RoboVerseOrg · geng-haoran · Jan 23, 2026 · Nov 29, 2025 · Dec 1, 2025 · Dec 2, 2025
diff --git a/.github/workflows/premerge-ci.yml b/.github/workflows/premerge-ci.yml
diff --git a/.gitignore b/.gitignore
@@ -4,6 +4,8 @@
 **/.vscode/
 # Don't ignore the top-level .vscode directory as it is
 # used to configure VS Code settings
+*.rrd
+# rerun recording files
 !.vscode/
 .vscode/.history
 .hydra/
@@ -32,6 +34,7 @@ checkpoints
 slurm.sh
 data_policy/
 outputs/
+il_outputs/
 eval_outputs/
 tmp/
 results/
@@ -104,3 +107,11 @@ id_rsa*
 
 # for test cache
 .pytest_cache/
+
+*.pkl
+*.pt
+output
+
+.cursor/
+artifacts/
+nohup/
diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
@@ -21,11 +21,14 @@ Guidelines for modifications:
 ## Contributors
 
 * Bangjun Wang
+* Bei Wang
+* Boqi Zhao
 * Chaoyi Xu
 * Chengyang Zhao
 * Dechen Gao
 * Di Fan
 * Dylan Goetting
+* Hanchu Zhou
 * Haoran Lu
 * Haozhe Chen
 * Haozhe Lou
@@ -39,6 +42,7 @@ Guidelines for modifications:
 * Songlin Wei
 * Xinjie Wang
 * Xinying Guo
+* Yi Zhang
 * Yikai Tang
 * Yongce Liu
 * Yu Hong

diff --git a/...andard_output/0_static_scene_isaaclab.png → ...andard_output/0_static_scene_isaacsim.png b/...andard_output/0_static_scene_isaaclab.png → ...andard_output/0_static_scene_isaacsim.png
diff --git a/docs/source/_static/standard_output/0_static_scene_newton.png b/docs/source/_static/standard_output/0_static_scene_newton.png
diff --git a/docs/source/_static/standard_output/1_control_robot_newton.gif b/docs/source/_static/standard_output/1_control_robot_newton.gif
diff --git a/docs/source/_static/standard_output/1_move_robot_newton.mp4 b/docs/source/_static/standard_output/1_move_robot_newton.mp4
diff --git a/docs/source/_static/standard_output/2_add_new_robot_newton.gif b/docs/source/_static/standard_output/2_add_new_robot_newton.gif
diff --git a/docs/source/_static/standard_output/2_add_new_robot_newton.mp4 b/docs/source/_static/standard_output/2_add_new_robot_newton.mp4
diff --git a/docs/source/_static/standard_output/3_parallel_envs_newton.gif b/docs/source/_static/standard_output/3_parallel_envs_newton.gif
diff --git a/docs/source/_static/standard_output/3_parallel_envs_newton.mp4 b/docs/source/_static/standard_output/3_parallel_envs_newton.mp4
diff --git a/docs/source/dataset_benchmark/dataset/robots.md b/docs/source/dataset_benchmark/dataset/robots.md
@@ -19,3 +19,18 @@ RoboVerse currently includes some robots.
 | UR5e | Arm | 6 | ur5e_2f85 |
 | Walker | Bipedal | 6 | walker |
 | Ant | Quadreuped | 12 | ant |
+
+## Dexterous Hands
+
+RoboVerse includes support for various dexterous hands for manipulation tasks.
+
+| Robot Name | Number of DoFs | Config Name | Notes |
+| ------ | ---------------- | ------------ | ----- |
+| Allegro Hand | 16 | allegrohand | 4-finger anthropomorphic hand |
+| BrainCo Hand (Left) | 11 | brainco_hand_left | 6 actuated + 5 mimic/passive joints, prosthetic hand |
+| BrainCo Hand (Right) | 11 | brainco_hand_right | 6 actuated + 5 mimic/passive joints, prosthetic hand |
+| Inspire Hand (Left) | 12 | inspire_hand_left | 6 actuated + 6 mimic/passive (coupled) joints |
+| Inspire Hand (Right) | 12 | inspire_hand_right | 6 actuated + 6 mimic/passive (coupled) joints |
+| PSIHand (Left) | 21 | psihand_left | All 21 joints actuated. Known issues with IsaacGym, use MuJoCo/Genesis |
+| PSIHand (Right) | 21 | psihand_right | All 21 joints actuated. Known issues with IsaacGym, use MuJoCo/Genesis |
+| XHand | 12 | xhand | Compact dexterous hand |
diff --git a/docs/source/dataset_benchmark/tasks/generate_task_docs.py b/docs/source/dataset_benchmark/tasks/generate_task_docs.py
@@ -24,7 +24,7 @@
     "Metaworld",
     "Rlafford",
 ]
-PLATFORMS = ["isaaclab", "mujoco", "isaacgym", "sapien3", "genesis"]
+PLATFORMS = ["isaacsim", "mujoco", "isaacgym", "sapien3", "genesis", "newton"]
 
 
 def parse_docstring_metadata(docstring: str):

diff --git a/docs/source/metasim/concept/config.md b/docs/source/metasim/concept/config.md
@@ -141,6 +141,6 @@ RobotCfg(
   enabled_gravity=True,
   control_type={"joint1": "position", "joint2": "effort"},
   actuators={"joint1": BaseActuatorCfg(stiffness=500, damping=10),
-             "joint2": BaseActuatorCfg(torque_limit=50)}
+             "joint2": BaseActuatorCfg(effort_limit_sim=50)}
 )
 ```
diff --git a/docs/source/metasim/developer_guide/autotest.md b/docs/source/metasim/developer_guide/autotest.md
@@ -2,7 +2,7 @@
 
 ## Overview
 
-RoboVerse provides a comprehensive testing infrastructure built on pytest that enables efficient, cross-backend testing of simulation functionality. The system is designed around handler reuse and scenario sharing, dramatically reducing test execution time while maintaining full coverage across all supported simulator backends (MuJoCo, MJX, IsaacGym, IsaacSim).
+RoboVerse provides a comprehensive testing infrastructure built on pytest that enables efficient, cross-backend testing of simulation functionality. The system is designed around handler reuse and scenario sharing, dramatically reducing test execution time while maintaining full coverage across all supported simulator backends (MuJoCo, MJX, IsaacGym, IsaacSim, Newton).
 
 Key features of the testing system include:
 
@@ -38,6 +38,7 @@ Markers declare which simulator backends a test requires:
 - `@pytest.mark.mjx`: Test runs on MuJoCo MJX backend
 - `@pytest.mark.isaacgym`: Test runs on IsaacGym backend
 - `@pytest.mark.isaacsim`: Test runs on IsaacSim backend
+- `@pytest.mark.newton`: Test runs on Newton backend
 - `@pytest.mark.sim("sim1", "sim2")`: Test runs on multiple specified backends
 - `@pytest.mark.general`: Test requires no simulator/handler (pure unit test)
 
@@ -321,6 +322,9 @@ python metasim/test/isaacgym_entry.py metasim/test/ -k isaacgym
 # IsaacSim only
 pytest metasim/test/ -k isaacsim
 
+# Newton only
+pytest metasim/test/ -k newton
+
 # General tests (no simulator)
 pytest metasim/test/ -k general
 ```

diff --git a/docs/source/metasim/features/cross_sim.md b/docs/source/metasim/features/cross_sim.md
@@ -1,7 +1,7 @@
 # Cross Simulator
 ## Basic usage
-By default, the simulator is set to `isaaclab`. You can change it to other simulators by setting the `sim` argument. Currently, we support:
-- `isaaclab`
+By default, the simulator is set to `isaacsim`. You can change it to other simulators by setting the `sim` argument. Currently, we support:
+- `isaacsim`
 - `isaacgym`
 - `pyrep`
 

diff --git a/docs/source/metasim/features/support_matrix.rst b/docs/source/metasim/features/support_matrix.rst
@@ -9,7 +9,7 @@ Supported Simulators
 
 There are 3 levels of supportance for each simulator:
 
-- **Actively supported**: ``isaaclab``, ``isaacgym``, ``mujoco``, ``sapien2``, ``sapien3``, ``genesis``, ``pybullet`` . These simulators should always be guaranteed to work on the main branch.
+- **Actively supported**: ``isaacsim``, ``isaacgym``, ``mujoco``, ``sapien2``, ``sapien3``, ``genesis``, ``pybullet``, ``newton`` . These simulators should always be guaranteed to work on the main branch.
 - **Inactively supported**: ``pyrep``. These simulators won't be actively supported. They will only be guaranteed to work when a major version is released.
 - **Experimental**: ``mjx``, ``blender``. These simulators (renderers) are still in experimental stage and will be added to "actively supported" list in the future.
 
@@ -26,36 +26,40 @@ Simulation Configuration
 
 .. list-table::
    :header-rows: 1
-   :widths: 20 20 20 20 20 20 20
+   :widths: 15 15 15 15 15 15 15 15
 
    * - Parameter
-     - IsaacLab
+     - IsaacSim
      - IsaacGym
      - MuJoCo
      - Genesis
      - SAPIEN3
      - PyBullet
+     - Newton
    * - ``dt``
      - `1/60 <https://isaac-sim.github.io/IsaacLab/main/source/api/lab/isaaclab.sim.html#isaaclab.sim.SimulationCfg.dt>`_
      - `1/60 <https://docs.robotsfan.com/isaacgym/api/python/struct_py.html?highlight=substeps#isaacgym.gymapi.SimParams.substeps>`_
      - `1/500 <https://mujoco.readthedocs.io/en/stable/XMLreference.html#option>`_
      - `1/100 <https://genesis-world.readthedocs.io/en/latest/api_reference/scene/simulator.html#genesis.engine.simulator.Simulator.dt>`_
      - 1/100
      - `1/240 <https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit?tab=t.0#heading=h.kyqqrtg5v8nc>`_
+     - 1/60
    * - ``solver_type``
      - `✓ <https://isaac-sim.github.io/IsaacLab/main/source/api/lab/isaaclab.sim.html#isaaclab.sim.PhysxCfg.solver_type>`_
      - `✓ <https://docs.robotsfan.com/isaacgym/api/python/struct_py.html#isaacgym.gymapi.PhysXParams.solver_type>`_
      -
      -
      -
      -
+     -
    * - ``env_spacing``
      - 
      - ✓
      -
      - ✓
      -
      -
+     - ✓
 
 
 
@@ -64,170 +68,190 @@ Robot Configuration
 
 .. list-table::
    :header-rows: 1
-   :widths: 20 20 20 20 20 20 20
+   :widths: 15 15 15 15 15 15 15 15
 
    * - Parameter
-     - IsaacLab
+     - IsaacSim
      - IsaacGym
      - MuJoCo
      - Genesis
      - SAPIEN3
      - PyBullet
+     - Newton
    * - ``stiffness``
      - `✓ <https://isaac-sim.github.io/IsaacLab/main/source/api/lab/isaaclab.actuators.html#isaaclab.actuators.ActuatorBaseCfg.stiffness>`_
      - ✓
      -
      -
      - ✓
      -
+     -
    * - ``damping``
      - `✓ <https://isaac-sim.github.io/IsaacLab/main/source/api/lab/isaaclab.actuators.html#isaaclab.actuators.ActuatorBaseCfg.damping>`_
      - ✓
      -
      -
      - ✓
      -
+     -
    * - ``velocity_limit``
      - `✓ <https://isaac-sim.github.io/IsaacLab/main/source/api/lab/isaaclab.actuators.html#isaaclab.actuators.ActuatorBaseCfg.velocity_limit>`_
      -
      -
      -
      -
      -
-   * - ``torque_limit``
+     -
+   * - ``effort_limit_sim``
      - `✓ <https://isaac-sim.github.io/IsaacLab/main/source/api/lab/isaaclab.actuators.html#isaaclab.actuators.ActuatorBaseCfg.effort_limit>`_
      -
      -
      -
      -
      -
+     -
    * - ``fully_actuated``
      - ✓
      - ✓
      -
      -
      -
      -
+     -
 
 
 Physics Engine Configuration
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 .. list-table::
    :header-rows: 1
-   :widths: 20 20 20 20 20 20 20
+   :widths: 15 15 15 15 15 15 15 15
 
    * - Parameter
-     - IsaacLab
+     - IsaacSim
      - IsaacGym
      - MuJoCo
      - Genesis
      - SAPIEN3
      - PyBullet
+     - Newton
    * - ``bounce_threshold_velocity``
      - `✓ <https://isaac-sim.github.io/IsaacLab/main/source/api/lab/isaaclab.sim.html#isaaclab.sim.PhysxCfg.bounce_threshold_velocity>`_
      - `✓ <https://docs.robotsfan.com/isaacgym/api/python/struct_py.html?highlight=bounce_threshold_velocity#isaacgym.gymapi.PhysXParams.bounce_threshold_velocity>`_
      -
      -
      -
      -
+     -
    * - ``contact_offset``
      -
      - `✓ <https://docs.robotsfan.com/isaacgym/api/python/struct_py.html?#isaacgym.gymapi.RigidShapeProperties.contact_offset>`_
      -
      -
      -
      -
+     -
    * - ``friction_correlation_distance``
      - `✓ <https://isaac-sim.github.io/IsaacLab/main/source/api/lab/isaaclab.sim.html#isaaclab.sim.PhysxCfg.friction_correlation_distance>`_
      - `✓ <https://docs.robotsfan.com/isaacgym/api/python/struct_py.html?highlight=friction_correlation_distance#isaacgym.gymapi.PhysXParams.friction_correlation_distance>`_
      -
      -
      -
      -
+     -
    * - ``friction_offset_threshold``
      - `✓ <https://isaac-sim.github.io/IsaacLab/main/source/api/lab/isaaclab.sim.html#isaaclab.sim.PhysxCfg.friction_offset_threshold>`_
      - `✓ <https://docs.robotsfan.com/isaacgym/api/python/struct_py.html?highlight=friction_correlation_distance#isaacgym.gymapi.PhysXParams.friction_offset_threshold>`_
      -
      -
      -
      -
+     -
    * - ``num_position_iterations``
      -
      - `✓ <https://docs.robotsfan.com/isaacgym/api/python/struct_py.html?#isaacgym.gymapi.PhysXParams.num_position_iterations>`_
      -
      -
      -
      -
+     -
    * - ``num_velocity_iterations``
      -
      - `✓ <https://docs.robotsfan.com/isaacgym/api/python/struct_py.html?#isaacgym.gymapi.PhysXParams.num_position_iterations>`_
      -
      -
      -
      -
+     -
    * - ``rest_offset``
      -
      - `✓ <https://docs.robotsfan.com/isaacgym/api/python/struct_py.html?highlight=rest_offset#isaacgym.gymapi.RigidShapeProperties.rest_offset>`_
      -
      -
      -
      -
+     -
    * - ``max_depenetration_velocity``
      -
      - `✓ <https://docs.robotsfan.com/isaacgym/api/python/struct_py.html?highlight=max_depenetration_velocity#isaacgym.gymapi.PhysXParams.max_depenetration_velocity:~:text=max_depenetration_velocity>`_
      -
      -
      -
      -
+     -
    * - ``default_buffer_size_multiplier``
      -
      - `✓ <https://docs.robotsfan.com/isaacgym/api/python/struct_py.html?highlight=max_depenetration_velocity#isaacgym.gymapi.PhysXParams.max_depenetration_velocity:~:text=default_buffer_size_multiplier>`_
      -
      -
      -
      -
+     -
 
 Resource Management Configuration
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 .. list-table::
    :header-rows: 1
-   :widths: 20 20 20 20 20 20 20
+   :widths: 15 15 15 15 15 15 15 15
 
    * - Parameter
-     - IsaacLab
+     - IsaacSim
      - IsaacGym
      - MuJoCo
      - Genesis
      - SAPIEN3
      - PyBullet
+     - Newton
    * - ``num_threads``
      -
      - `✓ <https://docs.robotsfan.com/isaacgym/api/python/struct_py.html#isaacgym.gymapi.PhysXParams.num_threads>`_
      -
      -
      -
      -
+     -
 
 Misc Configuration
 ~~~~~~~~~~~~~~~~~~
 
 .. list-table::
    :header-rows: 1
-   :widths: 20 20 20 20 20 20 20
+   :widths: 15 15 15 15 15 15 15 15
 
    * - Parameter
-     - IsaacLab
+     - IsaacSim
      - IsaacGym
      - MuJoCo
      - Genesis
      - SAPIEN3
      - PyBullet
+     - Newton
    * - ``replace_cylinder_with_capsule``
      -
      - `✓ <https://docs.robotsfan.com/isaacgym/api/python/struct_py.html#isaacgym.gymapi.AssetOptions.replace_cylinder_with_capsule>`_
      -
      -
      -
      -
+     -