Public API for module isaacsim.physics.newton:#
Classes#
class NewtonConfig
num_substeps: int
debug_mode: bool
use_cuda_graph: bool
time_step_app: bool
physics_frequency: float
update_fabric: bool
disable_physx_fabric_tracker: bool
collapse_fixed_joints: bool
fix_missing_xform_ops: bool
contact_ke: float
contact_kd: float
contact_kf: float
contact_mu: float
contact_ka: float
restitution: float
contact_margin: float
soft_contact_margin: float
joint_limit_ke: float
joint_limit_kd: float
armature: float
joint_damping: float
pd_scale: float
solver_cfg: NewtonSolverConfig
class NewtonStage
def init(self, cfg: NewtonConfig | None = None, device: str | None = None)
def init(self)
def on_timeline_event(self, e: omni.timeline.TimelineEventType)
def on_update(self, event: carb.events.IEvent, dt: float)
def step_sim(self, dt: float)
def update_fabric(self)
def on_detach(self)
def on_attach(self, stage_id: int, meters_per_unit: float)
def on_resume(self, currentTime: float)
def on_change(self, path: str)
def update_fabric_attrs(self)
def initialize_newton(self, device: str | None)
def simulate(self, num_substeps: int | None = None, dt: float | None = None)
class XPBDSolverConfig(NewtonSolverConfig)
solver_type: Literal[xpbd]
iterations: int
soft_body_relaxation: float
soft_contact_relaxation: float
joint_linear_relaxation: float
joint_angular_relaxation: float
joint_linear_compliance: float
joint_angular_compliance: float
rigid_contact_relaxation: float
rigid_contact_con_weighting: bool
angular_damping: float
enable_restitution: bool
class MuJoCoSolverConfig(NewtonSolverConfig)
solver_type: Literal[mujoco]
njmax: int
nconmax: int | None
iterations: int
ls_iterations: int
solver: str
integrator: str
cone: str
impratio: float
use_mujoco_cpu: bool
disable_contacts: bool
update_data_interval: int
save_to_mjcf: str | None
ls_parallel: bool
use_mujoco_contacts: bool
tolerance: float
ls_tolerance: float
include_sites: bool
Functions#
def acquire_physics_interface() -> NewtonPhysicsInterface | None
def acquire_stage() -> NewtonStage | None
def get_active_physics_engine() -> str
def get_available_physics_engines(verbose: bool = False) -> list[tuple[str, bool]]