[Worflow] Make newton and rsl_rl default across core tasks

source/isaaclab_rl/changelog.d/default-newton-rsl.minor.rst

@@ -0,0 +1,6 @@
+Changed
+^^^^^^^
+
+* **Breaking:** Changed the ``train`` and ``play`` CLI commands to use a task's
+  registered default RL library when ``--rl_library`` is omitted. Pass
+  ``--rl_library`` explicitly to select a different library.

source/isaaclab_rl/isaaclab_rl/entrypoints/dispatch.py

@@ -13,6 +13,8 @@
 import sys
 from typing import TYPE_CHECKING
 
+import gymnasium as gym
+
 if TYPE_CHECKING:
     from .simple_agents import PolicyName
 
@@ -106,6 +108,8 @@ def run_cli(action: str, argv: list[str] | None = None) -> int:
     parser = argparse.ArgumentParser(add_help=False)
     parser.add_argument("--rl_library", choices=sorted(backends))
     selected, backend_argv = parser.parse_known_args(argv)
+    if selected.rl_library is None:
+        selected.rl_library = _resolve_default_library(argv, backends)
     if selected.rl_library is None:
         _print_selector_help(action, sorted(backends))
         if "-h" in argv or "--help" in argv:
@@ -116,6 +120,23 @@ def run_cli(action: str, argv: list[str] | None = None) -> int:
     return 0
 
 
+def _resolve_default_library(argv: list[str], backends: dict[str, str]) -> str | None:
+    """Return the task-registered default RL library requested by command-line arguments."""
+    parser = argparse.ArgumentParser(add_help=False)
+    parser.add_argument("--task")
+    args, _ = parser.parse_known_args(argv)
+    if args.task is None:
+        return None
+
+    import isaaclab_tasks  # noqa: F401
+
+    try:
+        default_library = gym.spec(args.task.split(":")[-1]).kwargs.get("default_agent")
+    except gym.error.Error:
+        return None
+    return default_library if default_library in backends else None
+
+
 def _print_selector_help(action: str, backends: list[str]) -> None:
     """Print help for a unified entrypoint before a backend is selected."""
     parser = argparse.ArgumentParser(description=f"{action.capitalize()} an RL agent with a selected backend.")

source/isaaclab_rl/test/test_entrypoints.py

@@ -12,6 +12,7 @@
 import sys
 import types
 
+import gymnasium as gym
 import pytest
 
 from isaaclab_rl.entrypoints import PlaybackRequest, TrainingRequest, api, dispatch
@@ -128,6 +129,32 @@ def _fake_run_backend(module_name: str, argv: list[str], *, run_as_script: bool)
     }
 
 
+def test_dispatch_uses_task_registered_default_backend(monkeypatch) -> None:
+    """A task registry default selects the backend when the CLI omits it."""
+    task_name = "Isaac-DefaultAgentDispatchTest"
+    gym.register(id=task_name, entry_point="dummy:Env", kwargs={"default_agent": "rsl_rl"})
+    monkeypatch.setitem(sys.modules, "isaaclab_tasks", types.ModuleType("isaaclab_tasks"))
+    received: dict[str, object] = {}
+    monkeypatch.setattr(
+        dispatch,
+        "_run_backend",
+        lambda module_name, argv, *, run_as_script: received.update(
+            module_name=module_name, argv=argv, run_as_script=run_as_script
+        ),
+    )
+
+    try:
+        assert dispatch.run_train_cli(["--task", task_name]) == 0
+    finally:
+        gym.registry.pop(task_name, None)
+
+    assert received == {
+        "module_name": "isaaclab_rl.entrypoints.backends.train_rsl_rl",
+        "argv": ["--task", task_name],
+        "run_as_script": False,
+    }
+
+
 def test_dispatch_fuses_option_like_kit_args(monkeypatch) -> None:
     """Space-separated option-like Kit arguments are fused before backend parsing."""
     received: dict[str, object] = {}
@@ -142,7 +169,7 @@ def test_dispatch_fuses_option_like_kit_args(monkeypatch) -> None:
 
 def test_dispatch_requires_a_backend() -> None:
     """Missing backend selection returns the conventional CLI error status."""
-    assert dispatch.run_train_cli(["--task", "Isaac-Cartpole"]) == 2
+    assert dispatch.run_train_cli([]) == 2
 
 
 def _torch_backend_state() -> tuple[bool, bool, bool, bool]:

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

@@ -0,0 +1,10 @@
+Changed
+^^^^^^^
+
+* **Breaking:** Changed the default task physics and renderer presets to Newton
+  MJWarp and the Newton renderer, and changed the default RL library to RSL-RL.
+  Select an explicit preset or pass ``--rl_library`` to retain a different
+  backend or RL library.
+* Changed the recorded robot-PoV camera used by the XR reference tasks to pin the
+  Isaac RTX renderer, since the Newton renderer cannot load the UDIM textures of
+  those robot assets. Select ``newton_renderer`` explicitly to override.

source/isaaclab_tasks/isaaclab_tasks/contrib/robot_pov_camera_cfg.py

@@ -5,6 +5,8 @@
 
 """Shared recorded robot-PoV camera configuration for contributed tasks."""
 
+from isaaclab_physx.renderers import IsaacRtxRendererCfg
+
 import isaaclab.sim as sim_utils
 from isaaclab.sensors import CameraCfg
 
@@ -19,6 +21,10 @@ def robot_pov_camera_cfg(
 ) -> CameraCfg:
     """Return a recorded robot-PoV camera under a prim that follows physical-body motion.
 
+    The camera defaults to the Isaac RTX renderer instead of the ``MultiBackendRendererCfg``
+    default: the Newton warp renderer cannot load the UDIM textures used by the humanoid
+    assets these feeds record. Select ``newton_renderer`` explicitly to override.
+
     Args:
         parent_prim_path: Path of the robot prim whose transform inherits physical-body motion.
         offset_pos: Camera position in the parent body frame.
@@ -30,7 +36,7 @@ def robot_pov_camera_cfg(
         height=450,
         width=720,
         data_types=["rgb"],
-        renderer_cfg=MultiBackendRendererCfg(),
+        renderer_cfg=MultiBackendRendererCfg(default=IsaacRtxRendererCfg()),
         spawn=sim_utils.PinholeCameraCfg(focal_length=18.15, clipping_range=(0.1, 2.0)),
         offset=CameraCfg.OffsetCfg(pos=offset_pos, rot=offset_rot, convention="ros"),
     )

source/isaaclab_tasks/isaaclab_tasks/core/cabinet/cabinet_env_cfg.py

@@ -102,7 +102,6 @@ class CabinetSimCfg(PresetCfg):
     physx: SimulationCfg = isaacsim_physx.replace(
         physics=PhysxAutoCfg(isaacsim_physx=isaacsim_physx.physics, ovphysx=ovphysx.physics)
     )
-    default: SimulationCfg = isaacsim_physx
     newton_mjwarp: SimulationCfg = SimulationCfg(
         dt=1 / 600,
         render_interval=1,
@@ -125,6 +124,7 @@ class CabinetSimCfg(PresetCfg):
         default_visualizer_cfg=VisualizerCfg(eye=(-2.0, 2.0, 2.0), lookat=(0.8, 0.0, 0.5)),
         physics=NewtonCfg(solver_cfg=KaminoSolverCfg(max_contacts_per_world=64)),
     )
+    default: SimulationCfg = newton_mjwarp
 
 
 @configclass
@@ -138,9 +138,9 @@ class CabinetDecimationCfg(PresetCfg):
     isaacsim_physx: int = 1
     ovphysx: int = isaacsim_physx
     physx: int = isaacsim_physx
-    default: int = isaacsim_physx
     newton_mjwarp: int = 10
     newton_kamino: int = 10
+    default: int = newton_mjwarp
 
 
 ##

source/isaaclab_tasks/isaaclab_tasks/core/cabinet/config/franka/__init__.py

@@ -17,6 +17,7 @@
     kwargs={
         "env_cfg_entry_point": f"{__name__}.joint_pos_env_cfg:FrankaCabinetEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CabinetPPORunnerCfg",
+        "default_agent": "rsl_rl",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_manager_ppo_cfg.yaml",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_manager_ppo_cfg.yaml",
     },
@@ -35,6 +36,7 @@
         "env_cfg_entry_point": f"{__name__}.cabinet_direct_env_cfg:FrankaCabinetDirectEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_direct_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:FrankaCabinetPPORunnerCfg",
+        "default_agent": "rsl_rl",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_direct_ppo_cfg.yaml",
     },
 )

source/isaaclab_tasks/isaaclab_tasks/core/cartpole/__init__.py

@@ -37,6 +37,7 @@
         "env_cfg_entry_point": f"{__name__}.cartpole_direct_env_cfg:CartpoleEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_direct_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CartpoleDirectPPORunnerCfg",
+        "default_agent": "rsl_rl",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_direct_ppo_cfg.yaml",
         "sb3_cfg_entry_point": f"{agents.__name__}:sb3_ppo_cfg.yaml",
     },
@@ -50,6 +51,7 @@
         "env_cfg_entry_point": f"{__name__}.cartpole_direct_camera_env_cfg:CartpoleCameraEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CartpoleCameraDirectPPORunnerCfg",
+        "default_agent": "rsl_rl",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_direct_camera_ppo_cfg.yaml",
     },
 )
@@ -66,6 +68,7 @@
         "env_cfg_entry_point": f"{__name__}.cartpole_manager_env_cfg:CartpoleEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_manager_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CartpolePPORunnerCfg",
+        "default_agent": "rsl_rl",
         "rsl_rl_with_symmetry_cfg_entry_point": (
             f"{agents.__name__}.rsl_rl_ppo_cfg:CartpolePPORunnerWithSymmetryCfg"
         ),
@@ -83,6 +86,7 @@
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
         "rl_games_feature_cfg_entry_point": f"{agents.__name__}:rl_games_manager_feature_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CartpoleCameraPPORunnerCfg",
+        "default_agent": "rsl_rl",
         "rsl_rl_feature_cfg_entry_point": (
             f"{agents.__name__}.rsl_rl_ppo_cfg:CartpoleCameraFeaturePPORunnerCfg"
         ),

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

@@ -29,7 +29,6 @@ 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,
@@ -64,6 +63,7 @@ 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

@@ -39,7 +39,6 @@ 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,
@@ -52,6 +51,7 @@ class CartpolePhysicsCfg(PresetCfg):
         debug_mode=False,
         use_cuda_graph=True,
     )
+    default: NewtonCfg = newton_mjwarp
     newton_kamino: NewtonCfg = NewtonCfg(
         solver_cfg=KaminoSolverCfg(
             integrator="moreau",

source/isaaclab_tasks/isaaclab_tasks/core/fourbar_pole/__init__.py

@@ -20,5 +20,6 @@
     kwargs={
         "env_cfg_entry_point": f"{__name__}.fourbar_pole_manager_env_cfg:FourbarPoleSwingupEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_manager_ppo_cfg:FourbarPolePPORunnerCfg",
+        "default_agent": "rsl_rl",
     },
 )

source/isaaclab_tasks/isaaclab_tasks/core/handover/__init__.py

@@ -22,6 +22,7 @@
     kwargs={
         "env_cfg_entry_point": f"{__name__}.handover_env_cfg:HandoverEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:HandoverPPORunnerCfg",
+        "default_agent": "rsl_rl",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
         "skrl_ippo_cfg_entry_point": f"{agents.__name__}:skrl_ippo_cfg.yaml",

source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka/__init__.py

@@ -20,6 +20,7 @@
     kwargs={
         "env_cfg_entry_point": f"{__name__}.franka_env_cfg:FrankaReorientEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:FrankaPPORunnerCfg",
+        "default_agent": "rsl_rl",
     },
 )
 
@@ -30,5 +31,6 @@
     kwargs={
         "env_cfg_entry_point": f"{__name__}.franka_env_cfg:FrankaLiftEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:FrankaPPORunnerCfg",
+        "default_agent": "rsl_rl",
     },
 )

source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/__init__.py

@@ -18,6 +18,7 @@
     kwargs={
         "env_cfg_entry_point": f"{__name__}.franka_soft_env_cfg:FrankaSoftEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:FrankaDeformablePPORunnerCfg",
+        "default_agent": "rsl_rl",
     },
 )
 
@@ -28,6 +29,7 @@
     kwargs={
         "env_cfg_entry_point": f"{__name__}.franka_cloth_env_cfg:FrankaClothEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:FrankaClothPPORunnerCfg",
+        "default_agent": "rsl_rl",
     },
 )
 
@@ -38,6 +40,7 @@
     kwargs={
         "env_cfg_entry_point": f"{__name__}.franka_soft_env_cfg:FrankaSoftCameraEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:FrankaDeformableCameraPPORunnerCfg",
+        "default_agent": "rsl_rl",
     },
 )
 
@@ -48,5 +51,6 @@
     kwargs={
         "env_cfg_entry_point": f"{__name__}.franka_cloth_env_cfg:FrankaClothCameraEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:FrankaDeformableCameraPPORunnerCfg",
+        "default_agent": "rsl_rl",
     },
 )

source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/__init__.py

@@ -20,6 +20,7 @@
     kwargs={
         "env_cfg_entry_point": f"{__name__}.kuka_allegro_env_cfg:KukaAllegroReorientEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:KukaAllegroPPORunnerCfg",
+        "default_agent": "rsl_rl",
     },
 )
 
@@ -30,6 +31,7 @@
     kwargs={
         "env_cfg_entry_point": f"{__name__}.kuka_allegro_env_cfg:KukaAllegroLiftEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:KukaAllegroPPORunnerCfg",
+        "default_agent": "rsl_rl",
     },
 )
 
@@ -44,6 +46,7 @@
     kwargs={
         "env_cfg_entry_point": f"{__name__}.kuka_allegro_camera_env_cfg:KukaAllegroReorientCameraEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:KukaAllegroPPORunnerCfg",
+        "default_agent": "rsl_rl",
     },
 )
 
@@ -54,5 +57,6 @@
     kwargs={
         "env_cfg_entry_point": f"{__name__}.kuka_allegro_camera_env_cfg:KukaAllegroLiftCameraEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:KukaAllegroPPORunnerCfg",
+        "default_agent": "rsl_rl",
     },
 )

source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/kuka_allegro_env_cfg.py

@@ -43,7 +43,8 @@ class KukaAllegroPhysicsCfg(lift.PhysicsCfg):
         gpu_found_lost_pairs_capacity=2**26,
     )
     physx = PhysxAutoCfg(isaacsim_physx=isaacsim_physx, ovphysx=ovphysx)
-    default = isaacsim_physx
+    newton_mjwarp = lift.PhysicsCfg().newton_mjwarp
+    default = newton_mjwarp
 
 
 @configclass

source/isaaclab_tasks/isaaclab_tasks/core/lift/lift_env_cfg.py

@@ -509,7 +509,7 @@ class PhysicsCfg(PresetCfg):
         debug_mode=False,
     )
     physx = PhysxAutoCfg(isaacsim_physx=isaacsim_physx)
-    default = isaacsim_physx
+    default = newton_mjwarp
 
 
 @configclass

source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/__init__.py

@@ -27,6 +27,7 @@
         "env_cfg_entry_point": f"{__name__}.ant_direct_env_cfg:AntEnvCfg",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_direct_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AntDirectPPORunnerCfg",
+        "default_agent": "rsl_rl",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_direct_ppo_cfg.yaml",
     },
 )
@@ -42,6 +43,7 @@
     kwargs={
         "env_cfg_entry_point": f"{__name__}.ant_manager_env_cfg:AntEnvCfg",
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AntPPORunnerCfg",
+        "default_agent": "rsl_rl",
         "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_manager_ppo_cfg.yaml",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_manager_ppo_cfg.yaml",
         "sb3_cfg_entry_point": f"{agents.__name__}:sb3_manager_ppo_cfg.yaml",

source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/ant_direct_env_cfg.py

@@ -29,7 +29,6 @@ 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,
@@ -63,6 +62,7 @@ class AntPhysicsCfg(PresetCfg):
         debug_mode=False,
         use_cuda_graph=True,
     )
+    default = newton_mjwarp
 
 
 @configclass