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* Fix module-level imports of additional kamino-specific development dependencies

* Fix module-level imports of additional kamino-specific development dependencies

* Fix erroneous merge conflict.

---------

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* [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)

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* Out-of-Bound memory read in example_diffsim_bear newton-physics#1386 (newton-physics#1533)

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* Fix broken documentation links after versioned docs deployment (newton-physics#1566)

* VBD New Features (newton-physics#1479)

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* 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)

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* 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)

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* 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)

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* Fix import  of non-articulated joints (newton-physics#1535)

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* Fix implicit biastype for position/velocity actuator shortcuts (newton-physics#1678)

* Fix include processor to respect meshdir/texturedir (newton-physics#1685)

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* 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)

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* Improve custom frequency handling from USD, parse MuJoCo actuators and tendons (newton-physics#1510)

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* Collapse fixed joints with non articulated bodies (newton-physics#1608)

* Fix renaming joint_key -> joint_label (newton-physics#1700)

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* Bump .python-version from 3.11 to 3.12 (newton-physics#1702)

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* Make ViewerUSD reuse existing USD layers for the same output path (newton-physics#1704)

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* 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)

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* Add spatial tendon support for MuJoCo solver (newton-physics#1687)

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* 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)

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* Override only MassAPI attributes that have been authored (newton-physics#1688)

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* Fix ArticulationView crash with fixed-joint-only articulations (newton-physics#1726)

* Improve retrieval of Jupyter base URL in ViewerViser (newton-physics#1750)

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* Fix ViewerViser.log_lines method (newton-physics#1764)

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* Fix fromto capsule/cylinder orientation in MJCF parser (newton-physics#1741)

* fix: multi-world particle BVH indexing (newton-physics#1641)

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* 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)

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* API Refactor v2 (newton-physics#1749)

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* Support explicit geom mass attributes in MJCF (newton-physics#1744)

* Bump flask and werkzeug in lockfile for security (newton-physics#1769)

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* Split MJCF worldbody root bodies into separate articulations (newton-physics#1754)

* Expose VBD rigid contact forces for solver coupling (newton-physics#1745)

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* Add MJCF ellipsoid geom import and regression test (newton-physics#1772)

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* 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)

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* Add test to ensure MJCF xform argument is relative (newton-physics#1777)

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* 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)

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* 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)

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* 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

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* Add Newton <--> Kamino shape type conversion operations

* Apply new default joint coord limit constants to limits.py

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* Fix device assignment in sparse CG test on CPU (#216)

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* Rename and cleanup start index array of per-world geoms

* Model conversion and newton sim examples now work.

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* Add reusable joint-parameterization conversion utility

* Remove world-descriptor from model converter

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* 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.

---------

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* [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)

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* Fix log_shapes broadcasting for length-1 warp arrays (newton-physics#1550)

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* Out-of-Bound memory read in example_diffsim_bear newton-physics#1386 (newton-physics#1533)

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* 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)

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* 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)

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* Fix import  of non-articulated joints (newton-physics#1535)

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* Rename key to label and add hierarchical labels (newton-physics#1592) (newton-physics#1632)

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* Improve custom frequency handling from USD, parse MuJoCo actuators and tendons (newton-physics#1510)

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* Bump .python-version from 3.11 to 3.12 (newton-physics#1702)

* Replace CITATION.md with CITATION.cff (newton-physics#1706)

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* Make ViewerUSD reuse existing USD layers for the same output path (newton-physics#1704)

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* 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)

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* Add spatial tendon support for MuJoCo solver (newton-physics#1687)

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* 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)

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* Removed RenderShapeType (newton-physics#1748)

* Override only MassAPI attributes that have been authored (newton-physics#1688)

* Integration of newton-actuators  (newton-physics#1342)

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* Fix ArticulationView crash with fixed-joint-only articulations (newton-physics#1726)

* Improve retrieval of Jupyter base URL in ViewerViser (newton-physics#1750)

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* 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)

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* 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)

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* 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)

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* API Refactor v2 (newton-physics#1749)

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* Support explicit geom mass attributes in MJCF (newton-physics#1744)

* Bump flask and werkzeug in lockfile for security (newton-physics#1769)

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* Split MJCF worldbody root bodies into separate articulations (newton-physics#1754)

* Expose VBD rigid contact forces for solver coupling (newton-physics#1745)

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* Add MJCF ellipsoid geom import and regression test (newton-physics#1772)

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* 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)

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* Add test to ensure MJCF xform argument is relative (newton-physics#1777)

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* 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)

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* 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)

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* 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

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* 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

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* Revise primitive CD pipeline

* Revise unified CD pipeline

* Revise CD front-end interfaces

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* Add data, state and control container conversions

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* Add newton integration examples

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* Fix banned git import in benchmark

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* 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

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* Add geom index offset array to model info

* Replace access to world description in model

* Remove world descriptor from model

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* Fix circular dependency in conversions.py

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* 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>
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# Description

This PR adds the option to set wrench positions to
`set_external_force_and_torque`. This is a non-breaking change as the
positions are passed as an optional argument. When no positions are set,
the function defaults to the original implementation, that is, no
positions are passed to PhysX. The PR also adds tests to check that the
position values are correctly set into their buffer, but does not check
if the resulting wrenches are correct. I did test the Quadcopter task
before and after this PR and the training results are exactly the same.

As of now, the function follows the original layout. But it could make
sense to offer the option to set the position in either the link frame
or the CoM frame. This would follow the recent changes made to the
set_pose and set_velocity methods for instance. However, this would be a
breaking change. Hence, for now, this has not been implemented. One
could also argue, that this could be done prior to feeding the positions
outside this method. Please let me know what you feel is best, and I'll
update the PR accordingly.

If one wanted to test the resulting wrenches, it would require a simple
test articulation like a 1kg sphere that would be used to accurately
compute the expected velocities. This is also feasible, but I feel like
this test is more on the PhysX side of things, let me know.

This change will require an update of the API documentation to include
the position argument.

Fixes newton-physics#1678 

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------

Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

This PR adds the option to set wrench positions to
`set_external_force_and_torque`. This is a non-breaking change as the
positions are passed as an optional argument. When no positions are set,
the function defaults to the original implementation, that is, no
positions are passed to PhysX. The PR also adds tests to check that the
position values are correctly set into their buffer, but does not check
if the resulting wrenches are correct. I did test the Quadcopter task
before and after this PR and the training results are exactly the same.

As of now, the function follows the original layout. But it could make
sense to offer the option to set the position in either the link frame
or the CoM frame. This would follow the recent changes made to the
set_pose and set_velocity methods for instance. However, this would be a
breaking change. Hence, for now, this has not been implemented. One
could also argue, that this could be done prior to feeding the positions
outside this method. Please let me know what you feel is best, and I'll
update the PR accordingly.

If one wanted to test the resulting wrenches, it would require a simple
test articulation like a 1kg sphere that would be used to accurately
compute the expected velocities. This is also feasible, but I feel like
this test is more on the PhysX side of things, let me know.

This change will require an update of the API documentation to include
the position argument.

Fixes newton-physics#1678 

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------

Co-authored-by: Kelly Guo <kellyg@nvidia.com>