Additional testing for ArticulationView#1527
Merged
eric-heiden merged 19 commits intoFeb 18, 2026
Merged
Conversation
Signed-off-by: Gordon Yeoman <gyeoman@nvidia.com>
Signed-off-by: Gordon Yeoman <gyeoman@nvidia.com>
Signed-off-by: Gordon Yeoman <gyeoman@nvidia.com>
Contributor
|
Note Reviews pausedIt looks like this branch is under active development. To avoid overwhelming you with review comments due to an influx of new commits, CodeRabbit has automatically paused this review. You can configure this behavior by changing the Use the following commands to manage reviews:
Use the checkboxes below for quick actions:
📝 WalkthroughWalkthroughAdds extensive MuJoCo-based tests in Changes
Estimated code review effort🎯 3 (Moderate) | ⏱️ ~25 minutes Possibly related PRs
Suggested reviewers
🚥 Pre-merge checks | ✅ 2 | ❌ 1❌ Failed checks (1 warning)
✅ Passed checks (2 passed)
✏️ Tip: You can configure your own custom pre-merge checks in the settings. ✨ Finishing Touches🧪 Generate unit tests (beta)
Tip Issue Planner is now in beta. Read the docs and try it out! Share your feedback on Discord. Thanks for using CodeRabbit! It's free for OSS, and your support helps us grow. If you like it, consider giving us a shout-out. Comment |
Contributor
There was a problem hiding this comment.
Actionable comments posted: 1
🤖 Fix all issues with AI agents
In `@newton/tests/test_selection.py`:
- Around line 278-284: The mask is currently constructed as nested lists (e.g.,
mask = [[False, False], [False, True], [False, False]]) which are truthy and get
interpreted incorrectly; change the mask construction in the helper(s) that set
mask (the blocks using use_mask and use_multiple_artics_per_view around the mask
variable) to produce a flat list of booleans whose length equals view.count
(e.g., for multiple artics per view flatten to [False, False, False, True,
False, False] or for single artic per view to [False, True, False]), ensuring
the mask is a one-dimensional list that aligns with view.count; apply the same
fix to the analogous mask creation block near lines 673-679.
🧹 Nitpick comments (1)
newton/tests/test_selection.py (1)
195-199: Use Google-style docstrings for the new helper methods.These docstrings don’t include
Args/Returns, so they don’t meet the project’s Google-style requirement. Consider expanding them to describe parameters and return type.✍️ Example docstring update (apply similarly to both helpers)
- """Test an ArticulationView that includes a subset of joints and that we - can write attributes to the subset of joints with and without a mask. Test - that we can write to model/state/control.""" + """Tests selection of a joint subset with optional masking. + + Args: + use_mask (bool): Whether to apply an articulation mask when writing values. + use_multiple_artics_per_view (bool): Whether the view includes multiple articulations per world. + + Returns: + None + """As per coding guidelines, "Use Google-style docstrings with clear explanations of what the function does, its parameters, and return values".
Also applies to: 596-598
Signed-off-by: Gordon Yeoman <gyeoman@nvidia.com>
Signed-off-by: Gordon Yeoman <gyeoman@nvidia.com>
Signed-off-by: Gordon Yeoman <gyeoman@nvidia.com>
Contributor
There was a problem hiding this comment.
Actionable comments posted: 2
🤖 Fix all issues with AI agents
In `@newton/tests/test_selection.py`:
- Line 712: Replace the numeric literal "00.01" with "0.01" in the test where
the value is used (look for the occurrence of 00.01 in
newton/tests/test_selection.py) to correct the typo and maintain consistent
numeric formatting.
- Around line 581-588: The assertion message is misleading: it says "model"
while the test compares measured_control_joint_target_pos[i] to
expected_joint_target_pos[i]; update the msg in the self.assertAlmostEqual call
to reference "control joint target pos" (or similar), e.g., replace "Expected
model joint target pos value" with "Expected control joint target pos value" so
the text matches the variables measured_control_joint_target_pos and
expected_joint_target_pos used in the assertion.
🧹 Nitpick comments (2)
newton/tests/test_selection.py (2)
233-235: Typo in variable name:articuation→articulation.The variable
single_articuation_builderis missing an 'l'. Consider renaming for consistency and readability.📝 Suggested rename
- single_articuation_builder = newton.ModelBuilder() - SolverMuJoCo.register_custom_attributes(single_articuation_builder) - single_articuation_builder.add_mjcf(mjcf) + single_articulation_builder = newton.ModelBuilder() + SolverMuJoCo.register_custom_attributes(single_articulation_builder) + single_articulation_builder.add_mjcf(mjcf)Also update the reference on line 240:
- single_world_builder.add_builder(single_articuation_builder) + single_world_builder.add_builder(single_articulation_builder)
634-636: Same typo:articuation→articulation.Same spelling issue as in
run_test_joint_selection.📝 Suggested rename
- single_articuation_builder = newton.ModelBuilder() - SolverMuJoCo.register_custom_attributes(single_articuation_builder) - single_articuation_builder.add_mjcf(mjcf) + single_articulation_builder = newton.ModelBuilder() + SolverMuJoCo.register_custom_attributes(single_articulation_builder) + single_articulation_builder.add_mjcf(mjcf)Also update the reference on line 641.
… ubuntu. Signed-off-by: Gordon Yeoman <gyeoman@nvidia.com>
Signed-off-by: Gordon Yeoman <gyeoman@nvidia.com>
… case Signed-off-by: Gordon Yeoman <gyeoman@nvidia.com>
Signed-off-by: Gordon Yeoman <gyeoman@nvidia.com>
Codecov Report✅ All modified and coverable lines are covered by tests. 📢 Thoughts on this report? Let us know! |
Contributor
There was a problem hiding this comment.
🧹 Nitpick comments (2)
newton/tests/test_selection.py (2)
300-307: Typo in variable name:single_articuation_builder→single_articulation_builder.Missing 'l' in "articulation". The link-selection helper on line 701 spells it correctly.
📝 Suggested fix
- single_articuation_builder = newton.ModelBuilder() - SolverMuJoCo.register_custom_attributes(single_articuation_builder) - single_articuation_builder.add_mjcf(mjcf) + single_articulation_builder = newton.ModelBuilder() + SolverMuJoCo.register_custom_attributes(single_articulation_builder) + single_articulation_builder.add_mjcf(mjcf) # Create a world with 2 articulations single_world_builder = newton.ModelBuilder() for _i in range(0, num_articulations_per_world): - single_world_builder.add_builder(single_articuation_builder) + single_world_builder.add_builder(single_articulation_builder)🤖 Prompt for AI Agents
Verify each finding against the current code and only fix it if needed. In `@newton/tests/test_selection.py` around lines 300 - 307, Rename the misspelled variable single_articuation_builder to single_articulation_builder everywhere in this snippet: the ModelBuilder instantiation assigned to it, the call to SolverMuJoCo.register_custom_attributes(single_articulation_builder), the subsequent single_articulation_builder.add_mjcf(mjcf), and the single_world_builder.add_builder(single_articulation_builder) loop; this keeps naming consistent with the link-selection helper and avoids reference errors when using ModelBuilder and SolverMuJoCo methods.
266-292: Duplicated MJCF string across both helpers.The MJCF XML at lines 266–292 and 669–694 is effectively identical (the only difference is
mass="1.0"vsmass="1"). Consider extracting it as a class-level constant (similar toTestSelectionFixedTendons.TENDON_MJCF) to reduce duplication.Also applies to: 669-694
🤖 Prompt for AI Agents
Verify each finding against the current code and only fix it if needed. In `@newton/tests/test_selection.py` around lines 266 - 292, Extract the duplicated MJCF XML string into a shared class-level constant (e.g., similar to TestSelectionFixedTendons.TENDON_MJCF) and replace both inline helper strings with that constant; ensure the constant normalizes trivial differences (use mass="1.0" or "1" consistently) so both uses reference the identical string, update the helpers to reference the new constant name (e.g., SELECTION_MJCF) to remove duplication.
🤖 Prompt for all review comments with AI agents
Verify each finding against the current code and only fix it if needed.
Nitpick comments:
In `@newton/tests/test_selection.py`:
- Around line 300-307: Rename the misspelled variable single_articuation_builder
to single_articulation_builder everywhere in this snippet: the ModelBuilder
instantiation assigned to it, the call to
SolverMuJoCo.register_custom_attributes(single_articulation_builder), the
subsequent single_articulation_builder.add_mjcf(mjcf), and the
single_world_builder.add_builder(single_articulation_builder) loop; this keeps
naming consistent with the link-selection helper and avoids reference errors
when using ModelBuilder and SolverMuJoCo methods.
- Around line 266-292: Extract the duplicated MJCF XML string into a shared
class-level constant (e.g., similar to TestSelectionFixedTendons.TENDON_MJCF)
and replace both inline helper strings with that constant; ensure the constant
normalizes trivial differences (use mass="1.0" or "1" consistently) so both uses
reference the identical string, update the helpers to reference the new constant
name (e.g., SELECTION_MJCF) to remove duplication.
Signed-off-by: Gordon Yeoman <gyeoman@nvidia.com>
…eomannvidia/newton into dev/gyeoman/selection_testing
vreutskyy
approved these changes
Feb 18, 2026
Merged
via the queue into
newton-physics:main
with commit Feb 18, 2026
07b8e61
20 of 22 checks passed
vastsoun
added a commit
to vastsoun/newton
that referenced
this pull request
Mar 3, 2026
* [Warp Raytrace] Added device parameter (newton-physics#1544) * [Warp Raytrace] Added device parameter to previously overlooked call (newton-physics#1545) * SolverMuJoCo: Fix tolerance clamping in update_solver_options_kernel (newton-physics#1546) * Change default shape_ke to align with MuJoCo, parse geom solref from MJCF for contact stiffness/damping (newton-physics#1491) Signed-off-by: Alain Denzler <adenzler@nvidia.com> * Fix log_shapes broadcasting for length-1 warp arrays (newton-physics#1550) * Fix XPBD restitution particle index (newton-physics#1557) * Out-of-Bound memory read in example_diffsim_bear newton-physics#1386 (newton-physics#1533) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add versioned documentation deployment to GitHub Pages (newton-physics#1560) * Fix broken documentation links after versioned docs deployment (newton-physics#1566) * VBD New Features (newton-physics#1479) Co-authored-by: Claude Sonnet 4.5 <noreply@anthropic.com> * Add banners to membership verification workflow steps (newton-physics#1569) * Support cable junctions (newton-physics#1519) Signed-off-by: JC <jumyungc@nvidia.com> * Rename parameter I to inertia newton-physics#1543 (newton-physics#1551) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix example_robot_anymal_c_walk.py (newton-physics#1574) * Change everywhere linesearch to iterative (newton-physics#1573) * Remove standard collision pipeline (newton-physics#1538) * USD Plumbing MJC solver attributes through resolver and custom attribute framework (newton-physics#1463) Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> Signed-off-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Fix child shape filtering (newton-physics#1559) * Fix ViewerRerun ignoring hidden parameter in log_mesh and log_instances (newton-physics#1555) * Make NxN and SAP broad phase respect filtered pairs (newton-physics#1554) * Add --quiet flag to examples to suppress Warp messages (newton-physics#1585) * Defer resolution of MESH_MAXHULLVERT default in importers (newton-physics#1587) * Fix TypeError when finalizing SDF geometry with device kwarg (newton-physics#1586) * Make MESH_MAXHULLVERT a static class attribute Mesh.MAX_HULL_VERTICES. (newton-physics#1598) * Significant non-determinism in unified collision pipeline for anymal_c_walking example newton-physics#1505 (newton-physics#1588) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add test for non-contiguous case (newton-physics#1549) * Fix nightly Warp CI to resolve pre-release builds (newton-physics#1606) * Verify default class and value handling (newton-physics#1556) * SolverMuJoCo: Expand geom_margin to avoid OOB read with heterogeneous worlds (newton-physics#1607) * Fix bug in control clear method (newton-physics#1602) * Enable Use of Newton IK in Lab newton-physics#662 (newton-physics#1539) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix import of non-articulated joints (newton-physics#1535) * Deduplicate _process_joint_custom_attributes frequency handling (newton-physics#1584) * Add CI check for stale API docs and fix local build warnings (newton-physics#1570) * Update Pillow 12.0.0 to 12.1.1 (newton-physics#1612) * Prepare handling of mimic constraints in Newton (newton-physics#1523) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Support floating, base_joint and parent_body arguments for importers (newton-physics#1498) * Fix contact buffer memory overestimation (newton-physics#1614) * Configure banned-module-level-imports for ruff (newton-physics#1583) * Explicit `Contacts` instantiation with `Model.contacts()` and `CollisionPipeline.contacts()` (newton-physics#1445) * Fix the quadruped benchmark regression (newton-physics#1615) * Change default ignore_inertial_definitions from True to False (newton-physics#1537) * Finalize the Recording API (newton-physics#1600) * SolverMuJoCo: Fix ccd_iterations default (newton-physics#1631) * update gitignore to ignore Claude Code sandbox files (newton-physics#1628) * Add mimic joint support to SolverMuJoCo (newton-physics#1627) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add --no-cache-clear flag to test runner (newton-physics#1629) * Update MuJoCo and MuJoCo Warp to 3.5.0 release (newton-physics#1633) * Improve inertia parsing from USD (newton-physics#1605) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * Remove standalone .typos.toml in favor of pyproject.toml config (newton-physics#1642) * Heightfield support newton-physics#1189 (newton-physics#1547) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Example_robot_policy: Replace ValueError with clean error for missing PhysX policy (newton-physics#1636) Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> * Avoid unnecessary inflation of the contact reduction voxel aabb (newton-physics#1650) * Rename num_worlds to world_count (newton-physics#1634) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Support parsing autolimits from MJCF (newton-physics#1651) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix particle-shape restitution ignoring body velocity (newton-physics#1273) (newton-physics#1580) * Add overflow warnings for narrow-phase collision buffers (newton-physics#1643) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Documentation: add units to model/state docstrings (newton-physics#1649) * fix(viewer): add missing JointType.BALL support to contact line kernel (newton-physics#1640) * Make terrain mesh visual-only in anymal C walking example (newton-physics#1660) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Fix initialization of collider state in MPM finite difference mode (newton-physics#1652) * docs: document ModelBuilder.default_shape_cfg (newton-physics#1662) * Finalize the collision API (newton-physics#1581) * Remove hardcoded subnet ID from AWS workflow (newton-physics#1664) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Attempt to fix AWS config (newton-physics#1666) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Update AWS workflows to g7e.2xlarge with multi-AZ failover (newton-physics#1669) * fix(viewer-usd): disambiguate log_points colors for N=3 warp arrays (newton-physics#1661) * Viewer gl optimizations (newton-physics#1656) Signed-off-by: Miles Macklin <mmacklin@nvidia.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: Eric Heiden <eheiden@nvidia.com> * docs: add articulation workflow guidance and regression check (newton-physics#1663) * fix(examples): propagate IK solution to model state in Franka example (newton-physics#1637) * fix(deps,docs): bump nbconvert to 7.17.0 and fix ArticulationView doctest (newton-physics#1670) * Cleanup and improve some example (newton-physics#1625) Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Handle zero-mass bodies and flip ensure_nonstatic_links default (newton-physics#1635) * Additional testing for ArticulationView (newton-physics#1527) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Update warp-lang nightly to 1.12.0.dev20260217 (newton-physics#1677) * Change default friction coefficients to match MuJoCo (newton-physics#1681) * Refactor mesh creation functions (newton-physics#1654) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Parse joint frictionloss from MJCF (newton-physics#1680) * Fix free joint body_pos and add ref/qpos0 support for MuJoCo solver (newton-physics#1645) * Fix root shapes in ArticulationView with fixed base (newton-physics#1639) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Use model collision methods and remove `create_collision_pipeline` from examples (newton-physics#1648) Co-authored-by: nvtw <110816143+nvtw@users.noreply.github.com> * Fix XPBD apply_joint_forces ignoring child joint transform (newton-physics#1582) * Adjust SDF API (newton-physics#1644) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Optimize test suite runtime (~18% faster) (newton-physics#1689) * Remove ensure_nonstatic_links option from importers (newton-physics#1682) Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> * SolverMuJoCo: Add geom_margin support, align thickness default with MuJoCo and schemas (newton-physics#1653) * refactor: privatize non-public solver internals (newton-physics#1683) * Fix option parsing with multiple <option> elements from includes (newton-physics#1692) * Bump warp-lang nightly and newton-usd-schemas (newton-physics#1693) * Get rid of tkinter dependency (newton-physics#1676) * Fix SDF example contact buffer overflow (newton-physics#1695) * Fix implicit biastype for position/velocity actuator shortcuts (newton-physics#1678) * Fix include processor to respect meshdir/texturedir (newton-physics#1685) * Reduce cold-cache Warp compile time for geometry modules (newton-physics#1618) Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Fix xyzw-to-wxyz quaternion conversion in body inertia kernel (newton-physics#1694) * Rename key to label and add hierarchical labels (newton-physics#1592) (newton-physics#1632) * Expose geometry SDF helpers on public API (newton-physics#1684) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Improve custom frequency handling from USD, parse MuJoCo actuators and tendons (newton-physics#1510) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Collapse fixed joints with non articulated bodies (newton-physics#1608) * Fix renaming joint_key -> joint_label (newton-physics#1700) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Bump .python-version from 3.11 to 3.12 (newton-physics#1702) * Replace CITATION.md with CITATION.cff (newton-physics#1706) * Respect MJCF contype=conaffinity=0 via collision_group=0 (newton-physics#1703) * Make ViewerUSD reuse existing USD layers for the same output path (newton-physics#1704) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Remove dead up-axis conversion from MuJoCo solver (newton-physics#1707) * Skip IK cube stacking example test (newton-physics#1713) * Fix global pairs (world=-1) not exported to MuJoCo spec (newton-physics#1705) * Reduce the memory consumption of hydroelastic contacts (newton-physics#1609) * Fix flakiness cube stacking (newton-physics#1714) * Fix collision shapes not toggleable in viewer UI (newton-physics#1715) * Fix softbody examples table layout in README (newton-physics#1716) * Standardize sensor APIs: label matching, keyword args, and update() method naming (newton-physics#1665) * Fix intermittent crash in parallel test runner from Manager proxy race (newton-physics#1721) * Clean up inertia.py function arguments to match Mesh.create_* API (newton-physics#1719) * Reduce default test runner verbosity (newton-physics#1723) * Add menagerie comparison tests for SolverMuJoCo (newton-physics#1720) Signed-off-by: Alain Denzler <adenzler@nvidia.com> Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> * Add spatial tendon support for MuJoCo solver (newton-physics#1687) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Expose qfrc_actuator from mujoco (newton-physics#1698) * Skip non-MODEL custom attributes in finalize validation (newton-physics#1734) * Resolve inheritrange for position actuators in MJCF parser (newton-physics#1727) * Support dampratio for position/velocity actuator shortcuts (newton-physics#1722) * Limit concurrency to 1 (newton-physics#1736) * Add a helper method for checking applied usd (newton-physics#1731) * Enhance playback URL handling in ViewerViser (newton-physics#1742) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Removed RenderShapeType (newton-physics#1748) * Override only MassAPI attributes that have been authored (newton-physics#1688) * Integration of newton-actuators (newton-physics#1342) Signed-off-by: jvonmuralt <jvonmuralt@nvidia.com> * Fix ArticulationView crash with fixed-joint-only articulations (newton-physics#1726) * Improve retrieval of Jupyter base URL in ViewerViser (newton-physics#1750) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Disable dynamics testing for UR5e and Apollo tests to avoid CI flakiness (newton-physics#1755) * Margin and Gap rename (newton-physics#1732) * Vbd Demos Fixing (newton-physics#1740) * Fix ViewerViser.log_lines method (newton-physics#1764) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Update warp-lang dependency to 1.12.0rc1 (newton-physics#1763) * Fix fromto capsule/cylinder orientation in MJCF parser (newton-physics#1741) * fix: multi-world particle BVH indexing (newton-physics#1641) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Clean up unused and internal-only kwargs in SolverMuJoCo (newton-physics#1766) * Parsing of the mimic joint and contact gap/margin from newton schemas (newton-physics#1690) Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> * API Refactor v2 (newton-physics#1749) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Support explicit geom mass attributes in MJCF (newton-physics#1744) * Bump flask and werkzeug in lockfile for security (newton-physics#1769) Co-authored-by: Cursor <cursoragent@cursor.com> * Split MJCF worldbody root bodies into separate articulations (newton-physics#1754) * Expose VBD rigid contact forces for solver coupling (newton-physics#1745) Signed-off-by: JC <jumyungc@nvidia.com> * Add MJCF ellipsoid geom import and regression test (newton-physics#1772) Co-authored-by: Cursor <cursoragent@cursor.com> * Weld equality constraints parsed from mjcf are given Nan as the default value of torquescale. The correct default should be 1.0 (newton-physics#1760) * Improve picking accuracy and stability (newton-physics#1712) * Franka cloth demo improvement (newton-physics#1765) * Support computing sensing object transforms & API cleanup (newton-physics#1759) * Remove threading workaround (newton-physics#1751) * [Warp Raytrace] Consolidated ray intersect functions, renamed Options to Config (newton-physics#1767) * Improve README example gallery for PyPI compatibility (newton-physics#1776) * Fix issue with mesh in rerun viewer (newton-physics#1768) * Add PhysxMimicJointAPI parsing to USD importer (newton-physics#1735) * Move some math functions to Warp (newton-physics#1717) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Add test to ensure MJCF xform argument is relative (newton-physics#1777) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Emit diaginertia instead of fullinertia for diagonal body inertia (newton-physics#1780) * Change default joint armature from 0.01 to 0 (newton-physics#1782) * Fix default kp/kv for position and velocity actuators (newton-physics#1786) * Lock body inertia after explicit MJCF <inertial> element (newton-physics#1784) * Fix for MJCF actuator custom attributes (newton-physics#1783) * Bump version to 0.2.3 Prepare the package metadata for the v0.2.3 release tag. * Fix ViewerRerun rendering of instances from hidden meshes (newton-physics#1788) * API cleanup (newton-physics#1789) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * BODY actuator target name bypasses body name de-duplication in SolverMuJoCo (newton-physics#1729) * Use default density for visual geoms in MJCF import (newton-physics#1781) * Fix GL viewer crash on Wayland (newton-physics#1793) * Make USD xform parameter control absolute articulation placement (newton-physics#1771) * Fix CUDA context corruption in SDF implementation (newton-physics#1792) * Bump mujoco-warp dependency to 3.5.0.2 (newton-physics#1779) * Fix MuJoCo margin/gap conversion (newton-physics#1785) * Bump version to 1.1.0.dev0 (newton-physics#1798) * Missing unittest.main added back to test_import_mjcf.py. Helps with F5 debugging in VS Code. (newton-physics#1796) * Improve H1 example (newton-physics#1801) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Fix ViewerViser.set_camera() (newton-physics#1805) * Rename examples to follow prefix-first naming convention (newton-physics#1802) * Improve MuJoCo actuator domain randomization (newton-physics#1773) * Restore in_cup test in hydro example (newton-physics#1775) * Fix `newton.geometry` imports and change of Mesh maxhullverts global constant * Adapt to having both margin and gap arrays for each geom/shape * Fix for newton.geometry API changes in primitive/narrowphase.py * Fix removal of `BroadPhaseMode` IntEnum and revert to newton-sytle string literals * WIP: Adapt geometry/unified.py to fix breaking changes to `newton.geometry` API * First pass of API adjustments * Patch more gaps (with respect to margin and gap renaming) * GeoType.SDF was removed - reflect that in Kamino * Introduce CoM position offsets w.r.t body frame and operations to convert between body CoM state and generic local body-fixed reference frames. * Add caching of per-entity labels/names/keys in the Model subcontainers * Remove SDF shape wrapper since it's now internal to mesh handling in CD pipelines * Fix USD test assets * Add Newton <--> Kamino joint type conversion operations and per-space default limit constants * Add some cleanup to geometry and unified CD + UTs * Add Newton <--> Kamino shape type conversion operations * Apply new default joint coord limit constants to limits.py * Adapt foubrar model builder and USD asset to produce the same result in sim example * Purge "physical" goems and collapse all into a single group, and purge geometry "layers" * Disable allocation per-joint wrenches by default and make them optional * Make `Model` a dataclass * Separate ModelData* containers into own `core/data.py` module * Fix imports of ModelData * Rename `Model` as `ModelKamino` * Rename `ModelData` as `DataKamino` * Rename `State` as `StateKamino` * Rename `Control` as `ControlKamino` * Rename `Limits` as `LimitsKamino` * Rename `Contacts` as `ContactsKamino` * Rename `ModelBuilder` as `ModelBuilderKamino` * Make imports in test utilities relative * Revise CD meta-data attributes and their computation in GeometryModel and ModelBuilderKamino * Revise primitive CD pipeline * Revise unified CD pipeline * Revise CD front-end interfaces * Fix UTs and relevant utils for interface changes to CD * Change to `wp.DeviceLike` to account for upcoming deprecation of `Devicelike` * Depracate legacy HDF5 data io (will be replaced in the future) * Fix banned imports at module level * Modify USD importer to detect articulations and order geoms and joints similarly to how the Newton `parse_usd` function does. * Add conversion operation from `newton.Model` to `ModelKamino` * Add data, state and control container conversions * Add SolverKamino wrapper that fullfils newton integration interface * Add newton integration examples * Add SolverKamino to newton solver module imports * WIP: fix problem with lambda_j being allocated for only kinematic constraints and failing on array copying * Fix banned git import in benchmark * Rename *Settings to *Config (#213) * Rename SolverKaminoSettings -> SolverKaminoConfig * Rename DualProblemSettings -> DualProblemConfig * Rename CollisionDetectorSettings -> CollisionDetectorConfig * Rename PADMMSettings -> PADMMConfig * Rename ForwardKinematicsSolverSettings -> ForwardKinematicsSolverConfig * Rename SimulatorSettings -> SimulatorConfig * Add check for model compatibility in SolverKamino (#209) * Fix device assignment in sparse CG test on CPU (#216) * Replace Enum-type config attributes with Literal (#215) * Replace warmstart mode config param with literal * Replace contact warmstart mode config param with literal * Replace rotation correction config param with literal * Replace penalty update config param with literal * Replace FK preconditioner option config param with literal * Add post-init checks for dual/PADMM configs * Rename FKPreconditionerOptions to FKPreconditionerType * Remove WorldDescriptor from ModelKamino (#219) * Add geom index offset array to model info * Replace access to world description in model * Remove world descriptor from model * Fix computation of kinematics residual with sparse Jacobian (#220) * Migrates `ModelKaminoSize` to it's own module to avoid circular dependency between core/model.py and core/state.py and rename it as `SizeKamino`. * WIP: Fix SolverKamino wrapper * Fix circular dependency in conversions.py * Fix some broken unit tests and WIP to fix fourbar contact conversions and rendering * Make some conversions @staticmethods instead, because they dont need common class attributes * Fix declaration of custom state attributes and their conversion to/from newton and kamino * WIP: Debug model conversion and newton sim examples * Rename and cleanup start index array of per-world geoms * Model conversion and newton sim examples now work. * Make gravity conversion operation re-usable * Migrates boxes_fourbar builder using newton.ModelBuilder to it's own module to prepare for migration. * Use gravity conversion utility func in SolverKamino * Add reusable joint-parameterization conversion utility * Remove world-descriptor from model converter * Rename helper converter that handles entity-local transforms * Add some cleanup to DR Legs, ANYmal D and basic four-bar examples * Fix module-level imports of additional kamino-specific development dependencies * Fix module-level imports of additional kamino-specific development dependencies * Fix erroneous merge conflict. --------- Signed-off-by: Alain Denzler <adenzler@nvidia.com> Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> Signed-off-by: JC <jumyungc@nvidia.com> Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> Signed-off-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Miles Macklin <mmacklin@nvidia.com> Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> Signed-off-by: jvonmuralt <jvonmuralt@nvidia.com> Co-authored-by: Daniela Hase <116915287+daniela-hase@users.noreply.github.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> Co-authored-by: Eric Shi <97630937+shi-eric@users.noreply.github.com> Co-authored-by: Anka Chen <AnkaChan@users.noreply.github.com> Co-authored-by: Claude Sonnet 4.5 <noreply@anthropic.com> Co-authored-by: JC-nvidia <116605903+jumyungc@users.noreply.github.com> Co-authored-by: Kenny Vilella <kvilella@nvidia.com> Co-authored-by: nvtw <110816143+nvtw@users.noreply.github.com> Co-authored-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> Co-authored-by: Lennart Röstel <65088822+lenroe@users.noreply.github.com> Co-authored-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: jvonmuralt <jvonmuralt@nvidia.com> Co-authored-by: camevor <camevor@nvidia.com> Co-authored-by: mzamoramora-nvidia <mzamoramora@nvidia.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Alessandro Roncone <alecive87@gmail.com> Co-authored-by: gdaviet <57617656+gdaviet@users.noreply.github.com> Co-authored-by: Miles Macklin <mmacklin@nvidia.com> Co-authored-by: Gordon Yeoman <gyeomannvidia@users.noreply.github.com> Co-authored-by: Lukasz Wawrzyniak <lwawrzyniak@nvidia.com> Co-authored-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Lorenzo Terenzi <lorenzoterenzi96@gmail.com> Co-authored-by: smollerNV <164020096+smollerNV@users.noreply.github.com> Co-authored-by: twidmer <twidmer@nvidia.com> Co-authored-by: Christian Schumacher <christian.schumacher@disney.com> Co-authored-by: Guirec-Maloisel <25688871+Guirec-Maloisel@users.noreply.github.com>
vastsoun
added a commit
to vastsoun/newton
that referenced
this pull request
Mar 4, 2026
* [Warp Raytrace] Added device parameter (newton-physics#1544) * [Warp Raytrace] Added device parameter to previously overlooked call (newton-physics#1545) * SolverMuJoCo: Fix tolerance clamping in update_solver_options_kernel (newton-physics#1546) * Change default shape_ke to align with MuJoCo, parse geom solref from MJCF for contact stiffness/damping (newton-physics#1491) Signed-off-by: Alain Denzler <adenzler@nvidia.com> * Fix log_shapes broadcasting for length-1 warp arrays (newton-physics#1550) * Fix XPBD restitution particle index (newton-physics#1557) * Out-of-Bound memory read in example_diffsim_bear newton-physics#1386 (newton-physics#1533) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add versioned documentation deployment to GitHub Pages (newton-physics#1560) * Fix broken documentation links after versioned docs deployment (newton-physics#1566) * VBD New Features (newton-physics#1479) Co-authored-by: Claude Sonnet 4.5 <noreply@anthropic.com> * Add banners to membership verification workflow steps (newton-physics#1569) * Support cable junctions (newton-physics#1519) Signed-off-by: JC <jumyungc@nvidia.com> * Rename parameter I to inertia newton-physics#1543 (newton-physics#1551) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix example_robot_anymal_c_walk.py (newton-physics#1574) * Change everywhere linesearch to iterative (newton-physics#1573) * Remove standard collision pipeline (newton-physics#1538) * USD Plumbing MJC solver attributes through resolver and custom attribute framework (newton-physics#1463) Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> Signed-off-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Fix child shape filtering (newton-physics#1559) * Fix ViewerRerun ignoring hidden parameter in log_mesh and log_instances (newton-physics#1555) * Make NxN and SAP broad phase respect filtered pairs (newton-physics#1554) * Add --quiet flag to examples to suppress Warp messages (newton-physics#1585) * Defer resolution of MESH_MAXHULLVERT default in importers (newton-physics#1587) * Fix TypeError when finalizing SDF geometry with device kwarg (newton-physics#1586) * Make MESH_MAXHULLVERT a static class attribute Mesh.MAX_HULL_VERTICES. (newton-physics#1598) * Significant non-determinism in unified collision pipeline for anymal_c_walking example newton-physics#1505 (newton-physics#1588) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add test for non-contiguous case (newton-physics#1549) * Fix nightly Warp CI to resolve pre-release builds (newton-physics#1606) * Verify default class and value handling (newton-physics#1556) * SolverMuJoCo: Expand geom_margin to avoid OOB read with heterogeneous worlds (newton-physics#1607) * Fix bug in control clear method (newton-physics#1602) * Enable Use of Newton IK in Lab newton-physics#662 (newton-physics#1539) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix import of non-articulated joints (newton-physics#1535) * Deduplicate _process_joint_custom_attributes frequency handling (newton-physics#1584) * Add CI check for stale API docs and fix local build warnings (newton-physics#1570) * Update Pillow 12.0.0 to 12.1.1 (newton-physics#1612) * Prepare handling of mimic constraints in Newton (newton-physics#1523) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Support floating, base_joint and parent_body arguments for importers (newton-physics#1498) * Fix contact buffer memory overestimation (newton-physics#1614) * Configure banned-module-level-imports for ruff (newton-physics#1583) * Explicit `Contacts` instantiation with `Model.contacts()` and `CollisionPipeline.contacts()` (newton-physics#1445) * Fix the quadruped benchmark regression (newton-physics#1615) * Change default ignore_inertial_definitions from True to False (newton-physics#1537) * Finalize the Recording API (newton-physics#1600) * SolverMuJoCo: Fix ccd_iterations default (newton-physics#1631) * update gitignore to ignore Claude Code sandbox files (newton-physics#1628) * Add mimic joint support to SolverMuJoCo (newton-physics#1627) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add --no-cache-clear flag to test runner (newton-physics#1629) * Update MuJoCo and MuJoCo Warp to 3.5.0 release (newton-physics#1633) * Improve inertia parsing from USD (newton-physics#1605) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * Remove standalone .typos.toml in favor of pyproject.toml config (newton-physics#1642) * Heightfield support newton-physics#1189 (newton-physics#1547) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Example_robot_policy: Replace ValueError with clean error for missing PhysX policy (newton-physics#1636) Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> * Avoid unnecessary inflation of the contact reduction voxel aabb (newton-physics#1650) * Rename num_worlds to world_count (newton-physics#1634) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Support parsing autolimits from MJCF (newton-physics#1651) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix particle-shape restitution ignoring body velocity (newton-physics#1273) (newton-physics#1580) * Add overflow warnings for narrow-phase collision buffers (newton-physics#1643) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Documentation: add units to model/state docstrings (newton-physics#1649) * fix(viewer): add missing JointType.BALL support to contact line kernel (newton-physics#1640) * Make terrain mesh visual-only in anymal C walking example (newton-physics#1660) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Fix initialization of collider state in MPM finite difference mode (newton-physics#1652) * docs: document ModelBuilder.default_shape_cfg (newton-physics#1662) * Finalize the collision API (newton-physics#1581) * Remove hardcoded subnet ID from AWS workflow (newton-physics#1664) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Attempt to fix AWS config (newton-physics#1666) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Update AWS workflows to g7e.2xlarge with multi-AZ failover (newton-physics#1669) * fix(viewer-usd): disambiguate log_points colors for N=3 warp arrays (newton-physics#1661) * Viewer gl optimizations (newton-physics#1656) Signed-off-by: Miles Macklin <mmacklin@nvidia.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: Eric Heiden <eheiden@nvidia.com> * docs: add articulation workflow guidance and regression check (newton-physics#1663) * fix(examples): propagate IK solution to model state in Franka example (newton-physics#1637) * fix(deps,docs): bump nbconvert to 7.17.0 and fix ArticulationView doctest (newton-physics#1670) * Cleanup and improve some example (newton-physics#1625) Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Handle zero-mass bodies and flip ensure_nonstatic_links default (newton-physics#1635) * Additional testing for ArticulationView (newton-physics#1527) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Update warp-lang nightly to 1.12.0.dev20260217 (newton-physics#1677) * Change default friction coefficients to match MuJoCo (newton-physics#1681) * Refactor mesh creation functions (newton-physics#1654) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Parse joint frictionloss from MJCF (newton-physics#1680) * Fix free joint body_pos and add ref/qpos0 support for MuJoCo solver (newton-physics#1645) * Fix root shapes in ArticulationView with fixed base (newton-physics#1639) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Use model collision methods and remove `create_collision_pipeline` from examples (newton-physics#1648) Co-authored-by: nvtw <110816143+nvtw@users.noreply.github.com> * Fix XPBD apply_joint_forces ignoring child joint transform (newton-physics#1582) * Adjust SDF API (newton-physics#1644) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Optimize test suite runtime (~18% faster) (newton-physics#1689) * Remove ensure_nonstatic_links option from importers (newton-physics#1682) Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> * SolverMuJoCo: Add geom_margin support, align thickness default with MuJoCo and schemas (newton-physics#1653) * refactor: privatize non-public solver internals (newton-physics#1683) * Fix option parsing with multiple <option> elements from includes (newton-physics#1692) * Bump warp-lang nightly and newton-usd-schemas (newton-physics#1693) * Get rid of tkinter dependency (newton-physics#1676) * Fix SDF example contact buffer overflow (newton-physics#1695) * Fix implicit biastype for position/velocity actuator shortcuts (newton-physics#1678) * Fix include processor to respect meshdir/texturedir (newton-physics#1685) * Reduce cold-cache Warp compile time for geometry modules (newton-physics#1618) Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Fix xyzw-to-wxyz quaternion conversion in body inertia kernel (newton-physics#1694) * Rename key to label and add hierarchical labels (newton-physics#1592) (newton-physics#1632) * Expose geometry SDF helpers on public API (newton-physics#1684) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Improve custom frequency handling from USD, parse MuJoCo actuators and tendons (newton-physics#1510) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Collapse fixed joints with non articulated bodies (newton-physics#1608) * Fix renaming joint_key -> joint_label (newton-physics#1700) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Bump .python-version from 3.11 to 3.12 (newton-physics#1702) * Replace CITATION.md with CITATION.cff (newton-physics#1706) * Respect MJCF contype=conaffinity=0 via collision_group=0 (newton-physics#1703) * Make ViewerUSD reuse existing USD layers for the same output path (newton-physics#1704) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Remove dead up-axis conversion from MuJoCo solver (newton-physics#1707) * Skip IK cube stacking example test (newton-physics#1713) * Fix global pairs (world=-1) not exported to MuJoCo spec (newton-physics#1705) * Reduce the memory consumption of hydroelastic contacts (newton-physics#1609) * Fix flakiness cube stacking (newton-physics#1714) * Fix collision shapes not toggleable in viewer UI (newton-physics#1715) * Fix softbody examples table layout in README (newton-physics#1716) * Standardize sensor APIs: label matching, keyword args, and update() method naming (newton-physics#1665) * Fix intermittent crash in parallel test runner from Manager proxy race (newton-physics#1721) * Clean up inertia.py function arguments to match Mesh.create_* API (newton-physics#1719) * Reduce default test runner verbosity (newton-physics#1723) * Add menagerie comparison tests for SolverMuJoCo (newton-physics#1720) Signed-off-by: Alain Denzler <adenzler@nvidia.com> Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> * Add spatial tendon support for MuJoCo solver (newton-physics#1687) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Expose qfrc_actuator from mujoco (newton-physics#1698) * Skip non-MODEL custom attributes in finalize validation (newton-physics#1734) * Resolve inheritrange for position actuators in MJCF parser (newton-physics#1727) * Support dampratio for position/velocity actuator shortcuts (newton-physics#1722) * Limit concurrency to 1 (newton-physics#1736) * Add a helper method for checking applied usd (newton-physics#1731) * Enhance playback URL handling in ViewerViser (newton-physics#1742) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Removed RenderShapeType (newton-physics#1748) * Override only MassAPI attributes that have been authored (newton-physics#1688) * Integration of newton-actuators (newton-physics#1342) Signed-off-by: jvonmuralt <jvonmuralt@nvidia.com> * Fix ArticulationView crash with fixed-joint-only articulations (newton-physics#1726) * Improve retrieval of Jupyter base URL in ViewerViser (newton-physics#1750) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Disable dynamics testing for UR5e and Apollo tests to avoid CI flakiness (newton-physics#1755) * Margin and Gap rename (newton-physics#1732) * Vbd Demos Fixing (newton-physics#1740) * Fix ViewerViser.log_lines method (newton-physics#1764) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Update warp-lang dependency to 1.12.0rc1 (newton-physics#1763) * Fix fromto capsule/cylinder orientation in MJCF parser (newton-physics#1741) * fix: multi-world particle BVH indexing (newton-physics#1641) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Clean up unused and internal-only kwargs in SolverMuJoCo (newton-physics#1766) * Parsing of the mimic joint and contact gap/margin from newton schemas (newton-physics#1690) Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> * API Refactor v2 (newton-physics#1749) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Support explicit geom mass attributes in MJCF (newton-physics#1744) * Bump flask and werkzeug in lockfile for security (newton-physics#1769) Co-authored-by: Cursor <cursoragent@cursor.com> * Split MJCF worldbody root bodies into separate articulations (newton-physics#1754) * Expose VBD rigid contact forces for solver coupling (newton-physics#1745) Signed-off-by: JC <jumyungc@nvidia.com> * Add MJCF ellipsoid geom import and regression test (newton-physics#1772) Co-authored-by: Cursor <cursoragent@cursor.com> * Weld equality constraints parsed from mjcf are given Nan as the default value of torquescale. The correct default should be 1.0 (newton-physics#1760) * Improve picking accuracy and stability (newton-physics#1712) * Franka cloth demo improvement (newton-physics#1765) * Support computing sensing object transforms & API cleanup (newton-physics#1759) * Remove threading workaround (newton-physics#1751) * [Warp Raytrace] Consolidated ray intersect functions, renamed Options to Config (newton-physics#1767) * Improve README example gallery for PyPI compatibility (newton-physics#1776) * Fix issue with mesh in rerun viewer (newton-physics#1768) * Add PhysxMimicJointAPI parsing to USD importer (newton-physics#1735) * Move some math functions to Warp (newton-physics#1717) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Add test to ensure MJCF xform argument is relative (newton-physics#1777) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Emit diaginertia instead of fullinertia for diagonal body inertia (newton-physics#1780) * Change default joint armature from 0.01 to 0 (newton-physics#1782) * Fix default kp/kv for position and velocity actuators (newton-physics#1786) * Lock body inertia after explicit MJCF <inertial> element (newton-physics#1784) * Fix for MJCF actuator custom attributes (newton-physics#1783) * Bump version to 0.2.3 Prepare the package metadata for the v0.2.3 release tag. * Fix ViewerRerun rendering of instances from hidden meshes (newton-physics#1788) * API cleanup (newton-physics#1789) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * BODY actuator target name bypasses body name de-duplication in SolverMuJoCo (newton-physics#1729) * Use default density for visual geoms in MJCF import (newton-physics#1781) * Fix GL viewer crash on Wayland (newton-physics#1793) * Make USD xform parameter control absolute articulation placement (newton-physics#1771) * Fix CUDA context corruption in SDF implementation (newton-physics#1792) * Bump mujoco-warp dependency to 3.5.0.2 (newton-physics#1779) * Fix MuJoCo margin/gap conversion (newton-physics#1785) * Bump version to 1.1.0.dev0 (newton-physics#1798) * Missing unittest.main added back to test_import_mjcf.py. Helps with F5 debugging in VS Code. (newton-physics#1796) * Improve H1 example (newton-physics#1801) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Fix ViewerViser.set_camera() (newton-physics#1805) * Rename examples to follow prefix-first naming convention (newton-physics#1802) * Improve MuJoCo actuator domain randomization (newton-physics#1773) * Restore in_cup test in hydro example (newton-physics#1775) * Fix `newton.geometry` imports and change of Mesh maxhullverts global constant * Adapt to having both margin and gap arrays for each geom/shape * Fix for newton.geometry API changes in primitive/narrowphase.py * Fix removal of `BroadPhaseMode` IntEnum and revert to newton-sytle string literals * WIP: Adapt geometry/unified.py to fix breaking changes to `newton.geometry` API * First pass of API adjustments * Patch more gaps (with respect to margin and gap renaming) * GeoType.SDF was removed - reflect that in Kamino * Introduce CoM position offsets w.r.t body frame and operations to convert between body CoM state and generic local body-fixed reference frames. * Add caching of per-entity labels/names/keys in the Model subcontainers * Remove SDF shape wrapper since it's now internal to mesh handling in CD pipelines * Fix USD test assets * Add Newton <--> Kamino joint type conversion operations and per-space default limit constants * Add some cleanup to geometry and unified CD + UTs * Add Newton <--> Kamino shape type conversion operations * Apply new default joint coord limit constants to limits.py * Adapt foubrar model builder and USD asset to produce the same result in sim example * Purge "physical" goems and collapse all into a single group, and purge geometry "layers" * Disable allocation per-joint wrenches by default and make them optional * Make `Model` a dataclass * Separate ModelData* containers into own `core/data.py` module * Fix imports of ModelData * Rename `Model` as `ModelKamino` * Rename `ModelData` as `DataKamino` * Rename `State` as `StateKamino` * Rename `Control` as `ControlKamino` * Rename `Limits` as `LimitsKamino` * Rename `Contacts` as `ContactsKamino` * Rename `ModelBuilder` as `ModelBuilderKamino` * Make imports in test utilities relative * Revise CD meta-data attributes and their computation in GeometryModel and ModelBuilderKamino * Revise primitive CD pipeline * Revise unified CD pipeline * Revise CD front-end interfaces * Fix UTs and relevant utils for interface changes to CD * Change to `wp.DeviceLike` to account for upcoming deprecation of `Devicelike` * Depracate legacy HDF5 data io (will be replaced in the future) * Fix banned imports at module level * Modify USD importer to detect articulations and order geoms and joints similarly to how the Newton `parse_usd` function does. * Add conversion operation from `newton.Model` to `ModelKamino` * Add data, state and control container conversions * Add SolverKamino wrapper that fullfils newton integration interface * Add newton integration examples * Add SolverKamino to newton solver module imports * WIP: fix problem with lambda_j being allocated for only kinematic constraints and failing on array copying * Fix banned git import in benchmark * Rename *Settings to *Config (#213) * Rename SolverKaminoSettings -> SolverKaminoConfig * Rename DualProblemSettings -> DualProblemConfig * Rename CollisionDetectorSettings -> CollisionDetectorConfig * Rename PADMMSettings -> PADMMConfig * Rename ForwardKinematicsSolverSettings -> ForwardKinematicsSolverConfig * Rename SimulatorSettings -> SimulatorConfig * Add check for model compatibility in SolverKamino (#209) * Fix device assignment in sparse CG test on CPU (#216) * Replace Enum-type config attributes with Literal (#215) * Replace warmstart mode config param with literal * Replace contact warmstart mode config param with literal * Replace rotation correction config param with literal * Replace penalty update config param with literal * Replace FK preconditioner option config param with literal * Add post-init checks for dual/PADMM configs * Rename FKPreconditionerOptions to FKPreconditionerType * Remove WorldDescriptor from ModelKamino (#219) * Add geom index offset array to model info * Replace access to world description in model * Remove world descriptor from model * Fix computation of kinematics residual with sparse Jacobian (#220) * Migrates `ModelKaminoSize` to it's own module to avoid circular dependency between core/model.py and core/state.py and rename it as `SizeKamino`. * WIP: Fix SolverKamino wrapper * Fix circular dependency in conversions.py * Fix some broken unit tests and WIP to fix fourbar contact conversions and rendering * Make some conversions @staticmethods instead, because they dont need common class attributes * Fix declaration of custom state attributes and their conversion to/from newton and kamino * WIP: Debug model conversion and newton sim examples * Rename and cleanup start index array of per-world geoms * Model conversion and newton sim examples now work. * Make gravity conversion operation re-usable * Migrates boxes_fourbar builder using newton.ModelBuilder to it's own module to prepare for migration. * Use gravity conversion utility func in SolverKamino * Add reusable joint-parameterization conversion utility * Remove world-descriptor from model converter * Rename helper converter that handles entity-local transforms * Add some cleanup to DR Legs, ANYmal D and basic four-bar examples * Fix module-level imports of additional kamino-specific development dependencies * Fix module-level imports of additional kamino-specific development dependencies * Fix erroneous merge conflict. --------- Signed-off-by: Alain Denzler <adenzler@nvidia.com> Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> Signed-off-by: JC <jumyungc@nvidia.com> Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> Signed-off-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Miles Macklin <mmacklin@nvidia.com> Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> Signed-off-by: jvonmuralt <jvonmuralt@nvidia.com> Co-authored-by: Daniela Hase <116915287+daniela-hase@users.noreply.github.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> Co-authored-by: Eric Shi <97630937+shi-eric@users.noreply.github.com> Co-authored-by: Anka Chen <AnkaChan@users.noreply.github.com> Co-authored-by: Claude Sonnet 4.5 <noreply@anthropic.com> Co-authored-by: JC-nvidia <116605903+jumyungc@users.noreply.github.com> Co-authored-by: Kenny Vilella <kvilella@nvidia.com> Co-authored-by: nvtw <110816143+nvtw@users.noreply.github.com> Co-authored-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> Co-authored-by: Lennart Röstel <65088822+lenroe@users.noreply.github.com> Co-authored-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: jvonmuralt <jvonmuralt@nvidia.com> Co-authored-by: camevor <camevor@nvidia.com> Co-authored-by: mzamoramora-nvidia <mzamoramora@nvidia.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Alessandro Roncone <alecive87@gmail.com> Co-authored-by: gdaviet <57617656+gdaviet@users.noreply.github.com> Co-authored-by: Miles Macklin <mmacklin@nvidia.com> Co-authored-by: Gordon Yeoman <gyeomannvidia@users.noreply.github.com> Co-authored-by: Lukasz Wawrzyniak <lwawrzyniak@nvidia.com> Co-authored-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Lorenzo Terenzi <lorenzoterenzi96@gmail.com> Co-authored-by: smollerNV <164020096+smollerNV@users.noreply.github.com> Co-authored-by: twidmer <twidmer@nvidia.com> Co-authored-by: Christian Schumacher <christian.schumacher@disney.com> Co-authored-by: Guirec-Maloisel <25688871+Guirec-Maloisel@users.noreply.github.com>
vastsoun
added a commit
to vastsoun/newton
that referenced
this pull request
Mar 4, 2026
* [Warp Raytrace] Added device parameter (newton-physics#1544) * [Warp Raytrace] Added device parameter to previously overlooked call (newton-physics#1545) * SolverMuJoCo: Fix tolerance clamping in update_solver_options_kernel (newton-physics#1546) * Change default shape_ke to align with MuJoCo, parse geom solref from MJCF for contact stiffness/damping (newton-physics#1491) Signed-off-by: Alain Denzler <adenzler@nvidia.com> * Fix log_shapes broadcasting for length-1 warp arrays (newton-physics#1550) * Fix XPBD restitution particle index (newton-physics#1557) * Out-of-Bound memory read in example_diffsim_bear newton-physics#1386 (newton-physics#1533) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add versioned documentation deployment to GitHub Pages (newton-physics#1560) * Fix broken documentation links after versioned docs deployment (newton-physics#1566) * VBD New Features (newton-physics#1479) Co-authored-by: Claude Sonnet 4.5 <noreply@anthropic.com> * Add banners to membership verification workflow steps (newton-physics#1569) * Support cable junctions (newton-physics#1519) Signed-off-by: JC <jumyungc@nvidia.com> * Rename parameter I to inertia newton-physics#1543 (newton-physics#1551) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix example_robot_anymal_c_walk.py (newton-physics#1574) * Change everywhere linesearch to iterative (newton-physics#1573) * Remove standard collision pipeline (newton-physics#1538) * USD Plumbing MJC solver attributes through resolver and custom attribute framework (newton-physics#1463) Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> Signed-off-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Fix child shape filtering (newton-physics#1559) * Fix ViewerRerun ignoring hidden parameter in log_mesh and log_instances (newton-physics#1555) * Make NxN and SAP broad phase respect filtered pairs (newton-physics#1554) * Add --quiet flag to examples to suppress Warp messages (newton-physics#1585) * Defer resolution of MESH_MAXHULLVERT default in importers (newton-physics#1587) * Fix TypeError when finalizing SDF geometry with device kwarg (newton-physics#1586) * Make MESH_MAXHULLVERT a static class attribute Mesh.MAX_HULL_VERTICES. (newton-physics#1598) * Significant non-determinism in unified collision pipeline for anymal_c_walking example newton-physics#1505 (newton-physics#1588) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add test for non-contiguous case (newton-physics#1549) * Fix nightly Warp CI to resolve pre-release builds (newton-physics#1606) * Verify default class and value handling (newton-physics#1556) * SolverMuJoCo: Expand geom_margin to avoid OOB read with heterogeneous worlds (newton-physics#1607) * Fix bug in control clear method (newton-physics#1602) * Enable Use of Newton IK in Lab newton-physics#662 (newton-physics#1539) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix import of non-articulated joints (newton-physics#1535) * Deduplicate _process_joint_custom_attributes frequency handling (newton-physics#1584) * Add CI check for stale API docs and fix local build warnings (newton-physics#1570) * Update Pillow 12.0.0 to 12.1.1 (newton-physics#1612) * Prepare handling of mimic constraints in Newton (newton-physics#1523) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Support floating, base_joint and parent_body arguments for importers (newton-physics#1498) * Fix contact buffer memory overestimation (newton-physics#1614) * Configure banned-module-level-imports for ruff (newton-physics#1583) * Explicit `Contacts` instantiation with `Model.contacts()` and `CollisionPipeline.contacts()` (newton-physics#1445) * Fix the quadruped benchmark regression (newton-physics#1615) * Change default ignore_inertial_definitions from True to False (newton-physics#1537) * Finalize the Recording API (newton-physics#1600) * SolverMuJoCo: Fix ccd_iterations default (newton-physics#1631) * update gitignore to ignore Claude Code sandbox files (newton-physics#1628) * Add mimic joint support to SolverMuJoCo (newton-physics#1627) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add --no-cache-clear flag to test runner (newton-physics#1629) * Update MuJoCo and MuJoCo Warp to 3.5.0 release (newton-physics#1633) * Improve inertia parsing from USD (newton-physics#1605) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * Remove standalone .typos.toml in favor of pyproject.toml config (newton-physics#1642) * Heightfield support newton-physics#1189 (newton-physics#1547) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Example_robot_policy: Replace ValueError with clean error for missing PhysX policy (newton-physics#1636) Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> * Avoid unnecessary inflation of the contact reduction voxel aabb (newton-physics#1650) * Rename num_worlds to world_count (newton-physics#1634) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Support parsing autolimits from MJCF (newton-physics#1651) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix particle-shape restitution ignoring body velocity (newton-physics#1273) (newton-physics#1580) * Add overflow warnings for narrow-phase collision buffers (newton-physics#1643) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Documentation: add units to model/state docstrings (newton-physics#1649) * fix(viewer): add missing JointType.BALL support to contact line kernel (newton-physics#1640) * Make terrain mesh visual-only in anymal C walking example (newton-physics#1660) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Fix initialization of collider state in MPM finite difference mode (newton-physics#1652) * docs: document ModelBuilder.default_shape_cfg (newton-physics#1662) * Finalize the collision API (newton-physics#1581) * Remove hardcoded subnet ID from AWS workflow (newton-physics#1664) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Attempt to fix AWS config (newton-physics#1666) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Update AWS workflows to g7e.2xlarge with multi-AZ failover (newton-physics#1669) * fix(viewer-usd): disambiguate log_points colors for N=3 warp arrays (newton-physics#1661) * Viewer gl optimizations (newton-physics#1656) Signed-off-by: Miles Macklin <mmacklin@nvidia.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: Eric Heiden <eheiden@nvidia.com> * docs: add articulation workflow guidance and regression check (newton-physics#1663) * fix(examples): propagate IK solution to model state in Franka example (newton-physics#1637) * fix(deps,docs): bump nbconvert to 7.17.0 and fix ArticulationView doctest (newton-physics#1670) * Cleanup and improve some example (newton-physics#1625) Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Handle zero-mass bodies and flip ensure_nonstatic_links default (newton-physics#1635) * Additional testing for ArticulationView (newton-physics#1527) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Update warp-lang nightly to 1.12.0.dev20260217 (newton-physics#1677) * Change default friction coefficients to match MuJoCo (newton-physics#1681) * Refactor mesh creation functions (newton-physics#1654) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Parse joint frictionloss from MJCF (newton-physics#1680) * Fix free joint body_pos and add ref/qpos0 support for MuJoCo solver (newton-physics#1645) * Fix root shapes in ArticulationView with fixed base (newton-physics#1639) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Use model collision methods and remove `create_collision_pipeline` from examples (newton-physics#1648) Co-authored-by: nvtw <110816143+nvtw@users.noreply.github.com> * Fix XPBD apply_joint_forces ignoring child joint transform (newton-physics#1582) * Adjust SDF API (newton-physics#1644) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Optimize test suite runtime (~18% faster) (newton-physics#1689) * Remove ensure_nonstatic_links option from importers (newton-physics#1682) Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> * SolverMuJoCo: Add geom_margin support, align thickness default with MuJoCo and schemas (newton-physics#1653) * refactor: privatize non-public solver internals (newton-physics#1683) * Fix option parsing with multiple <option> elements from includes (newton-physics#1692) * Bump warp-lang nightly and newton-usd-schemas (newton-physics#1693) * Get rid of tkinter dependency (newton-physics#1676) * Fix SDF example contact buffer overflow (newton-physics#1695) * Fix implicit biastype for position/velocity actuator shortcuts (newton-physics#1678) * Fix include processor to respect meshdir/texturedir (newton-physics#1685) * Reduce cold-cache Warp compile time for geometry modules (newton-physics#1618) Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Fix xyzw-to-wxyz quaternion conversion in body inertia kernel (newton-physics#1694) * Rename key to label and add hierarchical labels (newton-physics#1592) (newton-physics#1632) * Expose geometry SDF helpers on public API (newton-physics#1684) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Improve custom frequency handling from USD, parse MuJoCo actuators and tendons (newton-physics#1510) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Collapse fixed joints with non articulated bodies (newton-physics#1608) * Fix renaming joint_key -> joint_label (newton-physics#1700) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Bump .python-version from 3.11 to 3.12 (newton-physics#1702) * Replace CITATION.md with CITATION.cff (newton-physics#1706) * Respect MJCF contype=conaffinity=0 via collision_group=0 (newton-physics#1703) * Make ViewerUSD reuse existing USD layers for the same output path (newton-physics#1704) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Remove dead up-axis conversion from MuJoCo solver (newton-physics#1707) * Skip IK cube stacking example test (newton-physics#1713) * Fix global pairs (world=-1) not exported to MuJoCo spec (newton-physics#1705) * Reduce the memory consumption of hydroelastic contacts (newton-physics#1609) * Fix flakiness cube stacking (newton-physics#1714) * Fix collision shapes not toggleable in viewer UI (newton-physics#1715) * Fix softbody examples table layout in README (newton-physics#1716) * Standardize sensor APIs: label matching, keyword args, and update() method naming (newton-physics#1665) * Fix intermittent crash in parallel test runner from Manager proxy race (newton-physics#1721) * Clean up inertia.py function arguments to match Mesh.create_* API (newton-physics#1719) * Reduce default test runner verbosity (newton-physics#1723) * Add menagerie comparison tests for SolverMuJoCo (newton-physics#1720) Signed-off-by: Alain Denzler <adenzler@nvidia.com> Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> * Add spatial tendon support for MuJoCo solver (newton-physics#1687) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Expose qfrc_actuator from mujoco (newton-physics#1698) * Skip non-MODEL custom attributes in finalize validation (newton-physics#1734) * Resolve inheritrange for position actuators in MJCF parser (newton-physics#1727) * Support dampratio for position/velocity actuator shortcuts (newton-physics#1722) * Limit concurrency to 1 (newton-physics#1736) * Add a helper method for checking applied usd (newton-physics#1731) * Enhance playback URL handling in ViewerViser (newton-physics#1742) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Removed RenderShapeType (newton-physics#1748) * Override only MassAPI attributes that have been authored (newton-physics#1688) * Integration of newton-actuators (newton-physics#1342) Signed-off-by: jvonmuralt <jvonmuralt@nvidia.com> * Fix ArticulationView crash with fixed-joint-only articulations (newton-physics#1726) * Improve retrieval of Jupyter base URL in ViewerViser (newton-physics#1750) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Disable dynamics testing for UR5e and Apollo tests to avoid CI flakiness (newton-physics#1755) * Margin and Gap rename (newton-physics#1732) * Vbd Demos Fixing (newton-physics#1740) * Fix ViewerViser.log_lines method (newton-physics#1764) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Update warp-lang dependency to 1.12.0rc1 (newton-physics#1763) * Fix fromto capsule/cylinder orientation in MJCF parser (newton-physics#1741) * fix: multi-world particle BVH indexing (newton-physics#1641) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Clean up unused and internal-only kwargs in SolverMuJoCo (newton-physics#1766) * Parsing of the mimic joint and contact gap/margin from newton schemas (newton-physics#1690) Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> * API Refactor v2 (newton-physics#1749) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Support explicit geom mass attributes in MJCF (newton-physics#1744) * Bump flask and werkzeug in lockfile for security (newton-physics#1769) Co-authored-by: Cursor <cursoragent@cursor.com> * Split MJCF worldbody root bodies into separate articulations (newton-physics#1754) * Expose VBD rigid contact forces for solver coupling (newton-physics#1745) Signed-off-by: JC <jumyungc@nvidia.com> * Add MJCF ellipsoid geom import and regression test (newton-physics#1772) Co-authored-by: Cursor <cursoragent@cursor.com> * Weld equality constraints parsed from mjcf are given Nan as the default value of torquescale. The correct default should be 1.0 (newton-physics#1760) * Improve picking accuracy and stability (newton-physics#1712) * Franka cloth demo improvement (newton-physics#1765) * Support computing sensing object transforms & API cleanup (newton-physics#1759) * Remove threading workaround (newton-physics#1751) * [Warp Raytrace] Consolidated ray intersect functions, renamed Options to Config (newton-physics#1767) * Improve README example gallery for PyPI compatibility (newton-physics#1776) * Fix issue with mesh in rerun viewer (newton-physics#1768) * Add PhysxMimicJointAPI parsing to USD importer (newton-physics#1735) * Move some math functions to Warp (newton-physics#1717) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Add test to ensure MJCF xform argument is relative (newton-physics#1777) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Emit diaginertia instead of fullinertia for diagonal body inertia (newton-physics#1780) * Change default joint armature from 0.01 to 0 (newton-physics#1782) * Fix default kp/kv for position and velocity actuators (newton-physics#1786) * Lock body inertia after explicit MJCF <inertial> element (newton-physics#1784) * Fix for MJCF actuator custom attributes (newton-physics#1783) * Bump version to 0.2.3 Prepare the package metadata for the v0.2.3 release tag. * Fix ViewerRerun rendering of instances from hidden meshes (newton-physics#1788) * API cleanup (newton-physics#1789) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * BODY actuator target name bypasses body name de-duplication in SolverMuJoCo (newton-physics#1729) * Use default density for visual geoms in MJCF import (newton-physics#1781) * Fix GL viewer crash on Wayland (newton-physics#1793) * Make USD xform parameter control absolute articulation placement (newton-physics#1771) * Fix CUDA context corruption in SDF implementation (newton-physics#1792) * Bump mujoco-warp dependency to 3.5.0.2 (newton-physics#1779) * Fix MuJoCo margin/gap conversion (newton-physics#1785) * Bump version to 1.1.0.dev0 (newton-physics#1798) * Missing unittest.main added back to test_import_mjcf.py. Helps with F5 debugging in VS Code. (newton-physics#1796) * Improve H1 example (newton-physics#1801) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Fix ViewerViser.set_camera() (newton-physics#1805) * Rename examples to follow prefix-first naming convention (newton-physics#1802) * Improve MuJoCo actuator domain randomization (newton-physics#1773) * Restore in_cup test in hydro example (newton-physics#1775) * Fix `newton.geometry` imports and change of Mesh maxhullverts global constant * Adapt to having both margin and gap arrays for each geom/shape * Fix for newton.geometry API changes in primitive/narrowphase.py * Fix removal of `BroadPhaseMode` IntEnum and revert to newton-sytle string literals * WIP: Adapt geometry/unified.py to fix breaking changes to `newton.geometry` API * First pass of API adjustments * Patch more gaps (with respect to margin and gap renaming) * GeoType.SDF was removed - reflect that in Kamino * Introduce CoM position offsets w.r.t body frame and operations to convert between body CoM state and generic local body-fixed reference frames. * Add caching of per-entity labels/names/keys in the Model subcontainers * Remove SDF shape wrapper since it's now internal to mesh handling in CD pipelines * Fix USD test assets * Add Newton <--> Kamino joint type conversion operations and per-space default limit constants * Add some cleanup to geometry and unified CD + UTs * Add Newton <--> Kamino shape type conversion operations * Apply new default joint coord limit constants to limits.py * Adapt foubrar model builder and USD asset to produce the same result in sim example * Purge "physical" goems and collapse all into a single group, and purge geometry "layers" * Disable allocation per-joint wrenches by default and make them optional * Make `Model` a dataclass * Separate ModelData* containers into own `core/data.py` module * Fix imports of ModelData * Rename `Model` as `ModelKamino` * Rename `ModelData` as `DataKamino` * Rename `State` as `StateKamino` * Rename `Control` as `ControlKamino` * Rename `Limits` as `LimitsKamino` * Rename `Contacts` as `ContactsKamino` * Rename `ModelBuilder` as `ModelBuilderKamino` * Make imports in test utilities relative * Revise CD meta-data attributes and their computation in GeometryModel and ModelBuilderKamino * Revise primitive CD pipeline * Revise unified CD pipeline * Revise CD front-end interfaces * Fix UTs and relevant utils for interface changes to CD * Change to `wp.DeviceLike` to account for upcoming deprecation of `Devicelike` * Depracate legacy HDF5 data io (will be replaced in the future) * Fix banned imports at module level * Modify USD importer to detect articulations and order geoms and joints similarly to how the Newton `parse_usd` function does. * Add conversion operation from `newton.Model` to `ModelKamino` * Add data, state and control container conversions * Add SolverKamino wrapper that fullfils newton integration interface * Add newton integration examples * Add SolverKamino to newton solver module imports * WIP: fix problem with lambda_j being allocated for only kinematic constraints and failing on array copying * Fix banned git import in benchmark * Rename *Settings to *Config (#213) * Rename SolverKaminoSettings -> SolverKaminoConfig * Rename DualProblemSettings -> DualProblemConfig * Rename CollisionDetectorSettings -> CollisionDetectorConfig * Rename PADMMSettings -> PADMMConfig * Rename ForwardKinematicsSolverSettings -> ForwardKinematicsSolverConfig * Rename SimulatorSettings -> SimulatorConfig * Add check for model compatibility in SolverKamino (#209) * Fix device assignment in sparse CG test on CPU (#216) * Replace Enum-type config attributes with Literal (#215) * Replace warmstart mode config param with literal * Replace contact warmstart mode config param with literal * Replace rotation correction config param with literal * Replace penalty update config param with literal * Replace FK preconditioner option config param with literal * Add post-init checks for dual/PADMM configs * Rename FKPreconditionerOptions to FKPreconditionerType * Remove WorldDescriptor from ModelKamino (#219) * Add geom index offset array to model info * Replace access to world description in model * Remove world descriptor from model * Fix computation of kinematics residual with sparse Jacobian (#220) * Migrates `ModelKaminoSize` to it's own module to avoid circular dependency between core/model.py and core/state.py and rename it as `SizeKamino`. * WIP: Fix SolverKamino wrapper * Fix circular dependency in conversions.py * Fix some broken unit tests and WIP to fix fourbar contact conversions and rendering * Make some conversions @staticmethods instead, because they dont need common class attributes * Fix declaration of custom state attributes and their conversion to/from newton and kamino * WIP: Debug model conversion and newton sim examples * Rename and cleanup start index array of per-world geoms * Model conversion and newton sim examples now work. * Make gravity conversion operation re-usable * Migrates boxes_fourbar builder using newton.ModelBuilder to it's own module to prepare for migration. * Use gravity conversion utility func in SolverKamino * Add reusable joint-parameterization conversion utility * Remove world-descriptor from model converter * Rename helper converter that handles entity-local transforms * Add some cleanup to DR Legs, ANYmal D and basic four-bar examples * Fix module-level imports of additional kamino-specific development dependencies * Fix module-level imports of additional kamino-specific development dependencies * Fix erroneous merge conflict. --------- Signed-off-by: Alain Denzler <adenzler@nvidia.com> Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> Signed-off-by: JC <jumyungc@nvidia.com> Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> Signed-off-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Miles Macklin <mmacklin@nvidia.com> Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> Signed-off-by: jvonmuralt <jvonmuralt@nvidia.com> Co-authored-by: Daniela Hase <116915287+daniela-hase@users.noreply.github.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> Co-authored-by: Eric Shi <97630937+shi-eric@users.noreply.github.com> Co-authored-by: Anka Chen <AnkaChan@users.noreply.github.com> Co-authored-by: Claude Sonnet 4.5 <noreply@anthropic.com> Co-authored-by: JC-nvidia <116605903+jumyungc@users.noreply.github.com> Co-authored-by: Kenny Vilella <kvilella@nvidia.com> Co-authored-by: nvtw <110816143+nvtw@users.noreply.github.com> Co-authored-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> Co-authored-by: Lennart Röstel <65088822+lenroe@users.noreply.github.com> Co-authored-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: jvonmuralt <jvonmuralt@nvidia.com> Co-authored-by: camevor <camevor@nvidia.com> Co-authored-by: mzamoramora-nvidia <mzamoramora@nvidia.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Alessandro Roncone <alecive87@gmail.com> Co-authored-by: gdaviet <57617656+gdaviet@users.noreply.github.com> Co-authored-by: Miles Macklin <mmacklin@nvidia.com> Co-authored-by: Gordon Yeoman <gyeomannvidia@users.noreply.github.com> Co-authored-by: Lukasz Wawrzyniak <lwawrzyniak@nvidia.com> Co-authored-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Lorenzo Terenzi <lorenzoterenzi96@gmail.com> Co-authored-by: smollerNV <164020096+smollerNV@users.noreply.github.com> Co-authored-by: twidmer <twidmer@nvidia.com> Co-authored-by: Christian Schumacher <christian.schumacher@disney.com> Co-authored-by: Guirec-Maloisel <25688871+Guirec-Maloisel@users.noreply.github.com>
mmacklin
pushed a commit
to mmacklin/newton
that referenced
this pull request
Apr 7, 2026
Co-authored-by: Eric Heiden <eheiden@nvidia.com>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Description
Newton Migration Guide
Please ensure the migration guide for warp.sim users is up-to-date with the changes made in this PR.
docs/migration.rstis up-to dateBefore your PR is "Ready for review"
newton/tests/test_examples.py)pre-commit run -aSummary by CodeRabbit