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[Exp] Slim warp velocity envs and enable Rough variants for all robots #5088

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[Exp] Slim warp velocity envs and enable Rough variants for all robots #5088

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4f1c3b2
Mirror stable structure in warp velocity envs
hujc7 May 3, 2026
1ecf2e9
Enable warp Rough velocity registrations for all robots
hujc7 May 3, 2026
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22 changes: 22 additions & 0 deletions ...ental/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/a1/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -35,3 +35,25 @@
"sb3_cfg_entry_point": f"{agents.__name__}:sb3_ppo_cfg.yaml",
},
)

gym.register(
id="Isaac-Velocity-Rough-Unitree-A1-Warp-v0",
entry_point="isaaclab_experimental.envs:ManagerBasedRLEnvWarp",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{__name__}.rough_env_cfg:UnitreeA1RoughEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeA1RoughPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
},
)

gym.register(
id="Isaac-Velocity-Rough-Unitree-A1-Warp-Play-v0",
entry_point="isaaclab_experimental.envs:ManagerBasedRLEnvWarp",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{__name__}.rough_env_cfg:UnitreeA1RoughEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UnitreeA1RoughPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
},
)
27 changes: 9 additions & 18 deletions ...l/isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/a1/flat_env_cfg.py
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Expand Up @@ -10,25 +10,20 @@

from .rough_env_cfg import UnitreeA1RoughEnvCfg

# Mirror of stable Unitree A1 ``PhysicsCfg.newton``. Inlined to avoid importing
# the stable preset (which chains into ``isaaclab_physx`` and ``pxr``).
_FLAT_NEWTON_CFG = NewtonCfg(
solver_cfg=MJWarpSolverCfg(njmax=60, nconmax=30, cone="pyramidal", impratio=1, integrator="implicitfast"),
num_substeps=1,
debug_mode=False,
)


@configclass
class UnitreeA1FlatEnvCfg(UnitreeA1RoughEnvCfg):
sim: SimulationCfg = SimulationCfg(
physics=NewtonCfg(
solver_cfg=MJWarpSolverCfg(
njmax=60,
nconmax=30,
cone="pyramidal",
impratio=1,
integrator="implicitfast",
),
num_substeps=1,
debug_mode=False,
)
)
sim: SimulationCfg = SimulationCfg(physics=_FLAT_NEWTON_CFG)

def __post_init__(self):
# post init of parent
super().__post_init__()

# override rewards
Expand All @@ -38,16 +33,12 @@ def __post_init__(self):
# change terrain to flat
self.scene.terrain.terrain_type = "plane"
self.scene.terrain.terrain_generator = None
# no height scan
# self.scene.height_scanner = None
# self.observations.policy.height_scan = None
# no terrain curriculum
self.curriculum.terrain_levels = None


class UnitreeA1FlatEnvCfg_PLAY(UnitreeA1FlatEnvCfg):
def __post_init__(self) -> None:
# post init of parent
super().__post_init__()

# make a smaller scene for play
Expand Down
28 changes: 28 additions & 0 deletions ...isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_b/__init__.py
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Expand Up @@ -35,3 +35,31 @@
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
},
)

gym.register(
id="Isaac-Velocity-Rough-Anymal-B-Warp-v0",
entry_point="isaaclab_experimental.envs:ManagerBasedRLEnvWarp",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{__name__}.rough_env_cfg:AnymalBRoughEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalBRoughPPORunnerCfg",
"rsl_rl_with_symmetry_cfg_entry_point": (
f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalBRoughPPORunnerWithSymmetryCfg"
),
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
},
)

gym.register(
id="Isaac-Velocity-Rough-Anymal-B-Warp-Play-v0",
entry_point="isaaclab_experimental.envs:ManagerBasedRLEnvWarp",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{__name__}.rough_env_cfg:AnymalBRoughEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalBRoughPPORunnerCfg",
"rsl_rl_with_symmetry_cfg_entry_point": (
f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalBRoughPPORunnerWithSymmetryCfg"
),
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
},
)
27 changes: 9 additions & 18 deletions ...clab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_b/flat_env_cfg.py
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Expand Up @@ -10,25 +10,20 @@

from .rough_env_cfg import AnymalBRoughEnvCfg

# Mirror of stable Anymal-B ``PhysicsCfg.newton``. Inlined to avoid importing
# the stable preset (which chains into ``isaaclab_physx`` and ``pxr``).
_FLAT_NEWTON_CFG = NewtonCfg(
solver_cfg=MJWarpSolverCfg(njmax=75, nconmax=15, cone="elliptic", impratio=100, integrator="implicitfast"),
num_substeps=1,
debug_mode=False,
)


@configclass
class AnymalBFlatEnvCfg(AnymalBRoughEnvCfg):
sim: SimulationCfg = SimulationCfg(
physics=NewtonCfg(
solver_cfg=MJWarpSolverCfg(
njmax=75,
nconmax=15,
cone="elliptic",
impratio=100,
integrator="implicitfast",
),
num_substeps=1,
debug_mode=False,
)
)
sim: SimulationCfg = SimulationCfg(physics=_FLAT_NEWTON_CFG)

def __post_init__(self):
# post init of parent
super().__post_init__()

# override rewards
Expand All @@ -38,16 +33,12 @@ def __post_init__(self):
# change terrain to flat
self.scene.terrain.terrain_type = "plane"
self.scene.terrain.terrain_generator = None
# no height scan
self.scene.height_scanner = None
self.observations.policy.height_scan = None
# no terrain curriculum
self.curriculum.terrain_levels = None


class AnymalBFlatEnvCfg_PLAY(AnymalBFlatEnvCfg):
def __post_init__(self) -> None:
# post init of parent
super().__post_init__()

# make a smaller scene for play
Expand Down
8 changes: 7 additions & 1 deletion ...lab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_b/rough_env_cfg.py
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Expand Up @@ -15,20 +15,26 @@ class AnymalBRoughEnvCfg(LocomotionVelocityRoughEnvCfg):
def __post_init__(self):
super().__post_init__()
self.scene.robot = ANYMAL_B_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
self.manager_call_max_mode = {"Scene": 1}


@configclass
class AnymalBRoughEnvCfg_PLAY(AnymalBRoughEnvCfg):
def __post_init__(self):
super().__post_init__()

# make a smaller scene for play
self.scene.num_envs = 50
self.scene.env_spacing = 2.5
# spawn the robot randomly in the grid (instead of their terrain levels)
self.scene.terrain.max_init_terrain_level = None
# reduce the number of terrains to save memory
if self.scene.terrain.terrain_generator is not None:
self.scene.terrain.terrain_generator.num_rows = 5
self.scene.terrain.terrain_generator.num_cols = 5
self.scene.terrain.terrain_generator.curriculum = False

# disable randomization for play
self.observations.policy.enable_corruption = False
# remove random pushing event
self.events.base_external_force_torque = None
self.events.push_robot = None
30 changes: 30 additions & 0 deletions ...isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_c/__init__.py
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Expand Up @@ -37,3 +37,33 @@
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
},
)

gym.register(
id="Isaac-Velocity-Rough-Anymal-C-Warp-v0",
entry_point="isaaclab_experimental.envs:ManagerBasedRLEnvWarp",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{__name__}.rough_env_cfg:AnymalCRoughEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalCRoughPPORunnerCfg",
"rsl_rl_with_symmetry_cfg_entry_point": (
f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalCRoughPPORunnerWithSymmetryCfg"
),
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_rough_ppo_cfg.yaml",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
},
)

gym.register(
id="Isaac-Velocity-Rough-Anymal-C-Warp-Play-v0",
entry_point="isaaclab_experimental.envs:ManagerBasedRLEnvWarp",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{__name__}.rough_env_cfg:AnymalCRoughEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalCRoughPPORunnerCfg",
"rsl_rl_with_symmetry_cfg_entry_point": (
f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalCRoughPPORunnerWithSymmetryCfg"
),
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_rough_ppo_cfg.yaml",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
},
)
23 changes: 9 additions & 14 deletions ...clab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_c/flat_env_cfg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,25 +10,20 @@

from .rough_env_cfg import AnymalCRoughEnvCfg

# Mirror of stable Anymal-C ``PhysicsCfg.newton``. Inlined to avoid importing
# the stable preset (which chains into ``isaaclab_physx`` and ``pxr``).
_FLAT_NEWTON_CFG = NewtonCfg(
solver_cfg=MJWarpSolverCfg(njmax=120, nconmax=15, cone="elliptic", impratio=100, integrator="implicitfast"),
num_substeps=1,
debug_mode=False,
)


@configclass
class AnymalCFlatEnvCfg(AnymalCRoughEnvCfg):
sim: SimulationCfg = SimulationCfg(
physics=NewtonCfg(
solver_cfg=MJWarpSolverCfg(
njmax=120,
nconmax=15,
cone="elliptic",
impratio=100,
integrator="implicitfast",
),
num_substeps=1,
debug_mode=False,
)
)
sim: SimulationCfg = SimulationCfg(physics=_FLAT_NEWTON_CFG)

def __post_init__(self):
# post init of parent
super().__post_init__()

# override rewards
Expand Down
1 change: 0 additions & 1 deletion ...lab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_c/rough_env_cfg.py
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Expand Up @@ -21,7 +21,6 @@ def __post_init__(self):
# switch robot to anymal-c
self.scene.robot = ANYMAL_C_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
self.scene.robot.actuators["legs"].armature = 0.01
self.manager_call_max_mode = {"Scene": 1}


@configclass
Expand Down
47 changes: 22 additions & 25 deletions ...isaaclab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_d/__init__.py
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Expand Up @@ -12,31 +12,6 @@
# Register Gym environments.
##

# Rough env disabled: requires isaaclab_physx which is not yet available on dev/newton.
# The package exists on upstream/develop (commit 308400f1d35) but has not been merged.
# Re-enable once dev/newton picks up isaaclab_physx.
# gym.register(
# id="Isaac-Velocity-Rough-Anymal-D-Warp-v0",
# entry_point="isaaclab_experimental.envs:ManagerBasedRLEnvWarp",
# disable_env_checker=True,
# kwargs={
# "env_cfg_entry_point": f"{__name__}.rough_env_cfg:AnymalDRoughEnvCfg",
# "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalDRoughPPORunnerCfg",
# "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
# },
# )

# gym.register(
# id="Isaac-Velocity-Rough-Anymal-D-Warp-Play-v0",
# entry_point="isaaclab_experimental.envs:ManagerBasedRLEnvWarp",
# disable_env_checker=True,
# kwargs={
# "env_cfg_entry_point": f"{__name__}.rough_env_cfg:AnymalDRoughEnvCfg_PLAY",
# "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalDRoughPPORunnerCfg",
# "skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
# },
# )

gym.register(
id="Isaac-Velocity-Flat-Anymal-D-Warp-v0",
entry_point="isaaclab_experimental.envs:ManagerBasedRLEnvWarp",
Expand All @@ -58,3 +33,25 @@
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_flat_ppo_cfg.yaml",
},
)

gym.register(
id="Isaac-Velocity-Rough-Anymal-D-Warp-v0",
entry_point="isaaclab_experimental.envs:ManagerBasedRLEnvWarp",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{__name__}.rough_env_cfg:AnymalDRoughEnvCfg",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalDRoughPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
},
)

gym.register(
id="Isaac-Velocity-Rough-Anymal-D-Warp-Play-v0",
entry_point="isaaclab_experimental.envs:ManagerBasedRLEnvWarp",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{__name__}.rough_env_cfg:AnymalDRoughEnvCfg_PLAY",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:AnymalDRoughPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_rough_ppo_cfg.yaml",
},
)
30 changes: 18 additions & 12 deletions ...clab_tasks_experimental/manager_based/locomotion/velocity/config/anymal_d/flat_env_cfg.py
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Expand Up @@ -10,37 +10,43 @@

from .rough_env_cfg import AnymalDRoughEnvCfg

# Mirror of stable AnymalD ``PhysicsCfg.newton``. Inlined to avoid importing the
# stable ``PhysicsCfg`` (which would chain into ``isaaclab_physx`` and ``pxr`` at
# module-load time, before SimulationApp has initialised the Kit extensions).
_FLAT_NEWTON_CFG = NewtonCfg(
solver_cfg=MJWarpSolverCfg(njmax=60, nconmax=25, cone="elliptic", impratio=100.0),
num_substeps=1,
debug_mode=False,
)


@configclass
class AnymalDFlatEnvCfg(AnymalDRoughEnvCfg):
sim: SimulationCfg = SimulationCfg(
physics=NewtonCfg(
solver_cfg=MJWarpSolverCfg(
njmax=60,
nconmax=25,
cone="elliptic",
impratio=100.0,
),
num_substeps=1,
debug_mode=False,
)
)
sim: SimulationCfg = SimulationCfg(physics=_FLAT_NEWTON_CFG)

def __post_init__(self):
super().__post_init__()

# override rewards
self.rewards.flat_orientation_l2.weight = -5.0
self.rewards.dof_torques_l2.weight = -2.5e-5
self.rewards.feet_air_time.weight = 0.5
# change terrain to flat
self.scene.terrain.terrain_type = "plane"
self.scene.terrain.terrain_generator = None
# no terrain curriculum
self.curriculum.terrain_levels = None


class AnymalDFlatEnvCfg_PLAY(AnymalDFlatEnvCfg):
def __post_init__(self) -> None:
super().__post_init__()

# make a smaller scene for play
self.scene.num_envs = 50
self.scene.env_spacing = 2.5
# disable randomization for play
self.observations.policy.enable_corruption = False
# remove random pushing event
self.events.base_external_force_torque = None
self.events.push_robot = None
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