Merge branch 'develop' into antoine/document-kamino-tutorial

Author: AntoineRichard

docs/source/api/lab/isaaclab.sensors.rst

@@ -37,6 +37,7 @@
     Imu
     ImuCfg
     JointWrenchSensor
+    JointWrenchSensorData
     JointWrenchSensorCfg
 
 Sensor Base
@@ -200,6 +201,11 @@ Joint Wrench Sensor
     :inherited-members:
     :show-inheritance:
 
+.. autoclass:: JointWrenchSensorData
+    :members:
+    :inherited-members:
+    :exclude-members: __init__
+
 .. autoclass:: JointWrenchSensorCfg
     :members:
     :inherited-members:

docs/source/experimental-features/newton-physics-integration/installation.rst

@@ -75,4 +75,4 @@ To verify that the installation was successful, run the following command from t
 
 .. code-block:: bash
 
-    ./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Cartpole-Direct-v0 --num_envs 128 --viz newton presets=newton
+    ./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Cartpole-Direct-v0 --num_envs 128 --viz newton presets=newton_mjwarp

docs/source/features/hydra.rst

@@ -188,8 +188,8 @@ Override Order
 Overrides are applied in sequence:
 
 1. **Auto-default**: Configs with a ``"default"`` field auto-apply without CLI args
-2. **Global presets**: ``presets=newton,inference`` applies to ALL matching configs
-3. **Path presets**: ``env.backend=newton`` replaces a specific section
+2. **Global presets**: ``presets=newton_mjwarp,inference`` applies to ALL matching configs
+3. **Path presets**: ``env.backend=newton_mjwarp`` replaces a specific section
 4. **Scalar overrides**: ``env.sim.dt=0.001`` modifies individual fields
 
 
@@ -207,7 +207,7 @@ override is given:
     @configclass
     class PhysicsCfg(PresetCfg):
         default: PhysxCfg = PhysxCfg()
-        newton: NewtonCfg = NewtonCfg()
+        newton_mjwarp: NewtonCfg = NewtonCfg()
 
     @configclass
     class MyEnvCfg:
@@ -216,7 +216,7 @@ override is given:
 .. code-block:: bash
 
     # Use Newton physics backend
-    python train.py --task=Isaac-Reach-Franka-v0 env.physics=newton
+    python train.py --task=Isaac-Reach-Franka-v0 env.physics=newton_mjwarp
 
 The ``default`` field can be set to ``None`` to make an optional feature that is
 disabled unless explicitly selected:
@@ -261,11 +261,11 @@ Physics backend selection uses the same preset system. A task can define a
     class CartpolePhysicsCfg(PresetCfg):
         default: PhysxCfg = PhysxCfg()
         physx: PhysxCfg = PhysxCfg()
-        newton: NewtonCfg = NewtonCfg(
+        newton_mjwarp: NewtonCfg = NewtonCfg(
             solver_cfg=MJWarpSolverCfg(njmax=5, nconmax=3),
             num_substeps=1,
         )
-        kamino: NewtonCfg = NewtonCfg(
+        newton_kamino: NewtonCfg = NewtonCfg(
             solver_cfg=KaminoSolverCfg(
                 integrator="moreau",
                 use_collision_detector=True,
@@ -277,10 +277,10 @@ Physics backend selection uses the same preset system. A task can define a
             use_cuda_graph=True,
         )
 
-The ``newton`` and ``kamino`` entries both select the Newton physics backend because
+The ``newton_mjwarp`` and ``newton_kamino`` entries both select the Newton physics backend because
 both entries are :class:`~isaaclab_newton.physics.NewtonCfg` objects. The difference
-is the solver configuration: ``newton`` uses
-:class:`~isaaclab_newton.physics.MJWarpSolverCfg`, while ``kamino`` uses
+is the solver configuration: ``newton_mjwarp`` uses
+:class:`~isaaclab_newton.physics.MJWarpSolverCfg`, while ``newton_kamino`` uses
 :class:`~isaaclab_newton.physics.KaminoSolverCfg`.
 
 Kamino is therefore a solver preset, not a separate Isaac Lab backend. The same
@@ -294,19 +294,19 @@ is currently beta.
     Kamino support is experimental and currently depends on the asset being
     structured in a way that Kamino can consume. Assets that work with the
     MuJoCo-Warp or PhysX presets may still require model-structure updates before
-    they work with ``presets=kamino``.
+    they work with ``presets=newton_kamino``.
 
 .. code-block:: bash
 
     # Select the Kamino solver preset everywhere it is defined
-    python train.py --task=Isaac-Cartpole-v0 presets=kamino
+    python train.py --task=Isaac-Cartpole-v0 presets=newton_kamino
 
     # Select the Kamino solver preset for a specific physics config path
-    python train.py --task=Isaac-Cartpole-v0 env.sim.physics=kamino
+    python train.py --task=Isaac-Cartpole-v0 env.sim.physics=newton_kamino
 
-The ``kamino`` preset is currently defined for ``Isaac-Cartpole-Direct-v0``,
+The ``newton_kamino`` preset is currently defined for ``Isaac-Cartpole-Direct-v0``,
 ``Isaac-Ant-Direct-v0``, ``Isaac-Cartpole-v0``, and ``Isaac-Ant-v0``. Passing
-``presets=kamino`` to a task without a ``kamino`` preset does not enable Kamino;
+``presets=newton_kamino`` to a task without a ``newton_kamino`` preset does not enable Kamino;
 add and validate a task-specific preset first.
 
 
@@ -322,7 +322,7 @@ For simple values (scalars, lists) that don't warrant a full subclass, use the
     from isaaclab_tasks.utils.hydra import preset
 
     # Scalar preset -- one line, no boilerplate class
-    self.scene.robot.actuators["legs"].armature = preset(default=0.0, newton=0.01, physx=0.0)
+    self.scene.robot.actuators["legs"].armature = preset(default=0.0, newton_mjwarp=0.01, physx=0.0)
 
 This is equivalent to defining a ``PresetCfg`` subclass with three ``float``
 fields, but without the ceremony. The ``default`` keyword is required.
@@ -351,8 +351,8 @@ including inside dict-valued fields such as ``actuators``:
 
 .. code-block:: bash
 
-    # Select newton preset globally -- sets armature to 0.01
-    python train.py --task=Isaac-Velocity-Rough-Anymal-C-v0 presets=newton
+    # Select MJWarp preset globally -- sets armature to 0.01
+    python train.py --task=Isaac-Velocity-Rough-Anymal-C-v0 presets=newton_mjwarp
 
 
 Using Presets
@@ -363,29 +363,29 @@ Using Presets
 .. code-block:: bash
 
     python train.py --task=Isaac-Velocity-Rough-Anymal-C-v0 \
-        env.events=newton
+        env.events=newton_mjwarp
 
 **Global presets** -- apply the same preset name everywhere it exists:
 
 .. code-block:: bash
 
-    # Apply "newton" preset to all configs that define it
+    # Apply "newton_mjwarp" preset to all configs that define it
     python train.py --task=Isaac-Velocity-Rough-Anymal-C-v0 \
-        presets=newton
+        presets=newton_mjwarp
 
 **Multiple global presets** -- apply several non-conflicting presets:
 
 .. code-block:: bash
 
     python train.py --task=Isaac-Velocity-Rough-Anymal-C-v0 \
-        presets=newton,inference
+        presets=newton_mjwarp,inference
 
 **Combined** -- global presets + scalar overrides:
 
 .. code-block:: bash
 
     python train.py --task=Isaac-Velocity-Rough-Anymal-C-v0 \
-        presets=newton \
+        presets=newton_mjwarp \
         env.sim.dt=0.002
 
 
@@ -411,8 +411,8 @@ working together:
     :language: python
     :lines: 21-42
 
-A single ``presets=newton`` on the command line resolves every ``PresetCfg``
-and ``preset()`` that defines a ``newton`` field: the physics engine is swapped
+A single ``presets=newton_mjwarp`` on the command line resolves every ``PresetCfg``
+and ``preset()`` that defines a ``newton_mjwarp`` field: the physics engine is swapped
 to Newton, ``AnymalCEventsCfg`` selects Newton-compatible events, and the
 actuator armature is set to ``0.01``.
 
@@ -421,8 +421,8 @@ actuator armature is set to ``0.01``.
     # Default (PhysX events, armature=0.0)
     python train.py --task=Isaac-Velocity-Rough-Anymal-C-v0
 
-    # Newton (Newton events, armature=0.01)
-    python train.py --task=Isaac-Velocity-Rough-Anymal-C-v0 presets=newton
+    # MJWarp (Newton events, armature=0.01)
+    python train.py --task=Isaac-Velocity-Rough-Anymal-C-v0 presets=newton_mjwarp
 
 
 Summary
@@ -439,11 +439,11 @@ Summary
      - ``env.sim.dt=0.001``
      - Modify single field
    * - Path preset
-     - ``env.events=newton``
+     - ``env.events=newton_mjwarp``
      - Replace entire section
    * - Global preset
-     - ``presets=newton``
+     - ``presets=newton_mjwarp``
      - Apply everywhere matching
    * - Combined
-     - ``presets=newton env.sim.dt=0.001``
+     - ``presets=newton_mjwarp env.sim.dt=0.001``
      - Global + scalar overrides

docs/source/features/visualization.rst

@@ -240,7 +240,7 @@ set ``VideoRecorderCfg.backend_source = "renderer"`` in the task configuration.
      --max_iterations=5 \
      --num_envs=1024 \
      --benchmark_backend=summary \
-     "presets=newton,ovrtx_renderer,rgb"
+     "presets=newton_mjwarp,ovrtx_renderer,rgb"
 
 **Record video with the Isaac RTX renderer preset using the Newton video backend**
 

docs/source/how-to/record_video.rst

@@ -82,7 +82,7 @@ the Rerun visualizer rather than producing ``--video`` clips, and Viser does not
 
 Set ``VideoRecorderCfg.backend_source = "renderer"`` to ignore active visualizers and choose from the
 physics/renderer stack instead. In that mode, PhysX physics (``presets=physx,...``) or Isaac RTX
-(``presets=isaac_rtx_renderer,...``) selects the Kit path. Newton physics (``presets=newton,...``) or
+(``presets=isaac_rtx_renderer,...``) selects the Kit path. Newton physics (``presets=newton_mjwarp,...``) or
 the Newton Warp renderer (``presets=newton_renderer,...``) selects the Newton GL path when no Kit
 signal is present. OVRTX (``presets=ovrtx_renderer,...`` from ``isaaclab_ov``) can pair with IsaacSim
 or Newton physics; in that case the video backend is selected via the physics preset. If both Kit and
@@ -149,10 +149,10 @@ Summary
    * - ``physx,...`` or ``isaac_rtx_renderer,...``
      - Kit (``"kit"``)
      - ``/OmniverseKit_Persp`` + Replicator RGB
-   * - ``newton,...`` or ``newton_renderer,...`` (no Kit signals)
+   * - ``newton_mjwarp,...`` or ``newton_renderer,...`` (no Kit signals)
      - Newton GL (``"newton_gl"``)
      - ``newton.viewer.ViewerGL`` on the SDP Newton model
-   * - ``newton,...,ovrtx_renderer,...`` (OVRTX + Newton physics)
+   * - ``newton_mjwarp,...,ovrtx_renderer,...`` (OVRTX + Newton physics)
      - Newton GL (``"newton_gl"``)
      - ``newton.viewer.ViewerGL`` on the SDP Newton model
    * - ``--visualizer kit`` with default ``backend_source``

docs/source/migration/migrating_to_isaaclab_3-0.rst

@@ -158,6 +158,8 @@ The following sensor classes also remain in the ``isaaclab`` package with unchan
 - :class:`~isaaclab.sensors.Imu`, :class:`~isaaclab.sensors.ImuCfg`, :class:`~isaaclab.sensors.ImuData`
 - :class:`~isaaclab.sensors.Pva`, :class:`~isaaclab.sensors.PvaCfg`, :class:`~isaaclab.sensors.PvaData`
 - :class:`~isaaclab.sensors.FrameTransformer`, :class:`~isaaclab.sensors.FrameTransformerCfg`, :class:`~isaaclab.sensors.FrameTransformerData`
+- :class:`~isaaclab.sensors.JointWrenchSensor`, :class:`~isaaclab.sensors.JointWrenchSensorCfg`,
+  :class:`~isaaclab.sensors.JointWrenchSensorData`
 
 These sensor classes now use factory patterns that automatically instantiate the appropriate backend
 implementation (PhysX by default), maintaining full backward compatibility.
@@ -179,6 +181,7 @@ you can import from ``isaaclab_physx.sensors``:
    from isaaclab_physx.sensors import Imu, ImuData
    from isaaclab_physx.sensors import Pva, PvaData
    from isaaclab_physx.sensors import FrameTransformer, FrameTransformerData
+   from isaaclab_physx.sensors import JointWrenchSensor, JointWrenchSensorData
 
 
 New ``isaaclab_newton`` Extension
@@ -188,6 +191,8 @@ A new extension ``isaaclab_newton`` provides Newton physics backend implementati
 
 - :class:`~isaaclab_newton.assets.Articulation` and :class:`~isaaclab_newton.assets.ArticulationData`
 - :class:`~isaaclab_newton.assets.RigidObject` and :class:`~isaaclab_newton.assets.RigidObjectData`
+- :class:`~isaaclab_newton.sensors.JointWrenchSensor` and
+  :class:`~isaaclab_newton.sensors.JointWrenchSensorData`
 
 These classes implement the same base interfaces as their PhysX counterparts
 (:class:`~isaaclab.assets.BaseArticulation`, :class:`~isaaclab.assets.BaseRigidObject`),
@@ -331,6 +336,75 @@ If you need to track sensor poses in world frame, please use a dedicated sensor
    sensor_quat = frame_transformer.data.target_quat_w
 
 
+Articulation Joint Wrench Data Moved to ``JointWrenchSensor``
+-------------------------------------------------------------
+
+The ``ArticulationData.body_incoming_joint_wrench_b`` property has been removed. In
+Isaac Lab 3.0, incoming joint reaction wrenches are exposed through
+:class:`~isaaclab.sensors.JointWrenchSensor`, which has PhysX and Newton backend
+implementations and returns separate force [N] and torque [N·m] buffers.
+The sensor reports wrenches in the child-side incoming joint frame, with torque
+referenced at the child-side joint anchor.
+
+**Before (Isaac Lab 2.x):**
+
+.. code-block:: python
+
+   wrench_b = robot.data.body_incoming_joint_wrench_b.torch[:, body_ids]
+
+**After (Isaac Lab 3.x):**
+
+.. code-block:: python
+
+   import torch
+   from isaaclab.scene import InteractiveSceneCfg
+   from isaaclab.sensors import JointWrenchSensorCfg
+
+   class MySceneCfg(InteractiveSceneCfg):
+       robot = ROBOT_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+       joint_wrench = JointWrenchSensorCfg(prim_path="{ENV_REGEX_NS}/Robot")
+
+   sensor = env.scene.sensors["joint_wrench"]
+   data = sensor.data
+   wrench_j = torch.cat(
+       (
+           data.force.torch[:, body_ids],
+           data.torque.torch[:, body_ids],
+       ),
+       dim=-1,
+   )
+
+Use :attr:`~isaaclab.sensors.BaseJointWrenchSensor.body_names` or
+:meth:`~isaaclab.sensors.BaseJointWrenchSensor.find_bodies` to map sensor entries to
+articulation body names. PhysX reports one entry for every link, including the articulation
+root link. Newton reports the child bodies of reportable incoming joints.
+
+For manager-based environments, update observations that used the articulation data property to
+depend on the joint-wrench sensor instead:
+
+.. code-block:: python
+
+   import isaaclab.envs.mdp as mdp
+   from isaaclab.managers import SceneEntityCfg
+   from isaaclab.managers import ObservationTermCfg as ObsTerm
+   from isaaclab.scene import InteractiveSceneCfg
+   from isaaclab.sensors import JointWrenchSensorCfg
+
+   class MySceneCfg(InteractiveSceneCfg):
+       robot = ROBOT_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+       joint_wrench = JointWrenchSensorCfg(prim_path="{ENV_REGEX_NS}/Robot")
+
+   feet_body_forces = ObsTerm(
+       func=mdp.body_incoming_wrench,
+       params={
+           "sensor_cfg": SceneEntityCfg(
+               "joint_wrench",
+               body_names=["left_foot", "right_foot"],
+           )
+       },
+   )
+
+
 Multi-Backend Support: PresetCfg Pattern
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
@@ -356,17 +430,17 @@ when no CLI override is given. Other fields are named presets selectable with
    class MyPhysicsCfg(PresetCfg):
        default: PhysxCfg = PhysxCfg(...)   # used when no override is given
        physx:   PhysxCfg = PhysxCfg(...)   # selected by presets=physx
-       newton:  NewtonCfg = NewtonCfg(...)  # selected by presets=newton
+       newton_mjwarp:  NewtonCfg = NewtonCfg(...)  # selected by presets=newton_mjwarp
 
 Selecting a preset at launch
 -----------------------------
 
-Pass ``presets=newton`` (or ``presets=physx``) on the CLI to swap the entire config section:
+Pass ``presets=newton_mjwarp`` (or ``presets=physx``) on the CLI to swap the entire config section:
 
 .. code-block:: bash
 
    # Run with Newton backend
-   python train.py task=Isaac-Franka-Cabinet-v0 presets=newton
+   python train.py task=Isaac-Franka-Cabinet-v0 presets=newton_mjwarp
 
    # Run with default (PhysX) backend
    python train.py task=Isaac-Franka-Cabinet-v0
@@ -399,7 +473,7 @@ subclass that carries both a PhysX and a Newton variant.
    class ReachPhysicsCfg(PresetCfg):
        default: PhysxCfg = PhysxCfg(bounce_threshold_velocity=0.2)
        physx:   PhysxCfg = PhysxCfg(bounce_threshold_velocity=0.2)
-       newton:  NewtonCfg = NewtonCfg(
+       newton_mjwarp:  NewtonCfg = NewtonCfg(
            solver_cfg=MJWarpSolverCfg(
                njmax=20, nconmax=20, ls_iterations=20,
                cone="pyramidal", ls_parallel=True,
@@ -471,7 +545,7 @@ We can provide a Newton-specific config such as:
    class EnvEventCfg(PresetCfg):
        default: EventCfg = EventCfg()
        physx:   EventCfg = EventCfg()
-       newton:  _EnvNewtonEventCfg = _EnvNewtonEventCfg()
+       newton_mjwarp:  _EnvNewtonEventCfg = _EnvNewtonEventCfg()
 
 Then change the ``events`` field in your env cfg from ``EventCfg`` to ``EnvEventCfg``:
 

docs/source/overview/core-concepts/multi_backend_architecture.rst

@@ -148,23 +148,23 @@ Environments can support multiple backends simultaneously using the :doc:`preset
     class CartpolePhysicsCfg(PresetCfg):
         default: PhysxCfg = PhysxCfg()
         physx: PhysxCfg = PhysxCfg()
-        newton: NewtonCfg = NewtonCfg(
+        newton_mjwarp: NewtonCfg = NewtonCfg(
             solver_cfg=MJWarpSolverCfg(njmax=5, nconmax=3)
         )
 
     @configclass
     class CartpoleEnvCfg(ManagerBasedRLEnvCfg):
         sim: SimulationCfg = SimulationCfg(physics=CartpolePhysicsCfg())
 
-Users then select a backend at the command line:
+Users then select the MJWarp Newton preset at the command line:
 
 .. code-block:: bash
 
     # Default (PhysX)
     python train.py --task Isaac-Cartpole-v0
 
-    # Newton
-    python train.py --task Isaac-Cartpole-v0 presets=newton
+    # MJWarp (Newton backend)
+    python train.py --task Isaac-Cartpole-v0 presets=newton_mjwarp
 
 The Physics Manager
 -------------------