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Enable Spot Newton MJWarp preset #5940

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Enable Spot Newton MJWarp preset #5940

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9 changes: 6 additions & 3 deletions source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/spot/flat_env_cfg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
#
# SPDX-License-Identifier: BSD-3-Clause

from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg, NewtonCollisionPipelineCfg, NewtonShapeCfg
from isaaclab_physx.physics import PhysxCfg

import isaaclab.sim as sim_utils
Expand Down Expand Up @@ -31,14 +31,17 @@ class PhysicsCfg(PresetCfg):
default = PhysxCfg(gpu_max_rigid_patch_count=10 * 2**15)
newton_mjwarp = NewtonCfg(
solver_cfg=MJWarpSolverCfg(
njmax=45,
nconmax=30,
njmax=130,
nconmax=40,
cone="pyramidal",
impratio=1,
integrator="implicitfast",
use_mujoco_contacts=False,
),
collision_cfg=NewtonCollisionPipelineCfg(max_triangle_pairs=2_500_000),
num_substeps=1,
debug_mode=False,
default_shape_cfg=NewtonShapeCfg(margin=0.01),
)


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