Implement randomization and runtime update of equality constraint data + active #1192 by vreutskyy · Pull Request #1430 · newton-physics/newton

vreutskyy · 2026-01-21T15:20:06Z

Description

Implements runtime update and randomization support for equality constraint eq_data and eq_active in SolverMuJoCo.

Changes

New Warp kernels (newton/_src/solvers/mujoco/kernels.py):

update_eq_data_kernel: Updates MuJoCo's eq_data from Newton's equality constraint properties based on constraint type:
- CONNECT: copies equality_constraint_anchor
- JOINT: copies equality_constraint_polycoef
- WELD: copies anchor, equality_constraint_relpose, and equality_constraint_torquescale
update_eq_active_kernel: Updates MuJoCo's eq_active (in mjData) from Newton's equality_constraint_enabled

Solver updates (newton/_src/solvers/mujoco/solver_mujoco.py):

Extended update_eq_properties() to launch the new kernels when SolverNotifyFlags.EQUALITY_CONSTRAINT_PROPERTIES is set
Enabled "eq_data" in model_fields_to_expand for multi-world support

Documentation (newton/_src/solvers/flags.py):

Updated EQUALITY_CONSTRAINT_PROPERTIES docstring to reflect the new fields it covers

Tests (newton/tests/test_mujoco_solver.py):

Added test_eq_data_conversion_and_update: validates initial conversion and runtime updates of equality constraint data
Added test_eq_active_conversion_and_update: validates initial conversion and runtime toggling of constraint enabled state

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

Documentation
- Expanded equality-constraint docs to list additional related attributes and custom properties.
Improvements
- Broadened propagation so equality constraint parameters and enablement reliably sync across replicated simulation worlds.
Tests
- Added multi-world tests validating conversion and runtime updates of equality constraint data, torque scaling, and active/inactive toggling.

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

…a + active newton-physics#1192 Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com>

coderabbitai · 2026-01-21T15:20:30Z

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📝 Walkthrough

Walkthrough

Adds per-constraint equality data and active-state propagation from Newton models into MuJoCo Warp via a new combined kernel and solver wiring, expands the equality-constraint flag docstring, and adds multi-world tests for eq_data and eq_active updates.

Changes

Cohort / File(s)	Summary
Flag documentation `newton/_src/solvers/flags.py`	Expanded `EQUALITY_CONSTRAINT_PROPERTIES` docstring to list additional attributes: `equality_constraint_anchor`, `equality_constraint_relpose`, `equality_constraint_polycoef`, `equality_constraint_torquescale`, `equality_constraint_enabled`, and custom `mujoco.eq_solref`, `mujoco.eq_solimp`.
Kernel implementation `newton/_src/solvers/mujoco/kernels.py`	Added import of `EqType`, new vector alias `vec11`, and the `update_eq_data_and_active_kernel` kernel. Kernel maps Newton equality constraint fields (type, anchor, relpose, polycoef, torquescale, enabled) into per-constraint MuJoCo storage (`eq_data` as vec11 and `eq_active`). Handles type-specific layouts and relpose quaternion ordering.
Solver integration `newton/_src/solvers/mujoco/solver_mujoco.py`	Imported the new kernel, added `eq_data` to `expand_model_fields`, and updated `update_eq_properties` to launch `update_eq_data_and_active_kernel` to populate `eq_data` and `eq_active` across worlds.
Tests `newton/tests/test_mujoco_solver.py`	Added `test_eq_data_conversion_and_update` and `test_eq_active_conversion_and_update` to validate per-world/per-equation propagation and runtime updates for eq_data and eq_active from Newton attributes.

Sequence Diagram(s)

sequenceDiagram
    participant Newton as Newton Model
    participant Solver as SolverMuJoCo
    participant Kernel as update_eq_data_and_active_kernel
    participant MuJoCo as MuJoCo Warp

    Newton->>Solver: notify equality_constraint_* updates
    Solver->>Kernel: launch with mjc_eq_to_newton_eq, types, anchors, relposes, polycoef, torquescale, enabled
    Kernel->>Kernel: map by EqType (CONNECT/JOINT/WELD), pack vec11, set active
    Kernel->>MuJoCo: write eq_data[world, mjc_eq] and eq_active[world, mjc_eq]

Estimated code review effort

🎯 4 (Complex) | ⏱️ ~45 minutes

Possibly related PRs

Move all SolverMuJoCo Warp kernels to kernels.py file #1027 #1040: Related kernel additions and MuJoCo Warp kernel reorganization affecting equality-constraint data flow.
SolverMuJoCo: custom attribute for eq_solref #1245: Related MuJoCo–Newton equality-constraint propagation changes touching the same modules.
Initial support for Mujoco equality constraints #460: Overlapping equality-constraint support changes and model attribute handling.

Suggested reviewers

adenzler-nvidia
eric-heiden

🚥 Pre-merge checks | ✅ 5

✅ Passed checks (5 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The PR title clearly and concisely summarizes the main change: implementing randomization and runtime updates for equality constraint data and active flags.
Linked Issues check	✅ Passed	The PR successfully implements all primary coding objectives from issue `#1192`: propagates Newton equality constraint properties to MuJoCo eq_data, enables runtime updates for CONNECT/JOINT/WELD types, synchronizes equality_constraint_enabled with eq_active, supports multi-world scenarios, and includes comprehensive tests.
Out of Scope Changes check	✅ Passed	All changes are directly related to implementing the equality constraint data and active flag functionality from issue `#1192`; no out-of-scope modifications were introduced.
Docstring Coverage	✅ Passed	Docstring coverage is 90.91% which is sufficient. The required threshold is 80.00%.

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codecov · 2026-01-21T15:30:00Z

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ All tests successful. No failed tests found.

📢 Thoughts on this report? Let us know!

Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com>

…ate-of-equality-constraint-data-active

Copilot

Pull request overview

This PR implements runtime update and randomization support for equality constraint data (eq_data) and active state (eq_active) in the MuJoCo solver.

Changes:

Added two new Warp kernels (update_eq_data_kernel and update_eq_active_kernel) to synchronize Newton's equality constraint properties with MuJoCo's internal data structures
Extended update_eq_properties() to launch the new kernels when SolverNotifyFlags.EQUALITY_CONSTRAINT_PROPERTIES is set
Enabled "eq_data" in model_fields_to_expand for multi-world support

Reviewed changes

Copilot reviewed 4 out of 4 changed files in this pull request and generated 3 comments.

File	Description
newton/_src/solvers/flags.py	Updated EQUALITY_CONSTRAINT_PROPERTIES docstring to document all related fields
newton/_src/solvers/mujoco/kernels.py	Added update_eq_data_kernel and update_eq_active_kernel to sync equality constraint data
newton/_src/solvers/mujoco/solver_mujoco.py	Extended update_eq_properties to call new kernels and enabled eq_data field expansion
newton/tests/test_mujoco_solver.py	Added tests for eq_data and eq_active conversion and runtime updates

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adenzler-nvidia

Thanks, 1 comment and can you check whether the copilot suggestions for the tests make any sense?

Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com>

…ate-of-equality-constraint-data-active

adenzler-nvidia

Thank you!

…a + active newton-physics#1192 (newton-physics#1430) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com>

Implement randomization and runtime update of equality constraint dat…

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…a + active newton-physics#1192 Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com>

docstring fix

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Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com>

vreutskyy requested a review from adenzler-nvidia January 21, 2026 16:16

vreutskyy added 3 commits January 21, 2026 17:16

Merge branch 'main' into 1192-implement-randomization-and-runtime-upd…

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…ate-of-equality-constraint-data-active

Merge branch 'main' into 1192-implement-randomization-and-runtime-upd…

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…ate-of-equality-constraint-data-active

Merge branch 'main' into 1192-implement-randomization-and-runtime-upd…

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…ate-of-equality-constraint-data-active

eric-heiden requested a review from Copilot January 21, 2026 22:55

Copilot started reviewing on behalf of eric-heiden January 21, 2026 22:56 View session

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Comment thread newton/tests/test_mujoco_solver.py

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Comment thread newton/_src/solvers/mujoco/kernels.py

vreutskyy and others added 2 commits January 22, 2026 10:06

Addressed PR comments

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Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com>

Merge branch 'main' into 1192-implement-randomization-and-runtime-upd…

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…ate-of-equality-constraint-data-active

adenzler-nvidia approved these changes Jan 22, 2026

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adenzler-nvidia added this pull request to the merge queue Jan 22, 2026

github-merge-queue Bot removed this pull request from the merge queue due to failed status checks Jan 22, 2026

vreutskyy added this pull request to the merge queue Jan 22, 2026

Merged via the queue into newton-physics:main with commit aefb337 Jan 22, 2026
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jnskkmhr pushed a commit to jnskkmhr/newton that referenced this pull request Jan 22, 2026

Implement randomization and runtime update of equality constraint dat…

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…a + active newton-physics#1192 (newton-physics#1430) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com>

coderabbitai Bot mentioned this pull request Jan 27, 2026

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

Implement randomization and runtime update of equality constraint dat…

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…a + active newton-physics#1192 (newton-physics#1430) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com>

coderabbitai Bot mentioned this pull request Feb 13, 2026

Add mimic joint support to SolverMuJoCo #1627

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This was referenced Mar 11, 2026

Add eq_solimp to Mjspec #2055

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Fix the weld quaternion format bug in MJCF #2056

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coderabbitai Bot mentioned this pull request Mar 23, 2026

Fix CONNECT constraint anchor update via notify_model_changed #2194

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coderabbitai Bot mentioned this pull request Apr 1, 2026

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

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

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…a + active newton-physics#1192 (newton-physics#1430) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com>

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

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