfg import MJWarpSolverCfg

source/isaaclab_newton/isaaclab_newton/physics/kamino_manager.py

@@ -15,7 +15,7 @@
 
 from isaaclab.physics import PhysicsManager
 
-from .kamino_manager_cfg import _KaminoSolverCfgBase
+from .kamino_manager_cfg import KaminoSolverCfgBase
 from .newton_manager import NewtonManager
 
 logger = logging.getLogger(__name__)
@@ -58,12 +58,12 @@ class NewtonKaminoManager(NewtonManager):
     _solver: SolverKamino
 
     @classmethod
-    def _get_kamino_solver_cfg(cls) -> _KaminoSolverCfgBase:
+    def _get_kamino_solver_cfg(cls) -> KaminoSolverCfgBase:
         cfg = PhysicsManager._cfg
         if cfg is None:
             raise RuntimeError("Physics manager is not initialized.")
         solver_cfg = getattr(cfg, "solver_cfg", None)
-        if not isinstance(solver_cfg, _KaminoSolverCfgBase):
+        if not isinstance(solver_cfg, KaminoSolverCfgBase):
             raise TypeError(f"Expected a Kamino solver configuration, got {type(solver_cfg).__name__}.")
         return solver_cfg
 
@@ -112,12 +112,12 @@ def _reset_solver_internals(cls, world_mask: wp.array | None) -> None:
         """
 
     @classmethod
-    def _create_solver(cls, model: Model, solver_cfg: _KaminoSolverCfgBase) -> SolverKamino:
+    def _create_solver(cls, model: Model, solver_cfg: KaminoSolverCfgBase) -> SolverKamino:
         """Construct the configured Kamino solver."""
         return SolverKamino(model, solver_cfg.to_solver_config())
 
     @classmethod
-    def _build_solver(cls, model: Model, solver_cfg: _KaminoSolverCfgBase) -> None:
+    def _build_solver(cls, model: Model, solver_cfg: KaminoSolverCfgBase) -> None:
         """Construct :class:`SolverKamino` and populate the base-class slots.
 
         Sets :attr:`NewtonManager._needs_collision_pipeline` to ``True`` only

source/isaaclab_newton/isaaclab_newton/physics/kamino_manager_cfg.py

@@ -223,7 +223,7 @@ class KaminoMaterialsCfg:
 
 
 @configclass
-class _KaminoSolverCfgBase(NewtonSolverCfg):
+class KaminoSolverCfgBase(NewtonSolverCfg):
     """Common configuration for Kamino solver-related parameters.
 
     Kamino simulates constrained rigid multi-body systems in maximal coordinates with
@@ -329,7 +329,9 @@ class _KaminoSolverCfgBase(NewtonSolverCfg):
 
     def _get_dynamics_solver_config(self) -> tuple[Literal["padmm", "dvi"], dict[str, Any]]:
         """Return the selected Newton solver name and its configuration keyword arguments."""
-        raise NotImplementedError
+        raise NotImplementedError(
+            f"{type(self).__name__} is a base configuration. Use KaminoPADMMSolverCfg or KaminoDVISolverCfg."
+        )
 
     def to_solver_config(self) -> SolverKamino.Config:
         """Build a :class:`SolverKamino.Config` from this configuration.
@@ -393,7 +395,7 @@ def to_solver_config(self) -> SolverKamino.Config:
 
 
 @configclass
-class KaminoPADMMSolverCfg(_KaminoSolverCfgBase):
+class KaminoPADMMSolverCfg(KaminoSolverCfgBase):
     """Configuration for Kamino with the P-ADMM forward-dynamics solver."""
 
     dynamics_solver_cfg: KaminoPADMMCfg = field(default_factory=KaminoPADMMCfg)
@@ -405,7 +407,7 @@ def _get_dynamics_solver_config(self) -> tuple[Literal["padmm"], dict[str, Any]]
 
 
 @configclass
-class KaminoDVISolverCfg(_KaminoSolverCfgBase):
+class KaminoDVISolverCfg(KaminoSolverCfgBase):
     """Configuration for Kamino with the DVI forward-dynamics solver."""
 
     dynamics_solver_cfg: KaminoDVICfg = field(default_factory=KaminoDVICfg)

source/isaaclab_newton/test/physics/test_newton_manager_abstraction.py

@@ -38,6 +38,7 @@
     KaminoDynamicsCfg,
     KaminoPADMMCfg,
     KaminoPADMMSolverCfg,
+    KaminoSolverCfgBase,
     MJWarpSolverCfg,
     MPMSolverCfg,
     NewtonCfg,
@@ -164,6 +165,15 @@ def test_newton_cfg_post_init_propagates_class_type(
     assert cfg.class_type.__name__ == expected_manager.__name__
 
 
+def test_kamino_solver_cfg_base_requires_concrete_configuration():
+    """The public Kamino base config should direct users to a concrete solver config."""
+    with pytest.raises(
+        NotImplementedError,
+        match="KaminoSolverCfgBase is a base configuration. Use KaminoPADMMSolverCfg or KaminoDVISolverCfg.",
+    ):
+        KaminoSolverCfgBase().to_solver_config()
+
+
 @pytest.mark.parametrize(
     "num_substeps, collision_decimation, should_warn",
     [
@@ -1113,7 +1123,7 @@ def test_initialize_solver_populates_canonical_state(
             # something to work with.
             body = builder.add_body(mass=1.0)
             builder.add_joint_revolute(parent=-1, child=body, axis=(0, 0, 1))
-            if isinstance(solver_cfg, (KaminoPADMMSolverCfg, KaminoDVISolverCfg)) and solver_cfg.use_collision_detector:
+            if isinstance(solver_cfg, KaminoSolverCfgBase) and solver_cfg.use_collision_detector:
                 builder.add_shape_sphere(body=body, radius=0.05)
                 builder.add_ground_plane()
         NewtonManager.set_builder(builder)