Add Newton physics backend support - #276

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yuecideng wants to merge 152 commits into

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feature/newton-physics-backend

Commits on Apr 12, 2026

Docs: rewrite install guide and make lerobot a required dependency (#227)
yuecideng
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8d20b8d

Commits on Apr 13, 2026

Update cobotmagic arm asset. (#228)

matafela
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chenjian
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d2a8dad

Commits on Apr 15, 2026

Fix opw solver (#229)

matafela
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chenjian
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987d04f
Fix crashing when no grasp pose found. (#232)

matafela
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chenjian
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80368bd
add rl benchmark (#231)

matafela
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chenjian
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59021a4
Enhance workspace analyzer computational efficiency (#230)

yuecideng
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claude
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d860435

Commits on Apr 16, 2026

Update CobotMagic default safe margin (#235)

matafela
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chenjian
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d52ea77
Fix demo action shape normalization and control-part mapping (#237)
yuecideng
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d5bf930

Commits on Apr 19, 2026

Refine URDF assembly component prefixes and name casing policy (#236)

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3bb2592

Commits on Apr 20, 2026

Refactor: benchmark (#233)

matafela
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chenjian
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50843a5
Update pytorch kinematic solver benchmark param (#240)

matafela
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chenjian
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e0e16ae

Commits on Apr 22, 2026

fix plan_trajectory (#242)

yhnsu
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yuanhaonan
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0497711

Commits on Apr 23, 2026

docs: add NVIDIA driver guide and mesh loading tutorial (#245)
XuanchaoPENG
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ccce98a

Commits on Apr 24, 2026

Add multi-version documentation build support (#234)
yuecideng
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386dc66
Fix README docs link (#246)
yuecideng
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9fb2204

Commits on Apr 28, 2026

docs: add AI coding agent skills and cross-reference throughout documentation (#247)

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06258f1

Commits on Apr 29, 2026

fix: correct the link of website (#249)
yangchen73
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72e9731
docs: upgrade README badges and add auto-sync to introduction.rst (#250)

yuecideng
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claude
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c824c86

Commits on Apr 30, 2026

upgrade pytorch kinematics (#244)

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8e92c08
chore: upgrade black to 26.3.1 and fix code style (#251)

yuecideng
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claude
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72b5bb9

Commits on May 1, 2026

Commits on May 7, 2026

Fix pytorch solver qpos mapping (#253)

matafela
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chenjian
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c5e6f00
docs: Remove AI coding agent skills references (#254)

yuecideng
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claude
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23a1208

Commits on May 8, 2026

docs: add data generation tutorial for synthesized data pipeline (#238)

yvvonie
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yuecideng
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076fc65
Update skills structure and roadmap docs (#257)
yuecideng
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f81b8a6

Commits on May 9, 2026

Adapt dexsim v0.4.0 (#226)

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9e34ec1
docs: add uv installation support and update dependencies (#258)

yuecideng
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claude
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72ffe43
Fix PyPI release workflow (#259)
yuecideng
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c6ce00f

Commits on May 12, 2026

docs: improve navigation, cross-references, and guides (#262)

yuecideng
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claude
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e11eb4e
Fix multiversion docs overwrite on main branch push (#263)

yuecideng
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Copilot
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a251699
docs: add academic publications page (#265)

yuecideng
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claude
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6e5f745
Fix multiversion docs overwrite on main push (#266)

yuecideng
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Copilot
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c322584
ci: fix docs deployment to use GitHub Actions Pages source

yuecideng
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Copilot
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5cdd9c2
ci: fix multiversion docs deployment (#267)

yuecideng
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claude
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2a8b56c

Commits on May 13, 2026

fix opw tcp (#261)

matafela
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chenjian
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5bc76ce

Commits on May 19, 2026

Annotate full mesh (#260)

matafela
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chenjian
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c3f5b4d
Adapt DexSim v0.4.1 (#272)

yuecideng
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claude
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83ef059

Commits on May 20, 2026

Add emissive light mode to randomize_indirect_lighting (#274)

yuecideng
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Copilot
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498dce9

Commits on May 21, 2026

fix atomic action (#273)

XuanchaoPENG
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yuecideng
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d46bedb
Add Newton physics backend support
yuecideng
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7823731
sim-ready pipeline (#271)

XuanchaoPENG
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yuecideng
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77963fa

Commits on May 22, 2026

wip
yuecideng
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178c730
Fix multi-version GitHub Pages docs deployment (#277)

yuecideng
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cursoragent
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1773778

Commits on May 23, 2026

update design docs
yuecideng
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010d3cd

Commits on May 24, 2026

update cfg
yuecideng
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2314a05
Merge remote-tracking branch 'origin/main' into feature/newton-physics-backend
yuecideng
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6878a9b

Commits on May 25, 2026

Commits on May 26, 2026

standardize lerobot key (#280)

yhnsu
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yuanhaonan
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fef305e
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yuecideng
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41edaa4
Fix rigid object init ordering and reset after GPU physics setup (#283)

yuecideng
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Copilot
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bc1a8b3
Merge remote-tracking branch 'origin/main' into feature/newton-physics-backend
yuecideng
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a811b1d
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yuecideng
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87eedfe
Add YAML support for gym and RL training configs (#284)

yuecideng
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cursoragent
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389cfa9
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yuecideng
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c5192b3
Add per-link articulation physics configuration (#278)

yuecideng
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cursoragent
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yuecideng
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aafc199
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yuecideng
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23feec1

Commits on May 28, 2026

wip
yuecideng
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1747cc4
Fix base solver fk (#285)

matafela
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chenjian
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3e4d4ee
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yuecideng
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cf5184e

Commits on May 29, 2026

wip
yuecideng
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yuecideng
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f87d885

Commits on May 30, 2026

feat(newton): enable runtime mutation of physical properties via Newton backend

yuecideng
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Copilot
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0486c39

Commits on May 31, 2026

feat(sim): optimize Newton backend + expand rigid-object test coverage

yuecideng
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Copilot
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b3236fc

Commits on Jun 1, 2026

wip
yuecideng
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8c224a9

Commits on Jun 2, 2026

wip
yuecideng
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826d047

Commits on Jun 3, 2026

feat: add agent context routing system for EmbodiChain (#288)

yuecideng
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Copilot
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98c12d5
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yuecideng
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dd0f021
Add neural network IK solver (#286)

yangchen73
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yuecideng
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d93e61a
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yuecideng
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4b6852d
wip
yuecideng
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6034f7b

Commits on Jun 4, 2026

Commits on Jun 5, 2026

Fix recording for PourWater (#292)
yangchen73
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1819048

Commits on Jun 9, 2026

Auto-select default renderer based on GPU (#294)

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cb3240b

Commits on Jun 10, 2026

Merge remote-tracking branch 'origin/main' into feature/newton-physics-backend
yuecideng
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52e8a22

Commits on Jun 11, 2026

wip
yuecideng
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74bf17a

Commits on Jun 15, 2026

Merge remote-tracking branch 'origin/main' into feature/newton-physics-backend
yuecideng
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d5007f0
init articulation
yuecideng
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b338f4d

Commits on Jun 16, 2026

Merge remote-tracking branch 'origin/main' into feature/newton-physics-backend
yuecideng
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f8227f6
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yuecideng
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yuecideng
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yuecideng
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61855dc

Commits on Jun 18, 2026

add physcis backend
yuecideng
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c3923a8

Commits on Jun 19, 2026

wip: prepare Newton backend wiring for add_robot

yuecideng
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claude
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396009f
feat: enable RigidObject runtime attr mutation on Newton backend

yuecideng
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claude
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6b4709a
feat: enable add_robot on the Newton backend

yuecideng
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claude
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59fa679
feat: Newton-native physics-attribute config for RigidObject & Articulation

yuecideng
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claude
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1e3e75d
test: add backend capability parity matrix

yuecideng
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claude
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30a6ffe
feat: push per-link mass live on Newton in Articulation.set_link_physical_attr

yuecideng
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claude
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3ccce78
fix: harden RigidObject not-ready Newton setter paths to mirror to meta

yuecideng
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claude
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4d43fbc
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yuecideng
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a439bcb

Commits on Jun 21, 2026

wip
yuecideng
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006d2a1
docs: add Newton backend PR design (multi-env + differentiable env)

yuecideng
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claude
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4d0257c
docs: implementation plan for Newton backend PR (multi-env + APG)

yuecideng
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claude
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79d3252
feat(sim/newton): add _arenas_cloned lifecycle flag

yuecideng
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claude
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86ead01
Revert "feat(sim/newton): add _arenas_cloned lifecycle flag"
yuecideng
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56d0fc6
docs: revise Newton PR plan — Target 4 already complete

yuecideng
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claude
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fc33a76
feat(sim): SimulationManager delegators for Newton diff stepper

yuecideng
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claude
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56f1c9a
test(sim): isolate grad-guard test with semi_implicit solver

yuecideng
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claude
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611d735
feat(sim/diff): Warp-tape <-> PyTorch-autograd bridge
yuecideng
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68e3341
feat(gym): DifferentiableEmbodiedEnv for APG
yuecideng
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65f4488
feat(gym/tasks): Franka FR3 reach APG example

yuecideng
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claude
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13b981f
docs: Newton differentiable-env topic + design doc update

yuecideng
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claude
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dec2222

Commits on Jun 23, 2026

Merge branch 'main' into feature/newton-physics-backend
yuecideng
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b18cb77
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yuecideng
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8e1becc

Commits on Jul 1, 2026

Merge branch 'main' into feature/newton-physics-backend
yuecideng
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a2ad495
Merge branch 'main' into feature/newton-physics-backend
yuecideng
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75d3183
fix num_envs issue
yuecideng
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c3d3cd6

Commits on Jul 13, 2026

wip
yuecideng
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f9dca60
docs: define Newton runtime integration contracts
yuecideng
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1d4b9eb
docs: plan Newton runtime contracts stage 1
yuecideng
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ee88d7f

Commits on Jul 14, 2026

fix(diff): default environments use Newton solver dynamics
yuecideng
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a9be048
fix(diff): persist Newton solver trajectory
yuecideng
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495d3be

Commits on Jul 15, 2026

fix(diff): use manager-owned Newton trajectories
yuecideng
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a1c4fff
fix(diff): defer resets until Newton backward
yuecideng
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b5ac98d

Commits on Aug 5, 2026

Merge remote-tracking branch 'origin/main' into feature/newton-physics-backend
yuecideng
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0234479

Commits on Aug 9, 2026

Merge branch 'main' into pr-276
yuecideng
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8a40568

Commits on Aug 18, 2026

refactor: spawn
xiemenghong
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fe49dca
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xiemenghong
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cd72a43

Commits on Aug 19, 2026

fix tutorial
xiemenghong
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a3a5c05
prepare envs
xiemenghong
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75f9068

Commits on Aug 20, 2026

add sim.prepare()
xiemenghong
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86ee783
Merge branch 'main' into feature/newton-physics-backend
yuecideng
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64b22be
Merge branch 'feature/newton-physics-backend' into xiemh
yuecideng
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yuecideng
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Commits on Aug 21, 2026

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xiemenghong
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xiemenghong
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0821fix example
xiemenghong
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5edfc80

Commits on Aug 24, 2026

modify default cfg
xiemenghong
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d3fa5f6

Commits on Aug 27, 2026

Commits on Aug 28, 2026

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Commits on Aug 29, 2026

Merge remote-tracking branch 'origin/main' into feature/newton-physics-backend
yuecideng
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55eef03

Commits on Aug 30, 2026

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yuecideng
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Commits on Aug 31, 2026

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Commits on Sep 1, 2026

support auto solver
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