Fix flakiness cube stacking by mzamoramora-nvidia · Pull Request #1714 · newton-physics/newton

mzamoramora-nvidia · 2026-02-20T13:45:22Z

Description

Closes #1691

Newton Migration Guide

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

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

Before your PR is "Ready for review"

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

Summary by CodeRabbit

Bug Fixes
- Tightened position and orientation tolerances and refined XY/Z position checks for more accurate task completion validation.
Chores
- Enabled gravity compensation for arm components to reduce gravitational load and improve control accuracy.
Tests
- Re-enabled the IK cube-stacking example so it runs as part of the test suite, preserving NaN safeguards in validation checks.

…hine

coderabbitai · 2026-02-20T13:45:42Z

📝 Walkthrough

Walkthrough

Tightened IK example tolerances and gravity-compensation settings for the Franka model, refined final-position/rotation checks in the example, and removed the programmatic skip so the example_ik_cube_stacking test will run normally.

Changes

Cohort / File(s)	Summary
IK Cube Stacking Example `newton/examples/ik/example_ik_cube_stacking.py`	Tightened end-effector tolerances (position error threshold reduced to 0.001 m; rotation threshold tightened to 0.5° in advance kernel); enabled gravity compensation for 7 arm joints and bodies 2–13; final-check logic changed to separate XY (≤0.02 m) and Z (≤0.01 m) position thresholds and adjusted rotation threshold to 5.0°.
Test registration / execution `newton/tests/test_examples.py`	Removed conditional skip that previously excluded the IK cube-stacking test so it will execute like other tests.

Estimated code review effort

🎯 3 (Moderate) | ⏱️ ~20 minutes

Possibly related PRs

Example cube stacking #1256: Modifies the same example and test registration (overlapping changes to tolerances and gravity-compensation).
Skip IK cube stacking example test #1713: Alters execution of the IK cube-stacking test (adds a skip), which directly contrasts with this PR's removal of that skip.

Suggested reviewers

eric-heiden
dylanturpin

🚥 Pre-merge checks | ✅ 4 | ❌ 1

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 0.00% which is insufficient. The required threshold is 80.00%.	Write docstrings for the functions missing them to satisfy the coverage threshold.

✅ Passed checks (4 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title clearly summarizes the main change: fixing flakiness in the cube stacking test/example, which directly addresses the linked issue `#1691`.
Linked Issues check	✅ Passed	The PR implements multiple strategies to fix the flaky test: tightened tolerances, enabled gravity compensation in simulation, and refined error checking logic—all aimed at eliminating nondeterminism and stabilizing the test.
Out of Scope Changes check	✅ Passed	All changes are directly related to fixing flakiness in the cube stacking example: tolerance adjustments, gravity compensation setup, and removal of runtime skip logic are all within scope of the linked issue.

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adenzler-nvidia

looks good, please revert the test skip I added in #1713

codecov · 2026-02-20T13:56:36Z

Codecov Report

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

📢 Thoughts on this report? Let us know!

coderabbitai

Actionable comments posted: 3

🤖 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/examples/ik/example_ik_cube_stacking.py`:
- Around line 679-684: The Z error check uses a nominal drop_off_pos computed
from cube_size and cube_id which ignores accumulated settlement; update the
drop_off_pos calculation to derive the expected Z for cube n from the actual
resting top Z of cube n-1 (use the previous cube's actual position instead of
cube_id * cube_size), then recompute pos_error = cube_pos - drop_off_pos and the
subsequent pos_error_z check; adjust logic around symbols drop_off_pos,
cube_pos, cube_id, cube_size, and the loop that sets world_success so
higher-level cubes compare to the measured top of the cube below rather than the
ideal geometry.
- Around line 180-185: The advance condition in example_ik_cube_stacking.py (the
if that checks task_time_elapsed, pos_err, rot_err, and task_idx against
wp.len(task_time_soft_limits)) can stall worlds indefinitely; modify that block
to add a hard-timeout fallback: compute a hard_limit (e.g., hard_limit = N *
task_time_soft_limit) and if task_time_elapsed[tid] >= hard_limit then advance
the task unconditionally and emit a warning/diagnostic including tid,
task_idx[tid], task_time_elapsed[tid], pos_err, and rot_err; keep the existing
soft-limit+error checks as the preferred path but ensure the hard timeout forces
progress to avoid permanent stalls.
- Line 179: Fix the typo in the inline comment in example_ik_cube_stacking.py:
replace "thanks the the" with "thanks to the" in the comment line that reads "#
NOTE: These tolerances can be achieved thanks the the gravity compensation
enabled in the model builder." (search for that exact comment string in
example_ik_cube_stacking.py to locate it).

vreutskyy

Tested locally on RTX 3080 (WSL2). Ran the example 10 times with the test parameters (16 worlds, 2 cubes, 1400 frames) — all 10 runs pass with 100% success rate.

The gravity compensation is the key improvement here. Without it, max rotation error across worlds ranged from 3.9 to 6.5 degrees with visible run-to-run nondeterminism. With gravity compensation enabled, max rotation error drops to a tight 4.05–4.09 range, and position errors are well within the new thresholds (max XY ~0.006, max Z ~0.004). The results are also much more deterministic across runs.

No worlds got stuck with the tighter advance criteria (0.001m, 0.5 deg), which was my main concern — gravity compensation makes those tolerances comfortably achievable.

A couple of minor notes:

The comment on line 179 has a typo ("thanks the the" → "thanks to the") as CodeRabbit already flagged.
adenzler's question about body indices and whether MuJoCo internals are leaking into Newton API is worth addressing — maybe a helper or named constants would make the body index range less opaque.

coderabbitai

🤖 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/examples/ik/example_ik_cube_stacking.py`:
- Around line 680-683: The Z check incorrectly compares cube_pos to an ideal
drop_off_pos (using nominal geometry) so settlement of the underlying cube
propagates and can falsely fail the 0.01 m threshold; update the logic that
computes drop_off_pos[2] to use the actual resting top Z of the previously
placed cube (e.g., read the placed/observed pose for cube n-1 or call the
function that returns the current stack top Z) and then recompute pos_error_z =
abs(cube_pos[2] - actual_below_top_z - intended_layer_thickness); keep the XY
check using drop_off_pos[:2] if ideal XY is fine but ensure drop_off_pos[2] is
taken from the observed stack height (reference symbols: drop_off_pos, cube_pos,
pos_error_z, placed/observed pose for previous cube).
- Around line 181-186: Revert the tightened position threshold to the prior 10mm
value to avoid introducing a new stall: change the condition pos_err < 0.001
back to pos_err < 0.01 in the if that checks task_time_elapsed,
task_time_soft_limit, rot_err, and task_idx (the block referencing
task_time_elapsed[tid], task_time_soft_limit, pos_err, rot_err, task_idx[tid],
and wp.len(task_time_soft_limits)); keep the rest of the condition unchanged so
task advancement uses the original position tolerance.

mzamoramora-nvidia · 2026-02-20T14:51:28Z

@vreutskyy Thanks for testing! The typo should be fixed now. About the body indexes, there are a few comments above that range that explain the indices. Do you think we need a helper despite the comments?

adenzler-nvidia · 2026-02-20T15:01:30Z

I think this is ok with the comments. Thanks all!

vreutskyy · 2026-02-20T15:02:56Z

I think the comments are clear enough — this is example code, not library API, so a helper would be over-engineering it. I'd defer to @adenzler-nvidia on whether he's satisfied with the comments addressing his concern.

@staticmethods

* [Warp Raytrace] Added device parameter (newton-physics#1544) * [Warp Raytrace] Added device parameter to previously overlooked call (newton-physics#1545) * SolverMuJoCo: Fix tolerance clamping in update_solver_options_kernel (newton-physics#1546) * Change default shape_ke to align with MuJoCo, parse geom solref from MJCF for contact stiffness/damping (newton-physics#1491) Signed-off-by: Alain Denzler <adenzler@nvidia.com> * Fix log_shapes broadcasting for length-1 warp arrays (newton-physics#1550) * Fix XPBD restitution particle index (newton-physics#1557) * Out-of-Bound memory read in example_diffsim_bear newton-physics#1386 (newton-physics#1533) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add versioned documentation deployment to GitHub Pages (newton-physics#1560) * Fix broken documentation links after versioned docs deployment (newton-physics#1566) * VBD New Features (newton-physics#1479) Co-authored-by: Claude Sonnet 4.5 <noreply@anthropic.com> * Add banners to membership verification workflow steps (newton-physics#1569) * Support cable junctions (newton-physics#1519) Signed-off-by: JC <jumyungc@nvidia.com> * Rename parameter I to inertia newton-physics#1543 (newton-physics#1551) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix example_robot_anymal_c_walk.py (newton-physics#1574) * Change everywhere linesearch to iterative (newton-physics#1573) * Remove standard collision pipeline (newton-physics#1538) * USD Plumbing MJC solver attributes through resolver and custom attribute framework (newton-physics#1463) Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> Signed-off-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Fix child shape filtering (newton-physics#1559) * Fix ViewerRerun ignoring hidden parameter in log_mesh and log_instances (newton-physics#1555) * Make NxN and SAP broad phase respect filtered pairs (newton-physics#1554) * Add --quiet flag to examples to suppress Warp messages (newton-physics#1585) * Defer resolution of MESH_MAXHULLVERT default in importers (newton-physics#1587) * Fix TypeError when finalizing SDF geometry with device kwarg (newton-physics#1586) * Make MESH_MAXHULLVERT a static class attribute Mesh.MAX_HULL_VERTICES. (newton-physics#1598) * Significant non-determinism in unified collision pipeline for anymal_c_walking example newton-physics#1505 (newton-physics#1588) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add test for non-contiguous case (newton-physics#1549) * Fix nightly Warp CI to resolve pre-release builds (newton-physics#1606) * Verify default class and value handling (newton-physics#1556) * SolverMuJoCo: Expand geom_margin to avoid OOB read with heterogeneous worlds (newton-physics#1607) * Fix bug in control clear method (newton-physics#1602) * Enable Use of Newton IK in Lab newton-physics#662 (newton-physics#1539) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix import of non-articulated joints (newton-physics#1535) * Deduplicate _process_joint_custom_attributes frequency handling (newton-physics#1584) * Add CI check for stale API docs and fix local build warnings (newton-physics#1570) * Update Pillow 12.0.0 to 12.1.1 (newton-physics#1612) * Prepare handling of mimic constraints in Newton (newton-physics#1523) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Support floating, base_joint and parent_body arguments for importers (newton-physics#1498) * Fix contact buffer memory overestimation (newton-physics#1614) * Configure banned-module-level-imports for ruff (newton-physics#1583) * Explicit `Contacts` instantiation with `Model.contacts()` and `CollisionPipeline.contacts()` (newton-physics#1445) * Fix the quadruped benchmark regression (newton-physics#1615) * Change default ignore_inertial_definitions from True to False (newton-physics#1537) * Finalize the Recording API (newton-physics#1600) * SolverMuJoCo: Fix ccd_iterations default (newton-physics#1631) * update gitignore to ignore Claude Code sandbox files (newton-physics#1628) * Add mimic joint support to SolverMuJoCo (newton-physics#1627) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add --no-cache-clear flag to test runner (newton-physics#1629) * Update MuJoCo and MuJoCo Warp to 3.5.0 release (newton-physics#1633) * Improve inertia parsing from USD (newton-physics#1605) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * Remove standalone .typos.toml in favor of pyproject.toml config (newton-physics#1642) * Heightfield support newton-physics#1189 (newton-physics#1547) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Example_robot_policy: Replace ValueError with clean error for missing PhysX policy (newton-physics#1636) Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> * Avoid unnecessary inflation of the contact reduction voxel aabb (newton-physics#1650) * Rename num_worlds to world_count (newton-physics#1634) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Support parsing autolimits from MJCF (newton-physics#1651) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix particle-shape restitution ignoring body velocity (newton-physics#1273) (newton-physics#1580) * Add overflow warnings for narrow-phase collision buffers (newton-physics#1643) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Documentation: add units to model/state docstrings (newton-physics#1649) * fix(viewer): add missing JointType.BALL support to contact line kernel (newton-physics#1640) * Make terrain mesh visual-only in anymal C walking example (newton-physics#1660) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Fix initialization of collider state in MPM finite difference mode (newton-physics#1652) * docs: document ModelBuilder.default_shape_cfg (newton-physics#1662) * Finalize the collision API (newton-physics#1581) * Remove hardcoded subnet ID from AWS workflow (newton-physics#1664) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Attempt to fix AWS config (newton-physics#1666) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Update AWS workflows to g7e.2xlarge with multi-AZ failover (newton-physics#1669) * fix(viewer-usd): disambiguate log_points colors for N=3 warp arrays (newton-physics#1661) * Viewer gl optimizations (newton-physics#1656) Signed-off-by: Miles Macklin <mmacklin@nvidia.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: Eric Heiden <eheiden@nvidia.com> * docs: add articulation workflow guidance and regression check (newton-physics#1663) * fix(examples): propagate IK solution to model state in Franka example (newton-physics#1637) * fix(deps,docs): bump nbconvert to 7.17.0 and fix ArticulationView doctest (newton-physics#1670) * Cleanup and improve some example (newton-physics#1625) Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Handle zero-mass bodies and flip ensure_nonstatic_links default (newton-physics#1635) * Additional testing for ArticulationView (newton-physics#1527) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Update warp-lang nightly to 1.12.0.dev20260217 (newton-physics#1677) * Change default friction coefficients to match MuJoCo (newton-physics#1681) * Refactor mesh creation functions (newton-physics#1654) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Parse joint frictionloss from MJCF (newton-physics#1680) * Fix free joint body_pos and add ref/qpos0 support for MuJoCo solver (newton-physics#1645) * Fix root shapes in ArticulationView with fixed base (newton-physics#1639) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Use model collision methods and remove `create_collision_pipeline` from examples (newton-physics#1648) Co-authored-by: nvtw <110816143+nvtw@users.noreply.github.com> * Fix XPBD apply_joint_forces ignoring child joint transform (newton-physics#1582) * Adjust SDF API (newton-physics#1644) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Optimize test suite runtime (~18% faster) (newton-physics#1689) * Remove ensure_nonstatic_links option from importers (newton-physics#1682) Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> * SolverMuJoCo: Add geom_margin support, align thickness default with MuJoCo and schemas (newton-physics#1653) * refactor: privatize non-public solver internals (newton-physics#1683) * Fix option parsing with multiple <option> elements from includes (newton-physics#1692) * Bump warp-lang nightly and newton-usd-schemas (newton-physics#1693) * Get rid of tkinter dependency (newton-physics#1676) * Fix SDF example contact buffer overflow (newton-physics#1695) * Fix implicit biastype for position/velocity actuator shortcuts (newton-physics#1678) * Fix include processor to respect meshdir/texturedir (newton-physics#1685) * Reduce cold-cache Warp compile time for geometry modules (newton-physics#1618) Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Fix xyzw-to-wxyz quaternion conversion in body inertia kernel (newton-physics#1694) * Rename key to label and add hierarchical labels (newton-physics#1592) (newton-physics#1632) * Expose geometry SDF helpers on public API (newton-physics#1684) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Improve custom frequency handling from USD, parse MuJoCo actuators and tendons (newton-physics#1510) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Collapse fixed joints with non articulated bodies (newton-physics#1608) * Fix renaming joint_key -> joint_label (newton-physics#1700) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Bump .python-version from 3.11 to 3.12 (newton-physics#1702) * Replace CITATION.md with CITATION.cff (newton-physics#1706) * Respect MJCF contype=conaffinity=0 via collision_group=0 (newton-physics#1703) * Make ViewerUSD reuse existing USD layers for the same output path (newton-physics#1704) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Remove dead up-axis conversion from MuJoCo solver (newton-physics#1707) * Skip IK cube stacking example test (newton-physics#1713) * Fix global pairs (world=-1) not exported to MuJoCo spec (newton-physics#1705) * Reduce the memory consumption of hydroelastic contacts (newton-physics#1609) * Fix flakiness cube stacking (newton-physics#1714) * Fix collision shapes not toggleable in viewer UI (newton-physics#1715) * Fix softbody examples table layout in README (newton-physics#1716) * Standardize sensor APIs: label matching, keyword args, and update() method naming (newton-physics#1665) * Fix intermittent crash in parallel test runner from Manager proxy race (newton-physics#1721) * Clean up inertia.py function arguments to match Mesh.create_* API (newton-physics#1719) * Reduce default test runner verbosity (newton-physics#1723) * Add menagerie comparison tests for SolverMuJoCo (newton-physics#1720) Signed-off-by: Alain Denzler <adenzler@nvidia.com> Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> * Add spatial tendon support for MuJoCo solver (newton-physics#1687) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Expose qfrc_actuator from mujoco (newton-physics#1698) * Skip non-MODEL custom attributes in finalize validation (newton-physics#1734) * Resolve inheritrange for position actuators in MJCF parser (newton-physics#1727) * Support dampratio for position/velocity actuator shortcuts (newton-physics#1722) * Limit concurrency to 1 (newton-physics#1736) * Add a helper method for checking applied usd (newton-physics#1731) * Enhance playback URL handling in ViewerViser (newton-physics#1742) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Removed RenderShapeType (newton-physics#1748) * Override only MassAPI attributes that have been authored (newton-physics#1688) * Integration of newton-actuators (newton-physics#1342) Signed-off-by: jvonmuralt <jvonmuralt@nvidia.com> * Fix ArticulationView crash with fixed-joint-only articulations (newton-physics#1726) * Improve retrieval of Jupyter base URL in ViewerViser (newton-physics#1750) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Disable dynamics testing for UR5e and Apollo tests to avoid CI flakiness (newton-physics#1755) * Margin and Gap rename (newton-physics#1732) * Vbd Demos Fixing (newton-physics#1740) * Fix ViewerViser.log_lines method (newton-physics#1764) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Update warp-lang dependency to 1.12.0rc1 (newton-physics#1763) * Fix fromto capsule/cylinder orientation in MJCF parser (newton-physics#1741) * fix: multi-world particle BVH indexing (newton-physics#1641) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Clean up unused and internal-only kwargs in SolverMuJoCo (newton-physics#1766) * Parsing of the mimic joint and contact gap/margin from newton schemas (newton-physics#1690) Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> * API Refactor v2 (newton-physics#1749) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Support explicit geom mass attributes in MJCF (newton-physics#1744) * Bump flask and werkzeug in lockfile for security (newton-physics#1769) Co-authored-by: Cursor <cursoragent@cursor.com> * Split MJCF worldbody root bodies into separate articulations (newton-physics#1754) * Expose VBD rigid contact forces for solver coupling (newton-physics#1745) Signed-off-by: JC <jumyungc@nvidia.com> * Add MJCF ellipsoid geom import and regression test (newton-physics#1772) Co-authored-by: Cursor <cursoragent@cursor.com> * Weld equality constraints parsed from mjcf are given Nan as the default value of torquescale. The correct default should be 1.0 (newton-physics#1760) * Improve picking accuracy and stability (newton-physics#1712) * Franka cloth demo improvement (newton-physics#1765) * Support computing sensing object transforms & API cleanup (newton-physics#1759) * Remove threading workaround (newton-physics#1751) * [Warp Raytrace] Consolidated ray intersect functions, renamed Options to Config (newton-physics#1767) * Improve README example gallery for PyPI compatibility (newton-physics#1776) * Fix issue with mesh in rerun viewer (newton-physics#1768) * Add PhysxMimicJointAPI parsing to USD importer (newton-physics#1735) * Move some math functions to Warp (newton-physics#1717) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Add test to ensure MJCF xform argument is relative (newton-physics#1777) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Emit diaginertia instead of fullinertia for diagonal body inertia (newton-physics#1780) * Change default joint armature from 0.01 to 0 (newton-physics#1782) * Fix default kp/kv for position and velocity actuators (newton-physics#1786) * Lock body inertia after explicit MJCF <inertial> element (newton-physics#1784) * Fix for MJCF actuator custom attributes (newton-physics#1783) * Bump version to 0.2.3 Prepare the package metadata for the v0.2.3 release tag. * Fix ViewerRerun rendering of instances from hidden meshes (newton-physics#1788) * API cleanup (newton-physics#1789) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * BODY actuator target name bypasses body name de-duplication in SolverMuJoCo (newton-physics#1729) * Use default density for visual geoms in MJCF import (newton-physics#1781) * Fix GL viewer crash on Wayland (newton-physics#1793) * Make USD xform parameter control absolute articulation placement (newton-physics#1771) * Fix CUDA context corruption in SDF implementation (newton-physics#1792) * Bump mujoco-warp dependency to 3.5.0.2 (newton-physics#1779) * Fix MuJoCo margin/gap conversion (newton-physics#1785) * Bump version to 1.1.0.dev0 (newton-physics#1798) * Missing unittest.main added back to test_import_mjcf.py. Helps with F5 debugging in VS Code. (newton-physics#1796) * Improve H1 example (newton-physics#1801) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Fix ViewerViser.set_camera() (newton-physics#1805) * Rename examples to follow prefix-first naming convention (newton-physics#1802) * Improve MuJoCo actuator domain randomization (newton-physics#1773) * Restore in_cup test in hydro example (newton-physics#1775) * Fix `newton.geometry` imports and change of Mesh maxhullverts global constant * Adapt to having both margin and gap arrays for each geom/shape * Fix for newton.geometry API changes in primitive/narrowphase.py * Fix removal of `BroadPhaseMode` IntEnum and revert to newton-sytle string literals * WIP: Adapt geometry/unified.py to fix breaking changes to `newton.geometry` API * First pass of API adjustments * Patch more gaps (with respect to margin and gap renaming) * GeoType.SDF was removed - reflect that in Kamino * Introduce CoM position offsets w.r.t body frame and operations to convert between body CoM state and generic local body-fixed reference frames. * Add caching of per-entity labels/names/keys in the Model subcontainers * Remove SDF shape wrapper since it's now internal to mesh handling in CD pipelines * Fix USD test assets * Add Newton <--> Kamino joint type conversion operations and per-space default limit constants * Add some cleanup to geometry and unified CD + UTs * Add Newton <--> Kamino shape type conversion operations * Apply new default joint coord limit constants to limits.py * Adapt foubrar model builder and USD asset to produce the same result in sim example * Purge "physical" goems and collapse all into a single group, and purge geometry "layers" * Disable allocation per-joint wrenches by default and make them optional * Make `Model` a dataclass * Separate ModelData* containers into own `core/data.py` module * Fix imports of ModelData * Rename `Model` as `ModelKamino` * Rename `ModelData` as `DataKamino` * Rename `State` as `StateKamino` * Rename `Control` as `ControlKamino` * Rename `Limits` as `LimitsKamino` * Rename `Contacts` as `ContactsKamino` * Rename `ModelBuilder` as `ModelBuilderKamino` * Make imports in test utilities relative * Revise CD meta-data attributes and their computation in GeometryModel and ModelBuilderKamino * Revise primitive CD pipeline * Revise unified CD pipeline * Revise CD front-end interfaces * Fix UTs and relevant utils for interface changes to CD * Change to `wp.DeviceLike` to account for upcoming deprecation of `Devicelike` * Depracate legacy HDF5 data io (will be replaced in the future) * Fix banned imports at module level * Modify USD importer to detect articulations and order geoms and joints similarly to how the Newton `parse_usd` function does. * Add conversion operation from `newton.Model` to `ModelKamino` * Add data, state and control container conversions * Add SolverKamino wrapper that fullfils newton integration interface * Add newton integration examples * Add SolverKamino to newton solver module imports * WIP: fix problem with lambda_j being allocated for only kinematic constraints and failing on array copying * Fix banned git import in benchmark * Rename *Settings to *Config (#213) * Rename SolverKaminoSettings -> SolverKaminoConfig * Rename DualProblemSettings -> DualProblemConfig * Rename CollisionDetectorSettings -> CollisionDetectorConfig * Rename PADMMSettings -> PADMMConfig * Rename ForwardKinematicsSolverSettings -> ForwardKinematicsSolverConfig * Rename SimulatorSettings -> SimulatorConfig * Add check for model compatibility in SolverKamino (#209) * Fix device assignment in sparse CG test on CPU (#216) * Replace Enum-type config attributes with Literal (#215) * Replace warmstart mode config param with literal * Replace contact warmstart mode config param with literal * Replace rotation correction config param with literal * Replace penalty update config param with literal * Replace FK preconditioner option config param with literal * Add post-init checks for dual/PADMM configs * Rename FKPreconditionerOptions to FKPreconditionerType * Remove WorldDescriptor from ModelKamino (#219) * Add geom index offset array to model info * Replace access to world description in model * Remove world descriptor from model * Fix computation of kinematics residual with sparse Jacobian (#220) * Migrates `ModelKaminoSize` to it's own module to avoid circular dependency between core/model.py and core/state.py and rename it as `SizeKamino`. * WIP: Fix SolverKamino wrapper * Fix circular dependency in conversions.py * Fix some broken unit tests and WIP to fix fourbar contact conversions and rendering * Make some conversions @staticmethods instead, because they dont need common class attributes * Fix declaration of custom state attributes and their conversion to/from newton and kamino * WIP: Debug model conversion and newton sim examples * Rename and cleanup start index array of per-world geoms * Model conversion and newton sim examples now work. * Make gravity conversion operation re-usable * Migrates boxes_fourbar builder using newton.ModelBuilder to it's own module to prepare for migration. * Use gravity conversion utility func in SolverKamino * Add reusable joint-parameterization conversion utility * Remove world-descriptor from model converter * Rename helper converter that handles entity-local transforms * Add some cleanup to DR Legs, ANYmal D and basic four-bar examples * Fix module-level imports of additional kamino-specific development dependencies * Fix module-level imports of additional kamino-specific development dependencies * Fix erroneous merge conflict. --------- Signed-off-by: Alain Denzler <adenzler@nvidia.com> Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> Signed-off-by: JC <jumyungc@nvidia.com> Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> Signed-off-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Miles Macklin <mmacklin@nvidia.com> Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> Signed-off-by: jvonmuralt <jvonmuralt@nvidia.com> Co-authored-by: Daniela Hase <116915287+daniela-hase@users.noreply.github.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> Co-authored-by: Eric Shi <97630937+shi-eric@users.noreply.github.com> Co-authored-by: Anka Chen <AnkaChan@users.noreply.github.com> Co-authored-by: Claude Sonnet 4.5 <noreply@anthropic.com> Co-authored-by: JC-nvidia <116605903+jumyungc@users.noreply.github.com> Co-authored-by: Kenny Vilella <kvilella@nvidia.com> Co-authored-by: nvtw <110816143+nvtw@users.noreply.github.com> Co-authored-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> Co-authored-by: Lennart Röstel <65088822+lenroe@users.noreply.github.com> Co-authored-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: jvonmuralt <jvonmuralt@nvidia.com> Co-authored-by: camevor <camevor@nvidia.com> Co-authored-by: mzamoramora-nvidia <mzamoramora@nvidia.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Alessandro Roncone <alecive87@gmail.com> Co-authored-by: gdaviet <57617656+gdaviet@users.noreply.github.com> Co-authored-by: Miles Macklin <mmacklin@nvidia.com> Co-authored-by: Gordon Yeoman <gyeomannvidia@users.noreply.github.com> Co-authored-by: Lukasz Wawrzyniak <lwawrzyniak@nvidia.com> Co-authored-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Lorenzo Terenzi <lorenzoterenzi96@gmail.com> Co-authored-by: smollerNV <164020096+smollerNV@users.noreply.github.com> Co-authored-by: twidmer <twidmer@nvidia.com> Co-authored-by: Christian Schumacher <christian.schumacher@disney.com> Co-authored-by: Guirec-Maloisel <25688871+Guirec-Maloisel@users.noreply.github.com>

@staticmethods

* [Warp Raytrace] Added device parameter (newton-physics#1544) * [Warp Raytrace] Added device parameter to previously overlooked call (newton-physics#1545) * SolverMuJoCo: Fix tolerance clamping in update_solver_options_kernel (newton-physics#1546) * Change default shape_ke to align with MuJoCo, parse geom solref from MJCF for contact stiffness/damping (newton-physics#1491) Signed-off-by: Alain Denzler <adenzler@nvidia.com> * Fix log_shapes broadcasting for length-1 warp arrays (newton-physics#1550) * Fix XPBD restitution particle index (newton-physics#1557) * Out-of-Bound memory read in example_diffsim_bear newton-physics#1386 (newton-physics#1533) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add versioned documentation deployment to GitHub Pages (newton-physics#1560) * Fix broken documentation links after versioned docs deployment (newton-physics#1566) * VBD New Features (newton-physics#1479) Co-authored-by: Claude Sonnet 4.5 <noreply@anthropic.com> * Add banners to membership verification workflow steps (newton-physics#1569) * Support cable junctions (newton-physics#1519) Signed-off-by: JC <jumyungc@nvidia.com> * Rename parameter I to inertia newton-physics#1543 (newton-physics#1551) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix example_robot_anymal_c_walk.py (newton-physics#1574) * Change everywhere linesearch to iterative (newton-physics#1573) * Remove standard collision pipeline (newton-physics#1538) * USD Plumbing MJC solver attributes through resolver and custom attribute framework (newton-physics#1463) Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> Signed-off-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Fix child shape filtering (newton-physics#1559) * Fix ViewerRerun ignoring hidden parameter in log_mesh and log_instances (newton-physics#1555) * Make NxN and SAP broad phase respect filtered pairs (newton-physics#1554) * Add --quiet flag to examples to suppress Warp messages (newton-physics#1585) * Defer resolution of MESH_MAXHULLVERT default in importers (newton-physics#1587) * Fix TypeError when finalizing SDF geometry with device kwarg (newton-physics#1586) * Make MESH_MAXHULLVERT a static class attribute Mesh.MAX_HULL_VERTICES. (newton-physics#1598) * Significant non-determinism in unified collision pipeline for anymal_c_walking example newton-physics#1505 (newton-physics#1588) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add test for non-contiguous case (newton-physics#1549) * Fix nightly Warp CI to resolve pre-release builds (newton-physics#1606) * Verify default class and value handling (newton-physics#1556) * SolverMuJoCo: Expand geom_margin to avoid OOB read with heterogeneous worlds (newton-physics#1607) * Fix bug in control clear method (newton-physics#1602) * Enable Use of Newton IK in Lab newton-physics#662 (newton-physics#1539) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix import of non-articulated joints (newton-physics#1535) * Deduplicate _process_joint_custom_attributes frequency handling (newton-physics#1584) * Add CI check for stale API docs and fix local build warnings (newton-physics#1570) * Update Pillow 12.0.0 to 12.1.1 (newton-physics#1612) * Prepare handling of mimic constraints in Newton (newton-physics#1523) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Support floating, base_joint and parent_body arguments for importers (newton-physics#1498) * Fix contact buffer memory overestimation (newton-physics#1614) * Configure banned-module-level-imports for ruff (newton-physics#1583) * Explicit `Contacts` instantiation with `Model.contacts()` and `CollisionPipeline.contacts()` (newton-physics#1445) * Fix the quadruped benchmark regression (newton-physics#1615) * Change default ignore_inertial_definitions from True to False (newton-physics#1537) * Finalize the Recording API (newton-physics#1600) * SolverMuJoCo: Fix ccd_iterations default (newton-physics#1631) * update gitignore to ignore Claude Code sandbox files (newton-physics#1628) * Add mimic joint support to SolverMuJoCo (newton-physics#1627) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add --no-cache-clear flag to test runner (newton-physics#1629) * Update MuJoCo and MuJoCo Warp to 3.5.0 release (newton-physics#1633) * Improve inertia parsing from USD (newton-physics#1605) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * Remove standalone .typos.toml in favor of pyproject.toml config (newton-physics#1642) * Heightfield support newton-physics#1189 (newton-physics#1547) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Example_robot_policy: Replace ValueError with clean error for missing PhysX policy (newton-physics#1636) Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> * Avoid unnecessary inflation of the contact reduction voxel aabb (newton-physics#1650) * Rename num_worlds to world_count (newton-physics#1634) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Support parsing autolimits from MJCF (newton-physics#1651) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix particle-shape restitution ignoring body velocity (newton-physics#1273) (newton-physics#1580) * Add overflow warnings for narrow-phase collision buffers (newton-physics#1643) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Documentation: add units to model/state docstrings (newton-physics#1649) * fix(viewer): add missing JointType.BALL support to contact line kernel (newton-physics#1640) * Make terrain mesh visual-only in anymal C walking example (newton-physics#1660) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Fix initialization of collider state in MPM finite difference mode (newton-physics#1652) * docs: document ModelBuilder.default_shape_cfg (newton-physics#1662) * Finalize the collision API (newton-physics#1581) * Remove hardcoded subnet ID from AWS workflow (newton-physics#1664) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Attempt to fix AWS config (newton-physics#1666) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Update AWS workflows to g7e.2xlarge with multi-AZ failover (newton-physics#1669) * fix(viewer-usd): disambiguate log_points colors for N=3 warp arrays (newton-physics#1661) * Viewer gl optimizations (newton-physics#1656) Signed-off-by: Miles Macklin <mmacklin@nvidia.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: Eric Heiden <eheiden@nvidia.com> * docs: add articulation workflow guidance and regression check (newton-physics#1663) * fix(examples): propagate IK solution to model state in Franka example (newton-physics#1637) * fix(deps,docs): bump nbconvert to 7.17.0 and fix ArticulationView doctest (newton-physics#1670) * Cleanup and improve some example (newton-physics#1625) Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Handle zero-mass bodies and flip ensure_nonstatic_links default (newton-physics#1635) * Additional testing for ArticulationView (newton-physics#1527) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Update warp-lang nightly to 1.12.0.dev20260217 (newton-physics#1677) * Change default friction coefficients to match MuJoCo (newton-physics#1681) * Refactor mesh creation functions (newton-physics#1654) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Parse joint frictionloss from MJCF (newton-physics#1680) * Fix free joint body_pos and add ref/qpos0 support for MuJoCo solver (newton-physics#1645) * Fix root shapes in ArticulationView with fixed base (newton-physics#1639) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Use model collision methods and remove `create_collision_pipeline` from examples (newton-physics#1648) Co-authored-by: nvtw <110816143+nvtw@users.noreply.github.com> * Fix XPBD apply_joint_forces ignoring child joint transform (newton-physics#1582) * Adjust SDF API (newton-physics#1644) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Optimize test suite runtime (~18% faster) (newton-physics#1689) * Remove ensure_nonstatic_links option from importers (newton-physics#1682) Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> * SolverMuJoCo: Add geom_margin support, align thickness default with MuJoCo and schemas (newton-physics#1653) * refactor: privatize non-public solver internals (newton-physics#1683) * Fix option parsing with multiple <option> elements from includes (newton-physics#1692) * Bump warp-lang nightly and newton-usd-schemas (newton-physics#1693) * Get rid of tkinter dependency (newton-physics#1676) * Fix SDF example contact buffer overflow (newton-physics#1695) * Fix implicit biastype for position/velocity actuator shortcuts (newton-physics#1678) * Fix include processor to respect meshdir/texturedir (newton-physics#1685) * Reduce cold-cache Warp compile time for geometry modules (newton-physics#1618) Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Fix xyzw-to-wxyz quaternion conversion in body inertia kernel (newton-physics#1694) * Rename key to label and add hierarchical labels (newton-physics#1592) (newton-physics#1632) * Expose geometry SDF helpers on public API (newton-physics#1684) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Improve custom frequency handling from USD, parse MuJoCo actuators and tendons (newton-physics#1510) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Collapse fixed joints with non articulated bodies (newton-physics#1608) * Fix renaming joint_key -> joint_label (newton-physics#1700) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Bump .python-version from 3.11 to 3.12 (newton-physics#1702) * Replace CITATION.md with CITATION.cff (newton-physics#1706) * Respect MJCF contype=conaffinity=0 via collision_group=0 (newton-physics#1703) * Make ViewerUSD reuse existing USD layers for the same output path (newton-physics#1704) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Remove dead up-axis conversion from MuJoCo solver (newton-physics#1707) * Skip IK cube stacking example test (newton-physics#1713) * Fix global pairs (world=-1) not exported to MuJoCo spec (newton-physics#1705) * Reduce the memory consumption of hydroelastic contacts (newton-physics#1609) * Fix flakiness cube stacking (newton-physics#1714) * Fix collision shapes not toggleable in viewer UI (newton-physics#1715) * Fix softbody examples table layout in README (newton-physics#1716) * Standardize sensor APIs: label matching, keyword args, and update() method naming (newton-physics#1665) * Fix intermittent crash in parallel test runner from Manager proxy race (newton-physics#1721) * Clean up inertia.py function arguments to match Mesh.create_* API (newton-physics#1719) * Reduce default test runner verbosity (newton-physics#1723) * Add menagerie comparison tests for SolverMuJoCo (newton-physics#1720) Signed-off-by: Alain Denzler <adenzler@nvidia.com> Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> * Add spatial tendon support for MuJoCo solver (newton-physics#1687) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Expose qfrc_actuator from mujoco (newton-physics#1698) * Skip non-MODEL custom attributes in finalize validation (newton-physics#1734) * Resolve inheritrange for position actuators in MJCF parser (newton-physics#1727) * Support dampratio for position/velocity actuator shortcuts (newton-physics#1722) * Limit concurrency to 1 (newton-physics#1736) * Add a helper method for checking applied usd (newton-physics#1731) * Enhance playback URL handling in ViewerViser (newton-physics#1742) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Removed RenderShapeType (newton-physics#1748) * Override only MassAPI attributes that have been authored (newton-physics#1688) * Integration of newton-actuators (newton-physics#1342) Signed-off-by: jvonmuralt <jvonmuralt@nvidia.com> * Fix ArticulationView crash with fixed-joint-only articulations (newton-physics#1726) * Improve retrieval of Jupyter base URL in ViewerViser (newton-physics#1750) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Disable dynamics testing for UR5e and Apollo tests to avoid CI flakiness (newton-physics#1755) * Margin and Gap rename (newton-physics#1732) * Vbd Demos Fixing (newton-physics#1740) * Fix ViewerViser.log_lines method (newton-physics#1764) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Update warp-lang dependency to 1.12.0rc1 (newton-physics#1763) * Fix fromto capsule/cylinder orientation in MJCF parser (newton-physics#1741) * fix: multi-world particle BVH indexing (newton-physics#1641) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Clean up unused and internal-only kwargs in SolverMuJoCo (newton-physics#1766) * Parsing of the mimic joint and contact gap/margin from newton schemas (newton-physics#1690) Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> * API Refactor v2 (newton-physics#1749) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Support explicit geom mass attributes in MJCF (newton-physics#1744) * Bump flask and werkzeug in lockfile for security (newton-physics#1769) Co-authored-by: Cursor <cursoragent@cursor.com> * Split MJCF worldbody root bodies into separate articulations (newton-physics#1754) * Expose VBD rigid contact forces for solver coupling (newton-physics#1745) Signed-off-by: JC <jumyungc@nvidia.com> * Add MJCF ellipsoid geom import and regression test (newton-physics#1772) Co-authored-by: Cursor <cursoragent@cursor.com> * Weld equality constraints parsed from mjcf are given Nan as the default value of torquescale. The correct default should be 1.0 (newton-physics#1760) * Improve picking accuracy and stability (newton-physics#1712) * Franka cloth demo improvement (newton-physics#1765) * Support computing sensing object transforms & API cleanup (newton-physics#1759) * Remove threading workaround (newton-physics#1751) * [Warp Raytrace] Consolidated ray intersect functions, renamed Options to Config (newton-physics#1767) * Improve README example gallery for PyPI compatibility (newton-physics#1776) * Fix issue with mesh in rerun viewer (newton-physics#1768) * Add PhysxMimicJointAPI parsing to USD importer (newton-physics#1735) * Move some math functions to Warp (newton-physics#1717) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Add test to ensure MJCF xform argument is relative (newton-physics#1777) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Emit diaginertia instead of fullinertia for diagonal body inertia (newton-physics#1780) * Change default joint armature from 0.01 to 0 (newton-physics#1782) * Fix default kp/kv for position and velocity actuators (newton-physics#1786) * Lock body inertia after explicit MJCF <inertial> element (newton-physics#1784) * Fix for MJCF actuator custom attributes (newton-physics#1783) * Bump version to 0.2.3 Prepare the package metadata for the v0.2.3 release tag. * Fix ViewerRerun rendering of instances from hidden meshes (newton-physics#1788) * API cleanup (newton-physics#1789) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * BODY actuator target name bypasses body name de-duplication in SolverMuJoCo (newton-physics#1729) * Use default density for visual geoms in MJCF import (newton-physics#1781) * Fix GL viewer crash on Wayland (newton-physics#1793) * Make USD xform parameter control absolute articulation placement (newton-physics#1771) * Fix CUDA context corruption in SDF implementation (newton-physics#1792) * Bump mujoco-warp dependency to 3.5.0.2 (newton-physics#1779) * Fix MuJoCo margin/gap conversion (newton-physics#1785) * Bump version to 1.1.0.dev0 (newton-physics#1798) * Missing unittest.main added back to test_import_mjcf.py. Helps with F5 debugging in VS Code. (newton-physics#1796) * Improve H1 example (newton-physics#1801) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Fix ViewerViser.set_camera() (newton-physics#1805) * Rename examples to follow prefix-first naming convention (newton-physics#1802) * Improve MuJoCo actuator domain randomization (newton-physics#1773) * Restore in_cup test in hydro example (newton-physics#1775) * Fix `newton.geometry` imports and change of Mesh maxhullverts global constant * Adapt to having both margin and gap arrays for each geom/shape * Fix for newton.geometry API changes in primitive/narrowphase.py * Fix removal of `BroadPhaseMode` IntEnum and revert to newton-sytle string literals * WIP: Adapt geometry/unified.py to fix breaking changes to `newton.geometry` API * First pass of API adjustments * Patch more gaps (with respect to margin and gap renaming) * GeoType.SDF was removed - reflect that in Kamino * Introduce CoM position offsets w.r.t body frame and operations to convert between body CoM state and generic local body-fixed reference frames. * Add caching of per-entity labels/names/keys in the Model subcontainers * Remove SDF shape wrapper since it's now internal to mesh handling in CD pipelines * Fix USD test assets * Add Newton <--> Kamino joint type conversion operations and per-space default limit constants * Add some cleanup to geometry and unified CD + UTs * Add Newton <--> Kamino shape type conversion operations * Apply new default joint coord limit constants to limits.py * Adapt foubrar model builder and USD asset to produce the same result in sim example * Purge "physical" goems and collapse all into a single group, and purge geometry "layers" * Disable allocation per-joint wrenches by default and make them optional * Make `Model` a dataclass * Separate ModelData* containers into own `core/data.py` module * Fix imports of ModelData * Rename `Model` as `ModelKamino` * Rename `ModelData` as `DataKamino` * Rename `State` as `StateKamino` * Rename `Control` as `ControlKamino` * Rename `Limits` as `LimitsKamino` * Rename `Contacts` as `ContactsKamino` * Rename `ModelBuilder` as `ModelBuilderKamino` * Make imports in test utilities relative * Revise CD meta-data attributes and their computation in GeometryModel and ModelBuilderKamino * Revise primitive CD pipeline * Revise unified CD pipeline * Revise CD front-end interfaces * Fix UTs and relevant utils for interface changes to CD * Change to `wp.DeviceLike` to account for upcoming deprecation of `Devicelike` * Depracate legacy HDF5 data io (will be replaced in the future) * Fix banned imports at module level * Modify USD importer to detect articulations and order geoms and joints similarly to how the Newton `parse_usd` function does. * Add conversion operation from `newton.Model` to `ModelKamino` * Add data, state and control container conversions * Add SolverKamino wrapper that fullfils newton integration interface * Add newton integration examples * Add SolverKamino to newton solver module imports * WIP: fix problem with lambda_j being allocated for only kinematic constraints and failing on array copying * Fix banned git import in benchmark * Rename *Settings to *Config (#213) * Rename SolverKaminoSettings -> SolverKaminoConfig * Rename DualProblemSettings -> DualProblemConfig * Rename CollisionDetectorSettings -> CollisionDetectorConfig * Rename PADMMSettings -> PADMMConfig * Rename ForwardKinematicsSolverSettings -> ForwardKinematicsSolverConfig * Rename SimulatorSettings -> SimulatorConfig * Add check for model compatibility in SolverKamino (#209) * Fix device assignment in sparse CG test on CPU (#216) * Replace Enum-type config attributes with Literal (#215) * Replace warmstart mode config param with literal * Replace contact warmstart mode config param with literal * Replace rotation correction config param with literal * Replace penalty update config param with literal * Replace FK preconditioner option config param with literal * Add post-init checks for dual/PADMM configs * Rename FKPreconditionerOptions to FKPreconditionerType * Remove WorldDescriptor from ModelKamino (#219) * Add geom index offset array to model info * Replace access to world description in model * Remove world descriptor from model * Fix computation of kinematics residual with sparse Jacobian (#220) * Migrates `ModelKaminoSize` to it's own module to avoid circular dependency between core/model.py and core/state.py and rename it as `SizeKamino`. * WIP: Fix SolverKamino wrapper * Fix circular dependency in conversions.py * Fix some broken unit tests and WIP to fix fourbar contact conversions and rendering * Make some conversions @staticmethods instead, because they dont need common class attributes * Fix declaration of custom state attributes and their conversion to/from newton and kamino * WIP: Debug model conversion and newton sim examples * Rename and cleanup start index array of per-world geoms * Model conversion and newton sim examples now work. * Make gravity conversion operation re-usable * Migrates boxes_fourbar builder using newton.ModelBuilder to it's own module to prepare for migration. * Use gravity conversion utility func in SolverKamino * Add reusable joint-parameterization conversion utility * Remove world-descriptor from model converter * Rename helper converter that handles entity-local transforms * Add some cleanup to DR Legs, ANYmal D and basic four-bar examples * Fix module-level imports of additional kamino-specific development dependencies * Fix module-level imports of additional kamino-specific development dependencies * Fix erroneous merge conflict. --------- Signed-off-by: Alain Denzler <adenzler@nvidia.com> Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> Signed-off-by: JC <jumyungc@nvidia.com> Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> Signed-off-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Miles Macklin <mmacklin@nvidia.com> Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> Signed-off-by: jvonmuralt <jvonmuralt@nvidia.com> Co-authored-by: Daniela Hase <116915287+daniela-hase@users.noreply.github.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> Co-authored-by: Eric Shi <97630937+shi-eric@users.noreply.github.com> Co-authored-by: Anka Chen <AnkaChan@users.noreply.github.com> Co-authored-by: Claude Sonnet 4.5 <noreply@anthropic.com> Co-authored-by: JC-nvidia <116605903+jumyungc@users.noreply.github.com> Co-authored-by: Kenny Vilella <kvilella@nvidia.com> Co-authored-by: nvtw <110816143+nvtw@users.noreply.github.com> Co-authored-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> Co-authored-by: Lennart Röstel <65088822+lenroe@users.noreply.github.com> Co-authored-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: jvonmuralt <jvonmuralt@nvidia.com> Co-authored-by: camevor <camevor@nvidia.com> Co-authored-by: mzamoramora-nvidia <mzamoramora@nvidia.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Alessandro Roncone <alecive87@gmail.com> Co-authored-by: gdaviet <57617656+gdaviet@users.noreply.github.com> Co-authored-by: Miles Macklin <mmacklin@nvidia.com> Co-authored-by: Gordon Yeoman <gyeomannvidia@users.noreply.github.com> Co-authored-by: Lukasz Wawrzyniak <lwawrzyniak@nvidia.com> Co-authored-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Lorenzo Terenzi <lorenzoterenzi96@gmail.com> Co-authored-by: smollerNV <164020096+smollerNV@users.noreply.github.com> Co-authored-by: twidmer <twidmer@nvidia.com> Co-authored-by: Christian Schumacher <christian.schumacher@disney.com> Co-authored-by: Guirec-Maloisel <25688871+Guirec-Maloisel@users.noreply.github.com>

@staticmethods

* [Warp Raytrace] Added device parameter (newton-physics#1544) * [Warp Raytrace] Added device parameter to previously overlooked call (newton-physics#1545) * SolverMuJoCo: Fix tolerance clamping in update_solver_options_kernel (newton-physics#1546) * Change default shape_ke to align with MuJoCo, parse geom solref from MJCF for contact stiffness/damping (newton-physics#1491) Signed-off-by: Alain Denzler <adenzler@nvidia.com> * Fix log_shapes broadcasting for length-1 warp arrays (newton-physics#1550) * Fix XPBD restitution particle index (newton-physics#1557) * Out-of-Bound memory read in example_diffsim_bear newton-physics#1386 (newton-physics#1533) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add versioned documentation deployment to GitHub Pages (newton-physics#1560) * Fix broken documentation links after versioned docs deployment (newton-physics#1566) * VBD New Features (newton-physics#1479) Co-authored-by: Claude Sonnet 4.5 <noreply@anthropic.com> * Add banners to membership verification workflow steps (newton-physics#1569) * Support cable junctions (newton-physics#1519) Signed-off-by: JC <jumyungc@nvidia.com> * Rename parameter I to inertia newton-physics#1543 (newton-physics#1551) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix example_robot_anymal_c_walk.py (newton-physics#1574) * Change everywhere linesearch to iterative (newton-physics#1573) * Remove standard collision pipeline (newton-physics#1538) * USD Plumbing MJC solver attributes through resolver and custom attribute framework (newton-physics#1463) Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> Signed-off-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Fix child shape filtering (newton-physics#1559) * Fix ViewerRerun ignoring hidden parameter in log_mesh and log_instances (newton-physics#1555) * Make NxN and SAP broad phase respect filtered pairs (newton-physics#1554) * Add --quiet flag to examples to suppress Warp messages (newton-physics#1585) * Defer resolution of MESH_MAXHULLVERT default in importers (newton-physics#1587) * Fix TypeError when finalizing SDF geometry with device kwarg (newton-physics#1586) * Make MESH_MAXHULLVERT a static class attribute Mesh.MAX_HULL_VERTICES. (newton-physics#1598) * Significant non-determinism in unified collision pipeline for anymal_c_walking example newton-physics#1505 (newton-physics#1588) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add test for non-contiguous case (newton-physics#1549) * Fix nightly Warp CI to resolve pre-release builds (newton-physics#1606) * Verify default class and value handling (newton-physics#1556) * SolverMuJoCo: Expand geom_margin to avoid OOB read with heterogeneous worlds (newton-physics#1607) * Fix bug in control clear method (newton-physics#1602) * Enable Use of Newton IK in Lab newton-physics#662 (newton-physics#1539) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix import of non-articulated joints (newton-physics#1535) * Deduplicate _process_joint_custom_attributes frequency handling (newton-physics#1584) * Add CI check for stale API docs and fix local build warnings (newton-physics#1570) * Update Pillow 12.0.0 to 12.1.1 (newton-physics#1612) * Prepare handling of mimic constraints in Newton (newton-physics#1523) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Support floating, base_joint and parent_body arguments for importers (newton-physics#1498) * Fix contact buffer memory overestimation (newton-physics#1614) * Configure banned-module-level-imports for ruff (newton-physics#1583) * Explicit `Contacts` instantiation with `Model.contacts()` and `CollisionPipeline.contacts()` (newton-physics#1445) * Fix the quadruped benchmark regression (newton-physics#1615) * Change default ignore_inertial_definitions from True to False (newton-physics#1537) * Finalize the Recording API (newton-physics#1600) * SolverMuJoCo: Fix ccd_iterations default (newton-physics#1631) * update gitignore to ignore Claude Code sandbox files (newton-physics#1628) * Add mimic joint support to SolverMuJoCo (newton-physics#1627) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add --no-cache-clear flag to test runner (newton-physics#1629) * Update MuJoCo and MuJoCo Warp to 3.5.0 release (newton-physics#1633) * Improve inertia parsing from USD (newton-physics#1605) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * Remove standalone .typos.toml in favor of pyproject.toml config (newton-physics#1642) * Heightfield support newton-physics#1189 (newton-physics#1547) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Example_robot_policy: Replace ValueError with clean error for missing PhysX policy (newton-physics#1636) Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> * Avoid unnecessary inflation of the contact reduction voxel aabb (newton-physics#1650) * Rename num_worlds to world_count (newton-physics#1634) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Support parsing autolimits from MJCF (newton-physics#1651) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix particle-shape restitution ignoring body velocity (newton-physics#1273) (newton-physics#1580) * Add overflow warnings for narrow-phase collision buffers (newton-physics#1643) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Documentation: add units to model/state docstrings (newton-physics#1649) * fix(viewer): add missing JointType.BALL support to contact line kernel (newton-physics#1640) * Make terrain mesh visual-only in anymal C walking example (newton-physics#1660) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Fix initialization of collider state in MPM finite difference mode (newton-physics#1652) * docs: document ModelBuilder.default_shape_cfg (newton-physics#1662) * Finalize the collision API (newton-physics#1581) * Remove hardcoded subnet ID from AWS workflow (newton-physics#1664) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Attempt to fix AWS config (newton-physics#1666) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Update AWS workflows to g7e.2xlarge with multi-AZ failover (newton-physics#1669) * fix(viewer-usd): disambiguate log_points colors for N=3 warp arrays (newton-physics#1661) * Viewer gl optimizations (newton-physics#1656) Signed-off-by: Miles Macklin <mmacklin@nvidia.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: Eric Heiden <eheiden@nvidia.com> * docs: add articulation workflow guidance and regression check (newton-physics#1663) * fix(examples): propagate IK solution to model state in Franka example (newton-physics#1637) * fix(deps,docs): bump nbconvert to 7.17.0 and fix ArticulationView doctest (newton-physics#1670) * Cleanup and improve some example (newton-physics#1625) Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Handle zero-mass bodies and flip ensure_nonstatic_links default (newton-physics#1635) * Additional testing for ArticulationView (newton-physics#1527) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Update warp-lang nightly to 1.12.0.dev20260217 (newton-physics#1677) * Change default friction coefficients to match MuJoCo (newton-physics#1681) * Refactor mesh creation functions (newton-physics#1654) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Parse joint frictionloss from MJCF (newton-physics#1680) * Fix free joint body_pos and add ref/qpos0 support for MuJoCo solver (newton-physics#1645) * Fix root shapes in ArticulationView with fixed base (newton-physics#1639) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Use model collision methods and remove `create_collision_pipeline` from examples (newton-physics#1648) Co-authored-by: nvtw <110816143+nvtw@users.noreply.github.com> * Fix XPBD apply_joint_forces ignoring child joint transform (newton-physics#1582) * Adjust SDF API (newton-physics#1644) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Optimize test suite runtime (~18% faster) (newton-physics#1689) * Remove ensure_nonstatic_links option from importers (newton-physics#1682) Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> * SolverMuJoCo: Add geom_margin support, align thickness default with MuJoCo and schemas (newton-physics#1653) * refactor: privatize non-public solver internals (newton-physics#1683) * Fix option parsing with multiple <option> elements from includes (newton-physics#1692) * Bump warp-lang nightly and newton-usd-schemas (newton-physics#1693) * Get rid of tkinter dependency (newton-physics#1676) * Fix SDF example contact buffer overflow (newton-physics#1695) * Fix implicit biastype for position/velocity actuator shortcuts (newton-physics#1678) * Fix include processor to respect meshdir/texturedir (newton-physics#1685) * Reduce cold-cache Warp compile time for geometry modules (newton-physics#1618) Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Fix xyzw-to-wxyz quaternion conversion in body inertia kernel (newton-physics#1694) * Rename key to label and add hierarchical labels (newton-physics#1592) (newton-physics#1632) * Expose geometry SDF helpers on public API (newton-physics#1684) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Improve custom frequency handling from USD, parse MuJoCo actuators and tendons (newton-physics#1510) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Collapse fixed joints with non articulated bodies (newton-physics#1608) * Fix renaming joint_key -> joint_label (newton-physics#1700) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Bump .python-version from 3.11 to 3.12 (newton-physics#1702) * Replace CITATION.md with CITATION.cff (newton-physics#1706) * Respect MJCF contype=conaffinity=0 via collision_group=0 (newton-physics#1703) * Make ViewerUSD reuse existing USD layers for the same output path (newton-physics#1704) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Remove dead up-axis conversion from MuJoCo solver (newton-physics#1707) * Skip IK cube stacking example test (newton-physics#1713) * Fix global pairs (world=-1) not exported to MuJoCo spec (newton-physics#1705) * Reduce the memory consumption of hydroelastic contacts (newton-physics#1609) * Fix flakiness cube stacking (newton-physics#1714) * Fix collision shapes not toggleable in viewer UI (newton-physics#1715) * Fix softbody examples table layout in README (newton-physics#1716) * Standardize sensor APIs: label matching, keyword args, and update() method naming (newton-physics#1665) * Fix intermittent crash in parallel test runner from Manager proxy race (newton-physics#1721) * Clean up inertia.py function arguments to match Mesh.create_* API (newton-physics#1719) * Reduce default test runner verbosity (newton-physics#1723) * Add menagerie comparison tests for SolverMuJoCo (newton-physics#1720) Signed-off-by: Alain Denzler <adenzler@nvidia.com> Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> * Add spatial tendon support for MuJoCo solver (newton-physics#1687) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Expose qfrc_actuator from mujoco (newton-physics#1698) * Skip non-MODEL custom attributes in finalize validation (newton-physics#1734) * Resolve inheritrange for position actuators in MJCF parser (newton-physics#1727) * Support dampratio for position/velocity actuator shortcuts (newton-physics#1722) * Limit concurrency to 1 (newton-physics#1736) * Add a helper method for checking applied usd (newton-physics#1731) * Enhance playback URL handling in ViewerViser (newton-physics#1742) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Removed RenderShapeType (newton-physics#1748) * Override only MassAPI attributes that have been authored (newton-physics#1688) * Integration of newton-actuators (newton-physics#1342) Signed-off-by: jvonmuralt <jvonmuralt@nvidia.com> * Fix ArticulationView crash with fixed-joint-only articulations (newton-physics#1726) * Improve retrieval of Jupyter base URL in ViewerViser (newton-physics#1750) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Disable dynamics testing for UR5e and Apollo tests to avoid CI flakiness (newton-physics#1755) * Margin and Gap rename (newton-physics#1732) * Vbd Demos Fixing (newton-physics#1740) * Fix ViewerViser.log_lines method (newton-physics#1764) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Update warp-lang dependency to 1.12.0rc1 (newton-physics#1763) * Fix fromto capsule/cylinder orientation in MJCF parser (newton-physics#1741) * fix: multi-world particle BVH indexing (newton-physics#1641) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Clean up unused and internal-only kwargs in SolverMuJoCo (newton-physics#1766) * Parsing of the mimic joint and contact gap/margin from newton schemas (newton-physics#1690) Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> * API Refactor v2 (newton-physics#1749) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Support explicit geom mass attributes in MJCF (newton-physics#1744) * Bump flask and werkzeug in lockfile for security (newton-physics#1769) Co-authored-by: Cursor <cursoragent@cursor.com> * Split MJCF worldbody root bodies into separate articulations (newton-physics#1754) * Expose VBD rigid contact forces for solver coupling (newton-physics#1745) Signed-off-by: JC <jumyungc@nvidia.com> * Add MJCF ellipsoid geom import and regression test (newton-physics#1772) Co-authored-by: Cursor <cursoragent@cursor.com> * Weld equality constraints parsed from mjcf are given Nan as the default value of torquescale. The correct default should be 1.0 (newton-physics#1760) * Improve picking accuracy and stability (newton-physics#1712) * Franka cloth demo improvement (newton-physics#1765) * Support computing sensing object transforms & API cleanup (newton-physics#1759) * Remove threading workaround (newton-physics#1751) * [Warp Raytrace] Consolidated ray intersect functions, renamed Options to Config (newton-physics#1767) * Improve README example gallery for PyPI compatibility (newton-physics#1776) * Fix issue with mesh in rerun viewer (newton-physics#1768) * Add PhysxMimicJointAPI parsing to USD importer (newton-physics#1735) * Move some math functions to Warp (newton-physics#1717) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Add test to ensure MJCF xform argument is relative (newton-physics#1777) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Emit diaginertia instead of fullinertia for diagonal body inertia (newton-physics#1780) * Change default joint armature from 0.01 to 0 (newton-physics#1782) * Fix default kp/kv for position and velocity actuators (newton-physics#1786) * Lock body inertia after explicit MJCF <inertial> element (newton-physics#1784) * Fix for MJCF actuator custom attributes (newton-physics#1783) * Bump version to 0.2.3 Prepare the package metadata for the v0.2.3 release tag. * Fix ViewerRerun rendering of instances from hidden meshes (newton-physics#1788) * API cleanup (newton-physics#1789) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * BODY actuator target name bypasses body name de-duplication in SolverMuJoCo (newton-physics#1729) * Use default density for visual geoms in MJCF import (newton-physics#1781) * Fix GL viewer crash on Wayland (newton-physics#1793) * Make USD xform parameter control absolute articulation placement (newton-physics#1771) * Fix CUDA context corruption in SDF implementation (newton-physics#1792) * Bump mujoco-warp dependency to 3.5.0.2 (newton-physics#1779) * Fix MuJoCo margin/gap conversion (newton-physics#1785) * Bump version to 1.1.0.dev0 (newton-physics#1798) * Missing unittest.main added back to test_import_mjcf.py. Helps with F5 debugging in VS Code. (newton-physics#1796) * Improve H1 example (newton-physics#1801) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Fix ViewerViser.set_camera() (newton-physics#1805) * Rename examples to follow prefix-first naming convention (newton-physics#1802) * Improve MuJoCo actuator domain randomization (newton-physics#1773) * Restore in_cup test in hydro example (newton-physics#1775) * Fix `newton.geometry` imports and change of Mesh maxhullverts global constant * Adapt to having both margin and gap arrays for each geom/shape * Fix for newton.geometry API changes in primitive/narrowphase.py * Fix removal of `BroadPhaseMode` IntEnum and revert to newton-sytle string literals * WIP: Adapt geometry/unified.py to fix breaking changes to `newton.geometry` API * First pass of API adjustments * Patch more gaps (with respect to margin and gap renaming) * GeoType.SDF was removed - reflect that in Kamino * Introduce CoM position offsets w.r.t body frame and operations to convert between body CoM state and generic local body-fixed reference frames. * Add caching of per-entity labels/names/keys in the Model subcontainers * Remove SDF shape wrapper since it's now internal to mesh handling in CD pipelines * Fix USD test assets * Add Newton <--> Kamino joint type conversion operations and per-space default limit constants * Add some cleanup to geometry and unified CD + UTs * Add Newton <--> Kamino shape type conversion operations * Apply new default joint coord limit constants to limits.py * Adapt foubrar model builder and USD asset to produce the same result in sim example * Purge "physical" goems and collapse all into a single group, and purge geometry "layers" * Disable allocation per-joint wrenches by default and make them optional * Make `Model` a dataclass * Separate ModelData* containers into own `core/data.py` module * Fix imports of ModelData * Rename `Model` as `ModelKamino` * Rename `ModelData` as `DataKamino` * Rename `State` as `StateKamino` * Rename `Control` as `ControlKamino` * Rename `Limits` as `LimitsKamino` * Rename `Contacts` as `ContactsKamino` * Rename `ModelBuilder` as `ModelBuilderKamino` * Make imports in test utilities relative * Revise CD meta-data attributes and their computation in GeometryModel and ModelBuilderKamino * Revise primitive CD pipeline * Revise unified CD pipeline * Revise CD front-end interfaces * Fix UTs and relevant utils for interface changes to CD * Change to `wp.DeviceLike` to account for upcoming deprecation of `Devicelike` * Depracate legacy HDF5 data io (will be replaced in the future) * Fix banned imports at module level * Modify USD importer to detect articulations and order geoms and joints similarly to how the Newton `parse_usd` function does. * Add conversion operation from `newton.Model` to `ModelKamino` * Add data, state and control container conversions * Add SolverKamino wrapper that fullfils newton integration interface * Add newton integration examples * Add SolverKamino to newton solver module imports * WIP: fix problem with lambda_j being allocated for only kinematic constraints and failing on array copying * Fix banned git import in benchmark * Rename *Settings to *Config (#213) * Rename SolverKaminoSettings -> SolverKaminoConfig * Rename DualProblemSettings -> DualProblemConfig * Rename CollisionDetectorSettings -> CollisionDetectorConfig * Rename PADMMSettings -> PADMMConfig * Rename ForwardKinematicsSolverSettings -> ForwardKinematicsSolverConfig * Rename SimulatorSettings -> SimulatorConfig * Add check for model compatibility in SolverKamino (#209) * Fix device assignment in sparse CG test on CPU (#216) * Replace Enum-type config attributes with Literal (#215) * Replace warmstart mode config param with literal * Replace contact warmstart mode config param with literal * Replace rotation correction config param with literal * Replace penalty update config param with literal * Replace FK preconditioner option config param with literal * Add post-init checks for dual/PADMM configs * Rename FKPreconditionerOptions to FKPreconditionerType * Remove WorldDescriptor from ModelKamino (#219) * Add geom index offset array to model info * Replace access to world description in model * Remove world descriptor from model * Fix computation of kinematics residual with sparse Jacobian (#220) * Migrates `ModelKaminoSize` to it's own module to avoid circular dependency between core/model.py and core/state.py and rename it as `SizeKamino`. * WIP: Fix SolverKamino wrapper * Fix circular dependency in conversions.py * Fix some broken unit tests and WIP to fix fourbar contact conversions and rendering * Make some conversions @staticmethods instead, because they dont need common class attributes * Fix declaration of custom state attributes and their conversion to/from newton and kamino * WIP: Debug model conversion and newton sim examples * Rename and cleanup start index array of per-world geoms * Model conversion and newton sim examples now work. * Make gravity conversion operation re-usable * Migrates boxes_fourbar builder using newton.ModelBuilder to it's own module to prepare for migration. * Use gravity conversion utility func in SolverKamino * Add reusable joint-parameterization conversion utility * Remove world-descriptor from model converter * Rename helper converter that handles entity-local transforms * Add some cleanup to DR Legs, ANYmal D and basic four-bar examples * Fix module-level imports of additional kamino-specific development dependencies * Fix module-level imports of additional kamino-specific development dependencies * Fix erroneous merge conflict. --------- Signed-off-by: Alain Denzler <adenzler@nvidia.com> Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> Signed-off-by: JC <jumyungc@nvidia.com> Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> Signed-off-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Miles Macklin <mmacklin@nvidia.com> Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> Signed-off-by: jvonmuralt <jvonmuralt@nvidia.com> Co-authored-by: Daniela Hase <116915287+daniela-hase@users.noreply.github.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> Co-authored-by: Eric Shi <97630937+shi-eric@users.noreply.github.com> Co-authored-by: Anka Chen <AnkaChan@users.noreply.github.com> Co-authored-by: Claude Sonnet 4.5 <noreply@anthropic.com> Co-authored-by: JC-nvidia <116605903+jumyungc@users.noreply.github.com> Co-authored-by: Kenny Vilella <kvilella@nvidia.com> Co-authored-by: nvtw <110816143+nvtw@users.noreply.github.com> Co-authored-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> Co-authored-by: Lennart Röstel <65088822+lenroe@users.noreply.github.com> Co-authored-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: jvonmuralt <jvonmuralt@nvidia.com> Co-authored-by: camevor <camevor@nvidia.com> Co-authored-by: mzamoramora-nvidia <mzamoramora@nvidia.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Alessandro Roncone <alecive87@gmail.com> Co-authored-by: gdaviet <57617656+gdaviet@users.noreply.github.com> Co-authored-by: Miles Macklin <mmacklin@nvidia.com> Co-authored-by: Gordon Yeoman <gyeomannvidia@users.noreply.github.com> Co-authored-by: Lukasz Wawrzyniak <lwawrzyniak@nvidia.com> Co-authored-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Lorenzo Terenzi <lorenzoterenzi96@gmail.com> Co-authored-by: smollerNV <164020096+smollerNV@users.noreply.github.com> Co-authored-by: twidmer <twidmer@nvidia.com> Co-authored-by: Christian Schumacher <christian.schumacher@disney.com> Co-authored-by: Guirec-Maloisel <25688871+Guirec-Maloisel@users.noreply.github.com>

) # Description Introduced CoM randomization in events.py for manager based envs. Individual range can be selected for individual axis and bodies. Thanks to newton-physics#641 and newton-physics#693 for motivation of the code. ## Type of change - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there

mzamoramora-nvidia added 2 commits February 20, 2026 14:27

Add gravity compensantion and tighten tolerances to advance state mac…

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Relax test for cube stacking

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

Fix flakiness cube stacking (newton-physics#1714)

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