[Workflow] Default manipulation 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-manipulation.minor.rst

@@ -0,0 +1,5 @@
+Changed
+^^^^^^^
+
+* **Breaking:** Changed the Cabinet and Lift task families to use Newton MJWarp
+  by default. Pass an explicit physics preset to retain Isaac Sim PhysX.

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=KaminoPADMMSolverCfg(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/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/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

@@ -88,10 +88,11 @@ def test_isaacsim_physx_is_physics_selector():
 
 
 def test_registered_task_physx_presets_keep_auto_selection_explicit():
-    """PhysX defaults are concrete while ``physx`` remains the automatic selector."""
+    """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)

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/env_test_utils.py

@@ -5,6 +5,7 @@
 
 """Shared test utilities for Isaac Lab environments."""
 
+import gc
 import importlib
 import os
 import sys
@@ -76,49 +77,18 @@ def _task_tier(task_spec) -> str | None:
     return None
 
 
-def _has_physics_preset(raw_cfg, preset_name: str) -> bool:
-    """Check if a raw (unresolved) env config has a named physics preset.
-
-    Must be called with the result of :func:`load_cfg_from_registry`, not
-    :func:`parse_env_cfg`, because the latter resolves all PresetCfg wrappers
-    to their default before returning.
-
-    Args:
-        raw_cfg: Raw env config from :func:`load_cfg_from_registry`.
-        preset_name: Name of the preset to check for (e.g., 'newton_mjwarp').
-
-    Returns:
-        True if ``raw_cfg.sim.physics`` is a PresetCfg with the given preset field.
-    """
-    if isinstance(raw_cfg, dict):
-        return False
-    # If the top-level cfg is itself a PresetCfg wrapper, unwrap to its default.
-    env_cfg = raw_cfg
-    if (
-        hasattr(env_cfg, "__dataclass_fields__")
-        and hasattr(env_cfg, "default")
-        and not hasattr(type(env_cfg), "class_type")
-    ):
-        env_cfg = env_cfg.default
-    physics = getattr(getattr(env_cfg, "sim", None), "physics", None)
-    return physics is not None and hasattr(physics, preset_name)
-
-
 def setup_environment(
-    include_play: bool = False,
     factory_envs: bool | None = None,
     multi_agent: bool | None = None,
     teleop_envs: bool | None = None,
     cartpole_showcase_envs: bool | None = None,
     pickplace_stack_envs: bool | None = None,
-    newton_mjwarp_envs: bool | None = None,
     tier: str | None = None,
 ) -> list[str]:
     """
     Acquire all registered Isaac environment task IDs with optional filters.
 
     Args:
-        include_play: If True, include environments ending in 'Play-v0'.
         factory_envs:
             - True: include only Factory environments
             - False: exclude Factory environments
@@ -139,10 +109,6 @@ def setup_environment(
             - True: include only PickPlace/Stack environments
             - False: exclude PickPlace/Stack environments
             - None: include all environments regardless of pick-place/stack type
-        newton_mjwarp_envs:
-            - True: include only environments that have an MJWarp physics preset.
-            - False: exclude environments that have an MJWarp physics preset.
-            - None: include all environments regardless of MJWarp preset availability.
         tier:
             - "core": include only core environments (registered under ``isaaclab_tasks.core``).
             - "contrib": include only contributed environments (registered under ``isaaclab_tasks.contrib``).
@@ -161,10 +127,6 @@ def setup_environment(
         if "Isaac" not in task_spec.id:
             continue
 
-        # filter Play environments, if needed
-        if not include_play and task_spec.id.endswith("Play-v0"):
-            continue
-
         # apply core/contrib tier filter
         if tier is not None and _task_tier(task_spec) != tier:
             continue
@@ -211,18 +173,6 @@ def setup_environment(
                 continue
         # if None: no filter
 
-        # apply MJWarp preset filter
-        if newton_mjwarp_envs is not None:
-            # Use load_cfg_from_registry (not parse_env_cfg) so that the PresetCfg
-            # wrapper on sim.physics is not yet resolved to its default.
-            raw_cfg = load_cfg_from_registry(task_spec.id, "env_cfg_entry_point")
-            has_newton_mjwarp = _has_physics_preset(raw_cfg, "newton_mjwarp")
-            if (newton_mjwarp_envs is True and not has_newton_mjwarp) or (
-                newton_mjwarp_envs is False and has_newton_mjwarp
-            ):
-                continue
-        # if None: no filter
-
         registered_tasks.append(task_spec.id)
 
     # sort environments alphabetically
@@ -521,6 +471,11 @@ def _check_random_actions(
         if env is not None:
             env.close()
 
+        # Drop unreachable environment objects while the device is still alive. Warp arrays
+        # free device memory from a finalizer, so collect them before the simulation teardown
+        # destroys their streams.
+        gc.collect()
+
         # Clear the simulation context singleton (also closes the USD context stage)
         SimulationContext.clear_instance()