[Workflow] Default classic core tasks to Newton

.github/workflows/build.yaml

@@ -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"

source/isaaclab_tasks/changelog.d/default-newton-classic.minor.rst

@@ -0,0 +1,6 @@
+Changed
+^^^^^^^
+
+* **Breaking:** Changed the Cartpole task family and the default renderer preset
+  to Newton MJWarp and the Newton renderer. Pass explicit physics and renderer
+  presets to retain an Isaac Sim PhysX configuration.

source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_env_cfg.py

@@ -33,7 +33,6 @@ class CartpolePhysicsCfg(PresetCfg):
     isaacsim_physx: PhysxCfg = PhysxCfg()
     ovphysx: OvPhysxCfg = OvPhysxCfg()
     physx: PhysxAutoCfg = PhysxAutoCfg(isaacsim_physx=isaacsim_physx, ovphysx=ovphysx)
-    default = isaacsim_physx
     newton_mjwarp: NewtonCfg = NewtonCfg(
         solver_cfg=MJWarpSolverCfg(
             njmax=5,
@@ -51,6 +50,7 @@ class CartpolePhysicsCfg(PresetCfg):
         debug_mode=False,
         use_cuda_graph=True,
     )
+    default = newton_mjwarp
 
 
 @configclass

source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_manager_env_cfg.py

@@ -43,7 +43,6 @@ class CartpolePhysicsCfg(PresetCfg):
     isaacsim_physx: PhysxCfg = PhysxCfg()
     ovphysx: OvPhysxCfg = OvPhysxCfg()
     physx: PhysxAutoCfg = PhysxAutoCfg(isaacsim_physx=isaacsim_physx, ovphysx=ovphysx)
-    default: PhysxCfg = isaacsim_physx
     newton_mjwarp: NewtonCfg = NewtonCfg(
         solver_cfg=MJWarpSolverCfg(
             njmax=5,
@@ -56,6 +55,7 @@ class CartpolePhysicsCfg(PresetCfg):
         debug_mode=False,
         use_cuda_graph=True,
     )
+    default: NewtonCfg = newton_mjwarp
     newton_kamino: NewtonCfg = NewtonCfg(
         solver_cfg=KaminoPADMMSolverCfg(sparse_jacobian=True),
         debug_mode=False,

source/isaaclab_tasks/isaaclab_tasks/utils/presets.py

@@ -22,11 +22,11 @@ class _AutoRtxRendererCfg(RendererCfg):
 
 @configclass
 class MultiBackendRendererCfg(PresetCfg):
-    default: IsaacRtxRendererCfg = IsaacRtxRendererCfg()
+    default: NewtonWarpRendererCfg = NewtonWarpRendererCfg()
     rtx: _AutoRtxRendererCfg = _AutoRtxRendererCfg()
     newton_renderer: NewtonWarpRendererCfg = NewtonWarpRendererCfg()
     ovrtx: OVRTXRendererCfg = OVRTXRendererCfg()
-    isaacsim_rtx = default
+    isaacsim_rtx: IsaacRtxRendererCfg = IsaacRtxRendererCfg()
 
 
 def set_isaac_rtx_global_settings(renderer_cfg: Any, **settings: Any) -> None:

source/isaaclab_tasks/test/contrib/test_cartpole_showcase_environments.py

@@ -25,9 +25,7 @@
 @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=False, cartpole_showcase_envs=True
-    ),
+    setup_environment(factory_envs=False, multi_agent=False, teleop_envs=False, cartpole_showcase_envs=True),
 )
 @pytest.mark.isaacsim_ci
 def test_cartpole_showcase_environments(task_name, num_envs, device):

source/isaaclab_tasks/test/contrib/test_cartpole_showcase_environments_with_stage_in_memory.py

@@ -26,9 +26,7 @@
 @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=False, cartpole_showcase_envs=True
-    ),
+    setup_environment(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):
     # skip test if stage in memory is not supported

source/isaaclab_tasks/test/contrib/test_contrib_environments_smoke.py

@@ -42,7 +42,6 @@
 @pytest.mark.parametrize(
     "task_name",
     setup_environment(
-        include_play=False,
         multi_agent=False,
         factory_envs=False,
         cartpole_showcase_envs=False,

source/isaaclab_tasks/test/contrib/test_pickplace_stack_environments.py

@@ -36,7 +36,6 @@
 @pytest.mark.parametrize(
     "task_name",
     setup_environment(
-        include_play=False,
         factory_envs=False,
         multi_agent=False,
         teleop_envs=False,

source/isaaclab_tasks/test/contrib/test_teleop_environments.py

@@ -36,9 +36,7 @@
 
 
 @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)
-)
+@pytest.mark.parametrize("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):
     # run teleop environments without stage in memory

source/isaaclab_tasks/test/contrib/test_teleop_environments_with_stage_in_memory.py

@@ -37,9 +37,7 @@
 
 
 @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)
-)
+@pytest.mark.parametrize("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
     if get_isaac_sim_version().major < 5:

source/isaaclab_tasks/test/core/test_environments.py

@@ -22,16 +22,18 @@
 from env_test_utils import _run_environments, setup_environment  # isort: skip
 
 
+@pytest.mark.parametrize("physics_preset_name", ["newton_mjwarp", "physx", "isaacsim_physx"])
 @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
+    )

source/isaaclab_tasks/test/core/test_environments_with_stage_in_memory.py

@@ -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:
@@ -43,7 +43,6 @@
 @pytest.mark.parametrize(
     "task_name",
     setup_environment(
-        include_play=False,
         multi_agent=False,
         tier="core",
     ),

source/isaaclab_tasks/test/core/test_preset_kit_decision.py

@@ -15,6 +15,7 @@
 
 import gymnasium as gym
 import pytest
+from isaaclab_newton.physics import NewtonCfg
 from isaaclab_ov.physics import OvPhysxCfg
 from isaaclab_ov.renderers import OVRTXRendererCfg
 from isaaclab_physx.physics import PhysxCfg
@@ -87,11 +88,12 @@ def test_isaacsim_physx_is_physics_selector():
     assert "isaacsim_physx" in preset_map[PresetTarget.PHYSICS]
 
 
-def test_registered_task_physx_presets_keep_auto_selection_explicit():
-    """PhysX defaults are concrete while ``physx`` remains the automatic selector."""
+def test_core_task_physx_presets_keep_auto_selection_explicit():
+    """Core tasks retain explicit PhysX variants alongside automatic ``physx``."""
 
     for task_id, task_spec in gym.registry.items():
-        if not task_id.startswith(("Isaac-", "IsaacContrib-")) or "env_cfg_entry_point" not in task_spec.kwargs:
+        entry_point = task_spec.kwargs.get("env_cfg_entry_point", "")
+        if not task_id.startswith("Isaac-") or "isaaclab_tasks.core" not in str(entry_point):
             continue
         env_cfg = load_cfg_from_registry(task_id, "env_cfg_entry_point")
         presets = collect_presets(env_cfg)
@@ -137,24 +139,24 @@ def test_preset_mjwarp_ovrtx_does_not_need_kit():
     assert needs_kit is False
 
 
-def test_preset_rtx_with_default_physx_resolves_to_isaac_sim_backends():
-    """Automatic RTX follows the default concrete Isaac Sim PhysX backend."""
+def test_preset_rtx_with_default_newton_resolves_to_isaac_sim_backends():
+    """Explicit RTX retains the default Newton physics while requiring Isaac Sim."""
     env_cfg = _resolve_with_presets("rtx")
     config_scan = _resolve_runtime_renderer(env_cfg)
 
-    assert isinstance(env_cfg.sim.physics, PhysxCfg)
-    assert isinstance(env_cfg.tiled_camera.renderer_cfg, IsaacRtxRendererCfg)
-    assert config_scan.needs_kit is True
+    assert isinstance(env_cfg.sim.physics, NewtonCfg)
+    assert isinstance(env_cfg.tiled_camera.renderer_cfg, OVRTXRendererCfg)
+    assert config_scan.needs_kit is False
 
 
-def test_renderer_selector_rtx_with_default_physx_resolves_to_isaac_sim_backends():
-    """The RTX selector follows the default concrete Isaac Sim PhysX backend."""
+def test_renderer_selector_rtx_with_default_newton_resolves_to_isaac_sim_backends():
+    """The RTX selector retains the default Newton physics while requiring Isaac Sim."""
     env_cfg = _resolve_with_args("renderer=rtx")
     config_scan = _resolve_runtime_renderer(env_cfg)
 
-    assert isinstance(env_cfg.sim.physics, PhysxCfg)
-    assert isinstance(env_cfg.tiled_camera.renderer_cfg, IsaacRtxRendererCfg)
-    assert config_scan.needs_kit is True
+    assert isinstance(env_cfg.sim.physics, NewtonCfg)
+    assert isinstance(env_cfg.tiled_camera.renderer_cfg, OVRTXRendererCfg)
+    assert config_scan.needs_kit is False
 
 
 def test_renderer_selector_physx_rtx_resolves_to_ovphysx_without_kit():
@@ -227,20 +229,20 @@ def test_preset_mjwarp_newton_renderer_does_not_need_kit():
     assert needs_kit is False
 
 
-def test_preset_physx_with_default_kit_camera_resolves_to_physx():
-    """Automatic PhysX resolves to Isaac Sim PhysX when the default camera requires Kit."""
+def test_preset_physx_with_default_newton_camera_resolves_to_ovphysx():
+    """Automatic PhysX resolves to OvPhysX when the default camera is kitless."""
     env_cfg = _resolve_with_presets("physx")
     config_scan = scan(env_cfg)
 
-    assert isinstance(env_cfg.sim.physics, PhysxCfg)
-    assert config_scan.needs_kit is True
+    assert isinstance(env_cfg.sim.physics, OvPhysxCfg)
+    assert config_scan.needs_kit is False
 
 
-def test_preset_default_needs_kit():
-    """Default concrete Isaac Sim PhysX plus Isaac RTX requires Kit."""
+def test_preset_default_is_kitless():
+    """Default Newton MJWarp plus Newton renderer does not require Kit."""
     env_cfg = _resolve_with_presets("default")
     needs_kit = scan(env_cfg).needs_kit
-    assert needs_kit is True
+    assert needs_kit is False
 
 
 def test_preset_mjwarp_isaac_rtx_needs_kit():

source/isaaclab_tasks/test/core/test_record_video.py

@@ -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

source/isaaclab_tasks/test/core/test_runtime_compatibility.py

@@ -18,6 +18,7 @@
 import sys
 
 import pytest
+from isaaclab_newton.physics import NewtonCfg
 from isaaclab_ov.physics import OvPhysxCfg
 from isaaclab_ov.renderers import OVRTXRendererCfg
 from isaaclab_physx.physics import PhysxCfg
@@ -226,13 +227,14 @@ def test_newton_plus_ovrtx_is_valid():
     validate_runtime_compatibility(env_cfg)
 
 
-def test_default_isaacsim_physx_plus_ovrtx_raises():
-    """The concrete default Isaac Sim PhysX backend is incompatible with OVRTX."""
+def test_default_newton_plus_ovrtx_is_valid():
+    """The default Newton backend is compatible with OVRTX."""
     env_cfg = _resolve_with_presets("ovrtx")
 
-    assert isinstance(env_cfg.sim.physics, PhysxCfg)
-    with pytest.raises(ValueError, match="PhysxCfg"):
-        validate_runtime_compatibility(env_cfg)
+    assert isinstance(env_cfg.sim.physics, NewtonCfg)
+    config_scan = validate_runtime_compatibility(env_cfg)
+    assert isinstance(env_cfg.tiled_camera.renderer_cfg, OVRTXRendererCfg)
+    assert config_scan.needs_kit is False
 
 
 def test_explicit_auto_physx_plus_ovrtx_resolves_to_ovphysx():
@@ -302,14 +304,14 @@ def test_default_preset_is_valid():
     validate_runtime_compatibility(env_cfg)
 
 
-def test_rtx_with_default_physx_is_valid_and_resolves_to_isaac_sim_backends():
-    """The RTX selector follows the default concrete Isaac Sim PhysX backend."""
+def test_rtx_with_default_newton_is_valid_and_resolves_to_isaac_sim_backends():
+    """The RTX selector retains default Newton physics and requires Isaac Sim."""
     env_cfg = _resolve_with_presets("rtx")
     config_scan = validate_runtime_compatibility(env_cfg)
 
-    assert isinstance(env_cfg.sim.physics, PhysxCfg)
-    assert isinstance(env_cfg.tiled_camera.renderer_cfg, IsaacRtxRendererCfg)
-    assert config_scan.needs_kit is True
+    assert isinstance(env_cfg.sim.physics, NewtonCfg)
+    assert isinstance(env_cfg.tiled_camera.renderer_cfg, OVRTXRendererCfg)
+    assert config_scan.needs_kit is False
 
 
 def test_renderer_selector_physx_rtx_is_valid_and_resolves_to_ovphysx_and_ovrtx():