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Add instance-owned voxel-size and uniform particle-radius updates for standalone and coupled MPM. Preserve live material state and invalidate physics graphs at resolution transitions. Provide an optional terminal-success curriculum for Franka Pour with explicit fixed-mass density semantics. Pin the supporting Newton API while its upstream pull request is under review.
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Incorporate upstream Isaac Lab changes, including trusted native actuator checkpoint import. Retain the exact feature dependency pin.
Keep physical mass and inertia intact for MuJoCo while native MPM uses zero effective mass for kinematic colliders. Remove the obsolete shared-builder override and cover the native compile boundary. Merge compatibility also aligns MuJoCo dependencies with Newton 3.16, updates backend solver access, and pins the reviewed runtime API.
Use ownership resolved during coupled solver construction rather than view sizes, which include foreign proxies. Reject partial ownership before mutation and refresh outgoing proxy radii for valid updates. Exercise both proxy directions through the native coupled build path. Document point-contact capacity requirements when coarsening grids.
Integrate upstream main at ce2900d to keep the branch current with shared API and dependency changes. Validate the merged revision with focused checks and full formatting and lint hooks before committing. Remote CI remains separate.
Select the runtime-controls feature with current Newton main merged. Keep the dependency and lockfile revisions identical for integration validation against the redesigned Isaac Lab solver interface.
Merge outgoing particle-proxy checks into the existing coupled runtime fixture and reuse returned curriculum metrics. Keep ownership, live-state, material-history, and graph-invalidation coverage while removing repeated setup and shortening the runtime-controls guide. Pin Newton to the matching lean runtime-controls revision. Retain all other dependency versions and lock metadata.
Track the runtime-controls revision that restores the final test hook required by the Newton example runner. Keep all other dependency versions and lock metadata unchanged.
Incorporate the upstream PhysX self-only clone fix while preserving\nthe focused MPM runtime adapters and current Newton feature pin.
Integrate upstream main at 6d37745 to keep the branch current with shared API and dependency changes. Validate the merged revision with focused checks and all repository formatting and lint hooks. Remote CI remains separate.
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Description
Expose Newton's runtime MPM grid/support controls through
env.sim.backend_manager, allowing coarse-to-fine schedules without recreating the environment or changing observation/action layouts.Call between physics steps. The manager uses the current coupled entry state, propagates radius changes to particle proxy views, and schedules CUDA graph recapture. Radius updates require ownership of all parent particles. Positions, velocities, material history, count and mass are preserved; changing radius changes reference density and does not resample particles.
Franka Pour gains an optional completed-success curriculum, disabled by default. A qualifying episode cohort advances one configured resolution stage at a reset boundary, globally for that rank, including active episodes. Documentation explains contact-capacity and material implications. Preserve physical kinematic-body mass/inertia for MuJoCo while letting MPM use its native effective-mass handling.
Dependency: Newton #4933, pinned to its fork revision; MuJoCo and mujoco-warp are aligned at 3.16.0.
Type of change
Validation
Merged main
210ee799; all CI checks pass at74feed989, including multi-GPU unit tests and Kit/kitless training smokes. Eleven focused CPU runtime, ownership, proxy and curriculum cases pass, along with full formatting/changelog checks. Removing radius propagation makes the retained outgoing-proxy test fail. Native CUDA validation exercised direct and coupled runtime changes with graph recapture and no extra physics steps.No throughput, policy-success or containment guarantee is implied by exposing the controls. A
picNcontact basis and sparse-grid storage must have adequate capacity for every planned stage.Checklist
uv run isaaclab --formatCONTRIBUTORS.md