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SuperDex Physics Overview

SuperDex Physics is a contact-first physics engine purpose-built for tactile manipulation and applications where stable contact and accurate sensing matter. As the simulation backbone of Project SuperDex, it delivers stable, high-fidelity contact physics for demanding dexterous interactions such as multi-finger grasps, in-hand reorientation, and non-convex contact.

Key Capabilities​

Multi-physics simulation — A unified solver for rigid bodies, soft bodies, rods and tendons, and shells and cloth, with more physics on the way.

Arbitrary rigid & soft articulations — Articulated bodies with varying joint types support both rigid links and deformable elements in a single model.

Non-convex collision — Accurate contact force distributions for arbitrary geometries, including non-convex and deforming objects.

Spatially dense contact forces — Rather than reporting a single resultant contact force, SuperDex Physics computes a full 3D force distribution over contact surfaces. This enables realistic tactile sensor modeling and provides richer observation signals for RL policies.

Inverse Kinematics — Constraint-aware inverse-kinematics, built on the same nonlinear optimization core as the forward dynamics, solve physically accurate poses under collision, end-effector, and trajectory constraints.

Numerical stability — Robust simulation without the restrictive time-step stability limits of explicit or semi-implicit methods.

Proven dexterity — User studies demonstrate near real-world manipulation performance in VR scenarios, validating that SuperDex Physics' contact and deformable body simulation is sufficient for natural dexterous interactions.

Integrations​

SuperDex Lab — SuperDex Lab builds on SuperDex Physics with Gymnasium-compatible environments and an off-the-shelf Ray/RLlib integration for reinforcement-learning workflows.

Supported Platforms and APIs​

  • Platforms: Linux (x86-64), Windows (x86-64), macOS (arm64)
  • APIs: C++, Python

Getting Started​

Explore our documentation to begin building with SuperDex Physics: