Added multidevice support by AntoineRichard · Pull Request #1341 · newton-physics/newton

AntoineRichard · 2026-01-13T12:41:57Z

Description

Fixes #1340

Newton Migration Guide

Please ensure the migration guide for warp.sim users is up-to-date with the changes made in this PR.

The migration guide in docs/migration.rst is up-to date

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

Bug Fixes
- Fixed device execution for articulation attribute operations to ensure kernel computations run on the correct device, improving reliability and preventing potential device mismatch errors.

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coderabbitai · 2026-01-13T12:42:10Z

📝 Walkthrough

Walkthrough

The changes add explicit device=self.device parameter to Warp kernel launches in the ArticulationView class. This ensures kernel execution occurs on the intended device, enabling the Selection API to function correctly on CPU systems alongside CUDA-enabled machines.

Changes

Cohort / File(s)	Summary
Kernel Device Specification `newton/_src/utils/selection.py`	Added explicit `device=self.device` parameter to Warp kernel launches in articulation attribute setters (1D–4D dimensions) and `get_model_articulation_mask` method to ensure kernels execute on the correct device

Estimated code review effort

🎯 2 (Simple) | ⏱️ ~8 minutes

🚥 Pre-merge checks | ✅ 3 | ❌ 2

❌ Failed checks (1 warning, 1 inconclusive)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 50.00% which is insufficient. The required threshold is 80.00%.	Write docstrings for the functions missing them to satisfy the coverage threshold.
Title check	❓ Inconclusive	The title 'Added multidevice support' is vague and generic, failing to specifically describe the actual changes which involve adding device parameters to Warp kernel launches.	Consider a more specific title like 'Add device parameter to kernel launches in selection API' that clearly describes what was changed.

✅ Passed checks (3 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Linked Issues check	✅ Passed	The pull request successfully addresses all coding requirements from issue #1340 by adding device=self.device to kernel launches at the specified locations.
Out of Scope Changes check	✅ Passed	All changes in the pull request are directly scoped to addressing issue #1340; no out-of-scope modifications were introduced.

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✨ Finishing touches

📝 Generate docstrings

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📥 Commits

Reviewing files that changed from the base of the PR and between dc77145 and a2cb5bd.

📒 Files selected for processing (1)

newton/_src/utils/selection.py

🧰 Additional context used

📓 Path-based instructions (4)

newton/_src/**/*.py

📄 CodeRabbit inference engine (AGENTS.md)

The newton/_src/ directory is internal library implementation only and must not be imported by user code (examples, documentation, or external users)

Files:

newton/_src/utils/selection.py

newton/**/*.py

📄 CodeRabbit inference engine (AGENTS.md)

Any user-facing class/function/object added under _src must be exposed via the public Newton API through re-exports

Files:

newton/_src/utils/selection.py

**/*.py

📄 CodeRabbit inference engine (AGENTS.md)

**/*.py: Use prefix-first naming for classes: ActuatorPD, ActuatorPID (not PDActuator, PIDActuator)
Use prefix-first naming for methods: add_shape_sphere() (not add_sphere_shape())
Method names must use snake_case
Prefer nested classes when self-contained: if a helper type or enum is only meaningful inside one parent class and doesn't need a public identity, define it as a nested class instead of a top-level class/module
Follow PEP 8 for Python code
Use Google-style docstrings with clear, concise explanations of what functions do, their parameters, and return values

Files:

newton/_src/utils/selection.py

**/*

📄 CodeRabbit inference engine (AGENTS.md)

CLI arguments must use kebab-case (e.g., --use-cuda-graph, not --use_cuda_graph)

Files:

newton/_src/utils/selection.py

🧠 Learnings (4)

📓 Common learnings

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.

Learnt from: nvtw
Repo: newton-physics/newton PR: 984
File: newton/_src/geometry/broad_phase_nxn.py:318-336
Timestamp: 2025-10-30T07:28:13.112Z
Learning: In Newton's BroadPhaseAllPairs class (newton/_src/geometry/broad_phase_nxn.py), device management is the caller's responsibility. The library intentionally does not perform automatic device transfers for precomputed arrays in the launch method, even if there's a device mismatch. Users must ensure that the device specified in __init__ matches the device used in launch.

Learnt from: gdaviet
Repo: newton-physics/newton PR: 940
File: newton/_src/solvers/implicit_mpm/solver_implicit_mpm.py:1477-1482
Timestamp: 2025-10-27T14:07:25.236Z
Learning: In Warp kernels, variables must be explicitly cast (e.g., `current_sum = int(0)`) to be mutable. Without the cast, Warp interprets literal values as constants, which cannot be modified within the kernel.

Learnt from: gdaviet
Repo: newton-physics/newton PR: 750
File: newton/_src/solvers/implicit_mpm/solve_rheology.py:799-804
Timestamp: 2025-09-10T13:03:58.591Z
Learning: In Warp's tiled launch API, the launch dimension should include the tile size as the last dimension, matching the CUDA block dimension. For tiled operations, use dim=(num_blocks, tile_size) where tile_size equals block_dim, not just dim=num_blocks like regular kernel launches.

📚 Learning: 2025-10-30T07:28:13.112Z

Learnt from: nvtw
Repo: newton-physics/newton PR: 984
File: newton/_src/geometry/broad_phase_nxn.py:318-336
Timestamp: 2025-10-30T07:28:13.112Z
Learning: In Newton's BroadPhaseAllPairs class (newton/_src/geometry/broad_phase_nxn.py), device management is the caller's responsibility. The library intentionally does not perform automatic device transfers for precomputed arrays in the launch method, even if there's a device mismatch. Users must ensure that the device specified in __init__ matches the device used in launch.

Applied to files:

newton/_src/utils/selection.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/utils/selection.py

📚 Learning: 2026-01-13T03:11:40.556Z

Learnt from: jumyungc
Repo: newton-physics/newton PR: 1333
File: newton/_src/sim/builder.py:0-0
Timestamp: 2026-01-13T03:11:40.556Z
Learning: Ensure all VBD damping semantics follow Rayleigh-style damping and are unitless. This convention, demonstrated in SolverVBD, should be applied consistently across all VBD-related constraints in the codebase. In newton/_src/sim/builder.py, validate that any damping terms use the same normalization and are treated as dimensionless; add comments and unit tests to enforce consistency across VBD components.

Applied to files:

newton/_src/utils/selection.py

🧬 Code graph analysis (1)

newton/_src/utils/selection.py (4)

newton/_src/geometry/broad_phase_nxn.py (2)

launch (295-361)

launch (378-435)

newton/_src/geometry/broad_phase_sap.py (1)

launch (506-650)

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

device (110-114)

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

device (334-341)

⏰ Context from checks skipped due to timeout of 900000ms. You can increase the timeout in your CodeRabbit configuration to a maximum of 15 minutes (900000ms). (4)

GitHub Check: Run GPU Tests / Run GPU Unit Tests on AWS EC2
GitHub Check: Run GPU Benchmarks / Run GPU Benchmarks on AWS EC2
GitHub Check: run-newton-tests / newton-unittests (windows-latest)
GitHub Check: run-newton-tests / newton-unittests (ubuntu-latest)

🔇 Additional comments (2)

newton/_src/utils/selection.py (2)

609-638: LGTM! Device specification for kernel launches.

The addition of device=self.device to all four attribute-setting kernel launches ensures kernels execute on the intended device, fixing the Selection API behavior on CPU systems with CUDA available. This is consistent with the existing kernel launch pattern at line 469-474 and aligns with Newton's device management conventions seen in other classes like BroadPhaseAllPairs.

859-864: LGTM! Completes multidevice support for mask kernel.

The device=self.device addition ensures this kernel launch matches the pattern of the first set_model_articulation_mask_kernel call at line 469-474, and is consistent with the articulation_mask array allocation on self.device at line 858.

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codecov · 2026-01-13T12:51:23Z

Codecov Report

❌ Patch coverage is 25.00000% 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/utils/selection.py	25.00%	3 Missing ⚠️

📢 Thoughts on this report? Let us know!

eric-heiden

Thanks!

AntoineRichard added 2 commits January 13, 2026 13:37

Added multidevice support

4614823

Ruff

a2cb5bd

eric-heiden approved these changes Jan 13, 2026

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eric-heiden added this pull request to the merge queue Jan 13, 2026

github-merge-queue Bot removed this pull request from the merge queue due to failed status checks Jan 13, 2026

eric-heiden merged commit a82fdef into newton-physics:main Jan 13, 2026
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coderabbitai Bot mentioned this pull request Jan 14, 2026

Support multi-articulation selections #1100

Merged

4 tasks

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

Added multidevice support (newton-physics#1341)

aec5652

coderabbitai Bot mentioned this pull request Feb 6, 2026

[Warp Raytrace] Added device parameter to previously overlooked call #1545

Merged

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

Added multidevice support (newton-physics#1341)

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