Clean up inertia.py function arguments to match Mesh.create_* API#1719
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eric-heiden merged 7 commits intoFeb 23, 2026
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Rename short parameter names (r, h, w, d, a, b, c) to full names (radius, half_height, hx, hy, hz, rx, ry, rz) in: - compute_sphere_inertia: r -> radius - compute_capsule_inertia: r -> radius, h (full height) -> half_height - compute_cylinder_inertia: r -> radius, h (full height) -> half_height - compute_cone_inertia: r -> radius, h (full height) -> half_height - compute_ellipsoid_inertia: a, b, c -> rx, ry, rz - compute_box_inertia_from_mass: w, h, d (full dims) -> hx, hy, hz (half-extents) - compute_box_inertia: w, h, d (full dims) -> hx, hy, hz (half-extents) The half_height and hx/hy/hz parameters now follow the same semantics as newton.Mesh.create_capsule/cylinder/cone/box, where dimensions are expressed as half-extents. Update compute_shape_inertia to pass scale values (already stored as half-extents/half-heights) directly. Update test_inertia.py to use the new signatures. Fixes newton-physics#925
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📝 WalkthroughWalkthroughRenamed inertia helper parameters to explicit dimensions (radius, half_height, hx/hy/hz, rx/ry/rz), updated volume/mass/COM/inertia formulas and hollow-shape thickness logic to use half-extents semantics; tests updated and a hollow-cone test added. Changes
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🧹 Nitpick comments (1)
newton/_src/geometry/inertia.py (1)
497-506: Hollow box subtractsthickness/2per half-extent while other shapes subtractthickness— pre-existing inconsistency preserved.For the sphere, capsule, cylinder, cone, and ellipsoid, the hollow variant subtracts
thicknessdirectly from the dimension (e.g.,scale[0] - thickness). For the box, it subtractsthickness / 2from each half-extent. This meansthicknessrepresents the full radial/wall thickness for non-box shapes, but the total bilateral wall thickness for boxes (i.e.,thickness/2per side).This is pre-existing behavior (the old code subtracted
thicknessfrom the full width, which is equivalent), so it's not introduced by this PR. Worth noting for future API consistency, though — consider aligning the thickness convention across all shapes in a follow-up.🤖 Prompt for AI Agents
Verify each finding against the current code and only fix it if needed. In `@newton/_src/geometry/inertia.py` around lines 497 - 506, Box hollow case currently subtracts thickness/2 from each half-extent, making the API inconsistent with other shapes; update the hollow branch in the GeoType.BOX handling so compute_box_inertia is called with scale[0] - thickness, scale[1] - thickness, scale[2] - thickness (matching the convention used for sphere/capsule/cylinder/cone/ellipsoid), keep the existing assert that thickness is a float, and add a validation to ensure resulting inner half-extents remain positive before calling compute_box_inertia.
🤖 Prompt for all review comments with AI agents
Verify each finding against the current code and only fix it if needed.
Nitpick comments:
In `@newton/_src/geometry/inertia.py`:
- Around line 497-506: Box hollow case currently subtracts thickness/2 from each
half-extent, making the API inconsistent with other shapes; update the hollow
branch in the GeoType.BOX handling so compute_box_inertia is called with
scale[0] - thickness, scale[1] - thickness, scale[2] - thickness (matching the
convention used for sphere/capsule/cylinder/cone/ellipsoid), keep the existing
assert that thickness is a float, and add a validation to ensure resulting inner
half-extents remain positive before calling compute_box_inertia.
The hollow box computation was subtracting thickness/2 from each half-extent, while all other hollow shapes (sphere, capsule, cylinder, cone, ellipsoid) subtract thickness directly from their dimension. Align the box convention: subtract thickness from each half-extent, making the shell thickness uniform at 'thickness' units per face, consistent with the sphere/capsule/cylinder/cone/ellipsoid convention.
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Actionable comments posted: 1
🧹 Nitpick comments (1)
newton/_src/geometry/inertia.py (1)
50-50: Ruff E741 — ambiguous variable nameI(inertia_matrixsuggested).PEP 8 says "Never use the characters … 'I' (uppercase letter eye) as single character variable names." Ruff flags this as E741 on every line where
Iis assigned (lines 50, 83, 109, 140, 172, 194, 215). Because the PR description only mentionsruff formatpassing (notruff lint), these violations may surface in CI.Either rename the local to
inertia_matrix(orinertia) throughout all seven helpers, or suppress inline if the project intentionally allows the physics convention:♻️ Rename suggestion (representative diff — apply to all seven helpers)
- I = wp.mat33([[Ia, 0.0, 0.0], [0.0, Ia, 0.0], [0.0, 0.0, Ia]]) + inertia = wp.mat33([[Ia, 0.0, 0.0], [0.0, Ia, 0.0], [0.0, 0.0, Ia]]) - return (m, wp.vec3(), I) + return (m, wp.vec3(), inertia)Or suppress selectively if project policy permits:
- I = wp.mat33([[Ia, 0.0, 0.0], [0.0, Ia, 0.0], [0.0, 0.0, Ia]]) + I = wp.mat33([[Ia, 0.0, 0.0], [0.0, Ia, 0.0], [0.0, 0.0, Ia]]) # noqa: E741🤖 Prompt for AI Agents
Verify each finding against the current code and only fix it if needed. In `@newton/_src/geometry/inertia.py` at line 50, The single-letter variable I used for the inertia matrix is flagged by Ruff E741; rename I to a descriptive name (e.g., inertia_matrix or inertia) everywhere it is assigned and referenced across all seven helper functions in this file (replace assignments like I = wp.mat33(...) and all subsequent uses of I inside those helpers), or if project policy allows, add a selective inline suppression comment for Ruff on each assignment; ensure the change is applied consistently in every helper to avoid NameError and linter failures.
🤖 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/geometry/inertia.py`:
- Around line 531-532: The current subtraction for GeoType.CONE is wrong because
compute_cone_inertia returns non-zero COMs (outer and inner cones have different
z COMs), so you must compute the hollow body's mass and COM and shift both
inertia tensors to that common COM before subtracting: calculate m_hollow =
solid[0] - hollow[0], compute com_hollow = (solid[0]*solid[1] -
hollow[0]*hollow[1]) / m_hollow (using the solid and inner hollow tuples
returned by compute_cone_inertia), apply the parallel-axis theorem to shift
solid[2] and hollow[2] to com_hollow, subtract the shifted inertia tensors to
get the hollow inertia, and return (m_hollow, com_hollow, inertia_hollow)
instead of the current raw subtraction; update the GeoType.CONE branch where
variables solid, hollow, scale, and thickness are used.
---
Nitpick comments:
In `@newton/_src/geometry/inertia.py`:
- Line 50: The single-letter variable I used for the inertia matrix is flagged
by Ruff E741; rename I to a descriptive name (e.g., inertia_matrix or inertia)
everywhere it is assigned and referenced across all seven helper functions in
this file (replace assignments like I = wp.mat33(...) and all subsequent uses of
I inside those helpers), or if project policy allows, add a selective inline
suppression comment for Ruff on each assignment; ensure the change is applied
consistently in every helper to avoid NameError and linter failures.
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Addressing CodeRabbit's review comments:
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The outer and inner cones in the hollow computation have different (non-zero) centers of mass, so directly subtracting their inertia tensors gives a physically incorrect result. Compute the shell's true COM as the mass-weighted difference of the outer and inner COMs, then shift both inertia tensors to that common point using the parallel-axis theorem before subtracting. Add test_hollow_cone_inertia to verify the result against mesh-based computation.
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Pull request overview
This PR refactors the inertia computation API in newton/_src/geometry/inertia.py to align parameter naming conventions with the Mesh.create_* methods, addressing issue #925. The changes improve API consistency by replacing abbreviated parameter names with descriptive ones and standardizing on half-extent semantics.
Changes:
- Parameter names in all
compute_*_inertiafunctions renamed from abbreviated forms (r,h,a/b/c,w/h/d) to descriptive forms (radius,half_height,rx/ry/rz,hx/hy/hz) - Internal
compute_shape_inertiadispatcher updated to pass scale values directly without doubling conversions - Hollow cone inertia computation enhanced with proper parallel-axis theorem handling for non-zero COM shapes
Reviewed changes
Copilot reviewed 2 out of 2 changed files in this pull request and generated no comments.
| File | Description |
|---|---|
newton/_src/geometry/inertia.py |
Renamed all function parameters to match Mesh.create_* conventions, updated volume/inertia formulas to use half-extents, and improved hollow cone handling with parallel-axis shifts |
newton/tests/test_inertia.py |
Updated test call sites to use new parameter names and added comprehensive hollow cone inertia test with mesh subtraction validation |
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🧹 Nitpick comments (1)
newton/tests/test_inertia.py (1)
349-359:create_cone_meshis duplicated across two test methods.Both
test_cone_mesh_inertia(line 273) andtest_hollow_cone_inertia(line 349) define identical localcreate_cone_meshhelpers. Extract it to aTestInertiaclass method or a module-level helper to avoid drift.♻️ Proposed refactor
class TestInertia(unittest.TestCase): + `@staticmethod` + def _create_cone_mesh(radius, half_height, num_segments=500): + vertices = [[0, 0, half_height], [0, 0, -half_height]] + for i in range(num_segments): + angle = 2 * np.pi * i / num_segments + vertices.append([radius * np.cos(angle), radius * np.sin(angle), -half_height]) + indices = [] + for i in range(num_segments): + ni = (i + 1) % num_segments + indices.append([0, i + 2, ni + 2]) + indices.append([1, ni + 2, i + 2]) + return np.array(vertices, dtype=np.float32), np.array(indices, dtype=np.int32)Then replace the two local definitions with
self._create_cone_mesh(...).🤖 Prompt for AI Agents
Verify each finding against the current code and only fix it if needed. In `@newton/tests/test_inertia.py` around lines 349 - 359, The local helper create_cone_mesh duplicated in test_cone_mesh_inertia and test_hollow_cone_inertia should be extracted to a single reusable helper (either a TestInertia class method or a module-level function); move the body of create_cone_mesh into a new method named _create_cone_mesh on TestInertia (or a top-level create_cone_mesh helper) and update both test_cone_mesh_inertia and test_hollow_cone_inertia to call self._create_cone_mesh(...) (or the module helper) and keep the returned numpy dtypes (np.float32, np.int32) unchanged.
🤖 Prompt for all review comments with AI agents
Verify each finding against the current code and only fix it if needed.
Nitpick comments:
In `@newton/tests/test_inertia.py`:
- Around line 349-359: The local helper create_cone_mesh duplicated in
test_cone_mesh_inertia and test_hollow_cone_inertia should be extracted to a
single reusable helper (either a TestInertia class method or a module-level
function); move the body of create_cone_mesh into a new method named
_create_cone_mesh on TestInertia (or a top-level create_cone_mesh helper) and
update both test_cone_mesh_inertia and test_hollow_cone_inertia to call
self._create_cone_mesh(...) (or the module helper) and keep the returned numpy
dtypes (np.float32, np.int32) unchanged.
The create_cone_mesh helper was duplicated in test_cone_mesh_inertia and test_hollow_cone_inertia. Extract it as a TestInertia._create_cone_mesh static method to avoid drift.
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🧹 Nitpick comments (2)
newton/tests/test_inertia.py (2)
343-344: Add explicitis_solid=Truefor consistency.Every other
compute_mesh_inertiacall in this file passesis_solid=Trueexplicitly. Omitting it here relies on an implicit default that isn't documented at the call site.🔧 Suggested fix
- m_out, com_out, I_out, _ = compute_mesh_inertia(density, v_out, i_out) - m_in, com_in, I_in, _ = compute_mesh_inertia(density, v_in, i_in) + m_out, com_out, I_out, _ = compute_mesh_inertia(density, v_out, i_out, is_solid=True) + m_in, com_in, I_in, _ = compute_mesh_inertia(density, v_in, i_in, is_solid=True)🤖 Prompt for AI Agents
Verify each finding against the current code and only fix it if needed. In `@newton/tests/test_inertia.py` around lines 343 - 344, The two calls to compute_mesh_inertia that assign m_out, com_out, I_out and m_in, com_in, I_in should explicitly pass is_solid=True for consistency with other calls in this test file; update the calls using the existing function name compute_mesh_inertia (for the v_out, i_out and v_in, i_in invocations) to include the is_solid=True keyword argument so the behavior is explicit at the call site.
348-357: Parallel-axis shift is mathematically correct; tolerance anchored toI_ref[0, 0]may be loose for the axial component.The
_shifthelper correctly implementsI_new = I_cm + m·(|d|²E − d⊗d)and its application to produce a COM-referenced reference tensor is sound.One subtlety: the absolute tolerance
tol * abs(I_ref[0, 0])is applied uniformly to all 9 components. For a slender cone (outer_half_height=2.0 > outer_radius=1.0),I_ref[2, 2](axial) is appreciably smaller thanI_ref[0, 0](transverse), so the effective relative tolerance on the axial component can be several times looser than 1%. Consider asserting the diagonal components individually with element-specific scales, or adding a separate check forI_ref[2, 2].🤖 Prompt for AI Agents
Verify each finding against the current code and only fix it if needed. In `@newton/tests/test_inertia.py` around lines 348 - 357, The test uses a uniform absolute tolerance tol * abs(I_ref[0, 0]) for all inertia components which over-relaxes the axial component; update the assertion on I_an vs I_ref to use element-wise relative tolerances (e.g. compute per-element deltas like delta_ij = tol * max(abs(I_ref[i,j]), small_eps) or at least per-diagonal deltas so I_ref[2,2] uses tol * abs(I_ref[2,2])), then call assert_np_equal on the full matrix with a matching per-element tolerance or assert the diagonal entries individually (refer to the helper _shift, the computed I_ref, and the test variables I_an and I_ref when making this change).
🤖 Prompt for all review comments with AI agents
Verify each finding against the current code and only fix it if needed.
Nitpick comments:
In `@newton/tests/test_inertia.py`:
- Around line 343-344: The two calls to compute_mesh_inertia that assign m_out,
com_out, I_out and m_in, com_in, I_in should explicitly pass is_solid=True for
consistency with other calls in this test file; update the calls using the
existing function name compute_mesh_inertia (for the v_out, i_out and v_in, i_in
invocations) to include the is_solid=True keyword argument so the behavior is
explicit at the call site.
- Around line 348-357: The test uses a uniform absolute tolerance tol *
abs(I_ref[0, 0]) for all inertia components which over-relaxes the axial
component; update the assertion on I_an vs I_ref to use element-wise relative
tolerances (e.g. compute per-element deltas like delta_ij = tol *
max(abs(I_ref[i,j]), small_eps) or at least per-diagonal deltas so I_ref[2,2]
uses tol * abs(I_ref[2,2])), then call assert_np_equal on the full matrix with a
matching per-element tolerance or assert the diagonal entries individually
(refer to the helper _shift, the computed I_ref, and the test variables I_an and
I_ref when making this change).
- Pass is_solid=True explicitly to compute_mesh_inertia calls for clarity - Assert each diagonal inertia component with its own element-specific scale (tol * |I_ref[i,i]|) so the axial component is checked with the same relative precision as the transverse components
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🧹 Nitpick comments (1)
newton/tests/test_inertia.py (1)
319-360: New regression test: confirm it fails without the fix.As per coding guidelines for
newton/tests/**/*.py, new tests should be verified to fail before the fix is applied and pass after. Fortest_hollow_cone_inertia, please confirm you temporarily reverted the hollow-conecompute_shape_inertiachanges (e.g., the old doubling ofthicknessor the old pre-shift-subtraction behavior) and observed the test fail. Based on coding guidelines: "Always verify regression tests fail without the fix."🤖 Prompt for AI Agents
Verify each finding against the current code and only fix it if needed. In `@newton/tests/test_inertia.py` around lines 319 - 360, Re-run the new regression test test_hollow_cone_inertia against the pre-fix behavior by temporarily reverting the hollow-cone change in compute_shape_inertia (e.g., restore the old thickness handling / pre-shift-subtraction logic) and confirm the test fails; document the steps and the failing assertion in the PR (or commit message) so reviewers can verify the test indeed failed before the fix and passes after—reference the compute_shape_inertia function and the test_hollow_cone_inertia test when making this temporary revert and when recording the observed failure.
🤖 Prompt for all review comments with AI agents
Verify each finding against the current code and only fix it if needed.
Nitpick comments:
In `@newton/tests/test_inertia.py`:
- Around line 319-360: Re-run the new regression test test_hollow_cone_inertia
against the pre-fix behavior by temporarily reverting the hollow-cone change in
compute_shape_inertia (e.g., restore the old thickness handling /
pre-shift-subtraction logic) and confirm the test fails; document the steps and
the failing assertion in the PR (or commit message) so reviewers can verify the
test indeed failed before the fix and passes after—reference the
compute_shape_inertia function and the test_hollow_cone_inertia test when making
this temporary revert and when recording the observed failure.
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Regression test verification (per CodeRabbit's nitpick and Newton testing guidelines):
With the old buggy code (
With the fixed code (parallel-axis shift to shell COM before subtraction): all assertions pass. |
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PR Review Summary
The math is correct throughout -- the 1/12 * m * w² → 1/3 * m * hx² substitution for box inertia is algebraically equivalent, and the capsule/cylinder/cone functions correctly reconstruct h = 2.0 * half_height internally. The hollow cone parallel-axis theorem fix is a genuine improvement. All callers (builder.py:4719, import_usd.py:1684/1769/2170) route through compute_shape_inertia whose external interface is unchanged, so there is no public API break.
Overall this is a clean, well-tested refactor. I have one critical issue (division by zero risk in new code), one important note about a subtle behavioral change worth calling out, and a few suggestions.
Critical (1)
- Division by zero in hollow cone COM computation when
thickness >= radiusorthickness >= half_height
Important (1)
- Hollow box thickness semantics changed silently (arguably a bug fix, but worth documenting)
Suggestions (3)
- Inconsistent return description wording across docstrings
- Capsule
half_heightdocstring could be clearer about excluding hemispherical caps - Missing
compute_shape_inertiaintegration tests for non-cone shapes
| # inertia tensors to the shell COM before subtracting (parallel-axis theorem). | ||
| com_s = np.array(solid[1]) | ||
| com_i = np.array(hollow[1]) | ||
| com_shell = (solid[0] * com_s - hollow[0] * com_i) / m_shell |
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Critical: Division by zero risk
If thickness >= scale[0] (radius) or thickness >= scale[1] (half_height), the inner cone degenerates and m_shell becomes zero or negative, causing this division to produce inf/nan (or crash with ZeroDivisionError if exactly zero). Those values would then silently propagate through wp.vec3(*com_shell) and wp.mat33(*I_shell.flatten()) into the simulation.
Consider adding a guard before the division:
m_shell = solid[0] - hollow[0]
if m_shell <= 0.0:
raise ValueError(
f"Hollow cone shell has non-positive mass ({m_shell:.6g}). "
f"The thickness ({thickness}) must be smaller than both the "
f"radius ({scale[0]}) and half_height ({scale[1]})."
)Note: the same class of issue (negative inner dimensions producing physically nonsensical results) affects all other hollow branches too, but those are pre-existing. The cone branch is the only one where the division makes the failure mode acute.
| else: | ||
| assert isinstance(thickness, float), "thickness must be a float for a hollow box geom" | ||
| hollow = compute_box_inertia(density, w - thickness, h - thickness, d - thickness) | ||
| hollow = compute_box_inertia(density, scale[0] - thickness, scale[1] - thickness, scale[2] - thickness) |
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Important: Hollow box thickness semantics changed
The old code subtracted thickness from full dimensions (w - thickness), making the effective wall thickness thickness/2 per side. The new code subtracts from half-extents (scale[0] - thickness), making wall thickness thickness per side.
This is arguably a bug fix -- it makes box consistent with capsule/cylinder/cone, which always had wall thickness = thickness. But it's a behavioral change for any existing model using hollow boxes. Worth calling out in the PR description so reviewers/users are aware.
| Returns: | ||
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| A tuple of (mass, inertia) with inertia specified around the origin | ||
| A tuple of (mass, com, inertia) with inertia specified around the center of mass |
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Suggestion: Inconsistent return description wording across functions
Sphere, capsule, cylinder, and box use the abbreviated form:
A tuple of (mass, com, inertia) with inertia specified around the center of mass
(lines 42, 65, 99, 209)
But cone and ellipsoid use the spelled-out form:
A tuple of (mass, center of mass, inertia) with inertia specified around the center of mass
(lines 123, 157)
Pick one style for consistency. The spelled-out (mass, center of mass, inertia) is more self-explanatory, and it's what cone/ellipsoid already use.
Also: great fix correcting the old (mass, inertia) descriptions -- the functions always returned 3-tuples, so this was a genuine documentation bug.
| h: The capsule height (full height of the interior cylinder) | ||
| density: The capsule density [kg/m³] | ||
| radius: The capsule radius [m] | ||
| half_height: The half-height of the interior cylindrical section [m] |
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Suggestion: The builder docstring for add_shape_capsule says "half-length of the capsule's central cylindrical segment (excluding the hemispherical ends)" which is more explicit. Consider adding the parenthetical here too:
half_height: Half-length of the cylindrical section (excluding hemispherical caps) [m]A user unfamiliar with the capsule convention might assume half_height refers to half of the total capsule extent.
| @@ -336,6 +316,49 @@ def create_cone_mesh(radius=1.0, half_height=1.0, num_segments=32): | |||
| vol_cone = np.pi * radius**2 * (2 * half_height) / 3 | |||
| self.assertAlmostEqual(vol_mesh, vol_cone, delta=vol_cone * 0.001) | |||
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Suggestion: Missing compute_shape_inertia integration tests for non-cone shapes
The compute_shape_inertia dispatcher is the main integration point where the * 2.0 doubling was removed. Only the CONE path is tested directly here. The existing test_capsule_cylinder_cone_axis_inertia test goes through the builder but only checks axis symmetry (I_xx == I_yy), not absolute inertia values -- so a factor-of-2 error in any non-cone branch would still pass.
Consider adding at least one direct compute_shape_inertia test for BOX (the simplest to verify analytically):
# Unit cube: half-extents = 0.5, density = 1000 -> mass = 1000
m, com, I = compute_shape_inertia(GeoType.BOX, wp.vec3(0.5, 0.5, 0.5), None, 1000.0)
self.assertAlmostEqual(m, 1000.0, delta=1e-6)
expected_I = 1.0 / 3.0 * 1000.0 * (0.25 + 0.25) # = 166.667
self.assertAlmostEqual(I[0, 0], expected_I, delta=1e-3)This would directly validate that the doubling removal and formula change are consistent through the dispatcher.
- Add ValueError guard in hollow cone branch when m_shell <= 0 (thickness must be < both radius and half_height) - Harmonize docstring return descriptions: use "center of mass" consistently across all inertia functions - Clarify capsule half_height docstring to state it excludes hemispherical caps, matching the builder's wording - Add compute_shape_inertia integration tests for BOX, SPHERE, CAPSULE, CYLINDER, and CONE to validate scale conventions are correctly threaded through the dispatcher
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Thanks for the detailed review @adenzler-nvidia! Addressed all points in commit 9e0073f: Critical — hollow cone division by zero: if m_shell <= 0.0:
raise ValueError(
f"Hollow cone shell has non-positive mass ({m_shell:.6g}). "
f"The thickness ({thickness}) must be smaller than both the "
f"radius ({scale[0]}) and half_height ({scale[1]})."
)This fails loudly instead of propagating Important — hollow box thickness semantics: Suggestion — docstring consistency: Suggestion — capsule half_height clarification: Suggestion — compute_shape_inertia integration tests: |
Apply prefix-first naming convention (AGENTS.md) to all inertia helper functions so the shape type is a suffix rather than an interleaved word: compute_sphere_inertia → compute_inertia_sphere compute_capsule_inertia → compute_inertia_capsule compute_cylinder_inertia → compute_inertia_cylinder compute_cone_inertia → compute_inertia_cone compute_ellipsoid_inertia→ compute_inertia_ellipsoid compute_box_inertia → compute_inertia_box compute_box_inertia_from_mass → compute_inertia_box_from_mass compute_mesh_inertia → compute_inertia_mesh compute_shape_inertia → compute_inertia_shape transform_inertia is unchanged (different verb, not a shape inertia computation). All call sites updated: inertia.py, builder.py, import_usd.py, geometry/utils.py, geometry/types.py. Public API re-exports in newton/geometry.py and newton/_src/geometry/__init__.py updated. Docs (newton_geometry.rst) updated. Tests updated and passing (19/19).
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Commit f31f581 applies prefix-first naming (per AGENTS.md) to all inertia helper functions:
All call sites updated across |
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Mar 3, 2026
* [Warp Raytrace] Added device parameter (newton-physics#1544) * [Warp Raytrace] Added device parameter to previously overlooked call (newton-physics#1545) * SolverMuJoCo: Fix tolerance clamping in update_solver_options_kernel (newton-physics#1546) * Change default shape_ke to align with MuJoCo, parse geom solref from MJCF for contact stiffness/damping (newton-physics#1491) Signed-off-by: Alain Denzler <adenzler@nvidia.com> * Fix log_shapes broadcasting for length-1 warp arrays (newton-physics#1550) * Fix XPBD restitution particle index (newton-physics#1557) * Out-of-Bound memory read in example_diffsim_bear newton-physics#1386 (newton-physics#1533) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add versioned documentation deployment to GitHub Pages (newton-physics#1560) * Fix broken documentation links after versioned docs deployment (newton-physics#1566) * VBD New Features (newton-physics#1479) Co-authored-by: Claude Sonnet 4.5 <noreply@anthropic.com> * Add banners to membership verification workflow steps (newton-physics#1569) * Support cable junctions (newton-physics#1519) Signed-off-by: JC <jumyungc@nvidia.com> * Rename parameter I to inertia newton-physics#1543 (newton-physics#1551) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix example_robot_anymal_c_walk.py (newton-physics#1574) * Change everywhere linesearch to iterative (newton-physics#1573) * Remove standard collision pipeline (newton-physics#1538) * USD Plumbing MJC solver attributes through resolver and custom attribute framework (newton-physics#1463) Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> Signed-off-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Fix child shape filtering (newton-physics#1559) * Fix ViewerRerun ignoring hidden parameter in log_mesh and log_instances (newton-physics#1555) * Make NxN and SAP broad phase respect filtered pairs (newton-physics#1554) * Add --quiet flag to examples to suppress Warp messages (newton-physics#1585) * Defer resolution of MESH_MAXHULLVERT default in importers (newton-physics#1587) * Fix TypeError when finalizing SDF geometry with device kwarg (newton-physics#1586) * Make MESH_MAXHULLVERT a static class attribute Mesh.MAX_HULL_VERTICES. (newton-physics#1598) * Significant non-determinism in unified collision pipeline for anymal_c_walking example newton-physics#1505 (newton-physics#1588) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add test for non-contiguous case (newton-physics#1549) * Fix nightly Warp CI to resolve pre-release builds (newton-physics#1606) * Verify default class and value handling (newton-physics#1556) * SolverMuJoCo: Expand geom_margin to avoid OOB read with heterogeneous worlds (newton-physics#1607) * Fix bug in control clear method (newton-physics#1602) * Enable Use of Newton IK in Lab newton-physics#662 (newton-physics#1539) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix import of non-articulated joints (newton-physics#1535) * Deduplicate _process_joint_custom_attributes frequency handling (newton-physics#1584) * Add CI check for stale API docs and fix local build warnings (newton-physics#1570) * Update Pillow 12.0.0 to 12.1.1 (newton-physics#1612) * Prepare handling of mimic constraints in Newton (newton-physics#1523) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Support floating, base_joint and parent_body arguments for importers (newton-physics#1498) * Fix contact buffer memory overestimation (newton-physics#1614) * Configure banned-module-level-imports for ruff (newton-physics#1583) * Explicit `Contacts` instantiation with `Model.contacts()` and `CollisionPipeline.contacts()` (newton-physics#1445) * Fix the quadruped benchmark regression (newton-physics#1615) * Change default ignore_inertial_definitions from True to False (newton-physics#1537) * Finalize the Recording API (newton-physics#1600) * SolverMuJoCo: Fix ccd_iterations default (newton-physics#1631) * update gitignore to ignore Claude Code sandbox files (newton-physics#1628) * Add mimic joint support to SolverMuJoCo (newton-physics#1627) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add --no-cache-clear flag to test runner (newton-physics#1629) * Update MuJoCo and MuJoCo Warp to 3.5.0 release (newton-physics#1633) * Improve inertia parsing from USD (newton-physics#1605) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * Remove standalone .typos.toml in favor of pyproject.toml config (newton-physics#1642) * Heightfield support newton-physics#1189 (newton-physics#1547) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Example_robot_policy: Replace ValueError with clean error for missing PhysX policy (newton-physics#1636) Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> * Avoid unnecessary inflation of the contact reduction voxel aabb (newton-physics#1650) * Rename num_worlds to world_count (newton-physics#1634) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Support parsing autolimits from MJCF (newton-physics#1651) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix particle-shape restitution ignoring body velocity (newton-physics#1273) (newton-physics#1580) * Add overflow warnings for narrow-phase collision buffers (newton-physics#1643) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Documentation: add units to model/state docstrings (newton-physics#1649) * fix(viewer): add missing JointType.BALL support to contact line kernel (newton-physics#1640) * Make terrain mesh visual-only in anymal C walking example (newton-physics#1660) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Fix initialization of collider state in MPM finite difference mode (newton-physics#1652) * docs: document ModelBuilder.default_shape_cfg (newton-physics#1662) * Finalize the collision API (newton-physics#1581) * Remove hardcoded subnet ID from AWS workflow (newton-physics#1664) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Attempt to fix AWS config (newton-physics#1666) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Update AWS workflows to g7e.2xlarge with multi-AZ failover (newton-physics#1669) * fix(viewer-usd): disambiguate log_points colors for N=3 warp arrays (newton-physics#1661) * Viewer gl optimizations (newton-physics#1656) Signed-off-by: Miles Macklin <mmacklin@nvidia.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: Eric Heiden <eheiden@nvidia.com> * docs: add articulation workflow guidance and regression check (newton-physics#1663) * fix(examples): propagate IK solution to model state in Franka example (newton-physics#1637) * fix(deps,docs): bump nbconvert to 7.17.0 and fix ArticulationView doctest (newton-physics#1670) * Cleanup and improve some example (newton-physics#1625) Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Handle zero-mass bodies and flip ensure_nonstatic_links default (newton-physics#1635) * Additional testing for ArticulationView (newton-physics#1527) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Update warp-lang nightly to 1.12.0.dev20260217 (newton-physics#1677) * Change default friction coefficients to match MuJoCo (newton-physics#1681) * Refactor mesh creation functions (newton-physics#1654) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Parse joint frictionloss from MJCF (newton-physics#1680) * Fix free joint body_pos and add ref/qpos0 support for MuJoCo solver (newton-physics#1645) * Fix root shapes in ArticulationView with fixed base (newton-physics#1639) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Use model collision methods and remove `create_collision_pipeline` from examples (newton-physics#1648) Co-authored-by: nvtw <110816143+nvtw@users.noreply.github.com> * Fix XPBD apply_joint_forces ignoring child joint transform (newton-physics#1582) * Adjust SDF API (newton-physics#1644) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Optimize test suite runtime (~18% faster) (newton-physics#1689) * Remove ensure_nonstatic_links option from importers (newton-physics#1682) Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> * SolverMuJoCo: Add geom_margin support, align thickness default with MuJoCo and schemas (newton-physics#1653) * refactor: privatize non-public solver internals (newton-physics#1683) * Fix option parsing with multiple <option> elements from includes (newton-physics#1692) * Bump warp-lang nightly and newton-usd-schemas (newton-physics#1693) * Get rid of tkinter dependency (newton-physics#1676) * Fix SDF example contact buffer overflow (newton-physics#1695) * Fix implicit biastype for position/velocity actuator shortcuts (newton-physics#1678) * Fix include processor to respect meshdir/texturedir (newton-physics#1685) * Reduce cold-cache Warp compile time for geometry modules (newton-physics#1618) Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Fix xyzw-to-wxyz quaternion conversion in body inertia kernel (newton-physics#1694) * Rename key to label and add hierarchical labels (newton-physics#1592) (newton-physics#1632) * Expose geometry SDF helpers on public API (newton-physics#1684) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Improve custom frequency handling from USD, parse MuJoCo actuators and tendons (newton-physics#1510) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Collapse fixed joints with non articulated bodies (newton-physics#1608) * Fix renaming joint_key -> joint_label (newton-physics#1700) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Bump .python-version from 3.11 to 3.12 (newton-physics#1702) * Replace CITATION.md with CITATION.cff (newton-physics#1706) * Respect MJCF contype=conaffinity=0 via collision_group=0 (newton-physics#1703) * Make ViewerUSD reuse existing USD layers for the same output path (newton-physics#1704) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Remove dead up-axis conversion from MuJoCo solver (newton-physics#1707) * Skip IK cube stacking example test (newton-physics#1713) * Fix global pairs (world=-1) not exported to MuJoCo spec (newton-physics#1705) * Reduce the memory consumption of hydroelastic contacts (newton-physics#1609) * Fix flakiness cube stacking (newton-physics#1714) * Fix collision shapes not toggleable in viewer UI (newton-physics#1715) * Fix softbody examples table layout in README (newton-physics#1716) * Standardize sensor APIs: label matching, keyword args, and update() method naming (newton-physics#1665) * Fix intermittent crash in parallel test runner from Manager proxy race (newton-physics#1721) * Clean up inertia.py function arguments to match Mesh.create_* API (newton-physics#1719) * Reduce default test runner verbosity (newton-physics#1723) * Add menagerie comparison tests for SolverMuJoCo (newton-physics#1720) Signed-off-by: Alain Denzler <adenzler@nvidia.com> Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> * Add spatial tendon support for MuJoCo solver (newton-physics#1687) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Expose qfrc_actuator from mujoco (newton-physics#1698) * Skip non-MODEL custom attributes in finalize validation (newton-physics#1734) * Resolve inheritrange for position actuators in MJCF parser (newton-physics#1727) * Support dampratio for position/velocity actuator shortcuts (newton-physics#1722) * Limit concurrency to 1 (newton-physics#1736) * Add a helper method for checking applied usd (newton-physics#1731) * Enhance playback URL handling in ViewerViser (newton-physics#1742) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Removed RenderShapeType (newton-physics#1748) * Override only MassAPI attributes that have been authored (newton-physics#1688) * Integration of newton-actuators (newton-physics#1342) Signed-off-by: jvonmuralt <jvonmuralt@nvidia.com> * Fix ArticulationView crash with fixed-joint-only articulations (newton-physics#1726) * Improve retrieval of Jupyter base URL in ViewerViser (newton-physics#1750) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Disable dynamics testing for UR5e and Apollo tests to avoid CI flakiness (newton-physics#1755) * Margin and Gap rename (newton-physics#1732) * Vbd Demos Fixing (newton-physics#1740) * Fix ViewerViser.log_lines method (newton-physics#1764) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Update warp-lang dependency to 1.12.0rc1 (newton-physics#1763) * Fix fromto capsule/cylinder orientation in MJCF parser (newton-physics#1741) * fix: multi-world particle BVH indexing (newton-physics#1641) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Clean up unused and internal-only kwargs in SolverMuJoCo (newton-physics#1766) * Parsing of the mimic joint and contact gap/margin from newton schemas (newton-physics#1690) Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> * API Refactor v2 (newton-physics#1749) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Support explicit geom mass attributes in MJCF (newton-physics#1744) * Bump flask and werkzeug in lockfile for security (newton-physics#1769) Co-authored-by: Cursor <cursoragent@cursor.com> * Split MJCF worldbody root bodies into separate articulations (newton-physics#1754) * Expose VBD rigid contact forces for solver coupling (newton-physics#1745) Signed-off-by: JC <jumyungc@nvidia.com> * Add MJCF ellipsoid geom import and regression test (newton-physics#1772) Co-authored-by: Cursor <cursoragent@cursor.com> * Weld equality constraints parsed from mjcf are given Nan as the default value of torquescale. The correct default should be 1.0 (newton-physics#1760) * Improve picking accuracy and stability (newton-physics#1712) * Franka cloth demo improvement (newton-physics#1765) * Support computing sensing object transforms & API cleanup (newton-physics#1759) * Remove threading workaround (newton-physics#1751) * [Warp Raytrace] Consolidated ray intersect functions, renamed Options to Config (newton-physics#1767) * Improve README example gallery for PyPI compatibility (newton-physics#1776) * Fix issue with mesh in rerun viewer (newton-physics#1768) * Add PhysxMimicJointAPI parsing to USD importer (newton-physics#1735) * Move some math functions to Warp (newton-physics#1717) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Add test to ensure MJCF xform argument is relative (newton-physics#1777) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Emit diaginertia instead of fullinertia for diagonal body inertia (newton-physics#1780) * Change default joint armature from 0.01 to 0 (newton-physics#1782) * Fix default kp/kv for position and velocity actuators (newton-physics#1786) * Lock body inertia after explicit MJCF <inertial> element (newton-physics#1784) * Fix for MJCF actuator custom attributes (newton-physics#1783) * Bump version to 0.2.3 Prepare the package metadata for the v0.2.3 release tag. * Fix ViewerRerun rendering of instances from hidden meshes (newton-physics#1788) * API cleanup (newton-physics#1789) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * BODY actuator target name bypasses body name de-duplication in SolverMuJoCo (newton-physics#1729) * Use default density for visual geoms in MJCF import (newton-physics#1781) * Fix GL viewer crash on Wayland (newton-physics#1793) * Make USD xform parameter control absolute articulation placement (newton-physics#1771) * Fix CUDA context corruption in SDF implementation (newton-physics#1792) * Bump mujoco-warp dependency to 3.5.0.2 (newton-physics#1779) * Fix MuJoCo margin/gap conversion (newton-physics#1785) * Bump version to 1.1.0.dev0 (newton-physics#1798) * Missing unittest.main added back to test_import_mjcf.py. Helps with F5 debugging in VS Code. (newton-physics#1796) * Improve H1 example (newton-physics#1801) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Fix ViewerViser.set_camera() (newton-physics#1805) * Rename examples to follow prefix-first naming convention (newton-physics#1802) * Improve MuJoCo actuator domain randomization (newton-physics#1773) * Restore in_cup test in hydro example (newton-physics#1775) * Fix `newton.geometry` imports and change of Mesh maxhullverts global constant * Adapt to having both margin and gap arrays for each geom/shape * Fix for newton.geometry API changes in primitive/narrowphase.py * Fix removal of `BroadPhaseMode` IntEnum and revert to newton-sytle string literals * WIP: Adapt geometry/unified.py to fix breaking changes to `newton.geometry` API * First pass of API adjustments * Patch more gaps (with respect to margin and gap renaming) * GeoType.SDF was removed - reflect that in Kamino * Introduce CoM position offsets w.r.t body frame and operations to convert between body CoM state and generic local body-fixed reference frames. * Add caching of per-entity labels/names/keys in the Model subcontainers * Remove SDF shape wrapper since it's now internal to mesh handling in CD pipelines * Fix USD test assets * Add Newton <--> Kamino joint type conversion operations and per-space default limit constants * Add some cleanup to geometry and unified CD + UTs * Add Newton <--> Kamino shape type conversion operations * Apply new default joint coord limit constants to limits.py * Adapt foubrar model builder and USD asset to produce the same result in sim example * Purge "physical" goems and collapse all into a single group, and purge geometry "layers" * Disable allocation per-joint wrenches by default and make them optional * Make `Model` a dataclass * Separate ModelData* containers into own `core/data.py` module * Fix imports of ModelData * Rename `Model` as `ModelKamino` * Rename `ModelData` as `DataKamino` * Rename `State` as `StateKamino` * Rename `Control` as `ControlKamino` * Rename `Limits` as `LimitsKamino` * Rename `Contacts` as `ContactsKamino` * Rename `ModelBuilder` as `ModelBuilderKamino` * Make imports in test utilities relative * Revise CD meta-data attributes and their computation in GeometryModel and ModelBuilderKamino * Revise primitive CD pipeline * Revise unified CD pipeline * Revise CD front-end interfaces * Fix UTs and relevant utils for interface changes to CD * Change to `wp.DeviceLike` to account for upcoming deprecation of `Devicelike` * Depracate legacy HDF5 data io (will be replaced in the future) * Fix banned imports at module level * Modify USD importer to detect articulations and order geoms and joints similarly to how the Newton `parse_usd` function does. * Add conversion operation from `newton.Model` to `ModelKamino` * Add data, state and control container conversions * Add SolverKamino wrapper that fullfils newton integration interface * Add newton integration examples * Add SolverKamino to newton solver module imports * WIP: fix problem with lambda_j being allocated for only kinematic constraints and failing on array copying * Fix banned git import in benchmark * Rename *Settings to *Config (#213) * Rename SolverKaminoSettings -> SolverKaminoConfig * Rename DualProblemSettings -> DualProblemConfig * Rename CollisionDetectorSettings -> CollisionDetectorConfig * Rename PADMMSettings -> PADMMConfig * Rename ForwardKinematicsSolverSettings -> ForwardKinematicsSolverConfig * Rename SimulatorSettings -> SimulatorConfig * Add check for model compatibility in SolverKamino (#209) * Fix device assignment in sparse CG test on CPU (#216) * Replace Enum-type config attributes with Literal (#215) * Replace warmstart mode config param with literal * Replace contact warmstart mode config param with literal * Replace rotation correction config param with literal * Replace penalty update config param with literal * Replace FK preconditioner option config param with literal * Add post-init checks for dual/PADMM configs * Rename FKPreconditionerOptions to FKPreconditionerType * Remove WorldDescriptor from ModelKamino (#219) * Add geom index offset array to model info * Replace access to world description in model * Remove world descriptor from model * Fix computation of kinematics residual with sparse Jacobian (#220) * Migrates `ModelKaminoSize` to it's own module to avoid circular dependency between core/model.py and core/state.py and rename it as `SizeKamino`. * WIP: Fix SolverKamino wrapper * Fix circular dependency in conversions.py * Fix some broken unit tests and WIP to fix fourbar contact conversions and rendering * Make some conversions @staticmethods instead, because they dont need common class attributes * Fix declaration of custom state attributes and their conversion to/from newton and kamino * WIP: Debug model conversion and newton sim examples * Rename and cleanup start index array of per-world geoms * Model conversion and newton sim examples now work. * Make gravity conversion operation re-usable * Migrates boxes_fourbar builder using newton.ModelBuilder to it's own module to prepare for migration. * Use gravity conversion utility func in SolverKamino * Add reusable joint-parameterization conversion utility * Remove world-descriptor from model converter * Rename helper converter that handles entity-local transforms * Add some cleanup to DR Legs, ANYmal D and basic four-bar examples * Fix module-level imports of additional kamino-specific development dependencies * Fix module-level imports of additional kamino-specific development dependencies * Fix erroneous merge conflict. --------- Signed-off-by: Alain Denzler <adenzler@nvidia.com> Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> Signed-off-by: JC <jumyungc@nvidia.com> Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> Signed-off-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Miles Macklin <mmacklin@nvidia.com> Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> Signed-off-by: jvonmuralt <jvonmuralt@nvidia.com> Co-authored-by: Daniela Hase <116915287+daniela-hase@users.noreply.github.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> Co-authored-by: Eric Shi <97630937+shi-eric@users.noreply.github.com> Co-authored-by: Anka Chen <AnkaChan@users.noreply.github.com> Co-authored-by: Claude Sonnet 4.5 <noreply@anthropic.com> Co-authored-by: JC-nvidia <116605903+jumyungc@users.noreply.github.com> Co-authored-by: Kenny Vilella <kvilella@nvidia.com> Co-authored-by: nvtw <110816143+nvtw@users.noreply.github.com> Co-authored-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> Co-authored-by: Lennart Röstel <65088822+lenroe@users.noreply.github.com> Co-authored-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: jvonmuralt <jvonmuralt@nvidia.com> Co-authored-by: camevor <camevor@nvidia.com> Co-authored-by: mzamoramora-nvidia <mzamoramora@nvidia.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Alessandro Roncone <alecive87@gmail.com> Co-authored-by: gdaviet <57617656+gdaviet@users.noreply.github.com> Co-authored-by: Miles Macklin <mmacklin@nvidia.com> Co-authored-by: Gordon Yeoman <gyeomannvidia@users.noreply.github.com> Co-authored-by: Lukasz Wawrzyniak <lwawrzyniak@nvidia.com> Co-authored-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Lorenzo Terenzi <lorenzoterenzi96@gmail.com> Co-authored-by: smollerNV <164020096+smollerNV@users.noreply.github.com> Co-authored-by: twidmer <twidmer@nvidia.com> Co-authored-by: Christian Schumacher <christian.schumacher@disney.com> Co-authored-by: Guirec-Maloisel <25688871+Guirec-Maloisel@users.noreply.github.com>
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Mar 4, 2026
* [Warp Raytrace] Added device parameter (newton-physics#1544) * [Warp Raytrace] Added device parameter to previously overlooked call (newton-physics#1545) * SolverMuJoCo: Fix tolerance clamping in update_solver_options_kernel (newton-physics#1546) * Change default shape_ke to align with MuJoCo, parse geom solref from MJCF for contact stiffness/damping (newton-physics#1491) Signed-off-by: Alain Denzler <adenzler@nvidia.com> * Fix log_shapes broadcasting for length-1 warp arrays (newton-physics#1550) * Fix XPBD restitution particle index (newton-physics#1557) * Out-of-Bound memory read in example_diffsim_bear newton-physics#1386 (newton-physics#1533) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add versioned documentation deployment to GitHub Pages (newton-physics#1560) * Fix broken documentation links after versioned docs deployment (newton-physics#1566) * VBD New Features (newton-physics#1479) Co-authored-by: Claude Sonnet 4.5 <noreply@anthropic.com> * Add banners to membership verification workflow steps (newton-physics#1569) * Support cable junctions (newton-physics#1519) Signed-off-by: JC <jumyungc@nvidia.com> * Rename parameter I to inertia newton-physics#1543 (newton-physics#1551) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix example_robot_anymal_c_walk.py (newton-physics#1574) * Change everywhere linesearch to iterative (newton-physics#1573) * Remove standard collision pipeline (newton-physics#1538) * USD Plumbing MJC solver attributes through resolver and custom attribute framework (newton-physics#1463) Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> Signed-off-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Fix child shape filtering (newton-physics#1559) * Fix ViewerRerun ignoring hidden parameter in log_mesh and log_instances (newton-physics#1555) * Make NxN and SAP broad phase respect filtered pairs (newton-physics#1554) * Add --quiet flag to examples to suppress Warp messages (newton-physics#1585) * Defer resolution of MESH_MAXHULLVERT default in importers (newton-physics#1587) * Fix TypeError when finalizing SDF geometry with device kwarg (newton-physics#1586) * Make MESH_MAXHULLVERT a static class attribute Mesh.MAX_HULL_VERTICES. (newton-physics#1598) * Significant non-determinism in unified collision pipeline for anymal_c_walking example newton-physics#1505 (newton-physics#1588) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add test for non-contiguous case (newton-physics#1549) * Fix nightly Warp CI to resolve pre-release builds (newton-physics#1606) * Verify default class and value handling (newton-physics#1556) * SolverMuJoCo: Expand geom_margin to avoid OOB read with heterogeneous worlds (newton-physics#1607) * Fix bug in control clear method (newton-physics#1602) * Enable Use of Newton IK in Lab newton-physics#662 (newton-physics#1539) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix import of non-articulated joints (newton-physics#1535) * Deduplicate _process_joint_custom_attributes frequency handling (newton-physics#1584) * Add CI check for stale API docs and fix local build warnings (newton-physics#1570) * Update Pillow 12.0.0 to 12.1.1 (newton-physics#1612) * Prepare handling of mimic constraints in Newton (newton-physics#1523) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Support floating, base_joint and parent_body arguments for importers (newton-physics#1498) * Fix contact buffer memory overestimation (newton-physics#1614) * Configure banned-module-level-imports for ruff (newton-physics#1583) * Explicit `Contacts` instantiation with `Model.contacts()` and `CollisionPipeline.contacts()` (newton-physics#1445) * Fix the quadruped benchmark regression (newton-physics#1615) * Change default ignore_inertial_definitions from True to False (newton-physics#1537) * Finalize the Recording API (newton-physics#1600) * SolverMuJoCo: Fix ccd_iterations default (newton-physics#1631) * update gitignore to ignore Claude Code sandbox files (newton-physics#1628) * Add mimic joint support to SolverMuJoCo (newton-physics#1627) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add --no-cache-clear flag to test runner (newton-physics#1629) * Update MuJoCo and MuJoCo Warp to 3.5.0 release (newton-physics#1633) * Improve inertia parsing from USD (newton-physics#1605) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * Remove standalone .typos.toml in favor of pyproject.toml config (newton-physics#1642) * Heightfield support newton-physics#1189 (newton-physics#1547) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Example_robot_policy: Replace ValueError with clean error for missing PhysX policy (newton-physics#1636) Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> * Avoid unnecessary inflation of the contact reduction voxel aabb (newton-physics#1650) * Rename num_worlds to world_count (newton-physics#1634) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Support parsing autolimits from MJCF (newton-physics#1651) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix particle-shape restitution ignoring body velocity (newton-physics#1273) (newton-physics#1580) * Add overflow warnings for narrow-phase collision buffers (newton-physics#1643) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Documentation: add units to model/state docstrings (newton-physics#1649) * fix(viewer): add missing JointType.BALL support to contact line kernel (newton-physics#1640) * Make terrain mesh visual-only in anymal C walking example (newton-physics#1660) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Fix initialization of collider state in MPM finite difference mode (newton-physics#1652) * docs: document ModelBuilder.default_shape_cfg (newton-physics#1662) * Finalize the collision API (newton-physics#1581) * Remove hardcoded subnet ID from AWS workflow (newton-physics#1664) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Attempt to fix AWS config (newton-physics#1666) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Update AWS workflows to g7e.2xlarge with multi-AZ failover (newton-physics#1669) * fix(viewer-usd): disambiguate log_points colors for N=3 warp arrays (newton-physics#1661) * Viewer gl optimizations (newton-physics#1656) Signed-off-by: Miles Macklin <mmacklin@nvidia.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: Eric Heiden <eheiden@nvidia.com> * docs: add articulation workflow guidance and regression check (newton-physics#1663) * fix(examples): propagate IK solution to model state in Franka example (newton-physics#1637) * fix(deps,docs): bump nbconvert to 7.17.0 and fix ArticulationView doctest (newton-physics#1670) * Cleanup and improve some example (newton-physics#1625) Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Handle zero-mass bodies and flip ensure_nonstatic_links default (newton-physics#1635) * Additional testing for ArticulationView (newton-physics#1527) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Update warp-lang nightly to 1.12.0.dev20260217 (newton-physics#1677) * Change default friction coefficients to match MuJoCo (newton-physics#1681) * Refactor mesh creation functions (newton-physics#1654) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Parse joint frictionloss from MJCF (newton-physics#1680) * Fix free joint body_pos and add ref/qpos0 support for MuJoCo solver (newton-physics#1645) * Fix root shapes in ArticulationView with fixed base (newton-physics#1639) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Use model collision methods and remove `create_collision_pipeline` from examples (newton-physics#1648) Co-authored-by: nvtw <110816143+nvtw@users.noreply.github.com> * Fix XPBD apply_joint_forces ignoring child joint transform (newton-physics#1582) * Adjust SDF API (newton-physics#1644) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Optimize test suite runtime (~18% faster) (newton-physics#1689) * Remove ensure_nonstatic_links option from importers (newton-physics#1682) Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> * SolverMuJoCo: Add geom_margin support, align thickness default with MuJoCo and schemas (newton-physics#1653) * refactor: privatize non-public solver internals (newton-physics#1683) * Fix option parsing with multiple <option> elements from includes (newton-physics#1692) * Bump warp-lang nightly and newton-usd-schemas (newton-physics#1693) * Get rid of tkinter dependency (newton-physics#1676) * Fix SDF example contact buffer overflow (newton-physics#1695) * Fix implicit biastype for position/velocity actuator shortcuts (newton-physics#1678) * Fix include processor to respect meshdir/texturedir (newton-physics#1685) * Reduce cold-cache Warp compile time for geometry modules (newton-physics#1618) Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Fix xyzw-to-wxyz quaternion conversion in body inertia kernel (newton-physics#1694) * Rename key to label and add hierarchical labels (newton-physics#1592) (newton-physics#1632) * Expose geometry SDF helpers on public API (newton-physics#1684) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Improve custom frequency handling from USD, parse MuJoCo actuators and tendons (newton-physics#1510) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Collapse fixed joints with non articulated bodies (newton-physics#1608) * Fix renaming joint_key -> joint_label (newton-physics#1700) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Bump .python-version from 3.11 to 3.12 (newton-physics#1702) * Replace CITATION.md with CITATION.cff (newton-physics#1706) * Respect MJCF contype=conaffinity=0 via collision_group=0 (newton-physics#1703) * Make ViewerUSD reuse existing USD layers for the same output path (newton-physics#1704) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Remove dead up-axis conversion from MuJoCo solver (newton-physics#1707) * Skip IK cube stacking example test (newton-physics#1713) * Fix global pairs (world=-1) not exported to MuJoCo spec (newton-physics#1705) * Reduce the memory consumption of hydroelastic contacts (newton-physics#1609) * Fix flakiness cube stacking (newton-physics#1714) * Fix collision shapes not toggleable in viewer UI (newton-physics#1715) * Fix softbody examples table layout in README (newton-physics#1716) * Standardize sensor APIs: label matching, keyword args, and update() method naming (newton-physics#1665) * Fix intermittent crash in parallel test runner from Manager proxy race (newton-physics#1721) * Clean up inertia.py function arguments to match Mesh.create_* API (newton-physics#1719) * Reduce default test runner verbosity (newton-physics#1723) * Add menagerie comparison tests for SolverMuJoCo (newton-physics#1720) Signed-off-by: Alain Denzler <adenzler@nvidia.com> Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> * Add spatial tendon support for MuJoCo solver (newton-physics#1687) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Expose qfrc_actuator from mujoco (newton-physics#1698) * Skip non-MODEL custom attributes in finalize validation (newton-physics#1734) * Resolve inheritrange for position actuators in MJCF parser (newton-physics#1727) * Support dampratio for position/velocity actuator shortcuts (newton-physics#1722) * Limit concurrency to 1 (newton-physics#1736) * Add a helper method for checking applied usd (newton-physics#1731) * Enhance playback URL handling in ViewerViser (newton-physics#1742) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Removed RenderShapeType (newton-physics#1748) * Override only MassAPI attributes that have been authored (newton-physics#1688) * Integration of newton-actuators (newton-physics#1342) Signed-off-by: jvonmuralt <jvonmuralt@nvidia.com> * Fix ArticulationView crash with fixed-joint-only articulations (newton-physics#1726) * Improve retrieval of Jupyter base URL in ViewerViser (newton-physics#1750) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Disable dynamics testing for UR5e and Apollo tests to avoid CI flakiness (newton-physics#1755) * Margin and Gap rename (newton-physics#1732) * Vbd Demos Fixing (newton-physics#1740) * Fix ViewerViser.log_lines method (newton-physics#1764) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Update warp-lang dependency to 1.12.0rc1 (newton-physics#1763) * Fix fromto capsule/cylinder orientation in MJCF parser (newton-physics#1741) * fix: multi-world particle BVH indexing (newton-physics#1641) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Clean up unused and internal-only kwargs in SolverMuJoCo (newton-physics#1766) * Parsing of the mimic joint and contact gap/margin from newton schemas (newton-physics#1690) Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> * API Refactor v2 (newton-physics#1749) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Support explicit geom mass attributes in MJCF (newton-physics#1744) * Bump flask and werkzeug in lockfile for security (newton-physics#1769) Co-authored-by: Cursor <cursoragent@cursor.com> * Split MJCF worldbody root bodies into separate articulations (newton-physics#1754) * Expose VBD rigid contact forces for solver coupling (newton-physics#1745) Signed-off-by: JC <jumyungc@nvidia.com> * Add MJCF ellipsoid geom import and regression test (newton-physics#1772) Co-authored-by: Cursor <cursoragent@cursor.com> * Weld equality constraints parsed from mjcf are given Nan as the default value of torquescale. The correct default should be 1.0 (newton-physics#1760) * Improve picking accuracy and stability (newton-physics#1712) * Franka cloth demo improvement (newton-physics#1765) * Support computing sensing object transforms & API cleanup (newton-physics#1759) * Remove threading workaround (newton-physics#1751) * [Warp Raytrace] Consolidated ray intersect functions, renamed Options to Config (newton-physics#1767) * Improve README example gallery for PyPI compatibility (newton-physics#1776) * Fix issue with mesh in rerun viewer (newton-physics#1768) * Add PhysxMimicJointAPI parsing to USD importer (newton-physics#1735) * Move some math functions to Warp (newton-physics#1717) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Add test to ensure MJCF xform argument is relative (newton-physics#1777) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Emit diaginertia instead of fullinertia for diagonal body inertia (newton-physics#1780) * Change default joint armature from 0.01 to 0 (newton-physics#1782) * Fix default kp/kv for position and velocity actuators (newton-physics#1786) * Lock body inertia after explicit MJCF <inertial> element (newton-physics#1784) * Fix for MJCF actuator custom attributes (newton-physics#1783) * Bump version to 0.2.3 Prepare the package metadata for the v0.2.3 release tag. * Fix ViewerRerun rendering of instances from hidden meshes (newton-physics#1788) * API cleanup (newton-physics#1789) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * BODY actuator target name bypasses body name de-duplication in SolverMuJoCo (newton-physics#1729) * Use default density for visual geoms in MJCF import (newton-physics#1781) * Fix GL viewer crash on Wayland (newton-physics#1793) * Make USD xform parameter control absolute articulation placement (newton-physics#1771) * Fix CUDA context corruption in SDF implementation (newton-physics#1792) * Bump mujoco-warp dependency to 3.5.0.2 (newton-physics#1779) * Fix MuJoCo margin/gap conversion (newton-physics#1785) * Bump version to 1.1.0.dev0 (newton-physics#1798) * Missing unittest.main added back to test_import_mjcf.py. Helps with F5 debugging in VS Code. (newton-physics#1796) * Improve H1 example (newton-physics#1801) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Fix ViewerViser.set_camera() (newton-physics#1805) * Rename examples to follow prefix-first naming convention (newton-physics#1802) * Improve MuJoCo actuator domain randomization (newton-physics#1773) * Restore in_cup test in hydro example (newton-physics#1775) * Fix `newton.geometry` imports and change of Mesh maxhullverts global constant * Adapt to having both margin and gap arrays for each geom/shape * Fix for newton.geometry API changes in primitive/narrowphase.py * Fix removal of `BroadPhaseMode` IntEnum and revert to newton-sytle string literals * WIP: Adapt geometry/unified.py to fix breaking changes to `newton.geometry` API * First pass of API adjustments * Patch more gaps (with respect to margin and gap renaming) * GeoType.SDF was removed - reflect that in Kamino * Introduce CoM position offsets w.r.t body frame and operations to convert between body CoM state and generic local body-fixed reference frames. * Add caching of per-entity labels/names/keys in the Model subcontainers * Remove SDF shape wrapper since it's now internal to mesh handling in CD pipelines * Fix USD test assets * Add Newton <--> Kamino joint type conversion operations and per-space default limit constants * Add some cleanup to geometry and unified CD + UTs * Add Newton <--> Kamino shape type conversion operations * Apply new default joint coord limit constants to limits.py * Adapt foubrar model builder and USD asset to produce the same result in sim example * Purge "physical" goems and collapse all into a single group, and purge geometry "layers" * Disable allocation per-joint wrenches by default and make them optional * Make `Model` a dataclass * Separate ModelData* containers into own `core/data.py` module * Fix imports of ModelData * Rename `Model` as `ModelKamino` * Rename `ModelData` as `DataKamino` * Rename `State` as `StateKamino` * Rename `Control` as `ControlKamino` * Rename `Limits` as `LimitsKamino` * Rename `Contacts` as `ContactsKamino` * Rename `ModelBuilder` as `ModelBuilderKamino` * Make imports in test utilities relative * Revise CD meta-data attributes and their computation in GeometryModel and ModelBuilderKamino * Revise primitive CD pipeline * Revise unified CD pipeline * Revise CD front-end interfaces * Fix UTs and relevant utils for interface changes to CD * Change to `wp.DeviceLike` to account for upcoming deprecation of `Devicelike` * Depracate legacy HDF5 data io (will be replaced in the future) * Fix banned imports at module level * Modify USD importer to detect articulations and order geoms and joints similarly to how the Newton `parse_usd` function does. * Add conversion operation from `newton.Model` to `ModelKamino` * Add data, state and control container conversions * Add SolverKamino wrapper that fullfils newton integration interface * Add newton integration examples * Add SolverKamino to newton solver module imports * WIP: fix problem with lambda_j being allocated for only kinematic constraints and failing on array copying * Fix banned git import in benchmark * Rename *Settings to *Config (#213) * Rename SolverKaminoSettings -> SolverKaminoConfig * Rename DualProblemSettings -> DualProblemConfig * Rename CollisionDetectorSettings -> CollisionDetectorConfig * Rename PADMMSettings -> PADMMConfig * Rename ForwardKinematicsSolverSettings -> ForwardKinematicsSolverConfig * Rename SimulatorSettings -> SimulatorConfig * Add check for model compatibility in SolverKamino (#209) * Fix device assignment in sparse CG test on CPU (#216) * Replace Enum-type config attributes with Literal (#215) * Replace warmstart mode config param with literal * Replace contact warmstart mode config param with literal * Replace rotation correction config param with literal * Replace penalty update config param with literal * Replace FK preconditioner option config param with literal * Add post-init checks for dual/PADMM configs * Rename FKPreconditionerOptions to FKPreconditionerType * Remove WorldDescriptor from ModelKamino (#219) * Add geom index offset array to model info * Replace access to world description in model * Remove world descriptor from model * Fix computation of kinematics residual with sparse Jacobian (#220) * Migrates `ModelKaminoSize` to it's own module to avoid circular dependency between core/model.py and core/state.py and rename it as `SizeKamino`. * WIP: Fix SolverKamino wrapper * Fix circular dependency in conversions.py * Fix some broken unit tests and WIP to fix fourbar contact conversions and rendering * Make some conversions @staticmethods instead, because they dont need common class attributes * Fix declaration of custom state attributes and their conversion to/from newton and kamino * WIP: Debug model conversion and newton sim examples * Rename and cleanup start index array of per-world geoms * Model conversion and newton sim examples now work. * Make gravity conversion operation re-usable * Migrates boxes_fourbar builder using newton.ModelBuilder to it's own module to prepare for migration. * Use gravity conversion utility func in SolverKamino * Add reusable joint-parameterization conversion utility * Remove world-descriptor from model converter * Rename helper converter that handles entity-local transforms * Add some cleanup to DR Legs, ANYmal D and basic four-bar examples * Fix module-level imports of additional kamino-specific development dependencies * Fix module-level imports of additional kamino-specific development dependencies * Fix erroneous merge conflict. --------- Signed-off-by: Alain Denzler <adenzler@nvidia.com> Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> Signed-off-by: JC <jumyungc@nvidia.com> Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> Signed-off-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Miles Macklin <mmacklin@nvidia.com> Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> Signed-off-by: jvonmuralt <jvonmuralt@nvidia.com> Co-authored-by: Daniela Hase <116915287+daniela-hase@users.noreply.github.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> Co-authored-by: Eric Shi <97630937+shi-eric@users.noreply.github.com> Co-authored-by: Anka Chen <AnkaChan@users.noreply.github.com> Co-authored-by: Claude Sonnet 4.5 <noreply@anthropic.com> Co-authored-by: JC-nvidia <116605903+jumyungc@users.noreply.github.com> Co-authored-by: Kenny Vilella <kvilella@nvidia.com> Co-authored-by: nvtw <110816143+nvtw@users.noreply.github.com> Co-authored-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> Co-authored-by: Lennart Röstel <65088822+lenroe@users.noreply.github.com> Co-authored-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: jvonmuralt <jvonmuralt@nvidia.com> Co-authored-by: camevor <camevor@nvidia.com> Co-authored-by: mzamoramora-nvidia <mzamoramora@nvidia.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Alessandro Roncone <alecive87@gmail.com> Co-authored-by: gdaviet <57617656+gdaviet@users.noreply.github.com> Co-authored-by: Miles Macklin <mmacklin@nvidia.com> Co-authored-by: Gordon Yeoman <gyeomannvidia@users.noreply.github.com> Co-authored-by: Lukasz Wawrzyniak <lwawrzyniak@nvidia.com> Co-authored-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Lorenzo Terenzi <lorenzoterenzi96@gmail.com> Co-authored-by: smollerNV <164020096+smollerNV@users.noreply.github.com> Co-authored-by: twidmer <twidmer@nvidia.com> Co-authored-by: Christian Schumacher <christian.schumacher@disney.com> Co-authored-by: Guirec-Maloisel <25688871+Guirec-Maloisel@users.noreply.github.com>
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Mar 4, 2026
* [Warp Raytrace] Added device parameter (newton-physics#1544) * [Warp Raytrace] Added device parameter to previously overlooked call (newton-physics#1545) * SolverMuJoCo: Fix tolerance clamping in update_solver_options_kernel (newton-physics#1546) * Change default shape_ke to align with MuJoCo, parse geom solref from MJCF for contact stiffness/damping (newton-physics#1491) Signed-off-by: Alain Denzler <adenzler@nvidia.com> * Fix log_shapes broadcasting for length-1 warp arrays (newton-physics#1550) * Fix XPBD restitution particle index (newton-physics#1557) * Out-of-Bound memory read in example_diffsim_bear newton-physics#1386 (newton-physics#1533) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add versioned documentation deployment to GitHub Pages (newton-physics#1560) * Fix broken documentation links after versioned docs deployment (newton-physics#1566) * VBD New Features (newton-physics#1479) Co-authored-by: Claude Sonnet 4.5 <noreply@anthropic.com> * Add banners to membership verification workflow steps (newton-physics#1569) * Support cable junctions (newton-physics#1519) Signed-off-by: JC <jumyungc@nvidia.com> * Rename parameter I to inertia newton-physics#1543 (newton-physics#1551) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix example_robot_anymal_c_walk.py (newton-physics#1574) * Change everywhere linesearch to iterative (newton-physics#1573) * Remove standard collision pipeline (newton-physics#1538) * USD Plumbing MJC solver attributes through resolver and custom attribute framework (newton-physics#1463) Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> Signed-off-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Fix child shape filtering (newton-physics#1559) * Fix ViewerRerun ignoring hidden parameter in log_mesh and log_instances (newton-physics#1555) * Make NxN and SAP broad phase respect filtered pairs (newton-physics#1554) * Add --quiet flag to examples to suppress Warp messages (newton-physics#1585) * Defer resolution of MESH_MAXHULLVERT default in importers (newton-physics#1587) * Fix TypeError when finalizing SDF geometry with device kwarg (newton-physics#1586) * Make MESH_MAXHULLVERT a static class attribute Mesh.MAX_HULL_VERTICES. (newton-physics#1598) * Significant non-determinism in unified collision pipeline for anymal_c_walking example newton-physics#1505 (newton-physics#1588) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add test for non-contiguous case (newton-physics#1549) * Fix nightly Warp CI to resolve pre-release builds (newton-physics#1606) * Verify default class and value handling (newton-physics#1556) * SolverMuJoCo: Expand geom_margin to avoid OOB read with heterogeneous worlds (newton-physics#1607) * Fix bug in control clear method (newton-physics#1602) * Enable Use of Newton IK in Lab newton-physics#662 (newton-physics#1539) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix import of non-articulated joints (newton-physics#1535) * Deduplicate _process_joint_custom_attributes frequency handling (newton-physics#1584) * Add CI check for stale API docs and fix local build warnings (newton-physics#1570) * Update Pillow 12.0.0 to 12.1.1 (newton-physics#1612) * Prepare handling of mimic constraints in Newton (newton-physics#1523) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Support floating, base_joint and parent_body arguments for importers (newton-physics#1498) * Fix contact buffer memory overestimation (newton-physics#1614) * Configure banned-module-level-imports for ruff (newton-physics#1583) * Explicit `Contacts` instantiation with `Model.contacts()` and `CollisionPipeline.contacts()` (newton-physics#1445) * Fix the quadruped benchmark regression (newton-physics#1615) * Change default ignore_inertial_definitions from True to False (newton-physics#1537) * Finalize the Recording API (newton-physics#1600) * SolverMuJoCo: Fix ccd_iterations default (newton-physics#1631) * update gitignore to ignore Claude Code sandbox files (newton-physics#1628) * Add mimic joint support to SolverMuJoCo (newton-physics#1627) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Add --no-cache-clear flag to test runner (newton-physics#1629) * Update MuJoCo and MuJoCo Warp to 3.5.0 release (newton-physics#1633) * Improve inertia parsing from USD (newton-physics#1605) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * Remove standalone .typos.toml in favor of pyproject.toml config (newton-physics#1642) * Heightfield support newton-physics#1189 (newton-physics#1547) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Example_robot_policy: Replace ValueError with clean error for missing PhysX policy (newton-physics#1636) Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> * Avoid unnecessary inflation of the contact reduction voxel aabb (newton-physics#1650) * Rename num_worlds to world_count (newton-physics#1634) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Support parsing autolimits from MJCF (newton-physics#1651) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Fix particle-shape restitution ignoring body velocity (newton-physics#1273) (newton-physics#1580) * Add overflow warnings for narrow-phase collision buffers (newton-physics#1643) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Documentation: add units to model/state docstrings (newton-physics#1649) * fix(viewer): add missing JointType.BALL support to contact line kernel (newton-physics#1640) * Make terrain mesh visual-only in anymal C walking example (newton-physics#1660) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Fix initialization of collider state in MPM finite difference mode (newton-physics#1652) * docs: document ModelBuilder.default_shape_cfg (newton-physics#1662) * Finalize the collision API (newton-physics#1581) * Remove hardcoded subnet ID from AWS workflow (newton-physics#1664) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Attempt to fix AWS config (newton-physics#1666) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Update AWS workflows to g7e.2xlarge with multi-AZ failover (newton-physics#1669) * fix(viewer-usd): disambiguate log_points colors for N=3 warp arrays (newton-physics#1661) * Viewer gl optimizations (newton-physics#1656) Signed-off-by: Miles Macklin <mmacklin@nvidia.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: Eric Heiden <eheiden@nvidia.com> * docs: add articulation workflow guidance and regression check (newton-physics#1663) * fix(examples): propagate IK solution to model state in Franka example (newton-physics#1637) * fix(deps,docs): bump nbconvert to 7.17.0 and fix ArticulationView doctest (newton-physics#1670) * Cleanup and improve some example (newton-physics#1625) Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Handle zero-mass bodies and flip ensure_nonstatic_links default (newton-physics#1635) * Additional testing for ArticulationView (newton-physics#1527) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Update warp-lang nightly to 1.12.0.dev20260217 (newton-physics#1677) * Change default friction coefficients to match MuJoCo (newton-physics#1681) * Refactor mesh creation functions (newton-physics#1654) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Parse joint frictionloss from MJCF (newton-physics#1680) * Fix free joint body_pos and add ref/qpos0 support for MuJoCo solver (newton-physics#1645) * Fix root shapes in ArticulationView with fixed base (newton-physics#1639) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Use model collision methods and remove `create_collision_pipeline` from examples (newton-physics#1648) Co-authored-by: nvtw <110816143+nvtw@users.noreply.github.com> * Fix XPBD apply_joint_forces ignoring child joint transform (newton-physics#1582) * Adjust SDF API (newton-physics#1644) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Optimize test suite runtime (~18% faster) (newton-physics#1689) * Remove ensure_nonstatic_links option from importers (newton-physics#1682) Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> * SolverMuJoCo: Add geom_margin support, align thickness default with MuJoCo and schemas (newton-physics#1653) * refactor: privatize non-public solver internals (newton-physics#1683) * Fix option parsing with multiple <option> elements from includes (newton-physics#1692) * Bump warp-lang nightly and newton-usd-schemas (newton-physics#1693) * Get rid of tkinter dependency (newton-physics#1676) * Fix SDF example contact buffer overflow (newton-physics#1695) * Fix implicit biastype for position/velocity actuator shortcuts (newton-physics#1678) * Fix include processor to respect meshdir/texturedir (newton-physics#1685) * Reduce cold-cache Warp compile time for geometry modules (newton-physics#1618) Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> * Fix xyzw-to-wxyz quaternion conversion in body inertia kernel (newton-physics#1694) * Rename key to label and add hierarchical labels (newton-physics#1592) (newton-physics#1632) * Expose geometry SDF helpers on public API (newton-physics#1684) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Improve custom frequency handling from USD, parse MuJoCo actuators and tendons (newton-physics#1510) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Collapse fixed joints with non articulated bodies (newton-physics#1608) * Fix renaming joint_key -> joint_label (newton-physics#1700) Signed-off-by: Eric Heiden <eheiden@nvidia.com> * Bump .python-version from 3.11 to 3.12 (newton-physics#1702) * Replace CITATION.md with CITATION.cff (newton-physics#1706) * Respect MJCF contype=conaffinity=0 via collision_group=0 (newton-physics#1703) * Make ViewerUSD reuse existing USD layers for the same output path (newton-physics#1704) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Remove dead up-axis conversion from MuJoCo solver (newton-physics#1707) * Skip IK cube stacking example test (newton-physics#1713) * Fix global pairs (world=-1) not exported to MuJoCo spec (newton-physics#1705) * Reduce the memory consumption of hydroelastic contacts (newton-physics#1609) * Fix flakiness cube stacking (newton-physics#1714) * Fix collision shapes not toggleable in viewer UI (newton-physics#1715) * Fix softbody examples table layout in README (newton-physics#1716) * Standardize sensor APIs: label matching, keyword args, and update() method naming (newton-physics#1665) * Fix intermittent crash in parallel test runner from Manager proxy race (newton-physics#1721) * Clean up inertia.py function arguments to match Mesh.create_* API (newton-physics#1719) * Reduce default test runner verbosity (newton-physics#1723) * Add menagerie comparison tests for SolverMuJoCo (newton-physics#1720) Signed-off-by: Alain Denzler <adenzler@nvidia.com> Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> * Add spatial tendon support for MuJoCo solver (newton-physics#1687) Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> * Expose qfrc_actuator from mujoco (newton-physics#1698) * Skip non-MODEL custom attributes in finalize validation (newton-physics#1734) * Resolve inheritrange for position actuators in MJCF parser (newton-physics#1727) * Support dampratio for position/velocity actuator shortcuts (newton-physics#1722) * Limit concurrency to 1 (newton-physics#1736) * Add a helper method for checking applied usd (newton-physics#1731) * Enhance playback URL handling in ViewerViser (newton-physics#1742) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Removed RenderShapeType (newton-physics#1748) * Override only MassAPI attributes that have been authored (newton-physics#1688) * Integration of newton-actuators (newton-physics#1342) Signed-off-by: jvonmuralt <jvonmuralt@nvidia.com> * Fix ArticulationView crash with fixed-joint-only articulations (newton-physics#1726) * Improve retrieval of Jupyter base URL in ViewerViser (newton-physics#1750) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Disable dynamics testing for UR5e and Apollo tests to avoid CI flakiness (newton-physics#1755) * Margin and Gap rename (newton-physics#1732) * Vbd Demos Fixing (newton-physics#1740) * Fix ViewerViser.log_lines method (newton-physics#1764) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Update warp-lang dependency to 1.12.0rc1 (newton-physics#1763) * Fix fromto capsule/cylinder orientation in MJCF parser (newton-physics#1741) * fix: multi-world particle BVH indexing (newton-physics#1641) Co-authored-by: Eric Heiden <eheiden@nvidia.com> * Clean up unused and internal-only kwargs in SolverMuJoCo (newton-physics#1766) * Parsing of the mimic joint and contact gap/margin from newton schemas (newton-physics#1690) Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> * API Refactor v2 (newton-physics#1749) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Support explicit geom mass attributes in MJCF (newton-physics#1744) * Bump flask and werkzeug in lockfile for security (newton-physics#1769) Co-authored-by: Cursor <cursoragent@cursor.com> * Split MJCF worldbody root bodies into separate articulations (newton-physics#1754) * Expose VBD rigid contact forces for solver coupling (newton-physics#1745) Signed-off-by: JC <jumyungc@nvidia.com> * Add MJCF ellipsoid geom import and regression test (newton-physics#1772) Co-authored-by: Cursor <cursoragent@cursor.com> * Weld equality constraints parsed from mjcf are given Nan as the default value of torquescale. The correct default should be 1.0 (newton-physics#1760) * Improve picking accuracy and stability (newton-physics#1712) * Franka cloth demo improvement (newton-physics#1765) * Support computing sensing object transforms & API cleanup (newton-physics#1759) * Remove threading workaround (newton-physics#1751) * [Warp Raytrace] Consolidated ray intersect functions, renamed Options to Config (newton-physics#1767) * Improve README example gallery for PyPI compatibility (newton-physics#1776) * Fix issue with mesh in rerun viewer (newton-physics#1768) * Add PhysxMimicJointAPI parsing to USD importer (newton-physics#1735) * Move some math functions to Warp (newton-physics#1717) Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Add test to ensure MJCF xform argument is relative (newton-physics#1777) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Emit diaginertia instead of fullinertia for diagonal body inertia (newton-physics#1780) * Change default joint armature from 0.01 to 0 (newton-physics#1782) * Fix default kp/kv for position and velocity actuators (newton-physics#1786) * Lock body inertia after explicit MJCF <inertial> element (newton-physics#1784) * Fix for MJCF actuator custom attributes (newton-physics#1783) * Bump version to 0.2.3 Prepare the package metadata for the v0.2.3 release tag. * Fix ViewerRerun rendering of instances from hidden meshes (newton-physics#1788) * API cleanup (newton-physics#1789) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * BODY actuator target name bypasses body name de-duplication in SolverMuJoCo (newton-physics#1729) * Use default density for visual geoms in MJCF import (newton-physics#1781) * Fix GL viewer crash on Wayland (newton-physics#1793) * Make USD xform parameter control absolute articulation placement (newton-physics#1771) * Fix CUDA context corruption in SDF implementation (newton-physics#1792) * Bump mujoco-warp dependency to 3.5.0.2 (newton-physics#1779) * Fix MuJoCo margin/gap conversion (newton-physics#1785) * Bump version to 1.1.0.dev0 (newton-physics#1798) * Missing unittest.main added back to test_import_mjcf.py. Helps with F5 debugging in VS Code. (newton-physics#1796) * Improve H1 example (newton-physics#1801) Signed-off-by: Eric Heiden <eric-heiden@outlook.com> * Fix ViewerViser.set_camera() (newton-physics#1805) * Rename examples to follow prefix-first naming convention (newton-physics#1802) * Improve MuJoCo actuator domain randomization (newton-physics#1773) * Restore in_cup test in hydro example (newton-physics#1775) * Fix `newton.geometry` imports and change of Mesh maxhullverts global constant * Adapt to having both margin and gap arrays for each geom/shape * Fix for newton.geometry API changes in primitive/narrowphase.py * Fix removal of `BroadPhaseMode` IntEnum and revert to newton-sytle string literals * WIP: Adapt geometry/unified.py to fix breaking changes to `newton.geometry` API * First pass of API adjustments * Patch more gaps (with respect to margin and gap renaming) * GeoType.SDF was removed - reflect that in Kamino * Introduce CoM position offsets w.r.t body frame and operations to convert between body CoM state and generic local body-fixed reference frames. * Add caching of per-entity labels/names/keys in the Model subcontainers * Remove SDF shape wrapper since it's now internal to mesh handling in CD pipelines * Fix USD test assets * Add Newton <--> Kamino joint type conversion operations and per-space default limit constants * Add some cleanup to geometry and unified CD + UTs * Add Newton <--> Kamino shape type conversion operations * Apply new default joint coord limit constants to limits.py * Adapt foubrar model builder and USD asset to produce the same result in sim example * Purge "physical" goems and collapse all into a single group, and purge geometry "layers" * Disable allocation per-joint wrenches by default and make them optional * Make `Model` a dataclass * Separate ModelData* containers into own `core/data.py` module * Fix imports of ModelData * Rename `Model` as `ModelKamino` * Rename `ModelData` as `DataKamino` * Rename `State` as `StateKamino` * Rename `Control` as `ControlKamino` * Rename `Limits` as `LimitsKamino` * Rename `Contacts` as `ContactsKamino` * Rename `ModelBuilder` as `ModelBuilderKamino` * Make imports in test utilities relative * Revise CD meta-data attributes and their computation in GeometryModel and ModelBuilderKamino * Revise primitive CD pipeline * Revise unified CD pipeline * Revise CD front-end interfaces * Fix UTs and relevant utils for interface changes to CD * Change to `wp.DeviceLike` to account for upcoming deprecation of `Devicelike` * Depracate legacy HDF5 data io (will be replaced in the future) * Fix banned imports at module level * Modify USD importer to detect articulations and order geoms and joints similarly to how the Newton `parse_usd` function does. * Add conversion operation from `newton.Model` to `ModelKamino` * Add data, state and control container conversions * Add SolverKamino wrapper that fullfils newton integration interface * Add newton integration examples * Add SolverKamino to newton solver module imports * WIP: fix problem with lambda_j being allocated for only kinematic constraints and failing on array copying * Fix banned git import in benchmark * Rename *Settings to *Config (#213) * Rename SolverKaminoSettings -> SolverKaminoConfig * Rename DualProblemSettings -> DualProblemConfig * Rename CollisionDetectorSettings -> CollisionDetectorConfig * Rename PADMMSettings -> PADMMConfig * Rename ForwardKinematicsSolverSettings -> ForwardKinematicsSolverConfig * Rename SimulatorSettings -> SimulatorConfig * Add check for model compatibility in SolverKamino (#209) * Fix device assignment in sparse CG test on CPU (#216) * Replace Enum-type config attributes with Literal (#215) * Replace warmstart mode config param with literal * Replace contact warmstart mode config param with literal * Replace rotation correction config param with literal * Replace penalty update config param with literal * Replace FK preconditioner option config param with literal * Add post-init checks for dual/PADMM configs * Rename FKPreconditionerOptions to FKPreconditionerType * Remove WorldDescriptor from ModelKamino (#219) * Add geom index offset array to model info * Replace access to world description in model * Remove world descriptor from model * Fix computation of kinematics residual with sparse Jacobian (#220) * Migrates `ModelKaminoSize` to it's own module to avoid circular dependency between core/model.py and core/state.py and rename it as `SizeKamino`. * WIP: Fix SolverKamino wrapper * Fix circular dependency in conversions.py * Fix some broken unit tests and WIP to fix fourbar contact conversions and rendering * Make some conversions @staticmethods instead, because they dont need common class attributes * Fix declaration of custom state attributes and their conversion to/from newton and kamino * WIP: Debug model conversion and newton sim examples * Rename and cleanup start index array of per-world geoms * Model conversion and newton sim examples now work. * Make gravity conversion operation re-usable * Migrates boxes_fourbar builder using newton.ModelBuilder to it's own module to prepare for migration. * Use gravity conversion utility func in SolverKamino * Add reusable joint-parameterization conversion utility * Remove world-descriptor from model converter * Rename helper converter that handles entity-local transforms * Add some cleanup to DR Legs, ANYmal D and basic four-bar examples * Fix module-level imports of additional kamino-specific development dependencies * Fix module-level imports of additional kamino-specific development dependencies * Fix erroneous merge conflict. --------- Signed-off-by: Alain Denzler <adenzler@nvidia.com> Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com> Signed-off-by: JC <jumyungc@nvidia.com> Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> Signed-off-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Signed-off-by: Eric Heiden <eric-heiden@outlook.com> Signed-off-by: Eric Heiden <eheiden@nvidia.com> Signed-off-by: Miles Macklin <mmacklin@nvidia.com> Signed-off-by: adenzler-nvidia <adenzler@nvidia.com> Signed-off-by: jvonmuralt <jvonmuralt@nvidia.com> Co-authored-by: Daniela Hase <116915287+daniela-hase@users.noreply.github.com> Co-authored-by: adenzler-nvidia <adenzler@nvidia.com> Co-authored-by: Viktor Reutskyy <33062116+vreutskyy@users.noreply.github.com> Co-authored-by: Eric Shi <97630937+shi-eric@users.noreply.github.com> Co-authored-by: Anka Chen <AnkaChan@users.noreply.github.com> Co-authored-by: Claude Sonnet 4.5 <noreply@anthropic.com> Co-authored-by: JC-nvidia <116605903+jumyungc@users.noreply.github.com> Co-authored-by: Kenny Vilella <kvilella@nvidia.com> Co-authored-by: nvtw <110816143+nvtw@users.noreply.github.com> Co-authored-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> Co-authored-by: Lennart Röstel <65088822+lenroe@users.noreply.github.com> Co-authored-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: jvonmuralt <jvonmuralt@nvidia.com> Co-authored-by: camevor <camevor@nvidia.com> Co-authored-by: mzamoramora-nvidia <mzamoramora@nvidia.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Alessandro Roncone <alecive87@gmail.com> Co-authored-by: gdaviet <57617656+gdaviet@users.noreply.github.com> Co-authored-by: Miles Macklin <mmacklin@nvidia.com> Co-authored-by: Gordon Yeoman <gyeomannvidia@users.noreply.github.com> Co-authored-by: Lukasz Wawrzyniak <lwawrzyniak@nvidia.com> Co-authored-by: Eric Heiden <eric-heiden@outlook.com> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: Viktor Reutskyy <vreutskyy@nvidia.com> Co-authored-by: Lorenzo Terenzi <lorenzoterenzi96@gmail.com> Co-authored-by: smollerNV <164020096+smollerNV@users.noreply.github.com> Co-authored-by: twidmer <twidmer@nvidia.com> Co-authored-by: Christian Schumacher <christian.schumacher@disney.com> Co-authored-by: Guirec-Maloisel <25688871+Guirec-Maloisel@users.noreply.github.com>
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Summary
Fixes #925 by renaming abbreviated parameter names in
inertia.pyto full descriptive names that matchnewton.Mesh.create_*method conventions:compute_sphere_inertia:r→radiuscompute_capsule_inertia:r→radius,h(full height) →half_heightcompute_cylinder_inertia:r→radius,h(full height) →half_heightcompute_cone_inertia:r→radius,h(full height) →half_heightcompute_ellipsoid_inertia:a, b, c→rx, ry, rzcompute_box_inertia_from_mass:w, h, d(full dims) →hx, hy, hz(half-extents)compute_box_inertia:w, h, d(full dims) →hx, hy, hz(half-extents)The
half_heightandhx/hy/hzparameters now use the same half-extent semantics asMesh.create_capsule,Mesh.create_cylinder,Mesh.create_cone, andMesh.create_box. Thecompute_shape_inertiainternal dispatcher is updated to pass scale values (already stored as half-extents/half-heights in the builder) directly without the previous doubling conversion.Test plan
TestInertiatests pass with updated call sitesSummary by CodeRabbit
Refactor
Tests