SolverMuJoCo: custom attribute for eq_solref by adenzler-nvidia · Pull Request #1245 · newton-physics/newton

adenzler-nvidia · 2025-12-11T14:22:02Z

This one does not include USD parsing because we don't know about equality constraints in USD yet. We can always add later if needed.

Before your PR is "Ready for review"

Necessary tests have been added and new examples are tested (see newton/tests/test_examples.py)
Documentation is up-to-date
Code passes formatting and linting checks with pre-commit run -a

Summary by CodeRabbit

Release Notes

New Features
- Added custom attribute support for equality constraints (connect, joint, and weld variants), enabling per-constraint customization.
- Introduced dynamic updates for MuJoCo equality constraint solver parameters at runtime.
- Enhanced MJCF parser to properly handle equality constraint attributes.
Tests
- Added tests for equality constraint attribute parsing and runtime solver updates.

_{✏️ Tip: You can customize this high-level summary in your review settings.}

Signed-off-by: Alain Denzler <adenzler@nvidia.com>

coderabbitai · 2025-12-11T14:22:15Z

📝 Walkthrough

Walkthrough

This PR introduces comprehensive support for custom per-entity attributes on equality constraints, specifically the eq_solref solver reference parameter. Changes span the builder, model, solver, kernels, and import systems to enable per-constraint customization in MuJoCo through frequency-based attribute tracking and runtime property synchronization.

Changes

Cohort / File(s)	Summary
Equality constraint infrastructure `newton/_src/sim/builder.py`	Adds `custom_attributes` parameter to `add_equality_constraint`, `add_equality_constraint_connect`, `add_equality_constraint_joint`, and `add_equality_constraint_weld` methods. Implements tracking and remapping of equality constraints during builder replication, with proper offset handling and world scoping. Extends finalization logic for custom attribute processing.
Model attribute frequency `newton/_src/sim/model.py`	Introduces `EQUALITY_CONSTRAINT = 7` enum member to `ModelAttributeFrequency` to track attribute counts based on equality constraint cardinality.
Solver notification flags `newton/_src/solvers/flags.py`	Adds `EQUALITY_CONSTRAINT_PROPERTIES = 1 << 6` flag to `SolverNotifyFlags` enum to enable property update notifications for equality constraints.
MuJoCo kernel `newton/_src/solvers/mujoco/kernels.py`	Implements `update_eq_properties_kernel` Warp kernel to map Newton equality constraints to MuJoCo constraints and propagate solver reference (solref) properties.
MuJoCo solver integration `newton/_src/solvers/mujoco/solver_mujoco.py`	Registers `eq_solref` custom attribute in MuJoCo namespace. Extends model synchronization to handle equality constraint properties, adds `mjc_eq_to_newton_eq` mapping, implements `update_eq_properties` method, and expands model fields for multi-world support.
MJCF import `newton/_src/utils/import_mjcf.py`	Adds equality constraint custom attribute parsing via frequency-based lookup. Propagates parsed attributes to `add_equality_constraint_connect`, `add_equality_constraint_weld`, and `add_equality_constraint_joint` calls.
Tests `newton/tests/test_import_mjcf.py`	Adds `test_eq_solref_parsing` to verify custom attribute parsing and value assignment for equality constraints during MJCF import.
MuJoCo solver tests `newton/tests/test_mujoco_solver.py`	Introduces `TestMuJoCoSolverEqualityConstraintProperties` test class with `test_eq_solref_conversion_and_update` to validate mapping, per-world propagation, and runtime updates of eq_solref across multi-world models. (Note: test class definition appears duplicated in diff)

Sequence Diagram(s)

sequenceDiagram
    participant MJCF as MJCF Parser
    participant Builder as ModelBuilder
    participant Model as Model
    participant Solver as SolverMuJoCo
    participant Kernel as update_eq_properties_kernel
    
    MJCF->>MJCF: Parse equality constraints<br/>with custom attrs
    MJCF->>Builder: add_equality_constraint_*<br/>(custom_attributes=eq_solref)
    Builder->>Builder: Validate & process<br/>custom attributes
    Builder->>Model: Store attributes<br/>by EQUALITY_CONSTRAINT freq
    
    Note over Builder,Model: Model construction & finalization
    
    Solver->>Model: Load model with<br/>eq_solref attributes
    Solver->>Solver: Create mjc_eq_to_newton_eq<br/>index mapping
    Solver->>Solver: Set initial MuJoCo<br/>eq_solref values
    
    Note over Solver: Runtime updates
    
    Solver->>Solver: Notify:<br/>EQUALITY_CONSTRAINT_PROPERTIES
    Solver->>Solver: Call update_eq_properties()
    Solver->>Kernel: update_eq_properties_kernel<br/>(eq_solref, mapping)
    Kernel->>Kernel: Map Newton idx →<br/>MuJoCo idx
    Kernel->>Kernel: Copy solref to<br/>MuJoCo state
    Kernel-->>Solver: Updated solver state

Estimated code review effort

🎯 3 (Moderate) | ⏱️ ~20 minutes

Builder changes (builder.py): Custom attribute parameter threading and tracking/remapping logic for equality constraints during replication requires careful verification of offset handling and world scoping consistency
MuJoCo solver integration (solver_mujoco.py): Index mapping (mjc_eq_to_newton_eq), property synchronization flow, and multi-world expansion logic need validation for correctness
Test duplication (test_mujoco_solver.py): The noted duplicate test class insertion should be flagged and consolidated
Cross-file attribute flow: Verify custom attributes flow correctly from MJCF import → builder → model → solver → kernel execution

Possibly related PRs

Initial support for Mujoco equality constraints #460: Modifies the equality-constraint subsystem (builder, model, MuJoCo solver) with overlapping scope and infrastructure changes
USD Parsing tools for MJC, PhysX and Custom Newton Attributes #710: Introduces custom-attribute and schema-resolver infrastructure that this PR extends for equality constraints
SolverMuJoCo: SolimpLimit parsing and update support #1047: Extends per-entity custom-attribute parsing through ModelBuilder and SolverMuJoCo; shares similar attribute propagation patterns (targets joint DOF solimplimit vs. equality constraint eq_solref)

Suggested reviewers

eric-heiden
vreutskyy

Pre-merge checks and finishing touches

✅ Passed checks (3 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title accurately summarizes the main change: adding a custom attribute (eq_solref) for equality constraints in the MuJoCo solver. It is concise, clear, and directly reflects the primary objective of the pull request.
Docstring Coverage	✅ Passed	Docstring coverage is 80.77% which is sufficient. The required threshold is 80.00%.

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📥 Commits

Reviewing files that changed from the base of the PR and between 56105c0 and 77d0184.

📒 Files selected for processing (8)

newton/_src/sim/builder.py (15 hunks)
newton/_src/sim/model.py (1 hunks)
newton/_src/solvers/flags.py (1 hunks)
newton/_src/solvers/mujoco/kernels.py (1 hunks)
newton/_src/solvers/mujoco/solver_mujoco.py (10 hunks)
newton/_src/utils/import_mjcf.py (5 hunks)
newton/tests/test_import_mjcf.py (1 hunks)
newton/tests/test_mujoco_solver.py (1 hunks)

🧰 Additional context used

🧠 Learnings (13)

📓 Common learnings

Learnt from: preist-nvidia
Repo: newton-physics/newton PR: 579
File: newton/examples/example_mujoco.py:350-354
Timestamp: 2025-08-19T12:27:30.629Z
Learning: In Newton examples, Example.use_mujoco is a high-level attribute that controls whether to use MuJoCo solver vs other solvers (like XPBD), while SolverMuJoCo.use_mujoco_cpu controls the backend within MuJoCo (CPU vs Warp). These are separate concepts serving different purposes - the PR rename only applies to the solver parameter, not the Example class attributes.

Learnt from: Milad-Rakhsha-NV
Repo: newton-physics/newton PR: 710
File: newton/_src/utils/schema_resolver.py:164-168
Timestamp: 2025-10-27T18:45:18.446Z
Learning: In newton/_src/utils/schema_resolver.py, when using USD's GetAuthoredPropertiesInNamespace() to collect solver-specific attributes, prop.GetName() already returns the full namespaced attribute name (e.g., "physxJoint:armature", not just "armature"), so no additional namespace prefix is needed when storing the keys.

📚 Learning: 2025-08-12T17:51:37.474Z

Learnt from: nvlukasz
Repo: newton-physics/newton PR: 519
File: newton/geometry.py:16-22
Timestamp: 2025-08-12T17:51:37.474Z
Learning: In the Newton public API refactor, common geometry symbols like ParticleFlags and ShapeFlags are now exposed at the top level in newton/__init__.py rather than through newton.geometry. The newton/geometry.py module is intentionally focused only on broad-phase collision detection classes (BroadPhaseAllPairs, BroadPhaseExplicit, BroadPhaseSAP).

Applied to files:

newton/_src/solvers/flags.py

📚 Learning: 2025-09-24T00:26:54.486Z

Learnt from: eric-heiden
Repo: newton-physics/newton PR: 710
File: newton/_src/utils/import_usd.py:597-599
Timestamp: 2025-09-24T00:26:54.486Z
Learning: In the Newton ModelBuilder class, `joint_count`, `body_count`, `articulation_count`, and `shape_count` are implemented as property decorated methods, so they should be accessed as attributes (e.g., `builder.joint_count`) rather than called as methods (e.g., `builder.joint_count()`).

Applied to files:

newton/_src/sim/builder.py
newton/_src/sim/model.py
newton/_src/utils/import_mjcf.py

📚 Learning: 2025-08-19T12:27:30.629Z

Learnt from: preist-nvidia
Repo: newton-physics/newton PR: 579
File: newton/examples/example_mujoco.py:350-354
Timestamp: 2025-08-19T12:27:30.629Z
Learning: In Newton examples, there's a distinction between solver parameters and Example class attributes. The Example class can have its own use_mujoco attribute for controlling example-level behavior (like CUDA graphs, rendering logic), while the solver uses use_mujoco_cpu for backend selection. These serve different purposes and should not be conflated during API renames.

Applied to files:

newton/tests/test_mujoco_solver.py
newton/_src/solvers/mujoco/solver_mujoco.py

📚 Learning: 2025-08-19T12:27:30.629Z

Learnt from: preist-nvidia
Repo: newton-physics/newton PR: 579
File: newton/examples/example_mujoco.py:350-354
Timestamp: 2025-08-19T12:27:30.629Z
Learning: In Newton examples, Example.use_mujoco is a high-level attribute that controls whether to use MuJoCo solver vs other solvers (like XPBD), while SolverMuJoCo.use_mujoco_cpu controls the backend within MuJoCo (CPU vs Warp). These are separate concepts serving different purposes - the PR rename only applies to the solver parameter, not the Example class attributes.

Applied to files:

newton/tests/test_mujoco_solver.py
newton/_src/solvers/mujoco/solver_mujoco.py

📚 Learning: 2025-11-24T08:05:21.390Z

Learnt from: adenzler-nvidia
Repo: newton-physics/newton PR: 1107
File: newton/_src/solvers/mujoco/kernels.py:973-974
Timestamp: 2025-11-24T08:05:21.390Z
Learning: In Newton's MuJoCo solver integration (newton/_src/solvers/mujoco/), the mapping between Newton joints and MuJoCo joints is not 1-to-1. Instead, each Newton DOF maps to a distinct MuJoCo joint. This means that for multi-DOF joints (like D6 with 6 DOFs), there will be 6 corresponding MuJoCo joints, each with its own properties (margin, solimp, solref, etc.). The mapping is done via dof_to_mjc_joint array, ensuring each DOF's properties are written to its own MuJoCo joint without overwriting.

Applied to files:

newton/tests/test_mujoco_solver.py
newton/_src/solvers/mujoco/kernels.py
newton/_src/utils/import_mjcf.py
newton/_src/solvers/mujoco/solver_mujoco.py

📚 Learning: 2025-10-10T10:47:41.082Z

Learnt from: nvtw
Repo: newton-physics/newton PR: 899
File: newton/tests/test_rigid_contact.py:214-268
Timestamp: 2025-10-10T10:47:41.082Z
Learning: In `newton/tests/test_rigid_contact.py`, using `add_shape_plane(width=0, length=0)` for an infinite plane works correctly with the collision system and does not cause degenerate AABB issues in the test scenario `test_shape_collisions_gjk_mpr_multicontact`.

Applied to files:

newton/tests/test_mujoco_solver.py

📚 Learning: 2025-09-22T21:08:31.901Z

Learnt from: dylanturpin
Repo: newton-physics/newton PR: 806
File: newton/examples/ik/example_ik_franka.py:121-123
Timestamp: 2025-09-22T21:08:31.901Z
Learning: In the newton physics framework, when creating warp arrays for IK solver joint variables using wp.array(self.model.joint_q, shape=(1, coord_count)), the resulting array acts as a reference/pointer to the original model's joint coordinates, so updates from the IK solver automatically reflect in the model's joint_q buffer used for rendering, despite the general warp documentation suggesting copies are made by default.

Applied to files:

newton/_src/solvers/mujoco/kernels.py
newton/_src/solvers/mujoco/solver_mujoco.py

📚 Learning: 2025-09-22T21:08:31.901Z

Learnt from: dylanturpin
Repo: newton-physics/newton PR: 806
File: newton/examples/ik/example_ik_franka.py:121-123
Timestamp: 2025-09-22T21:08:31.901Z
Learning: In the newton physics framework, when creating warp arrays for IK solver joint variables using wp.array(self.model.joint_q, shape=(1, coord_count)), the resulting array acts as a reference/pointer to the original model's joint coordinates, so updates from the IK solver automatically reflect in the model's joint_q buffer used for rendering.

Applied to files:

newton/_src/solvers/mujoco/kernels.py
newton/_src/solvers/mujoco/solver_mujoco.py

📚 Learning: 2025-08-12T05:17:34.423Z

Learnt from: shi-eric
Repo: newton-physics/newton PR: 521
File: newton/examples/example_cloth_hanging.py:36-36
Timestamp: 2025-08-12T05:17:34.423Z
Learning: The Newton migration guide (docs/migration.rst) is specifically for documenting how to migrate existing warp.sim functionality to Newton equivalents. New Newton-only features that didn't exist in warp.sim do not need migration documentation.

Applied to files:

newton/_src/solvers/mujoco/kernels.py

📚 Learning: 2025-08-25T20:10:59.536Z

Learnt from: dylanturpin
Repo: newton-physics/newton PR: 634
File: newton/examples/ik/example_ik_franka.py:0-0
Timestamp: 2025-08-25T20:10:59.536Z
Learning: In Newton's IK examples, when creating solver arrays with `wp.array(source_array, shape=new_shape)`, this creates a view into the same underlying memory rather than a copy. This means updates to the reshaped array are automatically reflected in the original array without needing explicit copy operations like `wp.copy()`.

Applied to files:

newton/_src/solvers/mujoco/kernels.py

📚 Learning: 2025-10-27T18:45:18.446Z

Learnt from: Milad-Rakhsha-NV
Repo: newton-physics/newton PR: 710
File: newton/_src/utils/schema_resolver.py:164-168
Timestamp: 2025-10-27T18:45:18.446Z
Learning: In newton/_src/utils/schema_resolver.py, when using USD's GetAuthoredPropertiesInNamespace() to collect solver-specific attributes, prop.GetName() already returns the full namespaced attribute name (e.g., "physxJoint:armature", not just "armature"), so no additional namespace prefix is needed when storing the keys.

Applied to files:

newton/_src/solvers/mujoco/solver_mujoco.py

📚 Learning: 2025-08-18T15:56:26.587Z

Learnt from: adenzler-nvidia
Repo: newton-physics/newton PR: 552
File: newton/_src/solvers/mujoco/solver_mujoco.py:0-0
Timestamp: 2025-08-18T15:56:26.587Z
Learning: In Newton's MuJoCo solver, when transforming joint axes from Newton's internal frame to MuJoCo's expected frame, use wp.quat_rotate(joint_rot, axis) not wp.quat_rotate_inv(joint_rot, axis). The joint_rot represents rotation from joint-local to body frame, so forward rotation is correct.

Applied to files:

newton/_src/solvers/mujoco/solver_mujoco.py

🧬 Code graph analysis (3)

newton/_src/sim/builder.py (1)

newton/_src/sim/model.py (1)

ModelAttributeFrequency (49-72)

newton/tests/test_mujoco_solver.py (3)

newton/_src/solvers/mujoco/solver_mujoco.py (3)

SolverMuJoCo (81-2554)

register_custom_attributes (155-324)

notify_model_changed (544-556)

newton/_src/solvers/solver.py (2)

register_custom_attributes (307-314)

notify_model_changed (267-294)

newton/_src/solvers/flags.py (1)

SolverNotifyFlags (22-60)

newton/_src/solvers/mujoco/solver_mujoco.py (3)

newton/_src/solvers/mujoco/kernels.py (1)

update_eq_properties_kernel (1292-1309)

newton/_src/sim/builder.py (3)

add_custom_attribute (640-685)

ModelBuilder (70-5960)

CustomAttribute (312-402)

newton/_src/sim/model.py (2)

ModelAttributeFrequency (49-72)

ModelAttributeAssignment (31-46)

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🔇 Additional comments (18)

newton/_src/solvers/flags.py (1)

48-59: LGTM!

The new EQUALITY_CONSTRAINT_PROPERTIES flag correctly follows the bit-shifting pattern (1 << 6) and is properly included in the ALL bitmask. The docstring accurately describes the eq_solref property.

newton/_src/solvers/mujoco/kernels.py (1)

1291-1309: LGTM!

The new kernel follows the established pattern used by similar kernels like update_dof_properties_kernel and update_jnt_properties_kernel. The mapping lookup, early return for unmapped constraints, and conditional null check on eq_solref are all correct.

newton/tests/test_import_mjcf.py (1)

1592-1641: LGTM!

The test is well-structured and follows the established pattern of other custom attribute parsing tests (e.g., test_geom_solimp_parsing). Good use of assertAlmostEqual for float comparisons and clear documentation of the expected constraint ordering (connect constraints parsed before weld constraints).

newton/_src/sim/model.py (1)

71-72: LGTM!

The new EQUALITY_CONSTRAINT = 7 enum member correctly follows the sequential numbering pattern and the docstring appropriately references the existing equality_constraint_count attribute.

newton/tests/test_mujoco_solver.py (1)

2598-2708: eq_solref multi‑world test is consistent and thorough

The new TestMuJoCoSolverEqualityConstraintProperties.test_eq_solref_conversion_and_update mirrors the existing solimp/solref tests: it builds a replicated multi‑world model, assigns per‑constraint eq_solref values via model.mujoco.eq_solref, validates them through mjc_eq_to_newton_eq, and re‑checks after notify_model_changed(SolverNotifyFlags.EQUALITY_CONSTRAINT_PROPERTIES). Indexing and mapping logic look sound, and the final sanity check that values changed is a good guard. No issues from my side.

newton/_src/utils/import_mjcf.py (1)

138-140: Equality‑constraint custom attributes are wired correctly into MJCF import

Using builder.get_custom_attributes_by_frequency([ModelAttributeFrequency.EQUALITY_CONSTRAINT]) to build builder_custom_attr_eq and then threading custom_attrs = parse_custom_attributes(..., builder_custom_attr_eq, parsing_mode="mjcf") into all add_equality_constraint_* calls cleanly extends the existing custom‑attribute machinery to equality constraints. This should allow attributes like solref to populate eq_solref without affecting non‑equality paths, and the change respects skip_equality_constraints and existing name/active handling. Looks good as‑is.

Also applies to: 967-1064

newton/_src/solvers/mujoco/solver_mujoco.py (8)

61-61: LGTM!

Import follows the established pattern for property update kernels.

313-324: LGTM!

The custom attribute registration follows established patterns with appropriate defaults matching MuJoCo's standard solref values.

555-556: LGTM!

The notification handler follows the established pattern for model property updates.

1156-1156: LGTM!

Custom attribute retrieval follows the established pattern.

1695-1720: LGTM!

Solref assignment for all three equality constraint types (CONNECT, JOINT, WELD) is consistent and correctly guarded by the None check.

1923-1934: LGTM!

The mapping creation follows the established pattern for other entity mappings (bodies, joints, geoms) with appropriate handling of the per-world index calculation.

2033-2033: LGTM!

Adding eq_solref to the expandable model fields enables proper multi-world replication.

2332-2359: LGTM!

The update_eq_properties method follows the established pattern for property update methods with appropriate early returns and correct kernel invocation.

newton/_src/sim/builder.py (4)

1586-1586: Equality-constraint replication and custom-attribute remapping look consistent

start_equality_constraint_idx plus the dedicated equality-constraint copy block and the new EQUALITY_CONSTRAINT branch in the custom-attribute merge correctly remap sub‑builder indices into the main builder’s index space. World indices are overridden to current_world in the same way as for bodies/joints, so replicated equality constraints integrate cleanly into multi‑world setups. I don’t see index or off‑by‑one issues here.

Also applies to: 1705-1729, 1805-1825

2611-2670: Custom attributes on equality constraints are wired through correctly

The custom_attributes plumbed into add_equality_constraint and its connect/joint/weld helpers are validated and stored via _process_custom_attributes with ModelAttributeFrequency.EQUALITY_CONSTRAINT, using the freshly appended constraint_idx. This aligns with how bodies/shapes/joints handle custom attributes and should give per‑constraint arrays the expected layout without extra bookkeeping.

Also applies to: 2671-2776

5260-5266: Including equality_constraint_world in world-order validation is appropriate

Adding ("equality_constraint_world", self.equality_constraint_world) to the validated world arrays ensures equality constraints now participate in the same monotonic/contiguous world-index checks as other entities. Given how add_equality_constraint and add_builder assign world indices, this should catch misuses without breaking existing, well-ordered patterns (e.g., global constraints at the start or end).

5833-5855: EQUALITY_CONSTRAINT custom-attribute sizing matches model counts

The new elif frequency == ModelAttributeFrequency.EQUALITY_CONSTRAINT: count = m.equality_constraint_count branch in finalize() is consistent with the ModelAttributeFrequency enum and with how equality constraints are populated earlier in finalize. build_array(count, ...) will correctly produce one entry per equality constraint, with defaults for unspecified ones, mirroring the behavior for other frequencies.

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codecov · 2025-12-11T14:29:43Z

Codecov Report

❌ Patch coverage is 93.47826% with 3 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
newton/_src/solvers/mujoco/solver_mujoco.py	89.65%	3 Missing ⚠️

📢 Thoughts on this report? Let us know!

eric-heiden

Thanks!

Signed-off-by: Alain Denzler <adenzler@nvidia.com>

adenzler-nvidia added 2 commits December 11, 2025 15:05

first implementation

8d8be07

Signed-off-by: Alain Denzler <adenzler@nvidia.com>

test

77d0184

Signed-off-by: Alain Denzler <adenzler@nvidia.com>

eric-heiden approved these changes Dec 12, 2025

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Merged via the queue into newton-physics:main with commit 5d8d1be Dec 12, 2025
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coderabbitai Bot mentioned this pull request Dec 25, 2025

Site based constraints #1291

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SolverMuJoCo: Custom attributes for contact pair #1234

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add custom attributes for eq_solimp #1326 #1354

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Call SolverMuJoCo.register_custom_attributes() from add_mjcf() #1411

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Implement randomization and runtime update of equality constraint data + active #1192 #1430

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Add parsing fixed tendons from MJCF #1406

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A follow up fix for #1192 #1466

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eric-heiden pushed a commit to eric-heiden/newton that referenced this pull request Jan 28, 2026

SolverMuJoCo: custom attribute for eq_solref (newton-physics#1245)

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Signed-off-by: Alain Denzler <adenzler@nvidia.com>

This was referenced Feb 2, 2026

Improve custom frequency handling from USD, parse MuJoCo actuators and tendons #1510

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Selection API support for fixed tendons #1440 #1520

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USD Plumbing MJC solver attributes through resolver and custom attribute framework #1463

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coderabbitai Bot mentioned this pull request Feb 13, 2026

Add mimic joint support to SolverMuJoCo #1627

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Add eq_solimp to Mjspec #2055

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Document registered custom attributes and Mjc USD schemas for SolverMuJoCo #2227

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Add MjcEquality joint and connect APIs parsing support #2284

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mmacklin pushed a commit to mmacklin/newton that referenced this pull request Apr 7, 2026

SolverMuJoCo: custom attribute for eq_solref (newton-physics#1245)

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Fix and test for connect constraints with non-zero joint reference positions #2288

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Deprecate model equality arrays #2961

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adenzler-nvidia commented Dec 11, 2025 • edited by coderabbitai Bot Loading Uh oh! There was an error while loading. Please reload this page.

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Before your PR is "Ready for review"

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coderabbitai Bot commented Dec 11, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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codecov Bot commented Dec 11, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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adenzler-nvidia commented Dec 11, 2025 •

edited by coderabbitai Bot

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coderabbitai Bot commented Dec 11, 2025 •

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codecov Bot commented Dec 11, 2025 •

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