isaac-sim · AntoineRichard · Dec 12, 2025 · Dec 12, 2025 · Dec 12, 2025 · Dec 12, 2025
@@ -291,7 +291,7 @@ def step(cls) -> None:
 
         if NewtonManager._cfg.debug_mode:
             convergence_data = NewtonManager.get_solver_convergence_steps()
-            # print(f"solver niter: {convergence_data}")
+            print(f"solver niter: {convergence_data}")
             if convergence_data["max"] == NewtonManager._solver.mjw_model.opt.iterations:
                 print("solver didn't converge!", convergence_data["max"])
 

@@ -170,6 +170,7 @@ def __init__(self, cfg: SimulationCfg | None = None):
             # Try to get existing stage from USD StageCache
             stage_cache = UsdUtils.StageCache.Get()
             if stage_cache.Size() > 0:
+                logger.info("USD stage found in StageCache. Getting the first stage.")
                 all_stages = stage_cache.GetAllStages()
                 if all_stages:
                     self._initial_stage = all_stages[0]
@@ -178,14 +179,23 @@ def __init__(self, cfg: SimulationCfg | None = None):
             else:
                 # No stage exists, try omni.usd as fallback
                 try:
+                    logger.info("No USD stage found in StageCache. Using omni.usd as fallback.")
                     import omni.usd
 
                     self._initial_stage = omni.usd.get_context().get_stage()
+                    if self._initial_stage is None:
+                        logger.warning("No USD stage found using omni.usd. Creating a new stage in memory.")
+                        self._initial_stage = create_new_stage_in_memory()
                 except (ImportError, AttributeError):
                     # if we need to create a new stage outside of omni.usd, we have to do it in memory with USD core APIs
+                    logger.info("No USD stage found. Creating a new stage in memory.")
                     self._initial_stage = create_new_stage_in_memory()
+                    stage_cache.Insert(self._initial_stage)
                     # raise RuntimeError("No USD stage is currently open. Please create a stage first.")
 
+        if self._initial_stage is None:
+            raise RuntimeError("No USD stage found. Please create a stage first.")
+
         # Store stage reference for easy access
         self.stage = self._initial_stage
 
@@ -1331,6 +1341,8 @@ def clear_instance(cls):
                 cls._instance.close_visualizers()
             # clear stage references
             if hasattr(cls._instance, "_initial_stage"):
+                stage_cache = UsdUtils.StageCache.Get()
+                stage_cache.Erase(cls._instance._initial_stage)
                 cls._instance._initial_stage = None
             if hasattr(cls._instance, "stage"):
                 cls._instance.stage = None

@@ -34,7 +34,6 @@
     saturation_effort=120.0,
     effort_limit=80.0,
     effort_limit_sim=80.0,
-    friction=0.001,
     velocity_limit=7.5,
     stiffness={".*": 40.0},
     damping={".*": 5.0},
@@ -46,7 +45,6 @@
     network_file=f"{ISAACLAB_NUCLEUS_DIR}/ActuatorNets/ANYbotics/anydrive_3_lstm_jit.pt",
     saturation_effort=120.0,
     effort_limit_sim=120.0,
-    friction=0.001,
     effort_limit=80.0,
     velocity_limit=7.5,
 )

@@ -74,12 +74,9 @@
             joint_names_expr=[".*_hip_joint", ".*_thigh_joint", ".*_calf_joint"],
             effort_limit=33.5,
             saturation_effort=33.5,
-            # effort_limit_sim=33.5,
             velocity_limit=21.0,
             stiffness=25.0,
             damping=0.5,
-            # friction=1e-3,
-            # armature=1e-3,
         ),
     },
 )

@@ -39,7 +39,7 @@ class AllegroHandEnvCfg(DirectRLEnvCfg):
         cone="elliptic",
         update_data_interval=2,
         iterations=100,
-        ls_iterations=15,
+        ls_iterations=25,
         ls_parallel=True,
         # save_to_mjcf="AllegroHand.xml",
     )

@@ -18,7 +18,7 @@ class UnitreeA1FlatEnvCfg(UnitreeA1RoughEnvCfg):
             solver_cfg=MJWarpSolverCfg(
                 njmax=50,
                 nconmax=30,
-                ls_iterations=10,
+                ls_iterations=40,
                 cone="elliptic",
                 impratio=100,
                 ls_parallel=True,

@@ -18,7 +18,7 @@ class AnymalBFlatEnvCfg(AnymalBRoughEnvCfg):
             solver_cfg=MJWarpSolverCfg(
                 njmax=50,
                 nconmax=15,
-                ls_iterations=15,
+                ls_iterations=40,
                 cone="elliptic",
                 impratio=100,
                 ls_parallel=True,

@@ -18,7 +18,7 @@ class AnymalCFlatEnvCfg(AnymalCRoughEnvCfg):
             solver_cfg=MJWarpSolverCfg(
                 njmax=50,
                 nconmax=15,
-                ls_iterations=15,
+                ls_iterations=40,
                 cone="elliptic",
                 impratio=100,
                 ls_parallel=True,

@@ -11,28 +11,28 @@
 # Register Gym environments.
 ##
 
-gym.register(
-    id="Isaac-Velocity-Rough-Anymal-D-v0",
-    entry_point="isaaclab.envs:ManagerBasedRLEnv",
-    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-Play-v0",
-    entry_point="isaaclab.envs:ManagerBasedRLEnv",
-    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-Rough-Anymal-D-v0",
+#    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+#    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-Play-v0",
+#    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+#    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(

@@ -18,7 +18,7 @@ class AnymalDFlatEnvCfg(AnymalDRoughEnvCfg):
             solver_cfg=MJWarpSolverCfg(
                 njmax=60,
                 nconmax=25,
-                ls_iterations=15,
+                ls_iterations=40,
                 cone="elliptic",
                 impratio=100.0,
                 ls_parallel=True,

@@ -3,6 +3,9 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+from isaaclab.sim import SimulationCfg
+from isaaclab.sim._impl.newton_manager_cfg import NewtonCfg
+from isaaclab.sim._impl.solvers_cfg import MJWarpSolverCfg
 from isaaclab.utils import configclass
 
 from isaaclab_tasks.manager_based.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg
@@ -15,6 +18,22 @@
 
 @configclass
 class AnymalDRoughEnvCfg(LocomotionVelocityRoughEnvCfg):
+    sim: SimulationCfg = SimulationCfg(
+        newton_cfg=NewtonCfg(
+            solver_cfg=MJWarpSolverCfg(
+                njmax=60,
+                nconmax=25,
+                ls_iterations=40,
+                cone="elliptic",
+                impratio=100.0,
+                ls_parallel=True,
+                use_mujoco_contacts=False,
+            ),
+            num_substeps=1,
+            debug_mode=False,
+        )
+    )
+
     def __post_init__(self):
         # post init of parent
         super().__post_init__()

@@ -8,29 +8,18 @@
 # Omniverse logger
 import logging
 
-from isaaclab.app import AppLauncher
-
 # # Import pinocchio in the main script to force the use of the dependencies installed by IsaacLab and not the one installed by Isaac Sim
 # # pinocchio is required by the Pink IK controller
 # if sys.platform != "win32":
 #     import pinocchio  # noqa: F401
 
-
-# launch the simulator
-app_launcher = AppLauncher(headless=True, enable_cameras=True)
-simulation_app = app_launcher.app
-
-
 """Rest everything follows."""
 
 import gymnasium as gym
 import os
 import torch
 
-import carb
-import omni.usd
 import pytest
-from isaacsim.core.version import get_version
 
 from isaaclab.envs import ManagerBasedRLEnvCfg
 from isaaclab.envs.utils.spaces import sample_space
@@ -46,19 +35,18 @@
 def setup_environment():
     # disable interactive mode for wandb for automate environments
     os.environ["WANDB_DISABLED"] = "true"
+    os.environ["LAUNCH_OV_APP"] = "0"
     # acquire all Isaac environments names
     registered_tasks = list()
     for task_spec in gym.registry.values():
+        # skip camera environments.
+        if "RGB" in task_spec.id or "Depth" in task_spec.id or "Vision" in task_spec.id:
+            continue
         # TODO: Factory environments causes test to fail if run together with other envs
         if "Isaac" in task_spec.id and not task_spec.id.endswith("Play-v0") and "Factory" not in task_spec.id:
             registered_tasks.append(task_spec.id)
     # sort environments by name
     registered_tasks.sort()
-    # this flag is necessary to prevent a bug where the simulation gets stuck randomly when running the
-    # test on many environments.
-    carb_settings_iface = carb.settings.get_settings()
-    carb_settings_iface.set_bool("/physics/cooking/ujitsoCollisionCooking", False)
-
     return registered_tasks
 
 
@@ -73,11 +61,6 @@ def test_environments(task_name, num_envs, device):
 def _run_environments(task_name, device, num_envs, num_steps, create_stage_in_memory):
     """Run all environments and check environments return valid signals."""
 
-    # skip test if stage in memory is not supported
-    isaac_sim_version = float(".".join(get_version()[2]))
-    if isaac_sim_version < 5 and create_stage_in_memory:
-        pytest.skip("Stage in memory is not supported in this version of Isaac Sim")
-
     # skip vision tests because replicator has issues with numpy > 2
     if "RGB" in task_name or "Depth" in task_name or "Vision" in task_name:
         return
@@ -112,12 +95,6 @@ def _check_random_actions(
 ):
     """Run random actions and check environments returned signals are valid."""
 
-    if not create_stage_in_memory:
-        # create a new context stage
-        omni.usd.get_context().new_stage()
-
-    # reset the rtx sensors carb setting to False
-    carb.settings.get_settings().set_bool("/isaaclab/render/rtx_sensors", False)
     try:
         # parse configuration
         env_cfg: ManagerBasedRLEnvCfg = parse_env_cfg(task_name, device=device, num_envs=num_envs)

@@ -19,26 +19,16 @@
 
 import logging
 
-from isaaclab.app import AppLauncher
-
-# Launch in pure headless mode without Omniverse
-# Setting headless=True and enable_cameras=False triggers standalone mode
-app_launcher = AppLauncher(headless=True, enable_cameras=False)
-simulation_app = app_launcher.app  # Will be None in standalone mode
-
-
 """Rest everything follows."""
 
 import gymnasium as gym
 import os
 import torch
 
 import pytest
-from pxr import UsdUtils
 
 from isaaclab.envs import ManagerBasedRLEnvCfg
 from isaaclab.envs.utils.spaces import sample_space
-from isaaclab.sim.utils import create_new_stage_in_memory
 
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.parse_cfg import parse_env_cfg
@@ -47,21 +37,6 @@
 logger = logging.getLogger(__name__)
 
 
-def _reset_stage_for_next_test():
-    """Clear the USD stage cache and create a fresh stage for the next test.
-
-    This is necessary because in standalone mode, we don't have the Omniverse
-    USD context to manage stage lifecycle. We need to manually clear the stage
-    cache and create a new stage.
-    """
-    # Clear all stages from the cache
-    stage_cache = UsdUtils.StageCache.Get()
-    stage_cache.Clear()
-
-    # Create a fresh stage in memory for the next test
-    create_new_stage_in_memory()
-
-
 # Keywords indicating vision/camera-based environments that require Omniverse
 VISION_KEYWORDS = ["RGB", "Depth", "Vision", "Camera", "Visuomotor", "Theia"]
 
@@ -140,9 +115,6 @@ def _run_environments(task_name, device, num_envs, num_steps):
 def _check_random_actions(task_name: str, device: str, num_envs: int, num_steps: int = 1000):
     """Run random actions and check environments returned signals are valid."""
 
-    # Reset stage for each new environment test
-    _reset_stage_for_next_test()
-
     env = None
     try:
         # parse configuration

@@ -6,14 +6,6 @@
 """Launch Isaac Sim Simulator first."""
 
 import sys
-
-from isaaclab.app import AppLauncher
-
-# launch the simulator
-app_launcher = AppLauncher(headless=True)
-simulation_app = app_launcher.app
-
-
 """Rest everything follows."""
 
 import functools