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Merged
StafaH merged 20 commits into from
Aug 15, 2026
Merged

[Workflow] Default locomotion core tasks to Newton #7064

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2966a2c
Consolidate environment backend smoke tests
StafaH Aug 13, 2026
2e9784c
Default locomotion tasks to Newton
StafaH Aug 13, 2026
512b4e1
Document locomotion Newton defaults
StafaH Aug 13, 2026
2cc4162
Collect environment objects before teardown
StafaH Aug 13, 2026
deae63c
Update preset tests for Newton defaults
StafaH Aug 13, 2026
7542e30
Revert "Update preset tests for Newton defaults"
StafaH Aug 13, 2026
9b4b02b
Format environment test updates
StafaH Aug 13, 2026
b880165
Pin determinism tests to Isaac Sim PhysX
StafaH Aug 13, 2026
69da8d4
Release environments before simulation teardown
StafaH Aug 13, 2026
52e373f
Select supported backends in core smoke tests
StafaH Aug 13, 2026
27e400d
Stabilize AnymalD Newton visualizer golden
StafaH Aug 13, 2026
ed946fa
Split environment smoke tests by backend
StafaH Aug 14, 2026
389f780
Retain stage-in-memory test utilities
StafaH Aug 14, 2026
16f2227
Test OV PhysX environment presets
StafaH Aug 14, 2026
a9c6445
Revert "Test OV PhysX environment presets"
StafaH Aug 14, 2026
4af6268
Revert "Retain stage-in-memory test utilities"
StafaH Aug 14, 2026
7e2e468
Revert "Split environment smoke tests by backend"
StafaH Aug 14, 2026
32fc50d
Merge remote-tracking branch 'origin/develop' into mh/default-newton-…
StafaH Aug 14, 2026
7c503f2
Merge remote-tracking branch 'origin/develop' into mh/default-newton-…
StafaH Aug 14, 2026
63c27bb
Fix locomotion determinism test backend
StafaH Aug 14, 2026
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3 changes: 1 addition & 2 deletions .github/workflows/build.yaml
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Expand Up @@ -966,8 +966,7 @@ jobs:
# (dexterous, many contacts). Deformable/MPM kernels are not covered;
# widen if a test job reports large cache growth.
include-files: >-
test_environments.py,
test_environments_newton.py
test_environments.py
# No Soft/Cloth: the deformable envs depend on optional extras the CI
# image does not install (Soft needs pytetwild), so they only ever fail.
test-k-expr: "Cartpole or Drawer or AnymalD or Handover"
Expand Down
5 changes: 5 additions & 0 deletions source/isaaclab_tasks/changelog.d/default-newton-locomotion.minor.rst
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@@ -0,0 +1,5 @@
Changed
^^^^^^^

* **Breaking:** Changed the Ant, Humanoid, and Velocity task families to use
Newton MJWarp by default. Pass an explicit physics preset to retain Isaac Sim PhysX.
2 changes: 1 addition & 1 deletion source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/ant_direct_env_cfg.py
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Expand Up @@ -33,7 +33,6 @@ class AntPhysicsCfg(PresetCfg):
isaacsim_physx: PhysxCfg = PhysxCfg(bounce_threshold_velocity=0.2)
ovphysx: OvPhysxCfg = OvPhysxCfg()
physx: PhysxAutoCfg = PhysxAutoCfg(isaacsim_physx=isaacsim_physx, ovphysx=ovphysx)
default = isaacsim_physx
newton_mjwarp: NewtonCfg = NewtonCfg(
solver_cfg=MJWarpSolverCfg(
njmax=45,
Expand All @@ -50,6 +49,7 @@ class AntPhysicsCfg(PresetCfg):
debug_mode=False,
use_cuda_graph=True,
)
default = newton_mjwarp


@configclass
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4 changes: 2 additions & 2 deletions source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/ant_manager_env_cfg.py
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Expand Up @@ -37,7 +37,6 @@ class AntPhysicsCfg(PresetCfg):
isaacsim_physx: PhysxCfg = PhysxCfg(bounce_threshold_velocity=0.2)
ovphysx: OvPhysxCfg = OvPhysxCfg()
physx: PhysxAutoCfg = PhysxAutoCfg(isaacsim_physx=isaacsim_physx, ovphysx=ovphysx)
default: PhysxCfg = isaacsim_physx
newton_mjwarp: NewtonCfg = NewtonCfg(
solver_cfg=MJWarpSolverCfg(
njmax=45,
Expand All @@ -54,6 +53,7 @@ class AntPhysicsCfg(PresetCfg):
debug_mode=False,
use_cuda_graph=True,
)
default: NewtonCfg = newton_mjwarp


@configclass
Expand Down Expand Up @@ -143,8 +143,8 @@ def __post_init__(self):
class AntObservationsCfg(PresetCfg):
physx: ObservationsCfg = ObservationsCfg()
isaacsim_physx: ObservationsCfg = physx
default: ObservationsCfg = isaacsim_physx
newton_mjwarp: ObservationsCfg = ObservationsCfg()
default: ObservationsCfg = newton_mjwarp


@configclass
Expand Down
2 changes: 1 addition & 1 deletion source/isaaclab_tasks/isaaclab_tasks/core/locomotion/humanoid/humanoid_direct_env_cfg.py
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Expand Up @@ -29,7 +29,6 @@ class HumanoidPhysicsCfg(PresetCfg):
isaacsim_physx: PhysxCfg = PhysxCfg(bounce_threshold_velocity=0.2)
ovphysx: OvPhysxCfg = OvPhysxCfg()
physx: PhysxAutoCfg = PhysxAutoCfg(isaacsim_physx=isaacsim_physx, ovphysx=ovphysx)
default = isaacsim_physx
newton_mjwarp: NewtonCfg = NewtonCfg(
solver_cfg=MJWarpSolverCfg(
njmax=80,
Expand All @@ -42,6 +41,7 @@ class HumanoidPhysicsCfg(PresetCfg):
num_substeps=2,
debug_mode=False,
)
default = newton_mjwarp


@configclass
Expand Down
4 changes: 2 additions & 2 deletions source/isaaclab_tasks/isaaclab_tasks/core/locomotion/humanoid/humanoid_manager_env_cfg.py
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Expand Up @@ -49,7 +49,6 @@ class HumanoidPhysicsCfg(PresetCfg):
isaacsim_physx: PhysxCfg = PhysxCfg(bounce_threshold_velocity=0.2)
ovphysx: OvPhysxCfg = OvPhysxCfg()
physx: PhysxAutoCfg = PhysxAutoCfg(isaacsim_physx=isaacsim_physx, ovphysx=ovphysx)
default: PhysxCfg = isaacsim_physx
newton_mjwarp: NewtonCfg = NewtonCfg(
solver_cfg=MJWarpSolverCfg(
njmax=80,
Expand All @@ -62,6 +61,7 @@ class HumanoidPhysicsCfg(PresetCfg):
num_substeps=2,
debug_mode=False,
)
default: NewtonCfg = newton_mjwarp


##
Expand Down Expand Up @@ -147,8 +147,8 @@ def __post_init__(self):
class HumanoidObservationsCfg(PresetCfg):
physx: ObservationsCfg = ObservationsCfg()
isaacsim_physx: ObservationsCfg = physx
default: ObservationsCfg = isaacsim_physx
newton_mjwarp: ObservationsCfg = ObservationsCfg()
default: ObservationsCfg = newton_mjwarp


@configclass
Expand Down
2 changes: 1 addition & 1 deletion source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/flat_env_cfg.py
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Expand Up @@ -32,7 +32,7 @@ class PhysicsCfg(PresetCfg):
debug_mode=False,
)
newton_kamino = NewtonCfg(solver_cfg=KaminoPADMMSolverCfg(max_contacts_per_world=64))
default = isaacsim_physx
default = newton_mjwarp


@configclass
Expand Down
2 changes: 1 addition & 1 deletion source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/cassie/flat_env_cfg.py
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Expand Up @@ -33,7 +33,7 @@ class PhysicsCfg(PresetCfg):
debug_mode=False,
)
newton_kamino = NewtonCfg(solver_cfg=KaminoPADMMSolverCfg(max_contacts_per_world=64))
default = isaacsim_physx
default = newton_mjwarp


@configclass
Expand Down
2 changes: 1 addition & 1 deletion source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/g1/flat_env_cfg.py
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Expand Up @@ -34,7 +34,7 @@ class PhysicsCfg(PresetCfg):
debug_mode=False,
)
newton_kamino = NewtonCfg(solver_cfg=KaminoPADMMSolverCfg(max_contacts_per_world=64))
default = isaacsim_physx
default = newton_mjwarp


@configclass
Expand Down
2 changes: 1 addition & 1 deletion source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/go2/flat_env_cfg.py
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Expand Up @@ -33,7 +33,7 @@ class PhysicsCfg(PresetCfg):
debug_mode=False,
)
newton_kamino = NewtonCfg(solver_cfg=KaminoPADMMSolverCfg(max_contacts_per_world=64))
default = isaacsim_physx
default = newton_mjwarp


@configclass
Expand Down
2 changes: 1 addition & 1 deletion source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/h1/flat_env_cfg.py
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Expand Up @@ -33,7 +33,7 @@ class PhysicsCfg(PresetCfg):
debug_mode=False,
)
newton_kamino = NewtonCfg(solver_cfg=KaminoPADMMSolverCfg(max_contacts_per_world=64))
default = isaacsim_physx
default = newton_mjwarp


@configclass
Expand Down
2 changes: 1 addition & 1 deletion source/isaaclab_tasks/isaaclab_tasks/core/velocity/velocity_env_cfg.py
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Expand Up @@ -64,7 +64,7 @@ class RoughPhysicsCfg(PresetCfg):
debug_mode=False,
default_shape_cfg=NewtonShapeCfg(margin=0.0, ke=160000.0, kd=1100.0),
)
default = isaacsim_physx
default = newton_mjwarp


##
Expand Down
2 changes: 1 addition & 1 deletion source/isaaclab_tasks/test/contrib/test_cartpole_showcase_environments.py
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Expand Up @@ -26,7 +26,7 @@
@pytest.mark.parametrize(
"task_name",
setup_environment(
include_play=False, factory_envs=False, multi_agent=False, teleop_envs=False, cartpole_showcase_envs=True
factory_envs=False, multi_agent=False, teleop_envs=False, cartpole_showcase_envs=True
),
)
@pytest.mark.isaacsim_ci
Expand Down
2 changes: 1 addition & 1 deletion ...e/isaaclab_tasks/test/contrib/test_cartpole_showcase_environments_with_stage_in_memory.py
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Expand Up @@ -27,7 +27,7 @@
@pytest.mark.parametrize(
"task_name",
setup_environment(
include_play=False, factory_envs=False, multi_agent=False, teleop_envs=False, cartpole_showcase_envs=True
factory_envs=False, multi_agent=False, teleop_envs=False, cartpole_showcase_envs=True
),
)
def test_cartpole_showcase_environments_with_stage_in_memory_and_clone_in_fabric_disabled(task_name, num_envs, device):
Expand Down
1 change: 0 additions & 1 deletion source/isaaclab_tasks/test/contrib/test_contrib_environments_smoke.py
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Expand Up @@ -42,7 +42,6 @@
@pytest.mark.parametrize(
"task_name",
setup_environment(
include_play=False,
multi_agent=False,
factory_envs=False,
cartpole_showcase_envs=False,
Expand Down
1 change: 0 additions & 1 deletion source/isaaclab_tasks/test/contrib/test_pickplace_stack_environments.py
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Expand Up @@ -36,7 +36,6 @@
@pytest.mark.parametrize(
"task_name",
setup_environment(
include_play=False,
factory_envs=False,
multi_agent=False,
teleop_envs=False,
Expand Down
2 changes: 1 addition & 1 deletion source/isaaclab_tasks/test/contrib/test_teleop_environments.py
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Expand Up @@ -37,7 +37,7 @@

@pytest.mark.parametrize("num_envs, device", [(2, "cuda"), (1, "cuda")])
@pytest.mark.parametrize(
"task_name", setup_environment(include_play=False, factory_envs=False, multi_agent=False, teleop_envs=True)
"task_name", setup_environment(factory_envs=False, multi_agent=False, teleop_envs=True)
)
@pytest.mark.isaacsim_ci
def test_teleop_environments(task_name, num_envs, device):
Expand Down
2 changes: 1 addition & 1 deletion source/isaaclab_tasks/test/contrib/test_teleop_environments_with_stage_in_memory.py
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Expand Up @@ -38,7 +38,7 @@

@pytest.mark.parametrize("num_envs, device", [(2, "cuda")])
@pytest.mark.parametrize(
"task_name", setup_environment(include_play=False, factory_envs=False, multi_agent=False, teleop_envs=True)
"task_name", setup_environment(factory_envs=False, multi_agent=False, teleop_envs=True)
)
def test_teleop_environments_with_stage_in_memory_and_clone_in_fabric_disabled(task_name, num_envs, device):
# skip test if stage in memory is not supported
Expand Down
8 changes: 5 additions & 3 deletions source/isaaclab_tasks/test/core/test_environments.py
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Expand Up @@ -21,17 +21,19 @@
# 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"])

@greptile-apps greptile-apps Bot Aug 13, 2026

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P2 Matrix silently uses default backend

The matrix applies every backend name to every core task without checking that the preset exists. For tasks such as Fourbar Pole, which only exposes newton_kamino, the newton_mjwarp, physx, and isaacsim_physx cases silently fall back to Kamino, so passing tests report backend coverage they did not exercise.

Knowledge Base Used: isaaclab_tasks: Task Registration and Organization

@StafaH StafaH Aug 13, 2026

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Fixed in 52e373f: the smoke matrix now derives only task/backend pairs whose raw config declares the requested PhysicsCfg preset, so unsupported Fourbar combinations are omitted rather than falling back.


@pytest.mark.parametrize("num_envs, device", [(2, "cuda"), (1, "cuda")])
@pytest.mark.parametrize(
"task_name",
setup_environment(
include_play=False,
multi_agent=False,
tier="core",
),
)
@pytest.mark.isaacsim_ci
def test_environments(task_name, num_envs, device):
def test_environments(task_name, physics_preset_name, num_envs, device):
# run environments without stage in memory
_run_environments(task_name, device, num_envs, create_stage_in_memory=False)
_run_environments(
task_name, device, num_envs, create_stage_in_memory=False, physics_preset_name=physics_preset_name
)
38 changes: 0 additions & 38 deletions source/isaaclab_tasks/test/core/test_environments_newton.py
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This file was deleted.

3 changes: 1 addition & 2 deletions source/isaaclab_tasks/test/core/test_environments_with_stage_in_memory.py
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Expand Up @@ -29,7 +29,7 @@

# TODO(mtrepte): re-enable with fabric cloning fix
# @pytest.mark.parametrize("num_envs, device", [(2, "cuda")])
# @pytest.mark.parametrize("task_name", setup_environment(include_play=False,factory_envs=False, multi_agent=False))
# @pytest.mark.parametrize("task_name", setup_environment(factory_envs=False, multi_agent=False))
# def test_environments_with_stage_in_memory_and_clone_in_fabric_disabled(task_name, num_envs, device):
# # skip test if stage in memory is not supported
# if get_isaac_sim_version().major < 5:
Expand All @@ -43,7 +43,6 @@
@pytest.mark.parametrize(
"task_name",
setup_environment(
include_play=False,
multi_agent=False,
tier="core",
),
Expand Down
2 changes: 1 addition & 1 deletion source/isaaclab_tasks/test/core/test_record_video.py
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Expand Up @@ -41,7 +41,7 @@ def setup_video_params():
return num_envs, device, video_length


@pytest.mark.parametrize("task_name", setup_environment(include_play=True, tier="core"))
@pytest.mark.parametrize("task_name", setup_environment(tier="core"))
def test_record_video(task_name, setup_video_params):
"""Run random actions agent with internal VideoRecorder capturing from the active visualizer."""
num_envs, device, video_length = setup_video_params
Expand Down
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