Adapt Spawn integration to DexSim 0.5 APIs

[yuecideng]

Stack

• Layer: 2/2
• Base: xiemh
• Depends on: draft: refactor spawn #516
• Followed by: none

Description

This PR adapts EmbodiChain's Spawn integration to the updated DexSim public APIs on top of #516.

• Delegate row and DOF selection to Spawn batches and surface native failure statuses.
• Compile rigid-body, link, joint, mesh-load, and qpos-limit overrides before backend finalization, including USD articulation descriptors.
• Prepare the runtime, bind facades, and attach sensors within the Spawn runtime-initialization scope.
• Extend rigid-object property support and update affected robot configs, tutorials, tests, and simulation-system context.

Dependencies: #516 and the matching DexSim Spawn implementation.

Refs #516

Type of change

• Bug fix (non-breaking change which fixes an issue)
• Enhancement (non-breaking change which improves an existing functionality)
• New feature (non-breaking change which adds functionality)
• Breaking change (existing functionality will not work without user modification)
• Documentation update

Screenshots

Not applicable.

Validation

• black --check --diff --color on all 709 tracked Python files.
• 168 passed, 68 skipped across isolated focused suites for Spawn descriptors/batches/scene binding, SimulationManager, articulations, rigid objects/groups, and robots in Conda environment open.
• The combined 37-module changed-test run did not complete cleanly: tests/sim/test_differentiable_stepper.py retains two Newton failures because draft: refactor spawn #516 removes the independently owned NewtonManager while the differentiable-stepper API still delegates to it; the native runtime can also segfault during teardown. DexSim does not yet expose an equivalent Spawn-owned public API, so this dependency gap is recorded rather than hidden with a speculative compatibility layer.

Checklist

• I have run the black . equivalent over all tracked Python files to format the code base.
• I have made corresponding changes to the simulation-system context documentation.
• I have added tests that prove the Spawn adapter changes work.
• Dependencies have been updated, if applicable.

[greptile-apps]

Greptile Summary

This PR adapts the simulation lifecycle and object facades to DexSim 0.5 Spawn APIs.

• Moves descriptor compilation, backend runtime preparation, facade binding, and sensor attachment into the Spawn lifecycle.
• Delegates batched row and DOF operations to native Spawn batch selections and propagates native failure statuses.
• Updates object properties, robot configurations, standalone scripts, tutorials, tests, and simulation-system documentation for the new preparation boundary.

Confidence Score: 5/5

The PR appears safe to merge because no blocking failure remains within the eligible follow-up review scope.

No blocking failure remains.

Important Files Changed

Filename	Overview
embodichain/lab/sim/sim_manager.py	Moves scene commitment, backend preparation, facade binding, and deferred sensor attachment behind the common retryable prepare boundary.
embodichain/lab/sim/spawn/scene.py	Coordinates source resolution, finalization or rebuilding, and in-place binding of declared facades.
embodichain/lab/sim/spawn/descriptors.py	Compiles rigid-body, collision, link, joint, load-option, and articulation overrides into source-resolved Spawn descriptors.
embodichain/lab/sim/objects/backends/spawn.py	Replaces full-batch read-modify-write operations with native row and DOF selections and checks native failure statuses.
embodichain/lab/sim/objects/articulation.py	Updates articulation binding and property initialization to use Spawn-backed runtime data.
embodichain/lab/sim/objects/rigid_object.py	Extends Spawn-backed rigid-object property support and binding behavior.
embodichain/lab/sim/cfg.py	Adds the Newton Warp-log suppression setting and forwards it to DexSim configuration.

Sequence Diagram

sequenceDiagram
participant Caller
participant Manager as SimulationManager
participant Scene as SpawnScene
participant Result as SpawnResult
participant Facades
participant Sensors
Caller->>Manager: add robots and objects
Manager->>Scene: declare descriptors and facades
Caller->>Manager: prepare()
Manager->>Scene: commit pending topology
Scene->>Result: finalize or rebuild
Manager->>Result: prepare_runtime()
Manager->>Scene: bind()
Scene->>Facades: bind_spawn(result)
Manager->>Sensors: attach_to_parent()
Manager-->>Caller: runtime ready

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[greptile-apps]

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