Fix device for gravity data allocation in Kamino by chschuma-disney · Pull Request #2823 · newton-physics/newton

chschuma-disney · 2026-05-08T14:09:57Z

Description

When converting gravity from a Newton model to Kamino's gravity data structure, a specific code path failed to allocate new warp arrays on the same device the model data lives, instead allocating it on the default device. This specific case generally happens when an existing gravity data structure is updated, e.g., as a reaction to the solver being notified about an update to the gravity values.

At the same time, an issue with the size check of the existing array was addressed. The issue lead to a new array being allocated with every change, even if the size was compatible with the new gravity data.

To simplify the testing and in anticipation of the test migration, I added Kamino to the existing Newton gravity tests, instead of creating a new test in Kamino.

Checklist

New or existing tests cover these changes
The documentation is up to date with these changes
CHANGELOG.md has been updated (if user-facing change)

Test plan

uv run --extra dev -m newton.tests -k test_runtime_gravity

Bug fix

Steps to reproduce:

Add Kamino to test_runtime_gravity.py
Run uv run --extra dev -m newton.tests -k test_runtime_gravity
The CPU-based test for Kamino will fail

Summary by CodeRabbit

Tests
- Gravity runtime tests now include the Kamino solver, increasing solver coverage.
Bug Fixes
- Fixed device-aware allocation for gravity model data to ensure correct behavior across compute devices.

coderabbitai · 2026-05-08T14:10:14Z

No actionable comments were generated in the recent review. 🎉

ℹ️ Recent review info

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Run ID: cd00de81-6a01-4ce9-b6eb-ca214d14c6a9

📥 Commits

Reviewing files that changed from the base of the PR and between 4abbb78 and c6160e3.

📒 Files selected for processing (2)

newton/_src/solvers/kamino/_src/core/gravity.py
newton/tests/test_runtime_gravity.py

🚧 Files skipped from review as they are similar to previous changes (2)

newton/tests/test_runtime_gravity.py
newton/_src/solvers/kamino/_src/core/gravity.py

📝 Walkthrough

Walkthrough

The PR updates the gravity model output validation in the Kamino solver to correctly handle g_dir_acc and vector arrays as (world_count,) shaped collections of vec4f elements, and ensures these arrays are allocated on the input model's device. The test matrix is extended to include the Kamino solver in gravity runtime testing.

Changes

Gravity Model Array Shape and Device Allocation

Layer / File(s)	Summary
Gravity Model Allocation and Shape Validation `newton/_src/solvers/kamino/_src/core/gravity.py`	Output validation for `GravityModel.g_dir_acc` and `GravityModel.vector` now interprets arrays as `(world_count,)` shaped `vec4f` instead of `(world_count, 4)`, and allocates on `model_in.device` when reallocation is needed.
Test Matrix Integration `newton/tests/test_runtime_gravity.py`	`SolverKamino` is imported and added to the `solvers_bodies` test dictionary, extending rigid-body gravity test coverage to the kamino solver.

Estimated code review effort

🎯 2 (Simple) | ⏱️ ~8 minutes

🚥 Pre-merge checks | ✅ 5

✅ Passed checks (5 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title 'Fix device for gravity data allocation in Kamino' directly and clearly describes the main change in the PR - fixing device allocation for gravity data in the Kamino solver.
Docstring Coverage	✅ Passed	Docstring coverage is 100.00% which is sufficient. The required threshold is 80.00%.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.

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Copilot

Pull request overview

Fixes Kamino gravity model updates so that reallocated Warp arrays are created on the same device as the source Newton model, and corrects the shape check that previously forced unnecessary reallocations during runtime gravity updates. Adds SolverKamino to the existing Newton runtime gravity test matrix to cover this regression.

Changes:

Fix convert_model_gravity() to (1) validate Warp array shape correctly for vec4f arrays and (2) allocate replacement arrays on model_in.device.
Extend test_runtime_gravity.py solver matrix to include SolverKamino for body-based runtime gravity tests.

Reviewed changes

Copilot reviewed 2 out of 2 changed files in this pull request and generated no comments.

File	Description
`newton/_src/solvers/kamino/_src/core/gravity.py`	Corrects shape checks for `vec4f` Warp arrays and ensures reallocations happen on `model_in.device` during in-place updates.
`newton/tests/test_runtime_gravity.py`	Adds `SolverKamino` to the existing runtime gravity body-solver test combinations to exercise the runtime update path.

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codecov · 2026-05-08T14:27:55Z

Codecov Report

❌ Patch coverage is 50.00000% with 2 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
newton/_src/solvers/kamino/_src/core/gravity.py	50.00%	2 Missing ⚠️

📢 Thoughts on this report? Let us know!

vastsoun

LGTM, thanks @chschuma-disney

Bumps the Newton pin from v1.2.0rc2 (current develop) directly to the v1.2.0 stable release across all five pin sites (isaaclab_newton, isaaclab_physx, isaaclab_visualizers x3, tools/wheel_builder/res/python_packages.toml), keeping the canonical `newton[sim] @ git+...` form everywhere. The full upstream release notes are at https://github.com/newton-physics/newton/releases/tag/v1.2.0 (published 2026-05-12). IsaacLab-relevant changes vs the rc2 pin: - MPR/GJK convex-hull centering fix (newton-physics/newton#2651) - Kamino FK solver performance (newton-physics/newton#2703) - HDR color output for tiled camera sensors (newton-physics/newton#2721) - Collada texture URDF import fix (newton-physics/newton#2743) - Kamino multi-GPU gravity-data device fix (newton-physics/newton#2823) - CollisionPipeline small fixes (newton-physics/newton#2632) - DelassusOperator attribute refactor (newton-physics/newton#2734) -- not used in IsaacLab source, no adapt needed. - SolverMuJoCo fixes: planar meshes, contact-anchor computation, distance conversion. mjwarp moves 3.8.0.1 -> 3.8.0.3 transitively via newton[sim]; no IsaacLab-side mujoco / mujoco-warp pin change since isaac-sim#5566 dropped explicit pins.

## Summary Bumps the Newton pin from `v1.2.0rc2` (current develop) directly to the [`v1.2.0` stable release](https://github.com/newton-physics/newton/releases/tag/v1.2.0) across all five pin sites, keeping the canonical `newton[sim] @ git+...` form everywhere. Per Kelly Guo's suggestion: skip the rc bump and go straight to stable. Upstream published `v1.2.0` on 2026-05-12. **Alternative**: [#5614](#5614) (rc3 bump) — pick whichever target based on CI signal. This one is the most forward target. > Branch is still named `jichuanh/newton-1.2.0rc4-bump` from when this PR was originally proposing rc4 — the branch name doesn't match the current target but the diff is correct. Force-pushing the rename would close/reopen the PR, which adds noise without changing the artifact. ## What's new in Newton v1.2.0 vs v1.2.0rc2 Full release notes: [newton-physics/newton release v1.2.0](https://github.com/newton-physics/newton/releases/tag/v1.2.0). Notable IsaacLab-relevant fixes: - [newton-physics/newton#2651](newton-physics/newton#2651) — MPR/GJK no longer assumes convex hulls are centered around the origin. - [newton-physics/newton#2703](newton-physics/newton#2703) — Kamino FK solver performance. - [newton-physics/newton#2721](newton-physics/newton#2721) — HDR color output for tiled camera sensors. - [newton-physics/newton#2743](newton-physics/newton#2743) — Collada textures in URDF import. - [newton-physics/newton#2823](newton-physics/newton#2823) — Gravity-data device allocation in Kamino (multi-GPU). - [newton-physics/newton#2632](newton-physics/newton#2632) — CollisionPipeline small fixes. - [newton-physics/newton#2734](newton-physics/newton#2734) — `DelassusOperator` attribute refactor. Not used in IsaacLab source today (verified by grep), no adapt needed. - SolverMuJoCo fixes: planar meshes, contact-anchor computation, distance conversion. ## Required dep bumps None on the IsaacLab side. The `mjwarp 3.8.0.1 → 3.8.0.3` bump flows in transitively through `newton[sim]`, since [#5566](#5566) dropped IsaacLab's explicit `mujoco` / `mujoco-warp` pins. `warp-lang` stays at `1.13.0` (set by [#5523](#5523)). ## Pins updated | File | Change | |---|---| | `source/isaaclab_newton/setup.py` | `v1.2.0rc2` → `v1.2.0` | | `source/isaaclab_physx/setup.py` | `v1.2.0rc2` → `v1.2.0` | | `source/isaaclab_visualizers/setup.py` | 3× `v1.2.0rc2` → `v1.2.0` | | `tools/wheel_builder/res/python_packages.toml` | `v1.2.0rc2` → `v1.2.0` | ## Test plan - [x] Pre-commit clean. - [ ] CI smoke verifies clean install picks up `newton 1.2.0` and downstream `mjwarp 3.8.0.3`.

## Summary Bumps the Newton pin from `v1.2.0rc2` (current develop) directly to the [`v1.2.0` stable release](https://github.com/newton-physics/newton/releases/tag/v1.2.0) across all five pin sites, keeping the canonical `newton[sim] @ git+...` form everywhere. Per Kelly Guo's suggestion: skip the rc bump and go straight to stable. Upstream published `v1.2.0` on 2026-05-12. **Alternative**: [isaac-sim#5614](isaac-sim#5614) (rc3 bump) — pick whichever target based on CI signal. This one is the most forward target. > Branch is still named `jichuanh/newton-1.2.0rc4-bump` from when this PR was originally proposing rc4 — the branch name doesn't match the current target but the diff is correct. Force-pushing the rename would close/reopen the PR, which adds noise without changing the artifact. ## What's new in Newton v1.2.0 vs v1.2.0rc2 Full release notes: [newton-physics/newton release v1.2.0](https://github.com/newton-physics/newton/releases/tag/v1.2.0). Notable IsaacLab-relevant fixes: - [newton-physics/newton#2651](newton-physics/newton#2651) — MPR/GJK no longer assumes convex hulls are centered around the origin. - [newton-physics/newton#2703](newton-physics/newton#2703) — Kamino FK solver performance. - [newton-physics/newton#2721](newton-physics/newton#2721) — HDR color output for tiled camera sensors. - [newton-physics/newton#2743](newton-physics/newton#2743) — Collada textures in URDF import. - [newton-physics/newton#2823](newton-physics/newton#2823) — Gravity-data device allocation in Kamino (multi-GPU). - [newton-physics/newton#2632](newton-physics/newton#2632) — CollisionPipeline small fixes. - [newton-physics/newton#2734](newton-physics/newton#2734) — `DelassusOperator` attribute refactor. Not used in IsaacLab source today (verified by grep), no adapt needed. - SolverMuJoCo fixes: planar meshes, contact-anchor computation, distance conversion. ## Required dep bumps None on the IsaacLab side. The `mjwarp 3.8.0.1 → 3.8.0.3` bump flows in transitively through `newton[sim]`, since [isaac-sim#5566](isaac-sim#5566) dropped IsaacLab's explicit `mujoco` / `mujoco-warp` pins. `warp-lang` stays at `1.13.0` (set by [isaac-sim#5523](isaac-sim#5523)). ## Pins updated | File | Change | |---|---| | `source/isaaclab_newton/setup.py` | `v1.2.0rc2` → `v1.2.0` | | `source/isaaclab_physx/setup.py` | `v1.2.0rc2` → `v1.2.0` | | `source/isaaclab_visualizers/setup.py` | 3× `v1.2.0rc2` → `v1.2.0` | | `tools/wheel_builder/res/python_packages.toml` | `v1.2.0rc2` → `v1.2.0` | ## Test plan - [x] Pre-commit clean. - [ ] CI smoke verifies clean install picks up `newton 1.2.0` and downstream `mjwarp 3.8.0.3`.

chschuma-disney requested review from Guirec-Maloisel, Copilot and vastsoun May 8, 2026 14:09

chschuma-disney had a problem deploying to external-pr-approval May 8, 2026 14:10 — with GitHub Actions Error

Copilot started reviewing on behalf of chschuma-disney May 8, 2026 14:10 View session

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vastsoun approved these changes May 8, 2026

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chschuma-disney added 2 commits May 8, 2026 22:31

Fix gravity device allocation in Kamino

f262975

Add Kamino to runtime gravity tests

c6160e3

chschuma-disney force-pushed the chschuma/gravity-device-allocation-fix branch from 4abbb78 to c6160e3 Compare May 8, 2026 20:31

chschuma-disney self-assigned this May 8, 2026

chschuma-disney added the kamino Issues that come up while integrating/implementing the Kamino solver label May 8, 2026

chschuma-disney added this pull request to the merge queue May 9, 2026

Merged via the queue into newton-physics:main with commit 6648d39 May 9, 2026
25 checks passed

adenzler-nvidia added this to the 1.2 Release milestone May 11, 2026

adenzler-nvidia mentioned this pull request May 11, 2026

Cherry-pick 1.2 Release PRs onto release-1.2 #2841

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adenzler-nvidia pushed a commit that referenced this pull request May 11, 2026

Fix device for gravity data allocation in Kamino (#2823)

5fde9c4

This was referenced May 14, 2026

[Newton] Bump Newton pin to v1.2.0rc4 (depends on #5614) isaac-sim/IsaacLab#5615

Closed

[Newton] Bump Newton pin to v1.2.0 (stable) isaac-sim/IsaacLab#5616

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Fix device for gravity data allocation in Kamino#2823

Fix device for gravity data allocation in Kamino#2823
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