isaaclab.physics

Implementation backends for simulation interfaces.

Additional Public Classes

The following classes are part of the public isaaclab.physics API.

CallbackHandle	Handle for a registered callback, allowing deregistration.
PhysicsCfg	Abstract base configuration for physics managers.
PhysicsEvent	Physics simulation lifecycle events.
PhysicsManager	Abstract base class for physics simulation managers.
PhysxAutoCfg	PhysX configuration resolved to a concrete backend at launch.

class isaaclab.physics.CallbackHandle

Bases: object

Handle for a registered callback, allowing deregistration.

Methods:

__init__(callback_id, manager)
__new__(*args, **kwargs)

__init__(callback_id: int, manager: type[PhysicsManager])

classmethod __new__(*args, **kwargs)

class isaaclab.physics.PhysicsCfg

Bases: object

Abstract base configuration for physics managers.

This base class contains physics backend-specific parameters. Subclasses should override the class_type to return the appropriate physics manager class.

Shared simulation parameters (dt, gravity, physics_prim_path, physics_material) are read directly from SimulationCfg by the physics manager.

Methods:

__new__(*args, **kwargs)
__init__([class_type])

classmethod __new__(*args, **kwargs)

__init__(class_type: type[PhysicsManager] | Any = <factory>) → None

class isaaclab.physics.PhysicsEvent

Physics simulation lifecycle events shared by all physics backends.

class isaaclab.physics.PhysicsManager

Bases: ABC

Abstract base class for physics simulation managers.

Physics managers handle the lifecycle of a physics simulation backend, including initialization, stepping, and cleanup.

This base class provides: - Unified callback management system - Common state variables (_sim, _cfg, _device) - Default accessor implementations

Lifecycle: initialize() -> reset() -> step() (repeated) -> close()

Methods:

__new__(*args, **kwargs)
__init__()

classmethod __new__(*args, **kwargs)

__init__()

class isaaclab.physics.PhysxAutoCfg

Bases: PhysicsCfg

PhysX configuration resolved to a concrete backend at launch.

Methods:

__new__(*args, **kwargs)
__init__([class_type, isaacsim_physx, ovphysx])

classmethod __new__(*args, **kwargs)

__init__(class_type: Any = <factory>, isaacsim_physx: PhysxCfg | None = <factory>, ovphysx: OvPhysxCfg | None = <factory>) → None