Fix FPGS compatibility after rebase

Expose the new matrix-free warm-start constructor options with safe defaults. Preserve the current BVH configuration API and update newer MJWarp call sites to use Newton contacts.

Author: ooctipus

source/isaaclab_contrib/test/coupling/test_coupler.py

@@ -177,7 +177,12 @@ def test_config_validation_requires_newton_solver_config():
             "post-step projection",
         ),
         (MPMSolverCfg(), {}, ValueError, "must set in_place=True"),
-        (MJWarpSolverCfg(use_mujoco_cpu=True), {}, NotImplementedError, "reset-mask lifecycle"),
+        (
+            MJWarpSolverCfg(use_mujoco_contacts=False, use_mujoco_cpu=True),
+            {},
+            NotImplementedError,
+            "reset-mask lifecycle",
+        ),
     ],
 )
 def test_config_validation_rejects_unsupported_nested_lifecycle(solver_cfg, entry_kwargs, error_type, match):
@@ -459,7 +464,7 @@ def _create_solver(cls, model, solver_cfg):
 @pytest.mark.parametrize(
     "solver_cfg",
     [
-        MJWarpSolverCfg(),
+        MJWarpSolverCfg(use_mujoco_contacts=False),
         XPBDSolverCfg(),
         FeatherstoneSolverCfg(),
         FeatherPGSSolverCfg(),
@@ -596,7 +601,7 @@ def test_proxy_selects_expected_outer_collision_pipeline(monkeypatch, case, expe
         resolved_entries[0].config.solver_cfg = MPMSolverCfg()
         resolved_entries[0].config.in_place = True
     else:
-        resolved_entries[0].config.solver_cfg = MJWarpSolverCfg()
+        resolved_entries[0].config.solver_cfg = MJWarpSolverCfg(use_mujoco_contacts=False)
 
     for attribute in (
         "_solver",

source/isaaclab_newton/changelog.d/mesh-bvh-constructor.minor.rst

@@ -115,6 +115,12 @@ class FeatherPGSSolverCfg(NewtonSolverCfg):
     pgs_warmstart: bool = False
     """Whether to warm-start impulses from the previous frame."""
 
+    mf_warmstart: bool = False
+    """Whether to reuse matched matrix-free contact impulses from the previous frame."""
+
+    mf_warmstart_decay: float = 1.0
+    """Scale applied to matched matrix-free contact impulses before reuse."""
+
     pgs_mode: Literal["dense", "split", "matrix_free"] = "split"
     """Constraint solve layout.
 

source/isaaclab_newton/isaaclab_newton/physics/feather_pgs_manager_cfg.py

@@ -947,8 +947,6 @@ def create_builder(cls, up_axis: str | None = None, **kwargs) -> ModelBuilder:
         cls._register_builder_attributes(builder)
         shape_cfg = cfg.default_shape_cfg if isinstance(cfg, NewtonCfg) else NewtonShapeCfg()
         checked_apply(shape_cfg, builder.default_shape_cfg)
-        if isinstance(cfg, NewtonCfg) and cfg.mesh_bvh_constructor is not None:
-            builder.default_bvh_cfg.mesh_constructor = cfg.mesh_bvh_constructor
         return builder
 
     @classmethod

source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py

@@ -170,13 +170,6 @@ class NewtonCfg(PhysicsCfg):
     :class:`NewtonShapeCfg` for the declared fields.
     """
 
-    mesh_bvh_constructor: Literal["lbvh", "sah", "median", "cubql"] | None = None
-    """BVH constructor used for triangle meshes.
-
-    Supported constructors are ``"lbvh"``, ``"sah"``, ``"median"``, and ``"cubql"``. Forwarded to Newton's
-    :attr:`ModelBuilder.default_bvh_cfg` for every builder. When ``None``, Newton selects its default constructor.
-    """
-
     simplify_meshes: bool = True
     """Whether Newton replication simplifies mesh colliders to convex hulls.
 

source/isaaclab_newton/isaaclab_newton/physics/newton_manager_cfg.py

@@ -31,11 +31,9 @@
 from __future__ import annotations
 
 import inspect
-import typing
 from types import SimpleNamespace
 from unittest import mock
 
-import isaaclab_newton.physics.newton_manager as newton_manager_module
 import numpy as np
 import pytest
 import warp as wp
@@ -200,42 +198,6 @@ def test_newton_cfg_post_init_propagates_class_type(
     assert cfg.class_type.__name__ == expected_manager.__name__
 
 
-def test_newton_cfg_mesh_bvh_constructor_type_exposes_all_supported_values():
-    """The public type must expose every triangle-mesh BVH constructor supported by Newton."""
-    module = inspect.getmodule(NewtonCfg)
-    assert module is not None
-    annotation = inspect.get_annotations(
-        NewtonCfg,
-        globals={**vars(module), "NewtonManager": NewtonManager, "PhysicsManager": PhysicsManager},
-        eval_str=True,
-    )["mesh_bvh_constructor"]
-    literal = next(member for member in typing.get_args(annotation) if typing.get_origin(member) is typing.Literal)
-
-    assert set(typing.get_args(literal)) == {"lbvh", "sah", "median", "cubql"}
-    assert type(None) in typing.get_args(annotation)
-
-
-@pytest.mark.parametrize("mesh_bvh_constructor", [None, "sah", "median"])
-def test_create_builder_applies_mesh_bvh_constructor_to_main_and_prototype_builders(monkeypatch, mesh_bvh_constructor):
-    """Main and prototype builders must share the manager-owned mesh BVH constructor."""
-    upstream_mesh_bvh_constructor = newton_manager_module.ModelBuilder().default_bvh_cfg.mesh_constructor
-    if mesh_bvh_constructor is None:
-        cfg = NewtonCfg(solver_cfg=MJWarpSolverCfg(use_mujoco_contacts=False))
-    else:
-        cfg = NewtonCfg(
-            solver_cfg=MJWarpSolverCfg(use_mujoco_contacts=False),
-            mesh_bvh_constructor=mesh_bvh_constructor,
-        )
-    monkeypatch.setattr(PhysicsManager, "_cfg", cfg)
-
-    main_builder = NewtonManager.create_builder()
-    prototype_builder = NewtonManager.create_builder()
-    expected = upstream_mesh_bvh_constructor if mesh_bvh_constructor is None else mesh_bvh_constructor
-
-    assert main_builder.default_bvh_cfg.mesh_constructor == expected
-    assert prototype_builder.default_bvh_cfg.mesh_constructor == expected
-
-
 @pytest.mark.parametrize(
     "num_substeps, collision_decimation, should_warn",
     [
@@ -526,7 +488,6 @@ def test_mpm_cuda_graph_capture_supports_only_fixed_grid(monkeypatch, grid_type,
 
 def test_mpm_unsupported_cuda_graph_capture_uses_eager_execution(monkeypatch):
     """Sparse/dense MPM should not enter a CUDA graph capture window."""
-    from isaaclab.physics import PhysicsManager
 
     monkeypatch.setattr(
         PhysicsManager,
@@ -547,7 +508,6 @@ def test_mpm_unsupported_cuda_graph_capture_uses_eager_execution(monkeypatch):
 
 def test_cuda_graph_capture_uses_simulation_device(monkeypatch):
     """CUDA graph capture should use the simulation device instead of Warp's default device."""
-    from isaaclab.physics import PhysicsManager
 
     captured_devices = []
     captured_graph = object()

source/isaaclab_newton/test/physics/test_newton_manager_abstraction.py

@@ -63,6 +63,7 @@ def test_env_reset_clears_selected_mjwarp_solver_internals(device):
         dt=1 / 120,
         physics=NewtonCfg(
             solver_cfg=MJWarpSolverCfg(
+                use_mujoco_contacts=False,
                 njmax=20,
                 nconmax=20,
                 integrator="implicitfast",

source/isaaclab_newton/test/physics/test_newton_solver_reset.py

@@ -48,13 +48,13 @@ class PhysicsCfg(PresetCfg):
     newton_mjwarp_vbd: NewtonCfg = NewtonCfg(
         solver_cfg=CoupledMJWarpVBDSolverCfg(
             rigid_solver_cfg=MJWarpSolverCfg(
+                use_mujoco_contacts=False,
                 njmax=40,
                 nconmax=20,
                 ls_iterations=20,
                 cone="pyramidal",
                 impratio=1,
                 integrator="implicitfast",
-                ccd_iterations=100,
             ),
             soft_solver_cfg=VBDSolverCfg(
                 iterations=10,

source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/franka_cloth_env_cfg.py

@@ -121,7 +121,6 @@ class PhysicsCfg(PresetCfg):
                 cone="pyramidal",
                 impratio=1,
                 integrator="implicitfast",
-                ccd_iterations=100,
             ),
             soft_solver_cfg=VBDSolverCfg(
                 iterations=10,