Add Newton physics backend support#276
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Integrate Newton-aware simulation config, manager, and rigid body adapters.\n\nCo-authored-by: Copilot <223556219+Copilot@users.noreply.github.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>
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This adds Newton backend support to the simulation stack.