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Add a helper method for checking applied usd#1731

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jvonmuralt:check-applied-usd
Feb 23, 2026
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Add a helper method for checking applied usd#1731
eric-heiden merged 2 commits into
newton-physics:mainfrom
jvonmuralt:check-applied-usd

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@jvonmuralt

@jvonmuralt jvonmuralt commented Feb 23, 2026 •
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Description

Newton Migration Guide

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

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

Before your PR is "Ready for review"

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

Summary by CodeRabbit

  • New Features

    • Added has_applied_api_schema() utility function to detect applied API schemas on USD primitives, with support for both registered APIs and metadata-based schema detection.

  • Tests

    • Added comprehensive test coverage for schema detection across registered APIs, metadata, and explicit schema declarations.

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📝 Walkthrough

Walkthrough

A new utility function has_applied_api_schema() was added to detect whether a USD schema is applied to a primitive by checking both the USD API and metadata. The function is implemented, re-exported through the public API, documented, and integrated into existing code with comprehensive test coverage.

Changes

Cohort / File(s) Summary
Core Implementation
newton/_src/usd/utils.py		 Added new has_applied_api_schema() utility function that checks if a schema is applied to a USD primitive via prim.HasAPI() first, then inspects apiSchemas metadata (prependedItems, appendedItems, explicitItems) if not found.
Public API Exposure
newton/usd.py, docs/api/newton_usd.rst		 Re-exported has_applied_api_schema from internal utils module in the public API and added to autosummary documentation entry.
Integration & Refactoring
newton/_src/utils/import_usd.py		 Replaced manual MjcSiteAPI schema detection logic with single call to usd.has_applied_api_schema(), simplifying the code from 13 lines to 1 line.
Test Coverage
newton/tests/test_import_usd.py		 Added new test class TestHasAppliedApiSchema with four test cases covering registered schemas via USD API, unregistered schemas via metadata, and appended/explicit items scenarios.

Estimated code review effort

🎯 3 (Moderate) | ⏱️ ~20 minutes

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Docstring Coverage ⚠️ Warning Docstring coverage is 55.56% which is insufficient. The required threshold is 80.00%. Write docstrings for the functions missing them to satisfy the coverage threshold.
Title check ❓ Inconclusive The title 'Add a helper method for checking applied usd' partially describes the changeset but is vague about what 'checking applied usd' means and lacks specificity about the function name or purpose. Consider a more specific title like 'Add has_applied_api_schema utility function' to clearly indicate the function being added and its purpose.
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@jvonmuralt jvonmuralt linked an issue Feb 23, 2026 that may be closed by this pull request
Add helper to check for applied (non-core USD) schemas #1081
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✅ All modified and coverable lines are covered by tests.
✅ All tests successful. No failed tests found.

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🧹 Nitpick comments (3)
newton/_src/usd/utils.py (2)

126-133: prim.GetAppliedSchemas() is a simpler and more robust alternative

The manual inspection of prependedItems + appendedItems + explicitItems has two weaknesses:

  1. deletedItems is not consulted — schemas explicitly deleted in a stronger layer would still appear in the positive lists of weaker layers on the composed SdfStringListOp.
  2. It duplicates what prim.GetAppliedSchemas() already does correctly: that API returns the fully composed, authoritative list of all applied schemas from apiSchemas metadata, regardless of whether the schema is registered with the USD schema registry.

Replacing the entire function body with a single GetAppliedSchemas() call also eliminates the uncertainty about HasAPI(string) raised in the comment above.

♻️ Proposed simplification using GetAppliedSchemas() 
 def has_applied_api_schema(prim: Usd.Prim, schema_name: str) -> bool:
     """
     Check if a USD prim has an applied API schema, even if the schema is not
     registered with USD's schema registry.
 
-    For registered schemas (e.g. ``UsdPhysics.RigidBodyAPI``), ``prim.HasAPI()``
-    is sufficient. However, non-core schemas that may be in draft state or not
-    yet registered (e.g. MuJoCo-specific schemas like ``MjcSiteAPI``) will not
-    be found by ``HasAPI()``. This helper falls back to inspecting the raw
-    ``apiSchemas`` metadata on the prim.
+    Uses ``prim.GetAppliedSchemas()`` which returns the fully composed list of
+    applied API schemas from ``apiSchemas`` metadata, regardless of whether the
+    schema is registered with USD's schema registry.
 
     Args:
         prim: The USD prim to query.
         schema_name: The API schema name to check for (e.g. ``"MjcSiteAPI"``).
 
     Returns:
         True if the schema is applied to the prim, False otherwise.
     """
-    if prim.HasAPI(schema_name):
-        return True
-
-    schemas_listop = prim.GetMetadata("apiSchemas")
-    if schemas_listop:
-        all_schemas = (
-            list(schemas_listop.prependedItems)
-            + list(schemas_listop.appendedItems)
-            + list(schemas_listop.explicitItems)
-        )
-        return schema_name in all_schemas
-
-    return False
+    return schema_name in prim.GetAppliedSchemas()
🤖 Prompt for AI Agents 
Verify each finding against the current code and only fix it if needed.

In `@newton/_src/usd/utils.py` around lines 126 - 133, The current code manually
composes apiSchemas from prim.GetMetadata("apiSchemas") by concatenating
prependedItems/appendedItems/explicitItems which ignores deletedItems and
duplicates built-in behavior; replace that logic in the function that uses
schemas_listop/prim.GetMetadata with a single call to prim.GetAppliedSchemas()
and test membership via schema_name in prim.GetAppliedSchemas() (handle a
possible empty/None return as an empty list). Also remove or stop relying on the
old schemas_listop variable and the commented HasAPI logic since
GetAppliedSchemas() provides the authoritative applied schema list.

123-124: Consider using prim.GetAppliedSchemas() for a cleaner, more robust implementation

The function correctly handles unregistered schemas by falling back to metadata inspection. However, the metadata fallback only checks prependedItems, appendedItems, and explicitItems (lines 128–131), omitting deletedItems—which can explicitly remove schemas in composed SdfStringListOp. While this is unlikely in typical single-layer MuJoCo USD files, prim.GetAppliedSchemas() would be more robust: it returns all applied schemas from metadata regardless of registration status and automatically handles all SdfStringListOp operations, eliminating both the HasAPI() call and the manual metadata inspection.

🤖 Prompt for AI Agents 
Verify each finding against the current code and only fix it if needed.

In `@newton/_src/usd/utils.py` around lines 123 - 124, Replace the current
prim.HasAPI(schema_name) + manual metadata inspection with
prim.GetAppliedSchemas(): call prim.GetAppliedSchemas() and check whether
schema_name is in the returned list (this automatically accounts for composed
SdfStringListOp operations including deletedItems and works for unregistered
schemas), and remove the manual checks of
prependedItems/appendedItems/explicitItems and the HasAPI() call; reference
prim, schema_name, and prim.GetAppliedSchemas() in the change.
newton/tests/test_import_usd.py (1)

6092-6110: Cover explicit apiSchemas items (or rename the test).

The test name mentions explicit items, but the USD snippet only exercises append. Consider adding an explicit list-op case (apiSchemas = ["MjcSiteAPI"]) so explicitItems are covered, or rename the test to match current coverage.

♻️ Suggested test extension 
@@
     def test_appended_and_explicit_items(self):
         from pxr import Usd

         stage = Usd.Stage.CreateInMemory()
         stage.GetRootLayer().ImportFromString(
             """#usda 1.0
 def Sphere "AppendedSchema" (
     append apiSchemas = ["MjcSiteAPI"]
 )
 {
     double radius = 0.1
 }
+
+def Sphere "ExplicitSchema" (
+    apiSchemas = ["MjcSiteAPI"]
+)
+{
+    double radius = 0.1
+}
 """
         )

-        prim = stage.GetPrimAtPath("/AppendedSchema")
-        self.assertTrue(usd.has_applied_api_schema(prim, "MjcSiteAPI"))
+        prim_appended = stage.GetPrimAtPath("/AppendedSchema")
+        prim_explicit = stage.GetPrimAtPath("/ExplicitSchema")
+        self.assertTrue(usd.has_applied_api_schema(prim_appended, "MjcSiteAPI"))
+        self.assertTrue(usd.has_applied_api_schema(prim_explicit, "MjcSiteAPI"))
🤖 Prompt for AI Agents 
Verify each finding against the current code and only fix it if needed.

In `@newton/tests/test_import_usd.py` around lines 6092 - 6110, The test
test_appended_and_explicit_items currently only exercises the append list-op for
apiSchemas; update the test to also include an explicit list-op case so
explicitItems are covered (or rename the test to reflect it only tests appended
items). Specifically, modify the USD snippet used by
stage.GetRootLayer().ImportFromString (or add a second imported prim) to include
a prim with apiSchemas = ["MjcSiteAPI"] (i.e., an explicit assignment) and
assert via usd.has_applied_api_schema(prim, "MjcSiteAPI") for that prim as well,
keeping the existing appended-case assertions intact.
🤖 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/usd/utils.py`:
- Around line 126-133: The current code manually composes apiSchemas from
prim.GetMetadata("apiSchemas") by concatenating
prependedItems/appendedItems/explicitItems which ignores deletedItems and
duplicates built-in behavior; replace that logic in the function that uses
schemas_listop/prim.GetMetadata with a single call to prim.GetAppliedSchemas()
and test membership via schema_name in prim.GetAppliedSchemas() (handle a
possible empty/None return as an empty list). Also remove or stop relying on the
old schemas_listop variable and the commented HasAPI logic since
GetAppliedSchemas() provides the authoritative applied schema list.
- Around line 123-124: Replace the current prim.HasAPI(schema_name) + manual
metadata inspection with prim.GetAppliedSchemas(): call prim.GetAppliedSchemas()
and check whether schema_name is in the returned list (this automatically
accounts for composed SdfStringListOp operations including deletedItems and
works for unregistered schemas), and remove the manual checks of
prependedItems/appendedItems/explicitItems and the HasAPI() call; reference
prim, schema_name, and prim.GetAppliedSchemas() in the change.

In `@newton/tests/test_import_usd.py`:
- Around line 6092-6110: The test test_appended_and_explicit_items currently
only exercises the append list-op for apiSchemas; update the test to also
include an explicit list-op case so explicitItems are covered (or rename the
test to reflect it only tests appended items). Specifically, modify the USD
snippet used by stage.GetRootLayer().ImportFromString (or add a second imported
prim) to include a prim with apiSchemas = ["MjcSiteAPI"] (i.e., an explicit
assignment) and assert via usd.has_applied_api_schema(prim, "MjcSiteAPI") for
that prim as well, keeping the existing appended-case assertions intact.
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📥 Commits

Reviewing files that changed from the base of the PR and between ab4bf37 and 97bcd87.

📒 Files selected for processing (5)
  • docs/api/newton_usd.rst
  • newton/_src/usd/utils.py
  • newton/_src/utils/import_usd.py
  • newton/tests/test_import_usd.py
  • newton/usd.py

@jvonmuralt jvonmuralt marked this pull request as ready for review February 23, 2026 15:28
andrewkaufman
andrewkaufman approved these changes Feb 23, 2026
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Comment thread newton/_src/usd/utils.py
@adenzler-nvidia adenzler-nvidia mentioned this pull request Feb 23, 2026
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@eric-heiden eric-heiden added this pull request to the merge queue Feb 23, 2026
Merged via the queue into newton-physics:main with commit f490637 Feb 23, 2026
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vastsoun added a commit to vastsoun/newton that referenced this pull request Mar 3, 2026
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Add first stage of end-to-end integration with Newton API (#229)
e849318 
* [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>
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vastsoun added a commit to vastsoun/newton that referenced this pull request Mar 4, 2026
@vastsoun @daniela-hase
@adenzler-nvidia @vreutskyy @shi-eric @AnkaChan @claude @jumyungc @Kenny-Vilella @nvtw @Milad-Rakhsha-NV @coderabbitai @lenroe @eric-heiden @jvonmuralt @camevor @mzamoramora-nvidia @pre-commit-ci @alecive @gdaviet @mmacklin @gyeomannvidia @nvlukasz @cursoragent @Idate96 @smollerNV @chschuma-disney @Guirec-Maloisel
Add first stage of end-to-end integration with Newton API (#229)
247eea9 
* [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>
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* Fix child shape filtering (newton-physics#1559)

* Fix ViewerRerun ignoring hidden parameter in log_mesh and log_instances (newton-physics#1555)

* Make NxN and SAP broad phase respect filtered pairs (newton-physics#1554)

* Add --quiet flag to examples to suppress Warp messages (newton-physics#1585)

* Defer resolution of MESH_MAXHULLVERT default in importers (newton-physics#1587)

* Fix TypeError when finalizing SDF geometry with device kwarg (newton-physics#1586)

* Make MESH_MAXHULLVERT a static class attribute Mesh.MAX_HULL_VERTICES. (newton-physics#1598)

* Significant non-determinism in unified collision pipeline for anymal_c_walking example newton-physics#1505 (newton-physics#1588)

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>
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* 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>
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* 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>
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vastsoun added a commit to vastsoun/newton that referenced this pull request Mar 4, 2026
@vastsoun @daniela-hase
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Add first stage of end-to-end integration with Newton API (#229)
008323f 
* [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>
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* Fix child shape filtering (newton-physics#1559)

* Fix ViewerRerun ignoring hidden parameter in log_mesh and log_instances (newton-physics#1555)

* Make NxN and SAP broad phase respect filtered pairs (newton-physics#1554)

* Add --quiet flag to examples to suppress Warp messages (newton-physics#1585)

* Defer resolution of MESH_MAXHULLVERT default in importers (newton-physics#1587)

* Fix TypeError when finalizing SDF geometry with device kwarg (newton-physics#1586)

* Make MESH_MAXHULLVERT a static class attribute Mesh.MAX_HULL_VERTICES. (newton-physics#1598)

* Significant non-determinism in unified collision pipeline for anymal_c_walking example newton-physics#1505 (newton-physics#1588)

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>
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* 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>
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mmacklin pushed a commit to mmacklin/newton that referenced this pull request Apr 7, 2026
@jvonmuralt
Add a helper method for checking applied usd (newton-physics#1731)
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@andrewkaufman andrewkaufman andrewkaufman approved these changes

@Milad-Rakhsha-NV Milad-Rakhsha-NV Awaiting requested review from Milad-Rakhsha-NV

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Add helper to check for applied (non-core USD) schemas

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@jvonmuralt @andrewkaufman @eric-heiden