isaaclab\_newton.physics
========================

.. automodule:: isaaclab_newton.physics

  .. rubric:: Classes

  .. autosummary::

    NewtonManager
    NewtonCfg
    NewtonSolverCfg
    MJWarpSolverCfg
    XPBDSolverCfg
    FeatherstoneSolverCfg
    KaminoSolverCfg
    NewtonCollisionPipelineCfg
    HydroelasticSDFCfg
    NewtonShapeCfg
    NewtonMJWarpManager
    NewtonXPBDManager
    NewtonFeatherstoneManager
    NewtonKaminoManager

.. currentmodule:: isaaclab_newton.physics

Physics Manager
---------------

.. autoclass:: NewtonManager
  :members:
  :inherited-members:
  :show-inheritance:

Physics Configuration
---------------------

.. autoclass:: NewtonCfg
  :members:
  :show-inheritance:
  :exclude-members: __init__

.. autoclass:: NewtonSolverCfg
  :members:
  :show-inheritance:
  :exclude-members: __init__

.. autoclass:: MJWarpSolverCfg
  :members:
  :show-inheritance:
  :exclude-members: __init__

.. autoclass:: XPBDSolverCfg
  :members:
  :show-inheritance:
  :exclude-members: __init__

.. autoclass:: FeatherstoneSolverCfg
  :members:
  :show-inheritance:
  :exclude-members: __init__

.. autoclass:: KaminoSolverCfg
  :members:
  :show-inheritance:
  :exclude-members: __init__

.. autoclass:: NewtonCollisionPipelineCfg
  :members:
  :show-inheritance:
  :exclude-members: __init__

.. autoclass:: HydroelasticSDFCfg
  :members:
  :show-inheritance:
  :exclude-members: __init__

.. autoclass:: NewtonShapeCfg
  :members:
  :show-inheritance:
  :exclude-members: __init__

Solver Managers
---------------

.. autoclass:: NewtonMJWarpManager
  :members:
  :inherited-members:
  :show-inheritance:

.. autoclass:: NewtonXPBDManager
  :members:
  :inherited-members:
  :show-inheritance:

.. autoclass:: NewtonFeatherstoneManager
  :members:
  :inherited-members:
  :show-inheritance:

.. autoclass:: NewtonKaminoManager
  :members:
  :inherited-members:
  :show-inheritance: