[Newton] Full Rigid Body Support #4385

AntoineRichard · 2026-01-14T08:58:15Z

Description

Adds back support for Rigid bodies.

Type of change

Bug fix (non-breaking change which fixes an issue)
New feature (non-breaking change which adds functionality)
Breaking change (existing functionality will not work without user modification)

Checklist

I have read and understood the contribution guidelines
I have run the pre-commit checks with ./isaaclab.sh --format
I have made corresponding changes to the documentation
My changes generate no new warnings
I have added tests that prove my fix is effective or that my feature works
I have updated the changelog and the corresponding version in the extension's config/extension.toml file
I have added my name to the CONTRIBUTORS.md or my name already exists there

greptile-apps · 2026-01-14T09:06:21Z

Greptile Summary

Implements full rigid body physics support for the Newton backend by adding comprehensive RigidObject classes, property setters, and external force handling to match PhysX functionality
Updates Newton physics engine dependency to specific commit e45db2c7400ecb4ff8ea022b7c9e41d386884bc8 that contains rigid body features and optimizes memory management through lazy initialization and buffer reuse
Adds extensive test suite and benchmarking framework with 18+ test cases covering rigid body operations, though many tests are disabled due to known CPU-specific Newton bugs

Important Files Changed

Filename	Overview
`source/isaaclab_newton/isaaclab_newton/assets/rigid_object/rigid_object_data.py`	Major refactor implementing lazy initialization and memory optimization for rigid body data container; contains debug prints and potential syntax errors that need attention
`source/isaaclab_newton/isaaclab_newton/assets/rigid_object/rigid_object.py`	Complete Newton RigidObject implementation with external forces, property setters, and physics integration; contains debug prints and device parameter inconsistencies
`source/isaaclab/test/assets/test_rigid_object.py`	New comprehensive test suite for rigid body functionality; most tests disabled due to CPU-specific Newton bugs and missing dependencies
`source/isaaclab/isaaclab/sim/simulation_context.py`	Adds Newton backend device configuration and debug output; includes uncommented simulation play call that may affect existing behavior

Confidence score: 2/5

This PR requires careful review due to extensive changes to core physics systems and potential runtime issues from debug code and syntax errors
Score lowered due to numerous debug print statements in production code, potential syntax errors (missing parentheses in tuple creation), and many disabled tests indicating incomplete implementation
Pay close attention to rigid_object_data.py and rigid_object.py files which contain the most critical changes and potential issues

greptile-apps

_{18 files reviewed, 30 comments}

_{Edit Code Review Agent Settings | Greptile}

greptile-apps · 2026-01-14T09:05:42Z

source/isaaclab/isaaclab/assets/rigid_object/rigid_object.py


-class RigidObject(FactoryBase):
+class RigidObject(FactoryBase, BaseRigidObject):
    """Factory for creating articulation instances."""


syntax: Docstring incorrectly refers to 'articulation instances' instead of 'rigid object instances'

Suggested change

"""Factory for creating articulation instances."""

"""Factory for creating rigid object instances."""

greptile-apps · 2026-01-14T09:05:54Z

source/isaaclab_newton/test/assets/rigid_object/benchmark_rigid_object_data.py

+    """Benchmark a single property of ArticulationData.
+
+    Args:
+        articulation_data: The ArticulationData instance.
+        mock_view: The mock view for setting random data.
+        property_name: Name of the property to benchmark.
+        config: Benchmark configuration.
+
+    Returns:
+        BenchmarkResult with timing statistics.
+    """


syntax: Docstring incorrectly references ArticulationData instead of RigidObjectData

Suggested change

"""Benchmark a single property of ArticulationData.

Args:

articulation_data: The ArticulationData instance.

mock_view: The mock view for setting random data.

property_name: Name of the property to benchmark.

config: Benchmark configuration.

Returns:

BenchmarkResult with timing statistics.

"""

"""Benchmark a single property of RigidObjectData.

Args:

rigid_object_data: The RigidObjectData instance.

mock_view: The mock view for setting random data.

property_name: Name of the property to benchmark.

config: Benchmark configuration.

Returns:

BenchmarkResult with timing statistics.

"""

greptile-apps · 2026-01-14T09:05:55Z

source/isaaclab_newton/test/assets/rigid_object/benchmark_rigid_object_data.py

+    """Run all benchmarks for ArticulationData.
+
+    Args:
+        config: Benchmark configuration.
+
+    Returns:
+        Tuple of (List of BenchmarkResults, hardware_info dict).


syntax: Docstring incorrectly references ArticulationData instead of RigidObjectData

Suggested change

"""Run all benchmarks for ArticulationData.

Args:

config: Benchmark configuration.

Returns:

Tuple of (List of BenchmarkResults, hardware_info dict).

"""Run all benchmarks for RigidObjectData.

Args:

config: Benchmark configuration.

Returns:

Tuple of (List of BenchmarkResults, hardware_info dict).

"""

greptile-apps · 2026-01-14T09:05:55Z

source/isaaclab_newton/test/assets/articulation/benchmark_articulation.py

+    """Generate Warp inputs for set_masses."""
+    return {
+        "masses": wp.from_torch(
+            torch.rand(config.num_instances, config.num_bodies, device=config.device, dtype=torch.float32),


style: Mass values should be positive - consider using torch.rand(...) + 0.1 to ensure non-zero masses

_{Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!}

greptile-apps · 2026-01-14T09:05:56Z

source/isaaclab/isaaclab/sim/simulation_context.py

    def play(self):
        """Starts the simulation."""

+        print("Playing simulation")


style: Debug print statement should be removed before production release

_{Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!}

greptile-apps · 2026-01-14T09:06:18Z

source/isaaclab_newton/isaaclab_newton/assets/rigid_object/rigid_object_data.py

+        print(f"Body com: {wp.to_torch(self._sim_bind_body_com_pos_b)}")
+        print(f"Body com shape: {wp.to_torch(self._sim_bind_body_com_pos_b).shape}")


style: Debug print statements should be removed in production code

_{Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!}

greptile-apps · 2026-01-14T09:06:18Z

source/isaaclab_newton/isaaclab_newton/assets/rigid_object/rigid_object.py

+        print(f"Pose: {wp.to_torch(pose)}")
+        self._update_array_with_array_masked(pose, self._data.root_link_pose_w, env_mask, self.num_instances)
+        print(f"Root link pose: {wp.to_torch(self._data.root_link_pose_w)}")


style: Debug print statements should be removed before merging to production

Suggested change

print(f"Pose: {wp.to_torch(pose)}")

self._update_array_with_array_masked(pose, self._data.root_link_pose_w, env_mask, self.num_instances)

print(f"Root link pose: {wp.to_torch(self._data.root_link_pose_w)}")

self._update_array_with_array_masked(pose, self._data.root_link_pose_w, env_mask, self.num_instances)

greptile-apps · 2026-01-14T09:06:19Z

source/isaaclab_newton/isaaclab_newton/assets/rigid_object/rigid_object.py

+        print(self.num_instances, self.num_bodies)
+        print(f"Masses: {wp.to_torch(masses)}")
+        env_mask = make_masks_from_torch_ids(self.num_instances, env_ids, env_mask, device=self.device)
+        body_mask = make_masks_from_torch_ids(self.num_bodies, body_ids, body_mask, device=self.device)
+        print(f"Env mask: {env_mask}")
+        print(f"Body mask: {body_mask}")
+        print(f"Masses: {wp.to_torch(masses)}")


style: Multiple debug print statements should be removed before production deployment

Suggested change

print(self.num_instances, self.num_bodies)

print(f"Masses: {wp.to_torch(masses)}")

env_mask = make_masks_from_torch_ids(self.num_instances, env_ids, env_mask, device=self.device)

body_mask = make_masks_from_torch_ids(self.num_bodies, body_ids, body_mask, device=self.device)

print(f"Env mask: {env_mask}")

print(f"Body mask: {body_mask}")

print(f"Masses: {wp.to_torch(masses)}")

env_mask = make_masks_from_torch_ids(self.num_instances, env_ids, env_mask, device=self.device)

body_mask = make_masks_from_torch_ids(self.num_bodies, body_ids, body_mask, device=self.device)

greptile-apps · 2026-01-14T09:06:19Z

source/isaaclab_newton/isaaclab_newton/assets/rigid_object/rigid_object.py

+        env_mask_ = None
+        body_mask_ = None
        if isinstance(forces, torch.Tensor) or isinstance(torques, torch.Tensor):
            if forces is not None:
-                forces, env_mask, body_mask = self._torch_to_warp_dual_index(
-                    forces,
-                    self.num_instances,
-                    self.num_bodies,
-                    env_ids,
-                    body_ids,
-                    env_mask,
-                    body_mask,
-                    dtype=wp.float32,
+                forces = make_complete_data_from_torch_dual_index(
+                    forces, self.num_instances, self.num_bodies, env_ids, body_ids, dtype=wp.vec3f, device=self.device
                )
            if torques is not None:
-                torques, env_mask, body_mask = self._torch_to_warp_dual_index(
-                    torques,
-                    self.num_instances,
-                    self.num_bodies,
-                    env_ids,
-                    body_ids,
-                    env_mask,
-                    body_mask,
-                    dtype=wp.float32,
+                torques = make_complete_data_from_torch_dual_index(
+                    torques, self.num_instances, self.num_bodies, env_ids, body_ids, dtype=wp.vec3f, device=self.device
                )
+        env_mask = make_masks_from_torch_ids(self.num_instances, env_ids, env_mask, device=self.device)
+        body_mask = make_masks_from_torch_ids(self.num_bodies, body_ids, body_mask, device=self.device)
        # solve for None masks
-        if env_mask is None:
-            env_mask = self._data.ALL_ENV_MASK
-        if body_mask is None:
-            body_mask = self._data.ALL_BODY_MASK
+        if env_mask_ is None:
+            env_mask_ = self._data.ALL_ENV_MASK
+        if body_mask_ is None:
+            body_mask_ = self._data.ALL_BODY_MASK


logic: Variable naming inconsistency: env_mask_ and body_mask_ are created but env_mask and body_mask are used in the logic. The underscore variables appear unused. Are the underscore variables (env_mask_, body_mask_) intended to be used instead of the non-underscore versions in the None checks?

greptile-apps · 2026-01-14T09:06:20Z

source/isaaclab/test/assets/test_rigid_object.py

+
+@pytest.mark.skip(reason="For now let's not do that...")
+@pytest.mark.parametrize("num_cubes", [1, 2])
+@pytest.mark.parametrize("device", ["cuda", "cpu"])


syntax: Device parameter inconsistent - uses "cuda" instead of "cuda:0" like other tests

Suggested change

@pytest.mark.parametrize("device", ["cuda", "cpu"])

@pytest.mark.parametrize("device", ["cuda:0", "cpu"])

… at least). There are still some errors some will be patched by latest newton.

greptile-apps

Additional Comments (8)

source/isaaclab/isaaclab/assets/rigid_object/rigid_object.py, line 20-30 (link)

syntax: Multiple references to 'articulation' instead of 'rigid object' in docstrings and comments create confusion about the class's actual purpose
source/isaaclab_newton/test/assets/rigid_object/test_rigid_object.py, line 6-19 (link)

syntax: Docstring incorrectly refers to 'Articulation class' throughout instead of 'RigidObject class'
source/isaaclab/isaaclab/sim/_impl/newton_manager.py, line 124-131 (link)

style: Debug print statements should be removed before production release

_{Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!}
source/isaaclab/isaaclab/sim/_impl/newton_manager.py, line 148-149 (link)

style: Debug print statement should be removed before production release

_{Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!}
source/isaaclab/isaaclab/sim/_impl/newton_manager.py, line 193 (link)

style: Debug print statement should be removed before production release

_{Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!}
source/isaaclab_newton/test/assets/rigid_object/test_rigid_object_data.py, line 6 (link)

syntax: Docstring incorrectly refers to 'ArticulationData' instead of 'RigidObjectData'
source/isaaclab_newton/test/assets/rigid_object/test_rigid_object_data.py, line 245 (link)

syntax: Variable named 'articulation_data' should be 'rigid_object_data' for consistency
source/isaaclab_newton/test/assets/rigid_object/test_rigid_object_data.py, line 254-268 (link)

syntax: Multiple references to 'articulation_data' should be 'rigid_object_data'

_{18 files reviewed, 16 comments}

_{Edit Code Review Agent Settings | Greptile}

greptile-apps · 2026-01-14T09:08:29Z

source/isaaclab_newton/test/assets/rigid_object/benchmark_rigid_object_data.py

+    """Benchmark a single property of ArticulationData.
+
+    Args:
+        articulation_data: The ArticulationData instance.
+        mock_view: The mock view for setting random data.
+        property_name: Name of the property to benchmark.
+        config: Benchmark configuration.
+
+    Returns:
+        BenchmarkResult with timing statistics.
+    """


syntax: Docstring incorrectly references ArticulationData instead of RigidObjectData

Suggested change

"""Benchmark a single property of ArticulationData.

Args:

articulation_data: The ArticulationData instance.

mock_view: The mock view for setting random data.

property_name: Name of the property to benchmark.

config: Benchmark configuration.

Returns:

BenchmarkResult with timing statistics.

"""

"""Benchmark a single property of RigidObjectData.

Args:

rigid_object_data: The RigidObjectData instance.

mock_view: The mock view for setting random data.

property_name: Name of the property to benchmark.

config: Benchmark configuration.

Returns:

BenchmarkResult with timing statistics.

"""

greptile-apps · 2026-01-14T09:08:30Z

source/isaaclab_newton/test/assets/rigid_object/benchmark_rigid_object_data.py

+    """Run all benchmarks for ArticulationData.
+
+    Args:
+        config: Benchmark configuration.
+
+    Returns:
+        Tuple of (List of BenchmarkResults, hardware_info dict).


syntax: Docstring incorrectly references ArticulationData instead of RigidObjectData

Suggested change

"""Run all benchmarks for ArticulationData.

Args:

config: Benchmark configuration.

Returns:

Tuple of (List of BenchmarkResults, hardware_info dict).

"""Run all benchmarks for RigidObjectData.

Args:

config: Benchmark configuration.

Returns:

Tuple of (List of BenchmarkResults, hardware_info dict).

greptile-apps · 2026-01-14T09:08:36Z

source/isaaclab_newton/test/assets/rigid_object/mock_interface.py

+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Mock interfaces for testing and benchmarking ArticulationData class."""


syntax: Docstring refers to 'ArticulationData class' but this file is for rigid object testing

Suggested change

"""Mock interfaces for testing and benchmarking ArticulationData class."""

"""Mock interfaces for testing and benchmarking RigidObjectData class."""

greptile-apps · 2026-01-14T09:08:37Z

source/isaaclab_newton/test/assets/rigid_object/mock_interface.py

+    def set_root_transforms(self, state, transforms: wp.array):
+        print(f"Setting root transforms: {transforms}")
+        print(f"Root transforms: {self._root_transforms}")
+        self._root_transforms.assign(transforms)


style: Debug print statements should be removed before production release

Suggested change

def set_root_transforms(self, state, transforms: wp.array):

print(f"Setting root transforms: {transforms}")

print(f"Root transforms: {self._root_transforms}")

self._root_transforms.assign(transforms)

def set_root_transforms(self, state, transforms: wp.array):

self._root_transforms.assign(transforms)

_{Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!}

greptile-apps · 2026-01-14T09:08:54Z

source/isaaclab_newton/isaaclab_newton/assets/rigid_object/rigid_object.py

+        tmp_pose = wp.zeros((self.num_instances,), dtype=wp.transformf, device=self._device)
+        tmp_velocity = wp.zeros((self.num_instances,), dtype=wp.spatial_vectorf, device=self._device)


syntax: Device parameter inconsistent - uses self._device instead of self.device like other methods

Suggested change

tmp_pose = wp.zeros((self.num_instances,), dtype=wp.transformf, device=self._device)

tmp_velocity = wp.zeros((self.num_instances,), dtype=wp.spatial_vectorf, device=self._device)

tmp_pose = wp.zeros((self.num_instances,), dtype=wp.transformf, device=self.device)

tmp_velocity = wp.zeros((self.num_instances,), dtype=wp.spatial_vectorf, device=self.device)

greptile-apps · 2026-01-14T09:09:00Z

source/isaaclab_newton/test/assets/rigid_object/test_rigid_object_data.py

        """Test zero instantiated articulation data."""
        # Setup the articulation data


syntax: Test method docstring incorrectly mentions 'articulation data' instead of 'rigid object data'

Suggested change

"""Test zero instantiated articulation data."""

# Setup the articulation data

"""Test zero instantiated rigid object data."""

# Setup the rigid object data

greptile-apps · 2026-01-14T09:09:01Z

source/isaaclab_newton/test/assets/rigid_object/test_rigid_object_data.py

@@ -111,792 +98,28 @@ def test_zero_instantiated(self, mock_newton_manager, num_instances: int, num_do
    def test_settable(self, mock_newton_manager, num_instances: int, num_dofs: int, device: str):
        """Test that the articulation data is settable."""


syntax: Comment incorrectly refers to 'articulation data' instead of 'rigid object data'

Suggested change

"""Test that the articulation data is settable."""

"""Test that the rigid object data is settable."""

greptile-apps · 2026-01-14T09:09:01Z

source/isaaclab_newton/test/assets/rigid_object/test_rigid_object_data.py

        )
+        assert torch.all(wp.to_torch(rigid_object_data.default_root_vel) == torch.ones(num_instances, 6, device=device))
        # Prime the articulation data


syntax: Comment incorrectly refers to 'articulation data' instead of 'rigid object data'

Suggested change

# Prime the articulation data

# Prime the rigid object data

AntoineRichard requested review from Mayankm96, jtigue-bdai and kellyguo11 as code owners January 14, 2026 08:58

github-actions bot added the isaac-lab Related to Isaac Lab team label Jan 14, 2026

greptile-apps bot reviewed Jan 14, 2026

View reviewed changes

AntoineRichard added 3 commits January 14, 2026 10:06

New year!

39a7f58

Rigid object is passing both unit and integration tests (most of them…

1ff0498

… at least). There are still some errors some will be patched by latest newton.

Changed Newton version to latest

a2e086e

greptile-apps bot reviewed Jan 14, 2026

View reviewed changes

pre-commits

8afadee

AntoineRichard force-pushed the antoiner/rigid_body_upgrade branch from fdf4241 to 8afadee Compare January 14, 2026 09:12

AntoineRichard requested review from hhansen-bdai and pascal-roth as code owners January 14, 2026 09:12

github-actions bot added documentation Improvements or additions to documentation asset New asset feature or request infrastructure labels Jan 14, 2026

	"""Factory for creating articulation instances."""
	"""Factory for creating rigid object instances."""

		print(f"Body com: {wp.to_torch(self._sim_bind_body_com_pos_b)}")
		print(f"Body com shape: {wp.to_torch(self._sim_bind_body_com_pos_b).shape}")

	@pytest.mark.parametrize("device", ["cuda", "cpu"])
	@pytest.mark.parametrize("device", ["cuda:0", "cpu"])

	"""Mock interfaces for testing and benchmarking ArticulationData class."""
	"""Mock interfaces for testing and benchmarking RigidObjectData class."""

		tmp_pose = wp.zeros((self.num_instances,), dtype=wp.transformf, device=self._device)
		tmp_velocity = wp.zeros((self.num_instances,), dtype=wp.spatial_vectorf, device=self._device)

		"""Test zero instantiated articulation data."""
		# Setup the articulation data

		@@ -111,792 +98,28 @@ def test_zero_instantiated(self, mock_newton_manager, num_instances: int, num_do
		def test_settable(self, mock_newton_manager, num_instances: int, num_dofs: int, device: str):
		"""Test that the articulation data is settable."""

	"""Test that the articulation data is settable."""
	"""Test that the rigid object data is settable."""

[Newton] Full Rigid Body Support #4385

Are you sure you want to change the base?

[Newton] Full Rigid Body Support #4385

Conversation

AntoineRichard commented Jan 14, 2026

Description

Type of change

Checklist

Uh oh!

greptile-apps bot commented Jan 14, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Greptile Summary

Important Files Changed

Confidence score: 2/5

Uh oh!

greptile-apps bot left a comment

Choose a reason for hiding this comment

Uh oh!

greptile-apps bot Jan 14, 2026

Choose a reason for hiding this comment

Uh oh!

greptile-apps bot Jan 14, 2026

Choose a reason for hiding this comment

Uh oh!

greptile-apps bot Jan 14, 2026

Choose a reason for hiding this comment

Uh oh!

greptile-apps bot Jan 14, 2026

Choose a reason for hiding this comment

Uh oh!

greptile-apps bot Jan 14, 2026

Choose a reason for hiding this comment

Uh oh!

greptile-apps bot Jan 14, 2026

Choose a reason for hiding this comment

Uh oh!

greptile-apps bot Jan 14, 2026

Choose a reason for hiding this comment

Uh oh!

greptile-apps bot Jan 14, 2026

Choose a reason for hiding this comment

Uh oh!

greptile-apps bot Jan 14, 2026

Choose a reason for hiding this comment

Uh oh!

greptile-apps bot Jan 14, 2026

Choose a reason for hiding this comment

Uh oh!

greptile-apps bot left a comment • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Choose a reason for hiding this comment

Additional Comments (8)

Uh oh!

greptile-apps bot Jan 14, 2026

Choose a reason for hiding this comment

Uh oh!

greptile-apps bot Jan 14, 2026

Choose a reason for hiding this comment

Uh oh!

greptile-apps bot Jan 14, 2026

Choose a reason for hiding this comment

Uh oh!

greptile-apps bot Jan 14, 2026

Choose a reason for hiding this comment

Uh oh!

greptile-apps bot Jan 14, 2026

Choose a reason for hiding this comment

Uh oh!

greptile-apps bot Jan 14, 2026

Choose a reason for hiding this comment

Uh oh!

greptile-apps bot Jan 14, 2026

Choose a reason for hiding this comment

Uh oh!

greptile-apps bot Jan 14, 2026

Choose a reason for hiding this comment

Uh oh!

Reviewers

Assignees

Labels

greptile-apps bot commented Jan 14, 2026 •

edited

Loading

greptile-apps bot left a comment •

edited

Loading