Use +Z as default up axis for capsules, cones, cylinders, planes #365#378
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…on-physics#365 Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com>
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📝 Walkthrough## Walkthrough
This set of changes standardizes the default axis orientation for capsules, cones, cylinders, and planes to use the +Z axis as the "up" direction throughout the codebase. Adjustments are made to geometric kernels, model building APIs, import utilities, tests, and rendering logic to consistently use the Z-axis convention and update parameter names accordingly.
## Changes
| File(s) | Change Summary |
|---------|----------------|
| `newton/geometry/kernels.py` | All SDFs, collision, and contact routines updated to use Z-axis for vertical/height, replacing Y-axis references; plane logic now uses XY plane at Z=0. |
| `newton/sim/builder.py` | Plane, capsule, cylinder, and cone shape creation now use +Z as default axis; parameter `up_axis` renamed to `axis`; method signatures updated. |
| `newton/solvers/mujoco/solver_mujoco.py`, `newton/tests/test_mujoco_solver.py` | Removed special-case quaternion rotations for capsules/cylinders with Z-up; simplified orientation logic. |
| `newton/tests/test_collision.py` | Added numerical tolerance to array equality assertions in mesh-ground collision test. |
| `newton/tests/test_import_urdf.py` | Updated expected capsule orientation quaternion in URDF import test to identity (no rotation). |
| `newton/tests/test_rigid_contact.py`, `newton/tests/test_up_axis.py` | Changed `up_axis` argument to `axis` in capsule shape addition calls. |
| `newton/utils/import_mjcf.py`, `newton/utils/import_urdf.py`, `newton/utils/import_usd.py` | Changed `up_axis` to `axis` in all relevant shape import functions for capsules, cylinders, and cones. |
| `newton/utils/render.py` | Ground plane normal and shape orientation in rendering updated to Z-up; capsules, cylinders, and cones now rendered with -90° X rotation. |
## Sequence Diagram(s)
```mermaid
sequenceDiagram
participant User
participant ModelBuilder
participant GeometryKernels
participant Renderer
User->>ModelBuilder: add_shape_capsule(..., axis=Axis.Z)
ModelBuilder->>GeometryKernels: Compute SDF/collision with Z as up axis
ModelBuilder->>Renderer: Provide shape with Z-up orientation
Renderer->>Renderer: Render ground plane normal as (0,0,1)Assessment against linked issues
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Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com>
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Looks good from my side. Unfortunately I have no idea if we're missing any other places - I hope we have testing for this.
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…nes-cylinders-planes Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com>
…nes-cylinders-planes
Signed-off-by: Viktor Reutskyy <vreutskyy@nvidia.com>
eric-heiden
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Jul 11, 2025
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@eric-heiden should I close this PR then? |
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OK, let's close this PR then - your changes are included in #376. |
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Mar 6, 2026
# Description Bumps version to 2.1.0 ## Type of change - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
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Description
This PR standardizes the internal representation of primitive shapes (capsules, cones, cylinders, and planes) to use the +Z axis as their primary axis or normal. This change, which closes #365, aligns Newton's conventions with other simulation environments like MuJoCo and simplifies the conversion process between them.
Key changes include:
newton/geometry/kernels.py):newton/sim/builder.py):add_shape_capsule,add_shape_cylinder,add_shape_cone) now apply a rotation to align the user-specifiedaxiswith the internal +Z axis.up_axisparameter has been renamed toaxisfor clarity.add_shape_planehas been updated to correctly handle plane equations and compute robust rotations, including for normals opposite to +Z.newton/utils/render.py):newton/solvers/mujoco/solver_mujoco.py):newton/utils/import_*.py):axisparameter correctly.Newton Migration Guide
Please ensure the migration guide for warp.sim users is up-to-date with the changes made in this MR.
docs/migration.rstis up-to dateBefore your PR is "Ready for review"
pre-commit run -aSummary by CodeRabbit
New Features
up_axistoaxisfor shape creation methods, improving clarity and consistency.Bug Fixes
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Tests
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