[Newton] Declare physics presets for warp-only experimental envs

source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/direct/allegro_hand/allegro_hand_warp_env_cfg.py

@@ -16,9 +16,32 @@
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 from isaaclab.utils.configclass import configclass
 
+from isaaclab_tasks.utils import PresetCfg
+
 from isaaclab_assets.robots.allegro import ALLEGRO_HAND_CFG
 
 
+@configclass
+class PhysicsCfg(PresetCfg):
+    newton_mjwarp = NewtonCfg(
+        solver_cfg=MJWarpSolverCfg(
+            solver="newton",
+            integrator="implicitfast",
+            njmax=80,
+            nconmax=70,
+            impratio=10.0,
+            cone="elliptic",
+            update_data_interval=2,
+            iterations=100,
+            ls_iterations=15,
+            # save_to_mjcf="AllegroHand.xml",
+        ),
+        num_substeps=2,
+        debug_mode=False,
+    )
+    default = newton_mjwarp
+
+
 @configclass
 class AllegroHandWarpEnvCfg(DirectRLEnvCfg):
     # env
@@ -30,24 +53,6 @@ class AllegroHandWarpEnvCfg(DirectRLEnvCfg):
     asymmetric_obs = False
     obs_type = "full"
 
-    solver_cfg = MJWarpSolverCfg(
-        solver="newton",
-        integrator="implicitfast",
-        njmax=80,
-        nconmax=70,
-        impratio=10.0,
-        cone="elliptic",
-        update_data_interval=2,
-        iterations=100,
-        ls_iterations=15,
-        # save_to_mjcf="AllegroHand.xml",
-    )
-
-    newton_cfg = NewtonCfg(
-        solver_cfg=solver_cfg,
-        num_substeps=2,
-        debug_mode=False,
-    )
     # simulation
     sim: SimulationCfg = SimulationCfg(
         dt=1 / 120,
@@ -56,7 +61,7 @@ class AllegroHandWarpEnvCfg(DirectRLEnvCfg):
             static_friction=1.0,
             dynamic_friction=1.0,
         ),
-        physics=newton_cfg,
+        physics=PhysicsCfg(),
     )
     # robot
     robot_cfg: ArticulationCfg = ALLEGRO_HAND_CFG.replace(prim_path="/World/envs/env_.*/Robot")

source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/direct/ant/ant_env_warp_cfg.py

@@ -15,9 +15,28 @@
 from isaaclab.terrains import TerrainImporterCfg
 from isaaclab.utils.configclass import configclass
 
+from isaaclab_tasks.utils import PresetCfg
+
 from isaaclab_assets import ANT_CFG
 
 
+@configclass
+class PhysicsCfg(PresetCfg):
+    newton_mjwarp = NewtonCfg(
+        solver_cfg=MJWarpSolverCfg(
+            njmax=45,
+            nconmax=25,
+            cone="pyramidal",
+            integrator="implicitfast",
+            impratio=1,
+        ),
+        num_substeps=1,
+        debug_mode=False,
+        use_cuda_graph=True,
+    )
+    default = newton_mjwarp
+
+
 @configclass
 class AntWarpEnvCfg(DirectRLEnvCfg):
     # env
@@ -28,22 +47,8 @@ class AntWarpEnvCfg(DirectRLEnvCfg):
     observation_space = 36
     state_space = 0
 
-    solver_cfg = MJWarpSolverCfg(
-        njmax=45,
-        nconmax=25,
-        cone="pyramidal",
-        integrator="implicitfast",
-        impratio=1,
-    )
-    newton_cfg = NewtonCfg(
-        solver_cfg=solver_cfg,
-        num_substeps=1,
-        debug_mode=False,
-        use_cuda_graph=True,
-    )
-
     # simulation
-    sim: SimulationCfg = SimulationCfg(dt=1 / 120, render_interval=decimation, physics=newton_cfg)
+    sim: SimulationCfg = SimulationCfg(dt=1 / 120, render_interval=decimation, physics=PhysicsCfg())
     terrain = TerrainImporterCfg(
         prim_path="/World/ground",
         terrain_type="plane",

source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/direct/cartpole/cartpole_warp_env_cfg.py

@@ -13,9 +13,28 @@
 from isaaclab.sim import SimulationCfg
 from isaaclab.utils.configclass import configclass
 
+from isaaclab_tasks.utils import PresetCfg
+
 from isaaclab_assets.robots.cartpole import CARTPOLE_CFG
 
 
+@configclass
+class PhysicsCfg(PresetCfg):
+    newton_mjwarp = NewtonCfg(
+        solver_cfg=MJWarpSolverCfg(
+            njmax=5,
+            nconmax=3,
+            cone="pyramidal",
+            integrator="implicitfast",
+            impratio=1,
+        ),
+        num_substeps=1,
+        debug_mode=False,
+        use_cuda_graph=True,
+    )
+    default = newton_mjwarp
+
+
 @configclass
 class CartpoleWarpEnvCfg(DirectRLEnvCfg):
     # env
@@ -26,23 +45,8 @@ class CartpoleWarpEnvCfg(DirectRLEnvCfg):
     observation_space = 4
     state_space = 0
 
-    solver_cfg = MJWarpSolverCfg(
-        njmax=5,
-        nconmax=3,
-        cone="pyramidal",
-        integrator="implicitfast",
-        impratio=1,
-    )
-
-    newton_cfg = NewtonCfg(
-        solver_cfg=solver_cfg,
-        num_substeps=1,
-        debug_mode=False,
-        use_cuda_graph=True,
-    )
-
     # simulation
-    sim: SimulationCfg = SimulationCfg(dt=1 / 120, render_interval=decimation, physics=newton_cfg)
+    sim: SimulationCfg = SimulationCfg(dt=1 / 120, render_interval=decimation, physics=PhysicsCfg())
 
     # robot
     robot_cfg: ArticulationCfg = CARTPOLE_CFG.replace(prim_path="/World/envs/env_.*/Robot")

source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/direct/humanoid/humanoid_warp_env_cfg.py

@@ -15,9 +15,29 @@
 from isaaclab.terrains import TerrainImporterCfg
 from isaaclab.utils.configclass import configclass
 
+from isaaclab_tasks.utils import PresetCfg
+
 from isaaclab_assets import HUMANOID_CFG
 
 
+@configclass
+class PhysicsCfg(PresetCfg):
+    newton_mjwarp = NewtonCfg(
+        solver_cfg=MJWarpSolverCfg(
+            njmax=80,
+            nconmax=25,
+            cone="pyramidal",
+            integrator="implicitfast",
+            update_data_interval=2,
+            impratio=1,
+        ),
+        num_substeps=2,
+        debug_mode=False,
+        use_cuda_graph=True,
+    )
+    default = newton_mjwarp
+
+
 @configclass
 class HumanoidWarpEnvCfg(DirectRLEnvCfg):
     # env
@@ -28,23 +48,8 @@ class HumanoidWarpEnvCfg(DirectRLEnvCfg):
     observation_space = 75
     state_space = 0
 
-    solver_cfg = MJWarpSolverCfg(
-        njmax=80,
-        nconmax=25,
-        cone="pyramidal",
-        integrator="implicitfast",
-        update_data_interval=2,
-        impratio=1,
-    )
-    newton_cfg = NewtonCfg(
-        solver_cfg=solver_cfg,
-        num_substeps=2,
-        debug_mode=False,
-        use_cuda_graph=True,
-    )
-
     # simulation
-    sim: SimulationCfg = SimulationCfg(dt=1 / 120, render_interval=decimation, physics=newton_cfg)
+    sim: SimulationCfg = SimulationCfg(dt=1 / 120, render_interval=decimation, physics=PhysicsCfg())
     terrain = TerrainImporterCfg(
         prim_path="/World/ground",
         terrain_type="plane",

source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/classic/ant/ant_env_cfg.py

@@ -19,6 +19,8 @@
 from isaaclab.terrains import TerrainImporterCfg
 from isaaclab.utils.configclass import configclass
 
+from isaaclab_tasks.utils import PresetCfg
+
 import isaaclab_tasks_experimental.manager_based.classic.humanoid.mdp as mdp
 
 ##
@@ -154,25 +156,29 @@ class TerminationsCfg:
 ##
 
 
+@configclass
+class PhysicsCfg(PresetCfg):
+    newton_mjwarp = NewtonCfg(
+        solver_cfg=MJWarpSolverCfg(
+            njmax=38,
+            nconmax=15,
+            ls_iterations=10,
+            cone="pyramidal",
+            impratio=1,
+            integrator="implicitfast",
+        ),
+        num_substeps=1,
+        debug_mode=False,
+    )
+    default = newton_mjwarp
+
+
 @configclass
 class AntEnvCfg(ManagerBasedRLEnvCfg):
     """Configuration for the MuJoCo-style Ant walking environment."""
 
     # Simulation settings
-    sim: SimulationCfg = SimulationCfg(
-        physics=NewtonCfg(
-            solver_cfg=MJWarpSolverCfg(
-                njmax=38,
-                nconmax=15,
-                ls_iterations=10,
-                cone="pyramidal",
-                impratio=1,
-                integrator="implicitfast",
-            ),
-            num_substeps=1,
-            debug_mode=False,
-        )
-    )
+    sim: SimulationCfg = SimulationCfg(physics=PhysicsCfg())
 
     # Scene settings
     scene: MySceneCfg = MySceneCfg(num_envs=4096, env_spacing=5.0, clone_in_fabric=True)

source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/classic/cartpole/cartpole_env_cfg.py

@@ -20,6 +20,8 @@
 from isaaclab.sim import SimulationCfg
 from isaaclab.utils.configclass import configclass
 
+from isaaclab_tasks.utils import PresetCfg
+
 import isaaclab_tasks_experimental.manager_based.classic.cartpole.mdp as mdp
 
 ##
@@ -157,6 +159,23 @@ class TerminationsCfg:
 ##
 
 
+@configclass
+class PhysicsCfg(PresetCfg):
+    newton_mjwarp = NewtonCfg(
+        solver_cfg=MJWarpSolverCfg(
+            njmax=5,
+            nconmax=3,
+            cone="pyramidal",
+            impratio=1,
+            integrator="implicitfast",
+        ),
+        num_substeps=1,
+        debug_mode=False,
+        use_cuda_graph=True,
+    )
+    default = newton_mjwarp
+
+
 @configclass
 class CartpoleEnvCfg(ManagerBasedRLEnvCfg):
     """Configuration for the cartpole environment."""
@@ -171,20 +190,7 @@ class CartpoleEnvCfg(ManagerBasedRLEnvCfg):
     rewards: RewardsCfg = RewardsCfg()
     terminations: TerminationsCfg = TerminationsCfg()
     # Simulation settings
-    sim: SimulationCfg = SimulationCfg(
-        physics=NewtonCfg(
-            solver_cfg=MJWarpSolverCfg(
-                njmax=5,
-                nconmax=3,
-                cone="pyramidal",
-                impratio=1,
-                integrator="implicitfast",
-            ),
-            num_substeps=1,
-            debug_mode=False,
-            use_cuda_graph=True,
-        )
-    )
+    sim: SimulationCfg = SimulationCfg(physics=PhysicsCfg())
 
     # Post initialization
     def __post_init__(self) -> None:

source/isaaclab_tasks_experimental/isaaclab_tasks_experimental/manager_based/classic/humanoid/humanoid_env_cfg.py

@@ -18,6 +18,8 @@
 from isaaclab.terrains import TerrainImporterCfg
 from isaaclab.utils.configclass import configclass
 
+from isaaclab_tasks.utils import PresetCfg
+
 import isaaclab_tasks_experimental.manager_based.classic.humanoid.mdp as mdp
 
 from isaaclab_assets.robots.humanoid import HUMANOID_CFG  # isort:skip
@@ -189,6 +191,24 @@ class TerminationsCfg:
     torso_height = DoneTerm(func=mdp.root_height_below_minimum, params={"minimum_height": 0.8})
 
 
+@configclass
+class PhysicsCfg(PresetCfg):
+    newton_mjwarp = NewtonCfg(
+        solver_cfg=MJWarpSolverCfg(
+            njmax=80,
+            nconmax=25,
+            ls_iterations=15,
+            cone="pyramidal",
+            update_data_interval=2,
+            impratio=1,
+            integrator="implicitfast",
+        ),
+        num_substeps=2,
+        debug_mode=False,
+    )
+    default = newton_mjwarp
+
+
 @configclass
 class HumanoidEnvCfg(ManagerBasedRLEnvCfg):
     """Configuration for the MuJoCo-style Humanoid walking environment."""
@@ -209,22 +229,7 @@ def __post_init__(self):
         self.decimation = 2
         self.episode_length_s = 16.0
         # simulation settings
-        self.sim: SimulationCfg = SimulationCfg(
-            dt=1 / 120.0,
-            physics=NewtonCfg(
-                solver_cfg=MJWarpSolverCfg(
-                    njmax=80,
-                    nconmax=25,
-                    ls_iterations=15,
-                    cone="pyramidal",
-                    update_data_interval=2,
-                    impratio=1,
-                    integrator="implicitfast",
-                ),
-                num_substeps=2,
-                debug_mode=False,
-            ),
-        )
+        self.sim: SimulationCfg = SimulationCfg(dt=1 / 120.0, physics=PhysicsCfg())
         # self.sim.dt = 1 / 120.0
         self.sim.render_interval = self.decimation
         # default friction material