Fix root shapes in ArticulationView with fixed base by nvlukasz · Pull Request #1639 · newton-physics/newton

nvlukasz · 2026-02-13T20:22:00Z

Previously, ArticulationView.get_root_transforms() returned inconsistent shapes:

(num_worlds, num_artis) for floating base articulatuions.
(num_worlds, num_artis, 1) for fixed base articulatuions.

Now, it consistently returns (num_worlds, num_artis) regardless of the root joint type.

Description

Newton Migration Guide

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

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

Before your PR is "Ready for review"

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

Summary by CodeRabbit

Bug Fixes
- Stricter validation of attribute selection inputs and corrected multi-dimensional layout handling to ensure consistent indexing, shapes, and trailing-dimension alignment.
Tests
- Parameterized tests covering both floating and fixed base configurations, validating selection shapes and root-velocity behavior across single, per-world, and multi-world views; note: duplicate public test entries were introduced.

coderabbitai · 2026-02-13T20:22:20Z

📝 Walkthrough

Walkthrough

Adds stricter _slice validation and a value_count dimension to ArticulationView attribute layout computations, updating shape/stride/slice construction and selection logic; tests are parameterized to validate selection shapes for floating vs fixed base configurations.

Changes

Cohort / File(s)	Summary
Core Selection Logic `newton/_src/utils/selection.py`	Validate `_slice` types (accept only `slice`, `int`, or `None`), compute/expose a `value_count` dimension, update shape/stride/slice construction to include the value dimension, unify value-slice selection logic, and adjust trailing-dimension handling for final attribute arrays.
Tests — Selection Shapes `newton/tests/test_selection.py`	Add helper `_test_selection_shapes(self, floating: bool)` and two public tests `test_selection_shapes_floating_base` / `test_selection_shapes_fixed_base`; parameterize expectations for attribute shapes and conditional presence of root-velocity arrays based on `floating` flag.

Estimated code review effort

🎯 3 (Moderate) | ⏱️ ~22 minutes

Possibly related PRs

Fix selection slice from integer #784: Changes to ArticulationView._get_attribute_array handling of _slice and integer-slice behavior (closely related).
Fix root transform attribute shape for fixed-base articulations #403: Modifications to _slice/index handling and root-transform shaping in ArticulationView._get_attribute_array.
Fix selection slice shapes #792: Adjusts slicing behavior and resulting attribute-array shapes in selection.py.

Suggested reviewers

AntoineRichard

🚥 Pre-merge checks | ✅ 2 | ❌ 1

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 16.67% which is insufficient. The required threshold is 80.00%.	Write docstrings for the functions missing them to satisfy the coverage threshold.

✅ Passed checks (2 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title directly addresses the main change: fixing root shapes in ArticulationView specifically for fixed-base configurations, which is the primary objective of the PR.

_{✏️ Tip: You can configure your own custom pre-merge checks in the settings.}

✨ Finishing touches

📝 Generate docstrings

🧪 Generate unit tests (beta)

Create PR with unit tests
Post copyable unit tests in a comment

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.

❤️ Share

_{Comment @coderabbitai help to get the list of available commands and usage tips.}

coderabbitai

Actionable comments posted: 1

🤖 Fix all issues with AI agents

In `@newton/tests/test_selection.py`:
- Around line 105-108: The test passes the wrong model to get_root_velocities in
the per-world fixed-base branch: replace the incorrect single_ant_model with
single_ant_per_world_model so that single_ant_per_world_view.get_root_velocities
is called with the per-world model (single_ant_per_world_model) when floating is
False; update the assertion in the else branch accordingly to ensure the
per-world codepath is tested with the correct model.

🧹 Nitpick comments (2)

newton/_src/utils/selection.py (2)
993-994: Use TypeError instead of ValueError for invalid type.

As flagged by Ruff (TRY004), TypeError is the appropriate exception when a value has an invalid type. ValueError should be reserved for when the type is correct but the value is inappropriate.
Proposed fix
-        elif not isinstance(_slice, (NoneType, int)):
-            raise ValueError(f"Invalid slice type: expected Slice or int, got {type(_slice)}")
+        elif not isinstance(_slice, (NoneType, int)):
+            raise TypeError(f"Invalid slice type: expected Slice or int, got {type(_slice)}")
1040-1049: Type hint mismatch for _slice parameter in _get_attribute_values and _set_attribute_values.

The internal _get_attribute_array method (Line 942) correctly declares _slice: Slice | int | None = None, but both _get_attribute_values (Line 1040) and _set_attribute_values (Line 1049) still declare _slice: slice | None = None — using the built-in slice type rather than the custom Slice type. While these are internal methods, the type hints are misleading now that int is a valid _slice value.
Proposed fix
-    def _get_attribute_values(self, name: str, source: Model | State | Control, _slice: slice | None = None):
+    def _get_attribute_values(self, name: str, source: Model | State | Control, _slice: Slice | int | None = None):
-    def _set_attribute_values(
-        self, name: str, target: Model | State | Control, values, mask=None, _slice: slice | None = None
-    ):
+    def _set_attribute_values(
+        self, name: str, target: Model | State | Control, values, mask=None, _slice: Slice | int | None = None
+    ):

codecov · 2026-02-13T20:37:32Z

Codecov Report

❌ Patch coverage is 88.88889% with 1 line in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
newton/_src/utils/selection.py	88.88%	1 Missing ⚠️

📢 Thoughts on this report? Let us know!

Copilot

Pull request overview

This PR fixes inconsistent shape outputs from ArticulationView.get_root_transforms() by ensuring it always returns (num_worlds, num_artis) regardless of whether articulations have floating or fixed bases.

Changes:

Refactored attribute selection logic to handle indexed vs. non-indexed layouts consistently
Enhanced test coverage to validate selection shapes for both floating and fixed base articulations
Added validation for root velocity behavior differences between floating and fixed base configurations

Reviewed changes

Copilot reviewed 2 out of 2 changed files in this pull request and generated 3 comments.

File	Description
newton/_src/utils/selection.py	Refactored `_get_attribute_array` to eliminate conditional logic that caused shape inconsistencies and added stricter slice type validation
newton/tests/test_selection.py	Parameterized existing test to cover both floating and fixed base articulations, validating that root transforms maintain consistent shapes and root velocities return None for fixed bases

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com>

coderabbitai

Actionable comments posted: 1

🧹 Nitpick comments (1)

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

993-994: Use TypeError instead of ValueError for invalid argument types.

Per Ruff TRY004, raising TypeError is more appropriate when the issue is about an unexpected type. This aligns with Python conventions (e.g., how built-in functions raise TypeError for wrong argument types).

Proposed fix

-        elif not isinstance(_slice, (NoneType, int, slice)):
-            raise ValueError(f"Invalid slice type: expected slice or int, got {type(_slice)}")
+        elif not isinstance(_slice, (NoneType, int, slice)):
+            raise TypeError(f"Invalid slice type: expected Slice, int, or None, got {type(_slice)}")

🤖 Prompt for AI Agents

Verify each finding against the current code and only fix it if needed.

In `@newton/_src/utils/selection.py` around lines 993 - 994, The code currently
raises ValueError for an invalid slice type; change the exception to TypeError
to reflect an unexpected argument type as per Ruff TRY004: replace the raise in
the branch that checks "_slice" (elif not isinstance(_slice, (NoneType, int,
slice))) so it raises TypeError(f"Invalid slice type: expected slice or int, got
{type(_slice)}") instead of ValueError; keep the message content but switch the
exception class to TypeError to match Python conventions and tooling
expectations.

🤖 Prompt for all review comments with AI agents

Verify each finding against the current code and only fix it if needed.

Inline comments:
In `@newton/_src/utils/selection.py`:
- Around line 996-1001: The computation of value_count when _slice is provided
(in the block handling _slice in selection.py) assumes slice.start is not None
and does value_count = _slice.stop - _slice.start; update this to guard against
None bounds (or validate the slice) by: detecting if _slice is an int vs slice,
and for slice ensure both start and stop are present (e.g., raise a clear
ValueError or normalize None to 0 or use slice.indices(...) relative to the
target length/context) so that value_count is computed safely; modify the logic
around _slice and value_count to validate or normalize _slice.start/_slice.stop
and surface a descriptive error if unspecified bounds are unsupported.

---

Nitpick comments:
In `@newton/_src/utils/selection.py`:
- Around line 993-994: The code currently raises ValueError for an invalid slice
type; change the exception to TypeError to reflect an unexpected argument type
as per Ruff TRY004: replace the raise in the branch that checks "_slice" (elif
not isinstance(_slice, (NoneType, int, slice))) so it raises TypeError(f"Invalid
slice type: expected slice or int, got {type(_slice)}") instead of ValueError;
keep the message content but switch the exception class to TypeError to match
Python conventions and tooling expectations.

@staticmethods

* [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>

@staticmethods

* [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>

@staticmethods

* [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>

) 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>

nvlukasz added 3 commits February 13, 2026 15:15

Fix selection attribute shape with integer slice

c5edf72

Simplify attribute shape/stride/slice construction

6eca7f4

Added tests

6498116

nvlukasz requested a review from AntoineRichard February 13, 2026 20:22

nvlukasz added this to the 1.0 Release milestone Feb 13, 2026

nvlukasz self-assigned this Feb 13, 2026

coderabbitai Bot reviewed Feb 13, 2026

View reviewed changes

Comment thread newton/tests/test_selection.py Outdated

nvlukasz requested a review from camevor February 13, 2026 21:46

Fix test

d25d6a2

eric-heiden requested a review from Copilot February 17, 2026 09:38

Copilot AI reviewed Feb 17, 2026

View reviewed changes

Comment thread newton/_src/utils/selection.py

Comment thread newton/_src/utils/selection.py Outdated

Comment thread newton/tests/test_selection.py Outdated

Copilot started reviewing on behalf of eric-heiden February 17, 2026 09:46 View session

eric-heiden and others added 2 commits February 17, 2026 10:48

Update newton/tests/test_selection.py

2dd67e0

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com>

Tweaks

e8acbf5

coderabbitai Bot reviewed Feb 17, 2026

View reviewed changes

Comment thread newton/_src/utils/selection.py

eric-heiden approved these changes Feb 18, 2026

View reviewed changes

eric-heiden added this pull request to the merge queue Feb 18, 2026

github-merge-queue Bot removed this pull request from the merge queue due to failed status checks Feb 18, 2026

eric-heiden added this pull request to the merge queue Feb 18, 2026

Merged via the queue into newton-physics:main with commit 2112d67 Feb 18, 2026
22 checks passed

coderabbitai Bot mentioned this pull request Feb 23, 2026

Fix ArticulationView crash with fixed-joint-only articulations #1726

Merged

4 tasks

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Fix root shapes in ArticulationView with fixed base#1639

Fix root shapes in ArticulationView with fixed base#1639
eric-heiden merged 6 commits into
newton-physics:mainfrom
nvlukasz:selection-fix-root-shapes

nvlukasz commented Feb 13, 2026 •

edited by coderabbitai Bot

Loading

Uh oh!

coderabbitai Bot commented Feb 13, 2026 •

edited

Loading

Walkthrough

Changes

Estimated code review effort

Possibly related PRs

Suggested reviewers

❌ Failed checks (1 warning)

Uh oh!

coderabbitai Bot left a comment

Uh oh!

Uh oh!

codecov Bot commented Feb 13, 2026 •

edited

Loading

Uh oh!

Copilot AI left a comment

Uh oh!

Uh oh!

Uh oh!

Uh oh!

coderabbitai Bot left a comment

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

3 participants

Conversation

nvlukasz commented Feb 13, 2026 • edited by coderabbitai Bot Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Description

Newton Migration Guide

Before your PR is "Ready for review"

Summary by CodeRabbit

Uh oh!

coderabbitai Bot commented Feb 13, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Walkthrough

Changes

Estimated code review effort

Possibly related PRs

Suggested reviewers

❌ Failed checks (1 warning)

Uh oh!

coderabbitai Bot left a comment

Choose a reason for hiding this comment

Uh oh!

Uh oh!

codecov Bot commented Feb 13, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Codecov Report

Uh oh!

Copilot AI left a comment

Choose a reason for hiding this comment

Pull request overview

Reviewed changes

Uh oh!

Uh oh!

Uh oh!

Uh oh!

coderabbitai Bot left a comment

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

3 participants

nvlukasz commented Feb 13, 2026 •

edited by coderabbitai Bot

Loading

coderabbitai Bot commented Feb 13, 2026 •

edited

Loading

codecov Bot commented Feb 13, 2026 •

edited

Loading