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[Workflow] Default manipulation core tasks to Newton #7065

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Merged
StafaH merged 16 commits into from
Aug 15, 2026
Merged

[Workflow] Default manipulation core tasks to Newton #7065

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29ef6d0
Consolidate environment backend smoke tests
StafaH Aug 13, 2026
ccdd67a
Default manipulation tasks to Newton
StafaH Aug 13, 2026
8195d01
Document manipulation Newton defaults
StafaH Aug 13, 2026
3ce7b3a
Collect environment objects before teardown
StafaH Aug 13, 2026
847ebce
Update preset tests for Newton defaults
StafaH Aug 13, 2026
72292f4
Revert "Update preset tests for Newton defaults"
StafaH Aug 13, 2026
ca111ab
Format environment test updates
StafaH Aug 13, 2026
237d2f3
Restrict core smoke tests to supported backends
StafaH Aug 13, 2026
5e5af54
Split environment smoke tests by backend
StafaH Aug 14, 2026
775d18a
Retain stage-in-memory test utilities
StafaH Aug 14, 2026
4cfcc66
Test OV PhysX environment presets
StafaH Aug 14, 2026
7861a11
Revert "Test OV PhysX environment presets"
StafaH Aug 14, 2026
9c56c08
Revert "Retain stage-in-memory test utilities"
StafaH Aug 14, 2026
fd0ed04
Revert "Split environment smoke tests by backend"
StafaH Aug 14, 2026
bfc7973
Merge remote-tracking branch 'origin/develop' into mh/default-newton-…
StafaH Aug 14, 2026
4437dc7
Merge remote-tracking branch 'origin/develop' into mh/default-newton-…
StafaH Aug 14, 2026
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5 changes: 5 additions & 0 deletions source/isaaclab_tasks/changelog.d/default-newton-manipulation.minor.rst
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Original file line number Diff line number Diff line change
@@ -0,0 +1,5 @@
Changed
^^^^^^^

* **Breaking:** Changed the Cabinet and Lift task families to use Newton MJWarp

@AntoineRichard AntoineRichard Aug 13, 2026

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This entry explicitly classifies the default-backend switch as breaking, but I could not find a prior deprecation for the Cabinet or Lift default behavior. Please reconcile this with the repository policy that breaking changes require a deprecation first, or clarify why this workflow-default change is exempt.

@StafaH StafaH Aug 13, 2026

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The default switch is intentional for the 3.0 release. Per the release direction, we are documenting the direct breaking migration in the changelog rather than adding a deprecation alias or transitional behavior.

by default. Pass an explicit physics preset to retain Isaac Sim PhysX.
4 changes: 2 additions & 2 deletions source/isaaclab_tasks/isaaclab_tasks/core/cabinet/cabinet_env_cfg.py
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Expand Up @@ -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,
Expand All @@ -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=KaminoPADMMSolverCfg(max_contacts_per_world=64)),
)
default: SimulationCfg = newton_mjwarp


@configclass
Expand All @@ -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


##
Expand Down
3 changes: 2 additions & 1 deletion source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/kuka_allegro_env_cfg.py
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Expand Up @@ -36,7 +36,8 @@ 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
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2 changes: 1 addition & 1 deletion source/isaaclab_tasks/isaaclab_tasks/core/lift/lift_env_cfg.py
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Expand Up @@ -510,7 +510,7 @@ class PhysicsCfg(PresetCfg):
debug_mode=False,
)
physx = PhysxAutoCfg(isaacsim_physx=isaacsim_physx)
default = isaacsim_physx
default = newton_mjwarp


@configclass
Expand Down
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