[Newton] Full Rigid Body Support

[AntoineRichard]

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]

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]

Additional Comments (8)

1. 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

2. 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'

3. 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!}

4. 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!}

5. 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!}

6. source/isaaclab_newton/test/assets/rigid_object/test_rigid_object_data.py, line 6 (link)

   syntax: Docstring incorrectly refers to 'ArticulationData' instead of 'RigidObjectData'

7. 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

8. 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]

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]

Skipped: This PR changes more files than the configured file change limit: (666 files found, 500 file limit)