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feat: add support for nexus and rapier backends - #595

Merged

heyong4725 merged 25 commits into

mainfrom

feat/nexus-engine

Sep 27, 2026

Merged

feat: add support for nexus and rapier backends#595
heyong4725 merged 25 commits into
mainfrom
feat/nexus-engine

Commits on Sep 5, 2026
- feat: run the scene on Nexus behind AISLE_SIM_ENGINE (ADR-55)
  sebcrozet
  committed
  485911f
Commits on Sep 6, 2026
- fix(nexus): firm pinch grasp with the fixed contact solver, 8 substeps
  sebcrozet
  committed
  e0097a6
Commits on Sep 10, 2026
- fix(nexus): close the engine integration gaps between Genesis and Nexus
  sebcrozet
  committed
  72fb5a6
Commits on Sep 12, 2026
- feat(rapier): a third engine, rapier physics on the CPU behind the Nexus renderer
  sebcrozet
  committed
  a94d710
Commits on Sep 17, 2026
- fix(sim): carry the engine registry into the validator bundle after the rebase
  sebcrozet
  committed
  2487313
Commits on Sep 18, 2026
- feat(rollout): operator override for an episode's sim budget, and a rapier render fix
  sebcrozet
  committed
  c2e3e97
Commits on Sep 20, 2026
- build(sim): pin the engine sources to their pushed branches by commit
  sebcrozet
  committed
  739acf7
Commits on Sep 25, 2026
Commits on Sep 27, 2026
- fix(sim): require engine build provenance
  heyong4725
  committed
  cabf2eb
- chore(freeze): bind engine provenance fixes
  heyong4725
  committed
  b8374e3
- test(harness): isolate env hash refusal from engine gate
  heyong4725
  committed
  7637bee