Add spatial tendon support for MuJoCo solver#1687
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adenzler-nvidia merged 4 commits intoFeb 23, 2026
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📝 WalkthroughWalkthroughAdds spatial tendon support: MJCF parsing records tendon wrap metadata (sites/geoms/pulleys), solver preserves shape/site mappings, validation/initialization handle wrap counts and spatial vs fixed tendons, and tests exercise parsing and simulation of spatial-wrapped tendons. Changes
Sequence Diagram(s)sequenceDiagram
participant MJCF as MJCF File
participant Parser as import_mjcf
participant Model as Newton Model
participant Solver as SolverMuJoCo
participant MuJoCo as MuJoCo
MJCF->>Parser: Parse tendons (fixed & spatial)
Parser->>Parser: resolve shapes/sites (find_shape_by_name)
Parser->>Parser: build wrap entries (sites, geoms, pulleys)
Parser->>Model: store tendon attrs and wrap metadata (`tendon_wrap_*`)
Solver->>Model: add_geoms() -> build `shape_mapping` & `site_mapping`
Solver->>Solver: _validate_tendon_attributes() -> (tendon_count, joint_entries, wrap_entries)
Solver->>Solver: _init_tendons(spec, joint_mapping, shape_mapping, site_mapping)
alt fixed tendon
Solver->>MuJoCo: emit linear tendon joint entries
else spatial tendon
Solver->>Solver: translate wrap entries -> wrap_site / wrap_geom / wrap_pulley
Solver->>MuJoCo: emit spatial tendon & wrap arrays
end
MuJoCo->>MuJoCo: model ready for simulation
Estimated code review effort🎯 4 (Complex) | ⏱️ ~50 minutes Possibly related PRs
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⚠️ Outside diff range comments (1)
newton/_src/solvers/mujoco/solver_mujoco.py (1)
1700-1803:⚠️ Potential issue | 🟠 MajorAvoid creating a tendon when spatial wrap arrays are missing.
Right now the tendon is created and tracked before the missing-wrap check, which leaves a partially initialized tendon (and a matching entry in
selected_tendons). Consider validating first and only then adding the tendon.Suggested fix
for i in range(tendon_count): # Only include tendons from the template world or global tendons (world < 0) tw = int(tendon_world[i]) if tw != template_world and tw >= 0: continue - # Track this tendon - selected_tendons.append(i) - - # Create tendon with a unique name - tendon_name = f"tendon_{i}" - tendon_names.append(tendon_name) - t = spec.add_tendon() - t.name = tendon_name - - # Set tendon properties (shared between fixed and spatial) + # Determine tendon type early so we can validate required arrays + ttype = int(tendon_type_np[i]) if tendon_type_np is not None else 0 + if ttype == 1 and (tendon_wrap_adr_np is None or tendon_wrap_num_np is None): + warnings.warn( + f"Spatial tendon {i} has no wrap path arrays, skipping tendon creation.", + stacklevel=2, + ) + continue + + # Track this tendon (only after validation) + selected_tendons.append(i) + tendon_name = f"tendon_{i}" + tendon_names.append(tendon_name) + t = spec.add_tendon() + t.name = tendon_name + + # Set tendon properties (shared between fixed and spatial) if tendon_stiffness_np is not None: t.stiffness = float(tendon_stiffness_np[i]) if tendon_damping_np is not None: t.damping = float(tendon_damping_np[i]) if tendon_frictionloss_np is not None: t.frictionloss = float(tendon_frictionloss_np[i]) if tendon_limited_np is not None: t.limited = int(tendon_limited_np[i]) if tendon_range_np is not None: t.range = tendon_range_np[i].tolist() if tendon_actuator_force_limited_np is not None: t.actfrclimited = int(tendon_actuator_force_limited_np[i]) if tendon_actuator_force_range_np is not None: t.actfrcrange = tendon_actuator_force_range_np[i].tolist() if tendon_margin_np is not None: t.margin = float(tendon_margin_np[i]) if tendon_armature_np is not None: t.armature = float(tendon_armature_np[i]) if tendon_solref_limit_np is not None: t.solref_limit = tendon_solref_limit_np[i].tolist() if tendon_solimp_limit_np is not None: t.solimp_limit = tendon_solimp_limit_np[i].tolist() if tendon_solref_friction_np is not None: t.solref_friction = tendon_solref_friction_np[i].tolist() if tendon_solimp_friction_np is not None: t.solimp_friction = tendon_solimp_friction_np[i].tolist() if tendon_springlength_np is not None: val = tendon_springlength_np[i] has_automatic_length_computation = val[0] == -1.0 has_dead_zone = val[1] >= val[0] if has_automatic_length_computation: t.springlength[0] = -1.0 t.springlength[1] = -1.0 elif has_dead_zone: t.springlength[0] = val[0] t.springlength[1] = val[1] else: t.springlength[0] = val[0] t.springlength[1] = val[0] # Add wrapping path based on tendon type - ttype = int(tendon_type_np[i]) if tendon_type_np is not None else 0🤖 Prompt for AI Agents
Verify each finding against the current code and only fix it if needed. In `@newton/_src/solvers/mujoco/solver_mujoco.py` around lines 1700 - 1803, The code currently appends to selected_tendons/tendon_names and calls spec.add_tendon() before validating spatial-wrap data; change flow so you first check the tendon is eligible (world check and for ttype==1 ensure tendon_wrap_adr_np and tendon_wrap_num_np exist and any other early-skip conditions) and only after passing validation create the tendon with t = spec.add_tendon(), set t.name, and then append to selected_tendons and tendon_names; update references to tendon variable t and subsequent property assignments to be inside the validated branch so partially initialized tendons are not left when skipping a tendon (see symbols: selected_tendons, tendon_names, spec.add_tendon(), t, ttype, tendon_type_np, tendon_wrap_adr_np, tendon_wrap_num_np).
🧹 Nitpick comments (2)
newton/tests/test_spatial_tendon.py (1)
16-21: Missing skip/guard for tests that instantiateSolverMuJoCowhen MJWarp is absent.
test_spatial_tendon_simulation,test_spatial_tendon_with_actuator, andtest_mixed_fixed_and_spatial_tendonsall create aSolverMuJoCoinstance, which requiresmujoco_warp. If MJWarp is not installed, these tests will hard-fail rather than skip gracefully.Consider adding a class-level or method-level guard, e.g.:
import unittest try: from newton.solvers import SolverMuJoCo _has_mjwarp = SolverMuJoCo._mujoco_warp is not None except Exception: _has_mjwarp = False `@unittest.skipUnless`(_has_mjwarp, "mujoco_warp not available") class TestMujocoSpatialTendon(unittest.TestCase): ...Alternatively, apply the skip only to the simulation tests, leaving parsing-only tests always active.
Based on learnings: "Tests should prefer SolverMuJoCo._mujoco_warp over direct 'import mujoco_warp' to avoid hard dependencies and allow clean skips when MJWarp is absent."
🤖 Prompt for AI Agents
Verify each finding against the current code and only fix it if needed. In `@newton/tests/test_spatial_tendon.py` around lines 16 - 21, Tests that instantiate SolverMuJoCo are not guarded against absence of MJWarp, causing hard failures; add a skip guard by detecting availability via SolverMuJoCo._mujoco_warp (e.g., try importing SolverMuJoCo and set _has_mjwarp = SolverMuJoCo._mujoco_warp is not None, falling back to False on exception) and apply `@unittest.skipUnless`(_has_mjwarp, "mujoco_warp not available") to the TestMujocoSpatialTendon class or to the specific tests test_spatial_tendon_simulation, test_spatial_tendon_with_actuator, and test_mixed_fixed_and_spatial_tendons so parsing-only tests remain active while MuJoCo-dependent simulation tests are skipped when MJWarp is missing.newton/_src/utils/import_mjcf.py (1)
1936-1946: Fixed tendons don't explicitly settendon_type,tendon_wrap_adr, ortendon_wrap_num.The spatial tendon path (line 2054–2061) explicitly sets all six special attributes, but the fixed tendon path omits
tendon_type,tendon_wrap_adr, andtendon_wrap_num, relying onadd_custom_valuesto fill defaults. This works (the mixed-tendon test passes), but the asymmetry is fragile if defaults change.Proposed fix: make fixed tendon values explicit
tendon_values: dict[str, Any] = { "mujoco:tendon_world": builder.current_world, + "mujoco:tendon_type": 0, # fixed tendon "mujoco:tendon_joint_adr": joint_start, "mujoco:tendon_joint_num": len(joint_entries), + "mujoco:tendon_wrap_adr": 0, + "mujoco:tendon_wrap_num": 0, }🤖 Prompt for AI Agents
Verify each finding against the current code and only fix it if needed. In `@newton/_src/utils/import_mjcf.py` around lines 1936 - 1946, The fixed-tendon branch builds tendon_values but omits explicit keys for "mujoco:tendon_type", "mujoco:tendon_wrap_adr", and "mujoco:tendon_wrap_num", relying on add_custom_values defaults; update the tendon_values dict constructed before calling builder.add_custom_values(...) to explicitly set these three keys (e.g., set tendon_type to the fixed-tendon enum/value used elsewhere, and wrap_adr/wrap_num to 0 or the appropriate sentinel) alongside the existing "mujoco:tendon_world", "mujoco:tendon_joint_adr", and "mujoco:tendon_joint_num", and keep the loop that merges builder_custom_attr_tendon afterward so defaults remain consistent.
🤖 Prompt for all review comments with AI agents
Verify each finding against the current code and only fix it if needed.
Outside diff comments:
In `@newton/_src/solvers/mujoco/solver_mujoco.py`:
- Around line 1700-1803: The code currently appends to
selected_tendons/tendon_names and calls spec.add_tendon() before validating
spatial-wrap data; change flow so you first check the tendon is eligible (world
check and for ttype==1 ensure tendon_wrap_adr_np and tendon_wrap_num_np exist
and any other early-skip conditions) and only after passing validation create
the tendon with t = spec.add_tendon(), set t.name, and then append to
selected_tendons and tendon_names; update references to tendon variable t and
subsequent property assignments to be inside the validated branch so partially
initialized tendons are not left when skipping a tendon (see symbols:
selected_tendons, tendon_names, spec.add_tendon(), t, ttype, tendon_type_np,
tendon_wrap_adr_np, tendon_wrap_num_np).
---
Nitpick comments:
In `@newton/_src/utils/import_mjcf.py`:
- Around line 1936-1946: The fixed-tendon branch builds tendon_values but omits
explicit keys for "mujoco:tendon_type", "mujoco:tendon_wrap_adr", and
"mujoco:tendon_wrap_num", relying on add_custom_values defaults; update the
tendon_values dict constructed before calling builder.add_custom_values(...) to
explicitly set these three keys (e.g., set tendon_type to the fixed-tendon
enum/value used elsewhere, and wrap_adr/wrap_num to 0 or the appropriate
sentinel) alongside the existing "mujoco:tendon_world",
"mujoco:tendon_joint_adr", and "mujoco:tendon_joint_num", and keep the loop that
merges builder_custom_attr_tendon afterward so defaults remain consistent.
In `@newton/tests/test_spatial_tendon.py`:
- Around line 16-21: Tests that instantiate SolverMuJoCo are not guarded against
absence of MJWarp, causing hard failures; add a skip guard by detecting
availability via SolverMuJoCo._mujoco_warp (e.g., try importing SolverMuJoCo and
set _has_mjwarp = SolverMuJoCo._mujoco_warp is not None, falling back to False
on exception) and apply `@unittest.skipUnless`(_has_mjwarp, "mujoco_warp not
available") to the TestMujocoSpatialTendon class or to the specific tests
test_spatial_tendon_simulation, test_spatial_tendon_with_actuator, and
test_mixed_fixed_and_spatial_tendons so parsing-only tests remain active while
MuJoCo-dependent simulation tests are skipped when MJWarp is missing.
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Pull request overview
This PR adds comprehensive support for MuJoCo spatial tendons to enable simulation of tendon-driven robotic hands like the Tetheria Aero Hand Open. Spatial tendons define wrapping paths through sites, geoms (with optional sidesites), and pulleys, allowing realistic modeling of cable-routed actuation systems.
Changes:
- Added spatial tendon parsing in MJCF import, including support for site, geom (with sidesite), and pulley wrap elements
- Enhanced MuJoCo solver to reconstruct spatial tendons via wrap_site(), wrap_geom(), and wrap_pulley() methods
- Fixed actuator biastype for position/velocity actuators (was NONE, should be AFFINE per MuJoCo spec)
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated no comments.
| File | Description |
|---|---|
| newton/tests/test_spatial_tendon.py | Comprehensive test suite covering spatial tendon parsing, simulation, actuators, mixed tendon types, default inheritance, and pulley elements |
| newton/_src/utils/import_mjcf.py | Spatial tendon parsing logic with wrap path element handling, site/geom disambiguation, and actuator biastype fix |
| newton/_src/solvers/mujoco/solver_mujoco.py | Custom attribute definitions for spatial tendons, solver integration with site_mapping, and visual-only geom handling for tendon wrapping |
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⚠️ Outside diff range comments (1)
newton/_src/utils/import_mjcf.py (1)
1944-1948:⚠️ Potential issue | 🟠 MajorFixed tendons don't explicitly set
tendon_type,tendon_wrap_adr,tendon_wrap_num— will have uninitialized values.Spatial tendons (lines 2061-2068) explicitly initialize
tendon_type=1,tendon_wrap_adr, andtendon_wrap_num. Fixed tendons (lines 1944-1948) omit all three. These attributes are in_tendon_special_attrs(line 1869-1875), so they're excluded from the fallback loop (line 1950-1951). Sinceadd_custom_valuesonly processes explicitly passed kwargs and doesn't auto-fill missing keys, fixed tendons will have uninitialized values for these fields, causing incorrect solver behavior.Suggested fix for fixed tendon values
tendon_values: dict[str, Any] = { "mujoco:tendon_world": builder.current_world, + "mujoco:tendon_type": 0, # fixed tendon "mujoco:tendon_joint_adr": joint_start, "mujoco:tendon_joint_num": len(joint_entries), + "mujoco:tendon_wrap_adr": 0, + "mujoco:tendon_wrap_num": 0, }🤖 Prompt for AI Agents
Verify each finding against the current code and only fix it if needed. In `@newton/_src/utils/import_mjcf.py` around lines 1944 - 1948, The fixed-tendon branch builds tendon_values without initializing tendon_type, tendon_wrap_adr, and tendon_wrap_num, which leaves them uninitialized because _tendon_special_attrs excludes them from the fallback loop; update the tendon_values dict (the one near the fixed-tendon creation where tendon_values is defined) to include "mujoco:tendon_type": 0, "mujoco:tendon_wrap_adr": 0, and "mujoco:tendon_wrap_num": 0 (use integers) so add_custom_values receives explicit defaults just like the spatial-tendon branch does.
🧹 Nitpick comments (1)
newton/_src/utils/import_mjcf.py (1)
1964-1980: Silent wrong-type fallback infind_shape_by_namemay mask lookup errors.When no exact type-match is found, the fallback (line 1978-1979) returns a shape whose
SITEflag doesn't matchwant_site. Callers only checkidx < 0, so they'll silently proceed with a geom when they asked for a site (or vice versa). This could cause hard-to-debug issues if, e.g.,parse_sites=Falsebut a geom shares the same name.Consider logging a warning when falling back to a wrong-type match, so the mismatch is visible:
Suggested change
if is_site == want_site: return i # exact match if best < 0: best = i # fallback: wrong type but matching name - return best + if best >= 0 and verbose: + expected = "site" if want_site else "geom" + actual = "geom" if want_site else "site" + print(f"Warning: '{name}' resolved as {actual} instead of {expected} (namespace fallback)") + return bestNote:
verboseis accessible from the outerparse_mjcfclosure.🤖 Prompt for AI Agents
Verify each finding against the current code and only fix it if needed. In `@newton/_src/utils/import_mjcf.py` around lines 1964 - 1980, The find_shape_by_name function currently returns a wrong-type fallback silently when no exact type match is found; update find_shape_by_name to detect when it is returning the fallback (best >= 0 but no exact match) and, if the outer-scope verbose flag is truthy, emit a warning via the same logger/context used in parse_mjcf indicating the requested want_site and the actual shape type (use builder.shape_key, builder.shape_flags and ShapeFlags.SITE to determine/report whether the fallback is a site or geom and include the index), then return the fallback as before; keep the exact-match early return unchanged so behavior is preserved when verbose is false.
🤖 Prompt for all review comments with AI agents
Verify each finding against the current code and only fix it if needed.
Outside diff comments:
In `@newton/_src/utils/import_mjcf.py`:
- Around line 1944-1948: The fixed-tendon branch builds tendon_values without
initializing tendon_type, tendon_wrap_adr, and tendon_wrap_num, which leaves
them uninitialized because _tendon_special_attrs excludes them from the fallback
loop; update the tendon_values dict (the one near the fixed-tendon creation
where tendon_values is defined) to include "mujoco:tendon_type": 0,
"mujoco:tendon_wrap_adr": 0, and "mujoco:tendon_wrap_num": 0 (use integers) so
add_custom_values receives explicit defaults just like the spatial-tendon branch
does.
---
Nitpick comments:
In `@newton/_src/utils/import_mjcf.py`:
- Around line 1964-1980: The find_shape_by_name function currently returns a
wrong-type fallback silently when no exact type match is found; update
find_shape_by_name to detect when it is returning the fallback (best >= 0 but no
exact match) and, if the outer-scope verbose flag is truthy, emit a warning via
the same logger/context used in parse_mjcf indicating the requested want_site
and the actual shape type (use builder.shape_key, builder.shape_flags and
ShapeFlags.SITE to determine/report whether the fallback is a site or geom and
include the index), then return the fallback as before; keep the exact-match
early return unchanged so behavior is preserved when verbose is false.
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Actionable comments posted: 3
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⚠️ Outside diff range comments (1)
newton/_src/utils/import_mjcf.py (1)
1885-1943:⚠️ Potential issue | 🟠 MajorFixed tendons must explicitly set tendon-type and wrap-related attributes to match spatial tendon handling.
Spatial tendons explicitly set
mujoco:tendon_type=1,mujoco:tendon_wrap_adr, andmujoco:tendon_wrap_numviaadd_custom_values, but fixed tendons (lines 1934–1943) do not. The loop at lines 1940–1941 only processes attributes inbuilder_custom_attr_tendon, which excludes these attributes via the_tendon_special_attrsfilter, so they are never added totendon_values.As a result, fixed tendon entries never write
mujoco:tendon_typeto the attribute array. Although the solver has defensive code that treatsNoneas0(solver_mujoco.py:1757), this masks an inconsistency: spatial tendons explicitly set type, fixed tendons do not. This creates a fragile, asymmetric code path prone to breakage if solver logic changes.Fixed tendons should explicitly set:
🐛 Proposed fix
tendon_values: dict[str, Any] = { "mujoco:tendon_world": builder.current_world, + "mujoco:tendon_type": 0, # fixed tendon "mujoco:tendon_joint_adr": joint_start, "mujoco:tendon_joint_num": len(joint_entries), + "mujoco:tendon_wrap_adr": 0, + "mujoco:tendon_wrap_num": 0, }🤖 Prompt for AI Agents
Verify each finding against the current code and only fix it if needed. In `@newton/_src/utils/import_mjcf.py` around lines 1885 - 1943, Fixed tendons never write explicit tendon-type or wrap attributes because _tendon_special_attrs filtered them out of builder_custom_attr_tendon; update the fixed-tendon path in import_mjcf.py (the block that builds tendon_values and calls builder.add_custom_values) to explicitly set "mujoco:tendon_type" to 0 (fixed), and set "mujoco:tendon_wrap_adr" and "mujoco:tendon_wrap_num" to 0 (no wraps) before calling builder.add_custom_values; keep the existing values for "mujoco:tendon_world", "mujoco:tendon_joint_adr", and "mujoco:tendon_joint_num" and still merge attributes from parse_custom_attributes(builder_custom_attr_tendon) as you currently do.
🤖 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/solvers/mujoco/solver_mujoco.py`:
- Around line 1756-1844: The loop over wrap entries can index past the wrap
arrays if wrap_start + wrap_num > actual array length; add a defensive bounds
check before iterating (using tendon_wrap_adr_np, tendon_wrap_num_np, and the
wrap arrays like tendon_wrap_type_np, tendon_wrap_shape_np,
tendon_wrap_sidesite_np, tendon_wrap_prm_np) to compute a safe end index (e.g.
min(wrap_start + wrap_num, len(tendon_wrap_type_np or other primary wrap
array))) and iterate only to that end, and if the requested range was truncated
emit a warning mentioning the tendon index i and the mismatch to make the
failure explicit; keep this guard inside the spatial-tendon branch where
wrap_start/wrap_num are used.
In `@newton/_src/utils/import_mjcf.py`:
- Around line 1962-1969: find_shape_by_name currently returns a wrong-type
fallback index when a name matches but the ShapeFlags type (checked via
builder.shape_flags[i] & ShapeFlags.SITE vs want_site) doesn't match, which lets
callers record wraps with the wrong backing shape; change the logic inside
find_shape_by_name (the loop over builder.shape_key / builder.shape_flags and
the use of best) to discard the fallback and return -1 when no exact type match
is found (i.e., remove the "best" fallback behavior and only return i for exact
matches), so callers receive -1 on type-mismatch and existing warning/continue
paths handle it consistently.
- Around line 2021-2023: Pulley entries that parse a divisor must reject
non-positive values to avoid division-by-zero: after parsing divisor =
float(child.attrib.get("divisor","0.0")) in import_mjcf.py (the branch where
child.tag == "pulley"), check if divisor <= 0 and, if so, emit a warning (use
the module logger or warnings.warn with context including the pulley attributes
or element id) and skip appending the wrap_entries tuple; only append
wrap_entries.append((2, -1, -1, divisor)) when divisor > 0.
---
Outside diff comments:
In `@newton/_src/utils/import_mjcf.py`:
- Around line 1885-1943: Fixed tendons never write explicit tendon-type or wrap
attributes because _tendon_special_attrs filtered them out of
builder_custom_attr_tendon; update the fixed-tendon path in import_mjcf.py (the
block that builds tendon_values and calls builder.add_custom_values) to
explicitly set "mujoco:tendon_type" to 0 (fixed), and set
"mujoco:tendon_wrap_adr" and "mujoco:tendon_wrap_num" to 0 (no wraps) before
calling builder.add_custom_values; keep the existing values for
"mujoco:tendon_world", "mujoco:tendon_joint_adr", and "mujoco:tendon_joint_num"
and still merge attributes from
parse_custom_attributes(builder_custom_attr_tendon) as you currently do.
Member
|
just noting here that #1678 tries to fix the same acuator parsing issue - can you comment on whether the 2 approaches are equivalent? |
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Actionable comments posted: 1
🧹 Nitpick comments (1)
newton/_src/utils/import_mjcf.py (1)
1957-1971:find_shape_by_nameburied mid-function — consider lifting toparse_mjcflevel.The helper is defined between the
for fixedandfor spatialloops insideparse_tendons, which is itself called in a loop (line 2286). This recreates the closure object on every call and hurts top-down readability. Other pure-builder-capturing helpers (parse_shapes,parse_body, etc.) are defined at theparse_mjcflevel;find_shape_by_nameonly needsbuilderandShapeFlagsfrom that scope, so it fits naturally there.🤖 Prompt for AI Agents
Verify each finding against the current code and only fix it if needed. In `@newton/_src/utils/import_mjcf.py` around lines 1957 - 1971, The local helper find_shape_by_name is currently defined inside parse_tendons (recreated on every call) — move its definition up to the parse_mjcf scope alongside parse_shapes/parse_body so it becomes a single shared helper; have the lifted function accept (name: str, want_site: bool, builder, ShapeFlags) or capture builder/ShapeFlags from the parse_mjcf scope, update all calls in parse_tendons to use the lifted find_shape_by_name, and remove the inner definition; ensure the implementation still checks builder.shape_key and builder.shape_flags & ShapeFlags.SITE and returns -1 when not found.
🤖 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/solvers/mujoco/solver_mujoco.py`:
- Around line 1756-1852: The code silently uses an empty string when a sidesite
index is present but not found in site_mapping; update the wrap geom handling in
solver_mujoco.py (inside the ttype == 1 branch where tendon_wrap_sidesite_np,
site_mapping, and t.wrap_geom are used) to detect when sidesite_idx >= 0 and
site_mapping.get(sidesite_idx) returns None, emit a warnings.warn indicating the
unresolved sidesite (include tendon index i, wrap index w, and sidesite_idx),
and then continue using the empty string for sidesite_name so behavior is
unchanged.
---
Duplicate comments:
In `@newton/_src/utils/import_mjcf.py`:
- Around line 2022-2024: The pulley parsing branch (child.tag == "pulley") uses
divisor = float(child.attrib.get("divisor", "0.0")) and blindly appends it in
wrap_entries (wrap_entries.append((2, -1, -1, divisor))); validate that divisor
is not zero and fail fast: parse the attribute, check if divisor == 0.0 (or very
close to 0.0), and either raise a clear ValueError (including which
element/tag/attribute caused it) or log an explicit error and skip/abort
parsing; ensure the validation happens before the wrap_entries.append call so no
zero divisor is recorded.
---
Nitpick comments:
In `@newton/_src/utils/import_mjcf.py`:
- Around line 1957-1971: The local helper find_shape_by_name is currently
defined inside parse_tendons (recreated on every call) — move its definition up
to the parse_mjcf scope alongside parse_shapes/parse_body so it becomes a single
shared helper; have the lifted function accept (name: str, want_site: bool,
builder, ShapeFlags) or capture builder/ShapeFlags from the parse_mjcf scope,
update all calls in parse_tendons to use the lifted find_shape_by_name, and
remove the inner definition; ensure the implementation still checks
builder.shape_key and builder.shape_flags & ShapeFlags.SITE and returns -1 when
not found.
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🤖 Prompt for all review comments with AI agents
Verify each finding against the current code and only fix it if needed.
Duplicate comments:
In `@newton/_src/solvers/mujoco/solver_mujoco.py`:
- Around line 1833-1847: The sidesite lookup silently defaults to an empty
string when a sidesite index is present but missing from site_mapping; modify
the block in solver_mujoco.py (around the tendon wrap handling where
tendon_wrap_sidesite_np, site_mapping and t.wrap_geom are used) to detect when
sidesite_idx >= 0 and site_mapping.get(sidesite_idx) returns None, and emit a
warnings.warn that the sidesite index is unresolved (including tendon id i, wrap
index w, and sidesite_idx) before falling back or continuing; ensure you still
pass an appropriate fallback to t.wrap_geom but make the unresolved mapping
explicit in the warning.
In `@newton/_src/utils/import_mjcf.py`:
- Around line 2025-2027: When parsing pulley elements in import_mjcf.py (the
block that checks child.tag == "pulley"), validate that the parsed divisor (the
variable divisor) is non-zero before appending to wrap_entries; if divisor ==
0.0, either raise a clear ValueError (including the pulley element id or
attributes) or substitute a safe non-zero default (e.g., 1e-6) and log a
warning, then append the safe/diverged value to wrap_entries as before to avoid
a division-by-zero in the solver.
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@adenzler-nvidia Good catch — yes, the biastype fix here and #1678 address the same root cause: My fix is minimal (just sets Whichever merges first, the other should rebase cleanly since we're touching the same location in |
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Review Summary
Overall the architecture is clean — spatial tendon support is naturally layered onto the existing fixed tendon pattern (address+count arrays, per-entry arrays). The test coverage of happy paths is solid. A few items to address before merge:
Must fix
- Needs rebase + custom frequency registration (see inline comment on
tendon_wrap_type) - Zombie tendon in spec when spatial wrap validation fails (see inline comment on
spec.add_tendon()) - Partial spatial tendon construction when individual wrap elements are skipped (see inline comment on wrap loop)
Should fix
- Pulley
divisor=0.0not rejected during parsing (CodeRabbit flagged this too) tendon_required_shapescollects shapes from ALL worlds, not just template — could cause assertion overcounting- Warning messages in
_init_tendonsuse indexibut should includetendon_namefor debuggability - Section comment
# Parse all fixed tendons in a single tendon sectionis now outdated — should say "fixed and spatial"
Test coverage gaps
- No test for multi-world wrap address/shape offsetting (verifying
references="mujoco:tendon_wrap"andreferences="shape"work correctly) - No test for
find_shape_by_namesite/geom disambiguation (the function's raison d'être — same name for a site and geom) - No test for any error/warning paths (
assertWarnsfor missing sites, unknown type, out-of-bounds wrap range) test_spatial_tendon_simulationonly checks world consistency, not that the tendon exerts forces — weaker than thetest_fixed_tendon.pypattern
Nice to have
- Define named constants for wrap types (
0=site, 1=geom, 2=pulley) to avoid magic numbers across two files find_shape_by_nameO(n) linear scan per call — consider pre-building a dict for models with many shapes
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Parse <tendon><spatial> elements from MJCF with site, geom (with optional sidesite), and pulley wrapping paths. Store the wrapping path as custom attributes (tendon_wrap_* at frequency "tendon_wrap") alongside the existing fixed tendon attributes. Extend SolverMuJoCo to reconstruct spatial tendons in the MuJoCo spec using wrap_site(), wrap_geom(), and wrap_pulley() calls. Handle non-colliding wrapping geoms that would otherwise be skipped by skip_visual_only_geoms. Build a site_mapping dict so spatial tendons can reference MuJoCo site names. Also fix tendon default class lookup (<tendon> tag, not <spatial>) and disambiguate site/geom name collisions. Closes newton-physics#897 Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com>
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Re-review (commit 3454330)
Good progress since last round — the zombie tendon, sidesite warning, find_shape_by_name fallback, custom frequency registration, and explicit fixed-tendon values are all addressed.
New finding
tendon_name_base NameError (critical) — see inline comment. The variable was renamed to tendon_label but one reference in the deduplication loop wasn't updated. Will crash on any model with duplicate tendon names.
Still open from previous review
- Pulley
divisor <= 0not rejected during parsing — the solver catches this, but the parser silently stores invalid values. Theget("divisor", "0.0")default guarantees a bad value when the attribute is omitted. - Partial spatial tendon construction — when individual wrap elements fail to resolve in the parser, only that element is skipped. A
[site, geom, site]path losing the geom becomes[site, site]— valid but physically wrong. Consider skipping the entire tendon when any element fails (the solver pre-validation helps, but doesn't catch all cases).
Suggestion
tendon_required_shapes (line ~3854) collects shapes from ALL worlds' wrap arrays. Functionally correct since selected_shapes_set filters downstream, but wasteful for large multi-world models. Consider filtering to template-world tendons only.
Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com>
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Review: Post-resolution audit
All 9 previously raised review threads are properly addressed in the current code. Nice work on the pre-validation pattern in _init_tendons -- it cleanly prevents zombie tendons.
Found a few new issues from a deeper pass:
Critical (2)
- Missing
elseclause for unknown wrap types in the pre-validation loop -- silently produces partial tendon paths (the exact problem the pre-validation was designed to prevent) tendon_required_shapesincludes shapes from ALL worlds -- inflatestendon_extra_geomscount, can cause spuriousValueErrorin multi-world setups
Important (3)
- Parser warnings are
verbose-gated for physically meaningful failures (missing site/geom/sidesite) -- should usewarnings.warn()like_init_tendonsdoes - Fixed tendon joint bounds not validated -- unlike spatial tendons which check
wrap_start + wrap_num <= wrap_entry_count test_spatial_tendon_warning_missing_sitepasses vacuously -- every assertion is behindifguards
See inline comments for details.
Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com>
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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) * 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 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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>
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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) * 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>
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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) * 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>
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Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com>
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Description
Add parsing and simulation support for MuJoCo spatial tendons (
<tendon><spatial>), enabling tendon-driven robotic hand models like the Tetheria Aero Hand Open.Spatial tendon parsing (
import_mjcf.py):<site>,<geom>(with optionalsidesite), and<pulley>wrapping pathstendon_wrap_*at frequency"tendon_wrap")<tendon>tag (not<spatial>)MuJoCo solver (
solver_mujoco.py):wrap_site(),wrap_geom(),wrap_pulley()skip_visual_only_geomssite_mappingfor spatial tendon site referencesActuator fix (
import_mjcf.py):biastype=AFFINEfor<position>/<velocity>actuators (was incorrectly left atNONE)Tested with the Tetheria Aero Hand Open — 20 spatial tendons, 110 wrap elements, 7 actuators all working correctly.
2026-02-18.16-57-42.mp4
Closes #897
Newton Migration Guide
docs/migration.rstis up-to dateNo migration changes needed — this adds new functionality without changing existing APIs.
Before your PR is "Ready for review"
newton/tests/test_examples.py)pre-commit run -aSummary by CodeRabbit
New Features
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