Add WarpFrontend bridge: run any stable manager-based task on the warp runtime via --manager=warp

scripts/reinforcement_learning/rsl_rl/train.py

@@ -67,6 +67,18 @@
     "--ray-proc-id", "-rid", type=int, default=None, help="Automatically configured by Ray integration, otherwise None."
 )
 parser.add_argument("--external_callback", default=None, help="Fully qualified path to an externally defined callback.")
+parser.add_argument(
+    "--frontend",
+    type=str,
+    default="stable",
+    choices=["stable", "warp"],
+    help=(
+        "Runtime backend for the env. 'stable' uses isaaclab.envs.* (torch);"
+        " 'warp' routes through isaaclab_experimental.envs.warp_frontend.WarpFrontend,"
+        " which adapts a manager-based stable cfg onto ManagerBasedRLEnvWarp or dispatches"
+        " a direct task to its registered warp env class."
+    ),
+)
 cli_args.add_rsl_rl_args(parser)
 add_launcher_args(parser)
 args_cli, remaining_args = parser.parse_known_args()
@@ -86,6 +98,34 @@
 # The remaining arguments are the arguments that were not consumed by both this scripts
 # argparser and (optionally) the external callback function.
 remaining_args = list_intersection(remaining_args, remaining_args_env_registration)
+
+# When the warp frontend is selected on a stable manager-based task, the cfg
+# must resolve any PresetCfg wrappers to their ``newton`` field. Hydra
+# resolves presets *before* the WarpFrontend runs, so we inject
+# ``presets=newton`` here. We only inject for tasks whose env_cfg_entry_point
+# is under ``isaaclab_tasks.manager_based``; direct tasks and the pre-warp
+# ``*-Warp-v0`` registrations don't carry the preset system, and injecting
+# ``presets=newton`` against them causes Hydra to error before the frontend
+# can produce its own diagnostic. Note: ``spec.entry_point`` is the env
+# *class* path (e.g. ``isaaclab.envs:ManagerBasedRLEnv``) — we check the
+# *cfg* entry point in ``spec.kwargs``.
+if args_cli.frontend == "warp" and args_cli.task is not None:
+    try:
+        _spec = gym.spec(args_cli.task)
+    except gym.error.NameNotFound:
+        _spec = None
+    _cfg_entry = _spec.kwargs.get("env_cfg_entry_point") if _spec is not None else None
+    _is_stable_manager = isinstance(_cfg_entry, str) and _cfg_entry.startswith("isaaclab_tasks.manager_based")
+    _explicit_preset = next((a for a in remaining_args if a.startswith("presets=")), None)
+    if _is_stable_manager and _explicit_preset is None:
+        remaining_args.append("presets=newton")
+    elif _is_stable_manager and _explicit_preset != "presets=newton":
+        logger.warning(
+            "--frontend=warp on %r expects presets=newton; got %r — adapter may fail to find a Newton physics cfg.",
+            args_cli.task,
+            _explicit_preset,
+        )
+
 sys.argv = [sys.argv[0]] + remaining_args
 
 # -- check RSL-RL version ----------------------------------------------------
@@ -171,7 +211,15 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
         env_cfg.log_dir = log_dir
 
         # create isaac environment
-        env = gym.make(args_cli.task, cfg=env_cfg, render_mode="rgb_array" if args_cli.video else None)
+        render_mode = "rgb_array" if args_cli.video else None
+        if args_cli.frontend == "warp":
+            # Lazy: first warp-side import. Calling this after SimulationApp
+            # is already alive avoids racing pxr extension init.
+            from isaaclab_experimental.envs.warp_frontend import WarpFrontend
+
+            env = WarpFrontend().build(env_cfg, task_id=args_cli.task, render_mode=render_mode)
+        else:
+            env = gym.make(args_cli.task, cfg=env_cfg, render_mode=render_mode)
 
         # convert to single-agent instance if required by the RL algorithm
         if isinstance(env.unwrapped.cfg, DirectMARLEnvCfg):

source/isaaclab_experimental/changelog.d/warp-manager-bridge.rst

@@ -0,0 +1,32 @@
+Added
+^^^^^
+
+* Added :class:`~isaaclab_experimental.envs.warp_frontend.WarpFrontend`, a
+  runtime adapter that lets any stable manager-based RL task config run on the
+  experimental warp runtime (:class:`~isaaclab_experimental.envs.ManagerBasedRLEnvWarp`)
+  without a parallel ``-Warp-v0`` registration. The adapter is built on a
+  pluggable :class:`~isaaclab_experimental.envs.warp_frontend.CompatRule`
+  pipeline; new incompatibilities (sensor types, term-cfg fields, action
+  classes) are added by writing a small rule subclass instead of editing the
+  dispatcher. The default rules cover physics-preset resolution, dropping
+  unsupported sensors, in-place :class:`SceneEntityCfg` promotion, mdp
+  function swaps, and action-class swaps. The frontend also dispatches
+  direct envs by verifying their registered entry-point class lives under
+  ``isaaclab_experimental`` / ``isaaclab_tasks_experimental`` and routing
+  through :func:`gym.make` unchanged.
+
+* Added a ``--frontend={stable,warp}`` flag to ``rsl_rl/train.py``. When set
+  to ``warp`` the script auto-injects ``presets=newton`` (so Hydra picks the
+  Newton physics preset before the adapter runs), warns on conflicting
+  ``presets=`` overrides, and dispatches the env through ``WarpFrontend``
+  instead of :func:`gym.make`. ``render_mode`` is forwarded so ``--video``
+  keeps working under the warp frontend.
+
+Fixed
+^^^^^
+
+* Fixed a regression in :class:`~isaaclab_experimental.envs.ManagerBasedRLEnvWarp`
+  introduced when the ``SimulationContext.get_setting`` API was reshaped:
+  the warp env now mirrors the stable env and probes
+  :meth:`~isaaclab.sim.SimulationContext.has_active_visualizers` instead of
+  splitting a string setting that no longer exists.

source/isaaclab_experimental/isaaclab_experimental/envs/manager_based_env_warp.py

@@ -33,6 +33,7 @@
 from isaaclab.ui.widgets import ManagerLiveVisualizer
 from isaaclab.utils.seed import configure_seed
 from isaaclab.utils.timer import Timer
+from isaaclab.utils.version import has_kit
 
 from isaaclab_experimental.envs.interactive_scene_warp import InteractiveSceneWarp as InteractiveScene
 from isaaclab_experimental.utils.manager_call_switch import ManagerCallMode, ManagerCallSwitch
@@ -154,13 +155,11 @@ def __init__(self, cfg: ManagerBasedEnvCfg):
         # Persistent scalar buffer for global env step count (stable pointer for capture).
         self._global_env_step_count_wp = wp.zeros((1,), dtype=wp.int32, device=self.device)
 
-        # set up camera viewport controller
-        # viewport is not available in other rendering modes so the function will throw a warning
-        # FIXME: This needs to be fixed in the future when we unify the UI functionalities even for
-        # non-rendering modes.
-        viz_str = self.sim.get_setting("/isaaclab/visualizer") or ""
-        available_visualizers = [v.strip() for v in viz_str.split(",") if v.strip()]
-        if "kit" in available_visualizers and bool(viz_str):
+        # set up camera viewport controller — mirror stable env (PR #5297 changed
+        # the visualizer API; this branch was missed). ViewportCameraController
+        # uses omni.kit; skip it in kitless Newton-only runs.
+        has_visualizers = self.sim.has_active_visualizers()
+        if (self.sim.has_gui or has_visualizers) and has_kit():
             self.viewport_camera_controller = ViewportCameraController(self, self.cfg.viewer)
         else:
             self.viewport_camera_controller = None