Cherry-pick: Anymal-D rough terrain (subset) from isaac-sim#5225

Originally Octi's commit on PR isaac-sim#5225. Cherry-picked here so the rough
terrain stack does not depend on his still-open WIP PR while he is away.

Included from isaac-sim#5225:
- source/isaaclab_tasks/.../config/anymal_d/rough_env_cfg.py:
  Anymal-D SimulationCfg-based RoughPhysicsCfg (MJWarp solver + collision
  pipeline). The shared parent will hoist this in the next commit.
- source/isaaclab_tasks/.../velocity/velocity_env_cfg.py:
  Hoist physics_material, add_base_mass, base_com startup events into
  the shared EventsCfg. base_com guarded with preset(newton=None) per
  ablation A4 (without the gate, 99.99% of episodes terminate from
  body_lin_vel runaway on Newton). Upstream Newton fix
  newton-physics/newton#2332 will let us drop
  the gate once it ships in a release.

Dropped from isaac-sim#5225 (no longer needed):
- collider_offsets startup event in velocity_env_cfg.py: per ablation
  A3 (clobbers shape margin via gap = max(0, contact_offset - margin) =
  0, costing -3.71 reward on Anymal-D) and greptile P1 (PhysX-only
  root_view methods, raises AttributeError on Newton without a guard).
- body_lin_vel_out_of_limit / body_ang_vel_out_of_limit terminations
  and their __init__.pyi exports: were a NaN guard for the Newton
  body_lin_vel runaway when base_com was unguarded. With the
  preset(newton=None) gate on base_com, the runaway no longer occurs
  and the guards are unused.
- terrain_generator.py subdivided flat-grid border: was a workaround
  for Newton triangle-collision failures on the box-primitive border.
  Newton has since improved triangle handling, so the workaround is no
  longer needed.

Co-authored-by: Octi Zhang <zhengyuz@nvidia.com>

Author: ooctipus

source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/rough_env_cfg.py

@@ -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
 
 ##
@@ -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

source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/velocity_env_cfg.py

@@ -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
@@ -161,6 +161,41 @@ 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,
+    )
+
     # reset
     base_external_force_torque = EventTerm(
         func=mdp.apply_external_force_torque,
@@ -206,41 +241,6 @@ 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."""
@@ -286,6 +286,10 @@ 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
@@ -313,7 +317,7 @@ class LocomotionVelocityRoughEnvCfg(ManagerBasedRLEnvCfg):
     # MDP settings
     rewards: RewardsCfg = RewardsCfg()
     terminations: TerminationsCfg = TerminationsCfg()
-    events: EventsCfg = MISSING
+    events: EventsCfg = EventsCfg()
     curriculum: CurriculumCfg = CurriculumCfg()
 
     def __post_init__(self):