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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

    • collision_cfg: CollisionConfig

  • class CollisionConfig

    • broad_phase: Literal[nxn, sap, explicit]

    • rigid_contact_max: int | None

    • hydroelastic: HydroelasticConfig

  • class HydroelasticConfig

    • enabled: bool

    • reduce_contacts: bool

    • buffer_fraction: float

    • buffer_mult_broad: int

    • buffer_mult_iso: int

    • buffer_mult_contact: int

    • normal_matching: bool

    • anchor_contact: bool

    • margin_contact_area: float

    • output_contact_surface: bool

    • mc_edge_clamp_min: float

  • 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

  • class MuJoCoSolverConfig(NewtonSolverConfig)

    • solver_type: Literal[mujoco]

    • njmax: int

    • nconmax: int | None

    • cone: Literal[‘pyramidal’, ‘elliptic’] | None

    • use_mujoco_cpu: bool

    • disable_contacts: bool

    • update_data_interval: int

    • save_to_mjcf: str | None

    • use_mujoco_contacts: bool

    • include_sites: bool

Functions#

  • def acquire_physics_interface() -> NewtonPhysicsInterface | None

  • def acquire_stage() -> NewtonStage | None

  • def configure_newton(cfg: NewtonConfig)

  • def get_newton_config() -> NewtonConfig | None

  • def get_active_physics_engine() -> str

  • def get_available_physics_engines(verbose: bool = False) -> list[tuple[str, bool]]

  • def get_newton_solver_to_physics_scene_object() -> dict

  • def switch_newton_solver(newton_solver: str, prim: Usd.Prim) -> bool

  • def get_newton_solver(prim: Usd.Prim) -> str

Variables#

  • newton_solver_to_api_schema: Dict

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