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Supports Anymal-D Rough terrain training in newton #5225

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Supports Anymal-D Rough terrain training in newton #5225

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1a37500
rough terrain support
ooctipus Apr 11, 2026
f849113
Merge branch 'develop' into newton_rough_terrain
kellyguo11 Apr 23, 2026
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4 changes: 4 additions & 0 deletions source/isaaclab/isaaclab/envs/mdp/__init__.pyi
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Original file line number Diff line number Diff line change
Expand Up @@ -138,6 +138,8 @@ __all__ = [
"joint_pos_out_of_manual_limit",
"joint_vel_out_of_limit",
"joint_vel_out_of_manual_limit",
"body_lin_vel_out_of_limit",
"body_ang_vel_out_of_limit",
"root_height_below_minimum",
"time_out",
]
Expand Down Expand Up @@ -287,6 +289,8 @@ from .terminations import (
joint_pos_out_of_manual_limit,
joint_vel_out_of_limit,
joint_vel_out_of_manual_limit,
body_lin_vel_out_of_limit,
body_ang_vel_out_of_limit,
root_height_below_minimum,
time_out,
)
35 changes: 35 additions & 0 deletions source/isaaclab/isaaclab/envs/mdp/terminations.py
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Expand Up @@ -150,6 +150,41 @@ def joint_effort_out_of_limit(
return torch.any(out_of_limits, dim=1)


"""
Body velocity terminations.
"""


def body_lin_vel_out_of_limit(
env: ManagerBasedRLEnv,
max_velocity: float,
asset_cfg: SceneEntityCfg = SceneEntityCfg("robot"),
) -> torch.Tensor:
"""Terminate when any body's linear velocity magnitude exceeds the limit [m/s].

Also terminates on NaN velocities, which indicate a solver singularity.
"""
asset: Articulation = env.scene[asset_cfg.name]
body_vel = wp.to_torch(asset.data.body_lin_vel_w)[:, asset_cfg.body_ids]
speed = torch.linalg.norm(body_vel, dim=-1)
return torch.any((speed > max_velocity) | torch.isnan(speed), dim=1)


def body_ang_vel_out_of_limit(
env: ManagerBasedRLEnv,
max_velocity: float,
asset_cfg: SceneEntityCfg = SceneEntityCfg("robot"),
) -> torch.Tensor:
"""Terminate when any body's angular velocity magnitude exceeds the limit [rad/s].

Also terminates on NaN velocities, which indicate a solver singularity.
"""
asset: Articulation = env.scene[asset_cfg.name]
body_vel = wp.to_torch(asset.data.body_ang_vel_w)[:, asset_cfg.body_ids]
speed = torch.linalg.norm(body_vel, dim=-1)
return torch.any((speed > max_velocity) | torch.isnan(speed), dim=1)


"""
Contact sensor.
"""
Expand Down
62 changes: 42 additions & 20 deletions source/isaaclab/isaaclab/terrains/terrain_generator.py
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Expand Up @@ -18,7 +18,6 @@
from isaaclab.utils.timer import Timer
from isaaclab.utils.warp import convert_to_warp_mesh

from .trimesh.utils import make_border
from .utils import color_meshes_by_height, find_flat_patches

if TYPE_CHECKING:
Expand Down Expand Up @@ -270,25 +269,48 @@ def _generate_curriculum_terrains(self):
"""

def _add_terrain_border(self):
"""Add a surrounding border over all the sub-terrains into the terrain meshes."""
# border parameters
border_size = (
self.cfg.num_rows * self.cfg.size[0] + 2 * self.cfg.border_width,
self.cfg.num_cols * self.cfg.size[1] + 2 * self.cfg.border_width,
)
inner_size = (self.cfg.num_rows * self.cfg.size[0], self.cfg.num_cols * self.cfg.size[1])
border_center = (
self.cfg.num_rows * self.cfg.size[0] / 2,
self.cfg.num_cols * self.cfg.size[1] / 2,
-self.cfg.border_height / 2,
)
# border mesh
border_meshes = make_border(border_size, inner_size, height=abs(self.cfg.border_height), position=border_center)
border = trimesh.util.concatenate(border_meshes)
# update the faces to have minimal triangles
selector = ~(np.asarray(border.triangles)[:, :, 2] < -0.1).any(1)
border.update_faces(selector)
# add the border to the list of meshes
"""Add a surrounding border over all the sub-terrains into the terrain meshes.

The border is built as a subdivided grid mesh (matching ``horizontal_scale``)
rather than large box primitives. Large triangles on the border can cause
collision detection failures in some physics backends (e.g. Newton/MuJoCo).
"""
bw = self.cfg.border_width
if bw <= 0:
return

inner_w = self.cfg.num_rows * self.cfg.size[0]
inner_l = self.cfg.num_cols * self.cfg.size[1]
hs = self.cfg.horizontal_scale

def _make_grid_strip(x0: float, y0: float, width: float, length: float) -> trimesh.Trimesh:
"""Create a flat subdivided mesh strip at z=0 with grid spacing ``hs``."""
nx = max(int(np.ceil(width / hs)), 1) + 1
ny = max(int(np.ceil(length / hs)), 1) + 1
xs = np.linspace(x0, x0 + width, nx)
ys = np.linspace(y0, y0 + length, ny)
xx, yy = np.meshgrid(xs, ys, indexing="ij")
vertices = np.zeros((nx * ny, 3))
vertices[:, 0] = xx.flatten()
vertices[:, 1] = yy.flatten()
faces = []
for i in range(nx - 1):
for j in range(ny - 1):
v0 = i * ny + j
v1 = v0 + 1
v2 = (i + 1) * ny + j
v3 = v2 + 1
faces.append([v0, v2, v1])
faces.append([v1, v2, v3])
return trimesh.Trimesh(vertices=vertices, faces=np.array(faces, dtype=np.uint32))
Comment on lines +296 to +305
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@greptile-apps greptile-apps Bot Apr 23, 2026

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P2 Quadratic Python loop for mesh face generation

The nested for i / for j Python loops build faces as a growing list, costing O(nx × ny) loop iterations at the Python level. For a typical border_width=5 m with horizontal_scale=0.1 m, each strip has ~50 × N cells. While this is a one-time startup cost, a vectorised numpy approach avoids it entirely and makes the intent clearer:

i_idx = np.repeat(np.arange(nx - 1), ny - 1)
j_idx = np.tile(np.arange(ny - 1), nx - 1)
v0 = i_idx * ny + j_idx
v1 = v0 + 1
v2 = (i_idx + 1) * ny + j_idx
v3 = v2 + 1
faces = np.column_stack([
    np.stack([v0, v2, v1], axis=1),
    np.stack([v1, v2, v3], axis=1),
]).reshape(-1, 3)
return trimesh.Trimesh(vertices=vertices, faces=faces)


strips = [
_make_grid_strip(-bw, -bw, inner_w + 2 * bw, bw), # bottom
_make_grid_strip(-bw, inner_l, inner_w + 2 * bw, bw), # top
_make_grid_strip(-bw, 0.0, bw, inner_l), # left
_make_grid_strip(inner_w, 0.0, bw, inner_l), # right
]
border = trimesh.util.concatenate(strips)
self.terrain_meshes.append(border)

def _add_sub_terrain(
Expand Down
35 changes: 21 additions & 14 deletions ...b_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/rough_env_cfg.py
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Expand Up @@ -3,13 +3,13 @@
#
# SPDX-License-Identifier: BSD-3-Clause

from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg, NewtonCollisionPipelineCfg
from isaaclab_physx.physics import PhysxCfg

from isaaclab.sim import SimulationCfg
from isaaclab.utils import configclass

from isaaclab_tasks.manager_based.locomotion.velocity.velocity_env_cfg import (
EventsCfg,
LocomotionVelocityRoughEnvCfg,
StartupEventsCfg,
)
from isaaclab_tasks.manager_based.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg
from isaaclab_tasks.utils import PresetCfg

##
Expand All @@ -19,20 +19,27 @@


@configclass
class AnymalDPhysxEventsCfg(EventsCfg, StartupEventsCfg):
pass


@configclass
class AnymalDEventsCfg(PresetCfg):
default = AnymalDPhysxEventsCfg()
newton = EventsCfg()
class RoughPhysicsCfg(PresetCfg):
default = PhysxCfg(gpu_max_rigid_patch_count=10 * 2**15)
newton = NewtonCfg(
solver_cfg=MJWarpSolverCfg(
njmax=200,
nconmax=100,
cone="pyramidal",
impratio=1.0,
integrator="implicitfast",
use_mujoco_contacts=False,
),
collision_cfg=NewtonCollisionPipelineCfg(max_triangle_pairs=2_500_000),
num_substeps=1,
debug_mode=False,
)
physx = default


@configclass
class AnymalDRoughEnvCfg(LocomotionVelocityRoughEnvCfg):
events: AnymalDEventsCfg = AnymalDEventsCfg()
sim: SimulationCfg = SimulationCfg(physics=RoughPhysicsCfg())

def __post_init__(self):
# post init of parent
Expand Down
87 changes: 50 additions & 37 deletions source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/velocity_env_cfg.py
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Expand Up @@ -27,7 +27,7 @@
from isaaclab.utils.noise import UniformNoiseCfg as Unoise

import isaaclab_tasks.manager_based.locomotion.velocity.mdp as mdp
from isaaclab_tasks.utils import PresetCfg
from isaaclab_tasks.utils import PresetCfg, preset

##
# Pre-defined configs
Expand Down Expand Up @@ -161,6 +161,50 @@ def __post_init__(self):
class EventsCfg:
"""Configuration for events."""

# startup
physics_material = EventTerm(
func=mdp.randomize_rigid_body_material,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names=".*"),
"static_friction_range": (0.8, 0.8),
"dynamic_friction_range": (0.6, 0.6),
"restitution_range": (0.0, 0.0),
"num_buckets": 64,
},
)

add_base_mass = EventTerm(
func=mdp.randomize_rigid_body_mass,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names="base"),
"mass_distribution_params": (-5.0, 5.0),
"operation": "add",
},
)

base_com = preset(
default=EventTerm(
func=mdp.randomize_rigid_body_com,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names="base"),
"com_range": {"x": (-0.05, 0.05), "y": (-0.05, 0.05), "z": (-0.01, 0.01)},
},
),
newton=None,
)

collider_offsets = EventTerm(
func=mdp.randomize_rigid_body_collider_offsets,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names=".*"),
"contact_offset_distribution_params": (0.01, 0.01),
},
)
Comment on lines +199 to +206
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@greptile-apps greptile-apps Bot Apr 23, 2026

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P1 collider_offsets not guarded against Newton backend

randomize_rigid_body_collider_offsets internally calls asset.root_view.get_contact_offsets() and asset.root_view.set_contact_offsets(), which are PhysX-specific methods on the PhysX ArticulationView. Newton's ArticulationView does not expose these methods (no matches exist in the Newton module). Unlike base_com, which is correctly disabled for Newton via preset(default=..., newton=None), collider_offsets is added as a plain EventTerm and will be executed for all backends, likely raising an AttributeError during startup in Newton mode.

collider_offsets = preset(
    default=EventTerm(
        func=mdp.randomize_rigid_body_collider_offsets,
        mode="startup",
        params={
            "asset_cfg": SceneEntityCfg("robot", body_names=".*"),
            "contact_offset_distribution_params": (0.01, 0.01),
        },
    ),
    newton=None,
)


# reset
base_external_force_torque = EventTerm(
func=mdp.apply_external_force_torque,
Expand Down Expand Up @@ -206,41 +250,6 @@ class EventsCfg:
)


@configclass
class StartupEventsCfg:
# startup
physics_material = EventTerm(
func=mdp.randomize_rigid_body_material,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names=".*"),
"static_friction_range": (0.8, 0.8),
"dynamic_friction_range": (0.6, 0.6),
"restitution_range": (0.0, 0.0),
"num_buckets": 64,
},
)

add_base_mass = EventTerm(
func=mdp.randomize_rigid_body_mass,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names="base"),
"mass_distribution_params": (-5.0, 5.0),
"operation": "add",
},
)

base_com = EventTerm(
func=mdp.randomize_rigid_body_com,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names="base"),
"com_range": {"x": (-0.05, 0.05), "y": (-0.05, 0.05), "z": (-0.01, 0.01)},
},
)


@configclass
class RewardsCfg:
"""Reward terms for the MDP."""
Expand Down Expand Up @@ -286,6 +295,10 @@ class TerminationsCfg:
func=mdp.illegal_contact,
params={"sensor_cfg": SceneEntityCfg("contact_forces", body_names="base"), "threshold": 1.0},
)
body_lin_vel = DoneTerm(
func=mdp.body_lin_vel_out_of_limit,
params={"max_velocity": 20.0, "asset_cfg": SceneEntityCfg("robot", body_names=".*")},
)


@configclass
Expand Down Expand Up @@ -313,7 +326,7 @@ class LocomotionVelocityRoughEnvCfg(ManagerBasedRLEnvCfg):
# MDP settings
rewards: RewardsCfg = RewardsCfg()
terminations: TerminationsCfg = TerminationsCfg()
events: EventsCfg = MISSING
events: EventsCfg = EventsCfg()
curriculum: CurriculumCfg = CurriculumCfg()

def __post_init__(self):
Expand Down
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