embodichain.lab.sim.cfg

embodichain.lab.sim.cfg#

Public simulation-configuration facade.

The implementation is split by domain while this package preserves the historical embodichain.lab.sim.cfg import surface.

Overview#

This module collects the @configclass configuration objects for everything that can be spawned into a simulation scene. It covers global simulation settings (rendering, physics, GPU memory, markers, window recording/camera), rigid-body / soft-body / cloth physical attributes and their overrides, joint drive properties, and the per-entity configs consumed by SimulationManager and the object factory in embodichain.lab.sim.utility.sim_utils.

Entity configs form a small inheritance hierarchy rooted at ObjectBaseCfg (LightCfg, VisualObjectCfg, RigidObjectCfg, VolumeDeformableObjectCfg, SurfaceDeformableObjectCfg, ArticulationCfg and its RobotCfg subclass), while URDFCfg and RigidConstraintCfg describe multi-component assembly and constraints. RobotPresetCfg provides replace-only complete robot alternatives when a backend-specific asset or actuator definition is unavoidable. Public backend selectors use only default and newton. Nested physical property groups may additionally use common for backend-neutral intent; DexSim names belong to the runtime and Spawn SDK adapter boundary. Surface deformables may keep a stable low-resolution simulation topology in shape while binding an independently indexed visual_shape for authored UV seams and render detail.

Type aliases

`AssetPhysicsMode`	alias of `Literal`['preserve', 'overlay']
`DenoisingMode`	alias of `Literal`['off', 'optix', 'dlss', 'nrd']
`MeshCollisionApproximation`	alias of `Literal`['convex_hull', 'convex_decomposition', 'triangle_mesh', 'sdf']

Classes

`RenderCfg`	RenderCfg(renderer: "Literal['auto', 'no-render', 'hybrid', 'fast-rt', 'rt']" = <factory>, spp: 'int' = <factory>, denoising: 'DenoisingCfg' = <factory>, dlss: 'DLSSCfg' = <factory>, nrd: 'NRDCfg' = <factory>, tone_mapping_enabled: 'bool' = <factory>, tone_mapping_exposure: 'float' = <factory>, min_bounces: 'int' = <factory>, max_bounces: 'int' = <factory>)
`DenoisingCfg`	Select denoising/reconstruction independently by rendering scope.
`DLSSCfg`	DLSS settings for the public `dlss` rendering path.
`NRDCfg`	Algorithm settings shared by targets that use the NRD path.
`PhysicsBackendCfg`	Backend-neutral simulation timing, device, and gravity configuration.
`DefaultPhysicsCfg`	Configuration selector for the Default physics backend.
`NewtonPhysicsCfg`	Configuration selector for the Newton physics backend.
`NewtonCollisionPipelineCfg`	Newton collision-pipeline settings owned at scene scope.
`MarkerCfg`	Configuration for visual markers in the simulation.
`WindowRecordCfg`	Configuration for interactive viewer window recording.
`WindowCameraPoseCfg`	Configuration for printing the interactive viewer camera pose.
`GPUMemoryCfg`	GPU buffer capacities for the Default backend's GPU dynamics pipeline.
`MassPropertiesCfg`	Backend-neutral rigid-body mass properties.
`DefaultRigidBodyPropertiesCfg`	Rigid-body properties consumed only by the Default backend.
`CollisionPropertiesCfg`	Collision-shape properties with identical intent across both backends.
`DefaultCollisionPropertiesCfg`	Collision-solver properties consumed only by the Default backend.
`NewtonCollisionPropertiesCfg`	Newton-native contact-envelope and particle-contact properties.
`RigidBodyMaterialCfg`	Common rigid-contact material intent.
`NewtonRigidBodyMaterialCfg`	Newton contact-material extensions.
`MeshCollisionCfg`	Collision-geometry construction for `MeshCfg`.
`RigidBodyPhysicsCfg`	Grouped rigid-body physics configuration used by Spawn.
`ArticulationRootPropertiesCfg`	Articulation-root properties shared by robot definitions.
`LinkPhysicsOverrideCfg`	Partial physics overlay for a selected set of articulation links.
`VolumeDeformableMeshingCfg`	Newton tetrahedralization and render-volume binding parameters.
`VolumeDeformablePhysicsCfg`	Volume density, elasticity, and optional Newton surface constraints.
`SurfaceDeformablePhysicsCfg`	Surface density, Newton surface elements, and optional mesh springs.
`SurfaceElementPropertiesCfg`	Newton surface triangle, bending, and aerodynamic properties.
`JointDrivePropertiesCfg`	Portable joint-drive and joint-dynamics properties.
`NewtonJointDrivePropertiesCfg`	Compatibility subtype for serialized Newton joint-drive configs.
`ObjectBaseCfg`	Base configuration for an asset in the simulation.
`UsdSourceCfg`	Select a typed asset from a source USD stage.
`LightCfg`	Configuration for a light asset in the simulation.
`VisualObjectCfg`	Configure a render-only object, without a rigid body or colliders.
`RigidObjectCfg`	Configuration for a rigid body asset in the simulation.
`RigidObjectGroupCfg`	Configuration for a rigid object group asset in the simulation.
`RigidConstraintCfg`	Configuration for a fixed constraint between two RigidObjects.
`URDFCfg`	Standalone configuration class for URDF assembly.
`ArticulationCfg`	Configuration for an articulation asset in the simulation.
`RobotCfg`	RobotCfg(uid: 'str \| None' = <factory>, init_pos: 'tuple[float, float, float]' = <factory>, init_rot: 'tuple[float, float, float]' = <factory>, init_local_pose: 'np.ndarray \| None' = <factory>, fpath: 'str' = <factory>, body_scale: 'tuple \| list' = <factory>, compute_uv: 'bool' = <factory>, asset_physics_mode: 'AssetPhysicsMode' = <factory>, attrs: 'RigidBodyPhysicsCfg' = <factory>, link_attrs: 'dict[str, LinkPhysicsOverrideCfg] \| None' = <factory>, root_props: 'ArticulationRootPropertiesCfg' = <factory>, joint_drive_props: 'JointDrivePropertiesCfg' = <factory>, init_qpos: 'torch.Tensor \| np.ndarray \| Sequence[float]' = <factory>, qpos_limits: 'torch.Tensor \| np.ndarray \| Sequence[Sequence[float]] \| Dict[str, List[float]] \| None' = <factory>, build_pk_chain: 'bool' = <factory>, control_parts: 'Dict[str, List[str]] \| None' = <factory>, urdf_cfg: 'URDFCfg \| None' = <factory>, solver_cfg: 'SolverCfg \| Dict[str, SolverCfg] \| None' = <factory>, workspace_cfg: 'Dict[str, RobotWorkspaceCfg] \| None' = <factory>, sensors: 'list[SensorCfg]' = <factory>, enable_sensor: 'bool' = <factory>, *, source: 'UsdSourceCfg \| None' = None)
`RobotPresetCfg`	Base class for replace-only robot configurations across physics backends.

USD source selection#

UsdSourceCfg groups the source file and its optional exact source_prim_path. The path addresses an object inside the source USD stage; uid identifies the resulting runtime instance. Source selection does not set a destination path or attach the instance to a parent/link.

from embodichain.lab.sim.cfg import UsdSourceCfg, VisualObjectCfg

mug = VisualObjectCfg(
    uid="mug_visual",
    source=UsdSourceCfg(
        file_path="scene.usda",
        source_prim_path="/World/Props/Mug",
    ),
)

The same source configuration is supported by RigidObjectCfg and ArticulationCfg (including RobotCfg). Supply either source or the existing shape/fpath input. Ordinary mesh files continue to use MeshCfg(fpath=...). Without a selector, USD loading requires one candidate of the requested type; ambiguous sources fail instead of selecting the first object. Whole-scene imports preserve this source address on their facades.

Deformable physics and meshing#

Like RigidObjectCfg.attrs, deformable objects group physical intent under attrs. Volume objects keep mesh generation under meshing. Both physics configs share the seven Newton surface-element parameters through attrs.surface_props; volume coefficients default to zero, while cloth coefficients default to None (Newton defaults). Density remains topology specific: kg/m³ for volumes and kg/m² for surfaces.

class embodichain.lab.sim.cfg.VolumeDeformablePhysicsCfg[source]

Volume density, elasticity, and optional Newton surface constraints.

Methods:

`__init__`([youngs, poissons, ...])
`copy`(**kwargs)	Return a new object replacing specified fields with new values.
`replace`(**kwargs)	Return a new object replacing specified fields with new values.
`to_dict`()	Convert an object into dictionary recursively.
`validate`([prefix])	Check the validity of configclass object.

Attributes:

`add_surface_edges`	Whether Newton creates surface bending-edge constraints.
`density`	Volume density [kg/m³].
`elasticity_damping`	Volumetric damping coefficient forwarded as Newton `k_damp`.
`poissons`	Poisson's ratio; values approaching 0.5 resist volume change.
`surface_props`	Optional surface forces; all coefficients default to zero.
`youngs`	Young's modulus [Pa]; higher values make the volume stiffer.

__init__(youngs=<factory>, poissons=<factory>, elasticity_damping=<factory>, density=<factory>, surface_props=<factory>, add_surface_edges=<factory>)

add_surface_edges: bool: Whether Newton creates surface bending-edge constraints.

copy(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

density: float: Volume density [kg/m³].

elasticity_damping: float: Volumetric damping coefficient forwarded as Newton k_damp.

poissons: float: Poisson’s ratio; values approaching 0.5 resist volume change.

replace(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

surface_props: SurfaceElementPropertiesCfg: Optional surface forces; all coefficients default to zero.

to_dict()

Convert an object into dictionary recursively.

Note

Ignores all names starting with “__” (i.e. built-in methods).

Parameters:: obj (object) – An instance of a class to convert.
Raises:: ValueError – When input argument is not an object.
Return type:: dict[str, Any]
Returns:: Converted dictionary mapping.

validate(prefix='')

Check the validity of configclass object.

This function checks if the object is a valid configclass object. A valid configclass object contains no MISSING entries.

Parameters:

obj (object) – The object to check.
prefix (str) – The prefix to add to the missing fields. Defaults to ‘’.

Return type:

list[str]

Returns:

A list of missing fields.

Raises:

TypeError – When the object is not a valid configuration object.

youngs: float: Young’s modulus [Pa]; higher values make the volume stiffer.

class embodichain.lab.sim.cfg.SurfaceDeformablePhysicsCfg[source]

Surface density, Newton surface elements, and optional mesh springs.

Methods:

`__init__`([density, surface_props, ...])
`copy`(**kwargs)	Return a new object replacing specified fields with new values.
`replace`(**kwargs)	Return a new object replacing specified fields with new values.
`to_dict`()	Convert an object into dictionary recursively.
`validate`([prefix])	Check the validity of configclass object.

Attributes:

`add_springs`	Whether Newton creates explicit mesh-edge springs.
`density`	Surface density [kg/m²].
`spring_kd`	Spring damping; `None` uses the Newton default.
`spring_ke`	Spring stiffness; `None` uses the Newton default.
`surface_props`	Triangle, bending, and aerodynamic overrides; None uses Newton defaults.

__init__(density=<factory>, surface_props=<factory>, add_springs=<factory>, spring_ke=<factory>, spring_kd=<factory>)

add_springs: bool: Whether Newton creates explicit mesh-edge springs.

copy(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

density: float: Surface density [kg/m²].

replace(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

spring_kd: float | None: Spring damping; None uses the Newton default.

spring_ke: float | None: Spring stiffness; None uses the Newton default.

surface_props: SurfaceElementPropertiesCfg: Triangle, bending, and aerodynamic overrides; None uses Newton defaults.

to_dict()

Convert an object into dictionary recursively.

Note

Ignores all names starting with “__” (i.e. built-in methods).

Parameters:: obj (object) – An instance of a class to convert.
Raises:: ValueError – When input argument is not an object.
Return type:: dict[str, Any]
Returns:: Converted dictionary mapping.

validate(prefix='')

Check the validity of configclass object.

This function checks if the object is a valid configclass object. A valid configclass object contains no MISSING entries.

Parameters:

obj (object) – The object to check.
prefix (str) – The prefix to add to the missing fields. Defaults to ‘’.

Return type:

list[str]

Returns:

A list of missing fields.

Raises:

TypeError – When the object is not a valid configuration object.

class embodichain.lab.sim.cfg.SurfaceElementPropertiesCfg[source]

Newton surface triangle, bending, and aerodynamic properties.

None preserves Newton’s cloth defaults; volume objects resolve it to zero, matching their disabled-by-default surface forces.

Methods:

`__init__`([tri_ke, tri_ka, tri_kd, tri_drag, ...])
`copy`(**kwargs)	Return a new object replacing specified fields with new values.
`replace`(**kwargs)	Return a new object replacing specified fields with new values.
`to_dict`()	Convert an object into dictionary recursively.
`validate`([prefix])	Check the validity of configclass object.

Attributes:

`edge_kd`	Bending-edge damping.
`edge_ke`	Bending-edge stiffness.
`tri_drag`	Aerodynamic drag coefficient.
`tri_ka`	Triangle area stiffness.
`tri_kd`	Triangle damping.
`tri_ke`	Triangle elastic stiffness.
`tri_lift`	Aerodynamic lift coefficient.

__init__(tri_ke=<factory>, tri_ka=<factory>, tri_kd=<factory>, tri_drag=<factory>, tri_lift=<factory>, edge_ke=<factory>, edge_kd=<factory>)

copy(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

edge_kd: float | None: Bending-edge damping.

edge_ke: float | None: Bending-edge stiffness.

replace(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

to_dict()

Convert an object into dictionary recursively.

Note

Ignores all names starting with “__” (i.e. built-in methods).

Parameters:: obj (object) – An instance of a class to convert.
Raises:: ValueError – When input argument is not an object.
Return type:: dict[str, Any]
Returns:: Converted dictionary mapping.

tri_drag: float | None: Aerodynamic drag coefficient.

tri_ka: float | None: Triangle area stiffness.

tri_kd: float | None: Triangle damping.

tri_ke: float | None: Triangle elastic stiffness.

tri_lift: float | None: Aerodynamic lift coefficient.

validate(prefix='')

Check the validity of configclass object.

This function checks if the object is a valid configclass object. A valid configclass object contains no MISSING entries.

Parameters:

obj (object) – The object to check.
prefix (str) – The prefix to add to the missing fields. Defaults to ‘’.

Return type:

list[str]

Returns:

A list of missing fields.

Raises:

TypeError – When the object is not a valid configuration object.

class embodichain.lab.sim.cfg.VolumeDeformableMeshingCfg[source]

Newton tetrahedralization and render-volume binding parameters.

Methods:

`__init__`([triangle_remesh_resolution, ...])
`copy`(**kwargs)	Return a new object replacing specified fields with new values.
`replace`(**kwargs)	Return a new object replacing specified fields with new values.
`to_dict`()	Convert an object into dictionary recursively.
`validate`([prefix])	Check the validity of configclass object.

Attributes:

`embedding_impl`	DexSim implementation used to bind render vertices to tetrahedra.
`simulation_mesh_resolution`	Voxel resolution used to build the tetrahedral simulation mesh.
`triangle_remesh_resolution`	Resolution used to remesh the source surface before tetrahedralization.
`triangle_simplify_target`	Target face count for the proxy surface; zero disables simplification.
`voxel_num_relaxation_iters`	Number of tetrahedral-mesh relaxation iterations.
`voxel_rel_min_tet_volume`	Minimum tetrahedron volume relative to the voxel volume.
`voxel_surface_dist_ratio`	Maximum surface distance expressed as a voxel-size ratio.

__init__(triangle_remesh_resolution=<factory>, triangle_simplify_target=<factory>, simulation_mesh_resolution=<factory>, voxel_num_relaxation_iters=<factory>, voxel_rel_min_tet_volume=<factory>, voxel_surface_dist_ratio=<factory>, embedding_impl=<factory>)

copy(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

embedding_impl: str: DexSim implementation used to bind render vertices to tetrahedra.

replace(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

simulation_mesh_resolution: int: Voxel resolution used to build the tetrahedral simulation mesh.

to_dict()

Convert an object into dictionary recursively.

Note

Ignores all names starting with “__” (i.e. built-in methods).

Parameters:: obj (object) – An instance of a class to convert.
Raises:: ValueError – When input argument is not an object.
Return type:: dict[str, Any]
Returns:: Converted dictionary mapping.

triangle_remesh_resolution: int: Resolution used to remesh the source surface before tetrahedralization.

triangle_simplify_target: int: Target face count for the proxy surface; zero disables simplification.

validate(prefix='')

Check the validity of configclass object.

This function checks if the object is a valid configclass object. A valid configclass object contains no MISSING entries.

Parameters:

obj (object) – The object to check.
prefix (str) – The prefix to add to the missing fields. Defaults to ‘’.

Return type:

list[str]

Returns:

A list of missing fields.

Raises:

TypeError – When the object is not a valid configuration object.

voxel_num_relaxation_iters: int: Number of tetrahedral-mesh relaxation iterations.

voxel_rel_min_tet_volume: float: Minimum tetrahedron volume relative to the voxel volume.

voxel_surface_dist_ratio: float: Maximum surface distance expressed as a voxel-size ratio.

Constructors and from_dict() accept only the current fields. Surface-element properties are grouped under attrs.surface_props. Volume elasticity uses youngs and poissons. Configuration dictionaries serialize this same schema; no legacy aliases or field migration are provided.

Rendering configuration module#

Rendering types live in embodichain.lab.sim.cfg.rendering. The public dlss path maps to DLSS Ray Reconstruction and nrd maps to standalone NRD RELAX.

`DenoisingMode`	Public ray-tracing denoising and reconstruction mode.
`DenoisingCfg`	Select denoising/reconstruction independently by rendering scope.
`DLSSCfg`	DLSS settings for the public `dlss` rendering path.
`NRDCfg`	Algorithm settings shared by targets that use the NRD path.
`RenderCfg`	RenderCfg(renderer: "Literal['auto', 'no-render', 'hybrid', 'fast-rt', 'rt']" = <factory>, spp: 'int' = <factory>, denoising: 'DenoisingCfg' = <factory>, dlss: 'DLSSCfg' = <factory>, nrd: 'NRDCfg' = <factory>, tone_mapping_enabled: 'bool' = <factory>, tone_mapping_exposure: 'float' = <factory>, min_bounces: 'int' = <factory>, max_bounces: 'int' = <factory>)

Physics configuration module#

Physics backend types live in embodichain.lab.sim.cfg.physics. The legacy embodichain.lab.sim.cfg.simulation module remains a compatibility facade. For manager-owned Newton steps, sync_to_renderer=None or False publishes only for visual consumers; True additionally requests publication on steps without consumers.

`GPUMemoryCfg`	GPU buffer capacities for the Default backend's GPU dynamics pipeline.
`PhysicsBackendCfg`	Backend-neutral simulation timing, device, and gravity configuration.
`DefaultPhysicsCfg`	Configuration selector for the Default physics backend.
`NewtonCollisionPipelineCfg`	Newton collision-pipeline settings owned at scene scope.
`NewtonPhysicsCfg`	Configuration selector for the Newton physics backend.
`physics_cfg_for_backend`(backend)	Return a default physics configuration instance for the given backend.
`physics_backend_from_cfg`(physics_cfg)	Infer the physics backend name from a physics configuration instance.
`validate_physics_cfg`(physics_cfg)	Validate that `physics_cfg` is a supported backend configuration.

Compatibility facade#

The historical embodichain.lab.sim.cfg.simulation module re-exports the rendering and physics configuration types for callers that have not migrated to the split modules.

`DenoisingMode`	alias of `Literal`['off', 'optix', 'dlss', 'nrd']
`DenoisingCfg`	Select denoising/reconstruction independently by rendering scope.
`DLSSCfg`	DLSS settings for the public `dlss` rendering path.
`NRDCfg`	Algorithm settings shared by targets that use the NRD path.
`RenderCfg`	RenderCfg(renderer: "Literal['auto', 'no-render', 'hybrid', 'fast-rt', 'rt']" = <factory>, spp: 'int' = <factory>, denoising: 'DenoisingCfg' = <factory>, dlss: 'DLSSCfg' = <factory>, nrd: 'NRDCfg' = <factory>, tone_mapping_enabled: 'bool' = <factory>, tone_mapping_exposure: 'float' = <factory>, min_bounces: 'int' = <factory>, max_bounces: 'int' = <factory>)
`GPUMemoryCfg`	GPU buffer capacities for the Default backend's GPU dynamics pipeline.
`PhysicsBackendCfg`	Backend-neutral simulation timing, device, and gravity configuration.
`DefaultPhysicsCfg`	Configuration selector for the Default physics backend.
`NewtonCollisionPipelineCfg`	Newton collision-pipeline settings owned at scene scope.
`NewtonPhysicsCfg`	Configuration selector for the Newton physics backend.
`physics_cfg_for_backend`(backend)	Return a default physics configuration instance for the given backend.
`physics_backend_from_cfg`(physics_cfg)	Infer the physics backend name from a physics configuration instance.
`validate_physics_cfg`(physics_cfg)	Validate that `physics_cfg` is a supported backend configuration.

Rigid-body property module#

The rigid-body configuration types are also available from embodichain.lab.sim.cfg.rigid. They describe mass, collision properties, materials, and backend-specific overrides. NewtonCollisionPropertiesCfg accepts an optional priority for MuJoCo contact-parameter selection; None preserves the source value.

`MassPropertiesCfg`	Backend-neutral rigid-body mass properties.
`DefaultRigidBodyPropertiesCfg`	Rigid-body properties consumed only by the Default backend.
`CollisionPropertiesCfg`	Collision-shape properties with identical intent across both backends.
`DefaultCollisionPropertiesCfg`	Collision-solver properties consumed only by the Default backend.
`NewtonCollisionPropertiesCfg`	Newton-native contact-envelope and particle-contact properties.
`RigidBodyMaterialCfg`	Common rigid-contact material intent.
`NewtonRigidBodyMaterialCfg`	Newton contact-material extensions.
`RigidBodyPhysicsCfg`	Grouped rigid-body physics configuration used by Spawn.

embodichain.lab.sim.cfg

Contents

embodichain.lab.sim.cfg#

Overview#

USD source selection#

Deformable physics and meshing#

Rendering configuration module#

Physics configuration module#

Compatibility facade#

Rigid-body property module#