Add Newton physics backend support#276
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Co-authored-by: chenjian <chenjian@dexforce.com>
Co-authored-by: chenjian <chenjian@dexforce.com>
Co-authored-by: chenjian <chenjian@dexforce.com>
Co-authored-by: chenjian <chenjian@dexforce.com>
Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>
Co-authored-by: chenjian <chenjian@dexforce.com>
Co-authored-by: Jietao Chen <chenjietao@dexforce.com> Co-authored-by: Yueci Deng <dengyueci@qq.com>
Co-authored-by: chenjian <chenjian@dexforce.com>
Co-authored-by: chenjian <chenjian@dexforce.com>
Co-authored-by: yuanhaonan <yuanhaonan@dexforce.top>
…entation (#247) Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com> Co-authored-by: Copilot <copilot@github.com>
Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>
Co-authored-by: chenjian <chenjian@dexforce.com> Co-authored-by: yuecideng <dengyueci@qq.com>
Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>
…ration (#239) Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com> Co-authored-by: Chen Jian <mtfl1996@outlook.com> Co-authored-by: chenjian <chenjian@dexforce.com> Co-authored-by: Copilot <copilot@github.com>
Co-authored-by: chenjian <chenjian@dexforce.com>
Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>
Co-authored-by: Yueci Deng <dengyueci@qq.com>
Co-authored-by: WaferLi <63717327+WaferLi@users.noreply.github.com> Co-authored-by: liwenfeng <liwenfeng@dexforce.top> Co-authored-by: chenjian <chenjian@dexforce.com> Co-authored-by: daojun <lookangela@qq.com> Co-authored-by: Chen Jian <mtfl1996@outlook.com>
Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>
Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>
Co-authored-by: Cursor <cursoragent@cursor.com>
Co-authored-by: Cursor <cursoragent@cursor.com>
Co-authored-by: chenjian <chenjian@dexforce.com>
…on backend Wire DexSim Newton's new `NewtonRigidDataType` enum values (MASS, INERTIA_DIAGONAL, FRICTION, RESTITUTION) through the backend adapter layer, enabling runtime set/get of mass, friction, and inertia on the Newton physics backend. Changes: - backends/base.py: Add 8 abstract methods for physical property fetch/apply (mass, inertia_diagonal, friction, restitution) - backends/newton.py: Implement via batch_fetch/apply_rigid_body_data; add `_fetch_scalar` helper; fix body ID resolution to be lazy so IDs are correct after Newton finalization in multi-object scenes - backends/default.py: Implement all new abstract methods via per-entity PhysX API - rigid_object.py: Route set/get_mass, set/get_friction, set/get_inertia through body_view when ready; make gpu_indices a property for lazy body ID resolution; add _mass/_inertia/_friction data buffers - sim_manager.py: Remove redundant _has_reset_newton_entities_after_finalize flag; add _newton_lifecycle_state() helper; simplify finalize_newton_physics() - test_rigid_object.py: Assert set/get round-trips for mass, friction, inertia on Newton backend; fix initial inertia expectation to use actual Newton-computed values - docs/sim_manager.md: Add Newton Physics Backend section with supported operations table Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
## Newton backend optimizations (backends/newton.py) - Pass GPU int32 body_ids tensor directly to DexSim; remove per-call .detach().cpu().tolist() synchronization on every fetch/apply - Pass torch buffers directly to batch_fetch/apply_rigid_body_data; drop manual wp.from_torch wrapping (DexSim handles it internally) - Remove dead code: _entity_indices, _fetch_com_local_pose_from_entities, _apply_com_local_pose_to_entities, unused _fetch_vec3/_fetch_scalar helpers - Remove now-unused imports (numpy, warp, convert_quat) ## Test coverage additions (test_rigid_object.py) - test_geometry_data: get_triangles shape/dtype + get_vertices(scale=True) - test_enable_collision: toggle collision on/off, partial env_ids - test_reset: full and partial reset restores pose + clears dynamics - test_local_pose_matrix: get_local_pose(to_matrix=True) shape, last row, orthogonality; consistency with 7-vec form - test_body_data_vel_clear: body_data.vel combined (N,6) shape, partial clear_dynamics zeroing only the requested env All 63 tests pass (CPU / CUDA / Newton). Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Co-authored-by: yuecideng <dengyueci@qq.com>
Co-authored-by: Cursor <cursoragent@cursor.com>
Co-authored-by: Cursor <cursoragent@cursor.com>
Co-authored-by: Cursor <cursoragent@cursor.com>
Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>
…s-backend # Conflicts: # .github/workflows/main.yml # docs/source/features/generative_sim/simready_pipeline.md # docs/source/guides/cli.md # docs/source/guides/configuration.md # embodichain/agents/engine/data.py # embodichain/agents/rl/train.py # embodichain/gen_sim/simready_pipeline/cli/start.py # embodichain/gen_sim/simready_pipeline/configs/gen_config.json # embodichain/gen_sim/simready_pipeline/core/asset.py # embodichain/gen_sim/simready_pipeline/io/json_store.py # embodichain/gen_sim/simready_pipeline/parser/physics.py # embodichain/gen_sim/simready_pipeline/pipeline/ingest.py # embodichain/gen_sim/simready_pipeline/utils/ingest_utils.py # embodichain/gen_sim/simready_pipeline/utils/simready_utils.py # embodichain/lab/gym/envs/managers/observations.py # embodichain/lab/gym/utils/gym_utils.py # embodichain/lab/scripts/preview_asset.py # embodichain/lab/sim/atomic_actions/actions.py # embodichain/lab/sim/cfg.py # embodichain/lab/sim/objects/articulation.py # embodichain/lab/sim/objects/rigid_object.py # embodichain/lab/sim/robots/cobotmagic.py # embodichain/lab/sim/sim_manager.py # examples/sim/demo/grasp_cup_to_caffe.py # examples/sim/demo/pick_up_cloth.py # examples/sim/demo/press_softbody.py # examples/sim/demo/scoop_ice.py # examples/sim/gizmo/gizmo_camera.py # examples/sim/gizmo/gizmo_object.py # examples/sim/gizmo/gizmo_robot.py # examples/sim/gizmo/gizmo_scene.py # examples/sim/gizmo/gizmo_w1.py # examples/sim/scene/scene_demo.py # examples/sim/sensors/batch_camera.py # examples/sim/sensors/create_contact_sensor.py # examples/sim/utility/workspace_analyzer/analyze_cartesian_workspace.py # examples/sim/utility/workspace_analyzer/analyze_plane_workspace.py # pyproject.toml # scripts/benchmark/rl/runtime.py # scripts/tutorials/grasp/grasp_generator.py # scripts/tutorials/gym/modular_env.py # scripts/tutorials/gym/random_reach.py # scripts/tutorials/sim/atomic_actions.py # scripts/tutorials/sim/create_cloth.py # scripts/tutorials/sim/create_rigid_object_group.py # scripts/tutorials/sim/create_robot.py # scripts/tutorials/sim/create_scene.py # scripts/tutorials/sim/create_sensor.py # scripts/tutorials/sim/create_softbody.py # scripts/tutorials/sim/export_usd.py # scripts/tutorials/sim/gizmo_robot.py # scripts/tutorials/sim/import_usd.py # skills/add-test/SKILL.md # tests/agents/test_shared_rollout.py # tests/gen_sim/simready_pipeline/test_config.py # tests/gym/envs/test_base_env.py # tests/gym/envs/test_embodied_env.py # tests/gym/utils/test_gym_utils.py # tests/sim/objects/test_cloth_object.py # tests/sim/objects/test_rigid_object.py # tests/sim/objects/test_robot.py # tests/sim/objects/test_soft_object.py # tests/sim/objects/test_usd.py # tests/sim/planners/test_motion_generator.py # tests/sim/planners/test_toppra_planner.py # tests/sim/sensors/test_camera.py # tests/sim/sensors/test_contact.py # tests/sim/sensors/test_stereo.py
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This adds Newton backend support to the simulation stack.