Remove post-Hydra preset resolution (isaac-sim#7303)

## Summary

- make resolve_task_config and parse_env_cfg the task configuration
composition boundary, with explicit programmatic overrides
- remove late preset fallback handling from environments, simulation,
launch scanning, camera validation, benchmarks, and RL summaries
- require runtime consumers to receive concrete physics, renderer, and
camera configurations
- route scripts, tools, integrations, and relevant tests through
registered task composition

This is a separate follow-up to isaac-sim#7301; it does not mix the earlier
preset ownership cleanup into this PR.

## Validation

- 129 Hydra and Shadow Hand camera tests passed
- 31 benchmark capture and RL entrypoint tests passed
- 23 experimental frontend tests passed, 1 skipped
- 5 custom-coupling tests passed
- representative composition audit confirmed six task trees contain no
remaining PresetCfg nodes
- Python compile checks passed for all changed runtime and script paths
- ruff and ruff-format passed

The full format command passes every hook except the changelog
comparison, which uses the stale local origin/develop ref and flags six
pre-existing upstream fragments that this branch does not modify. This
PR includes all required package fragments.

(cherry picked from commit 393fc37)

Author: ooctipus

scripts/benchmarks/benchmark_cameras.py

@@ -271,7 +271,7 @@
 )
 from isaaclab.utils.math import orthogonalize_perspective_depth, unproject_depth
 
-from isaaclab_tasks.utils import load_cfg_from_registry
+from isaaclab_tasks.utils import parse_env_cfg
 
 """
 Camera Creation
@@ -527,9 +527,7 @@ def inject_cameras_into_task(
     num_cameras_per_env: int = 1,
 ) -> gym.Env:
     """Loads the task, sticks cameras into the config, and creates the environment."""
-    cfg = load_cfg_from_registry(task, "env_cfg_entry_point")
-    cfg.sim.device = args_cli.device
-    cfg.sim.use_fabric = args_cli.use_fabric
+    cfg = parse_env_cfg(task, device=args_cli.device, use_fabric=args_cli.use_fabric)
     scene_cfg = cfg.scene
 
     num_envs = int(num_cams / num_cameras_per_env)

scripts/demos/h1_locomotion.py

@@ -65,8 +65,7 @@
     get_published_pretrained_checkpoint,
 )
 
-from isaaclab_tasks.core.velocity.config.h1.rough_env_cfg import H1RoughEnvCfg
-from isaaclab_tasks.utils import resolve_presets
+from isaaclab_tasks.utils import resolve_task_config
 
 TASK = "Isaac-Velocity-Rough-H1"
 RL_LIBRARY = "rsl_rl"
@@ -93,8 +92,7 @@ def __init__(self):
         agent_cfg: RslRlOnPolicyRunnerCfg = cli_args.parse_rsl_rl_cfg(TASK, args_cli)
         agent_cfg = handle_deprecated_rsl_rl_cfg(agent_cfg, metadata.version("rsl-rl-lib"))
         # create envionrment
-        env_cfg = resolve_presets(H1RoughEnvCfg(), selected=(args_cli.physics,))
-        env_cfg.play_mode()
+        env_cfg, _ = resolve_task_config(TASK, "", play_mode=True, overrides=(f"physics={args_cli.physics}",))
         env_cfg.scene.num_envs = 25
         env_cfg.episode_length_s = 1000000
         env_cfg.curriculum = None

scripts/demos/heterogeneous_scene.py

@@ -57,8 +57,7 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.scene import add as scene_add
 
-from isaaclab_tasks.utils.hydra import resolve_presets
-from isaaclab_tasks.utils.parse_cfg import load_cfg_from_registry
+from isaaclab_tasks.utils import resolve_task_config
 
 # Tasks composed by default. The selection criterion is simple: every listed
 # scene is a PhysX task whose floor is a single flat plane at height zero, so
@@ -103,8 +102,7 @@ def _load_task_scenes() -> tuple[list[str], list[InteractiveSceneCfg]]:
         raise ValueError("Select at least two task scenes.")
     scene_cfgs = []
     for task_id in task_ids:
-        # resolve preset placeholders (e.g. object-set choices) to their defaults
-        env_cfg = resolve_presets(load_cfg_from_registry(task_id, "env_cfg_entry_point"))
+        env_cfg, _ = resolve_task_config(task_id, "", overrides=hydra_args)
         scene_cfgs.append(env_cfg.scene)
     return task_ids, scene_cfgs
 

scripts/tutorials/03_envs/policy_inference_in_usd.py

@@ -45,7 +45,7 @@
 from isaaclab.terrains import TerrainImporterCfg
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, read_file
 
-from isaaclab_tasks.core.velocity.config.h1.rough_env_cfg import H1RoughEnvCfg
+from isaaclab_tasks.utils import parse_env_cfg
 
 
 def main():
@@ -56,16 +56,14 @@ def main():
     policy = torch.jit.load(file, map_location=args_cli.device)
 
     # setup environment
-    env_cfg = H1RoughEnvCfg()
+    env_cfg = parse_env_cfg("Isaac-Velocity-Rough-H1", device=args_cli.device, num_envs=1)
     env_cfg.play_mode()
-    env_cfg.scene.num_envs = 1
     env_cfg.curriculum = None
     env_cfg.scene.terrain = TerrainImporterCfg(
         prim_path="/World/ground",
         terrain_type="usd",
         usd_path=f"{ISAAC_NUCLEUS_DIR}/Environments/Simple_Warehouse/warehouse.usd",
     )
-    env_cfg.sim.device = args_cli.device
     if args_cli.device == "cpu":
         env_cfg.sim.use_fabric = False
 

scripts/tutorials/03_envs/run_cartpole_rl_env.py

@@ -39,15 +39,13 @@
 
 from isaaclab.envs import ManagerBasedRLEnv
 
-from isaaclab_tasks.core.cartpole.cartpole_manager_env_cfg import CartpoleEnvCfg
+from isaaclab_tasks.utils import parse_env_cfg
 
 
 def main():
     """Main function."""
     # create environment configuration
-    env_cfg = CartpoleEnvCfg()
-    env_cfg.scene.num_envs = args_cli.num_envs
-    env_cfg.sim.device = args_cli.device
+    env_cfg = parse_env_cfg("Isaac-Cartpole", device=args_cli.device, num_envs=args_cli.num_envs)
     # setup RL environment
     env = ManagerBasedRLEnv(cfg=env_cfg)
 

scripts/tutorials/07_visualizers/run_video_recording.py

@@ -56,7 +56,7 @@
 from isaaclab.app import add_launcher_args, launch_simulation
 from isaaclab.envs.utils.video_recorder_cfg import VideoRecorderCfg
 
-from isaaclab_tasks.utils import setup_preset_cli
+from isaaclab_tasks.utils import resolve_task_config, setup_preset_cli
 
 # ---------------------------------------------------------------------------
 # Constants
@@ -87,11 +87,7 @@ def _output_dir(example: int) -> str:
 
 def _shadow_env_cfg(num_envs: int, env_spacing: float = _SHADOW_ENV_SPACING):
     """Build a base Shadow Hand camera env cfg shared by all examples."""
-    from isaaclab_tasks.core.reorient.config.shadow_hand.shadow_hand_direct_camera_env_cfg import ShadowHandCameraEnvCfg
-
-    env_cfg = ShadowHandCameraEnvCfg()
-    env_cfg.tiled_camera = env_cfg.tiled_camera.rgb
-    env_cfg.tiled_camera.renderer_cfg = env_cfg.tiled_camera.renderer_cfg.default
+    env_cfg, _ = resolve_task_config(_TASK_SHADOW, "", overrides=(*sys.argv[1:], "env.tiled_camera=rgb"))
     env_cfg.tiled_camera.height = 256
     env_cfg.tiled_camera.width = 256
     env_cfg.scene.num_envs = num_envs
@@ -109,8 +105,6 @@ def _build_env_cfg_example_1(num_envs: int):
     from isaaclab_visualizers.kit import KitVisualizerCfg
 
     env_cfg = _shadow_env_cfg(num_envs)
-    env_cfg.sim.physics = env_cfg.sim.physics.default
-
     env_cfg.sim.visualizer_cfgs = [KitVisualizerCfg(eye=_SHADOW_EYE, lookat=_SHADOW_LOOKAT)]
 
     out = _output_dir(1)
@@ -130,7 +124,6 @@ def _build_env_cfg_example_1(num_envs: int):
 def _build_env_cfg_example_2(num_envs: int):
     """Shadow Hand + headless: scene tiled-camera sensor clip only."""
     env_cfg = _shadow_env_cfg(num_envs, env_spacing=2.0)
-    env_cfg.sim.physics = env_cfg.sim.physics.default
     env_cfg.sim.visualizer_cfgs = []  # no interactive visualizer
 
     out = _output_dir(2)
@@ -158,8 +151,6 @@ def _build_env_cfg_example_3(num_envs: int):
     from isaaclab_visualizers.newton import NewtonGLVisualizerCfg
 
     env_cfg = _shadow_env_cfg(num_envs)
-    env_cfg.sim.physics = env_cfg.sim.physics.default
-
     kit_cfg = KitVisualizerCfg(
         eye=_SHADOW_EYE,
         lookat=_SHADOW_LOOKAT,

source/isaaclab/changelog.d/remove-post-hydra-preset-resolution.major.rst

@@ -0,0 +1,10 @@
+Removed
+^^^^^^^
+
+* **Breaking:** Removed late task-preset resolution from environment construction and the
+  :func:`isaaclab.utils.resolve_cfg_presets` helper. Compose registered tasks with
+  :func:`isaaclab_tasks.utils.resolve_task_config` or :func:`isaaclab_tasks.utils.parse_env_cfg`
+  before constructing an environment.
+* **Breaking:** Replaced ``run_config_from_presets`` with ``run_config_from_env_cfg`` in benchmark
+  capture. Pass the concrete composed environment configuration instead of inferring backends from
+  selector strings.

source/isaaclab/isaaclab/app/sim_launcher.py

@@ -114,14 +114,11 @@ def _is_kit_camera(node) -> bool:
         # ``auto_rtx`` is resolved after the initial scan once physics and
         # visualizer intent are known; ie. it may become OVRTX for a kitless run.
         return False
-    if isinstance(renderer_cfg, RendererCfg):
-        return renderer_cfg.renderer_type in ("default", "isaac_rtx")
-    # PresetCfg renderers (e.g. MultiBackendRendererCfg) are resolved during
-    # environment construction once the physics backend is known; assume they
-    # match the backend, so not necessarily Kit.
-    from isaaclab_tasks.utils import PresetCfg
-
-    return not isinstance(renderer_cfg, PresetCfg)
+    if not isinstance(renderer_cfg, RendererCfg):
+        raise TypeError(
+            f"CameraCfg.renderer_cfg must be a concrete RendererCfg or None, got {type(renderer_cfg).__name__}."
+        )
+    return renderer_cfg.renderer_type in ("default", "isaac_rtx")
 
 
 """
@@ -218,7 +215,7 @@ class Scan:
     """Signals gathered from one walk of the config tree (see :func:`scan`).
 
     Every field starts as a plain snapshot computed during that single walk.
-    Automatic PhysX preset selections and RTX placeholders are also recorded so
+    Automatic PhysX configurations and RTX placeholders are also recorded so
     launch-time resolution can update the physics- and renderer-related fields
     without traversing the config tree again. ``needs_kit`` is the headline launch
     decision after automatic selections are resolved: a Kit-renderer camera or Isaac
@@ -424,11 +421,11 @@ def _validate_runtime(scan: Scan, kit_sources: tuple[str, ...]) -> None:
             "\n"
             "To fix this, pick one of the following supported combinations:\n"
             "  * Keep OvPhysX physics and switch to a kitless renderer/visualizer:\n"
-            "      presets=ovphysx,ovrtx\n"
+            "      use `OvPhysxCfg` with `OVRTXRendererCfg`\n"
             "    (and use `--visualizer newton`, `--visualizer rerun`, or `--visualizer viser`, or omit\n"
             "    the visualizer argument for headless execution.)\n"
             "  * Keep Isaac Sim / Kit and switch to a Kit-compatible physics backend:\n"
-            "      presets=isaacsim_physx,isaacsim_rtx\n"
+            "      use `PhysxCfg` with `IsaacRtxRendererCfg`\n"
         )
 
     if not scan.has_ovrtx or not kit_sources:
@@ -441,11 +438,10 @@ def _validate_runtime(scan: Scan, kit_sources: tuple[str, ...]) -> None:
         "\n"
         "To fix this, pick one of the following supported combinations:\n"
         "  * Keep Isaac Sim / Kit and switch the renderer:\n"
-        "      presets=isaacsim_rtx\n"
-        "    (uses `IsaacRtxRendererCfg`, the Kit-compatible renderer.)\n"
+        "      use `IsaacRtxRendererCfg`, the Kit-compatible renderer\n"
         "  * Keep the OVRTX renderer and switch to a kitless physics backend\n"
         "    (and avoid `--visualizer kit`):\n"
-        "      presets=newton_mjwarp,ovrtx\n"
+        "      use `NewtonCfg` or `OvPhysxCfg` with `OVRTXRendererCfg`\n"
     )