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Contact force sensors#429

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nvlukasz merged 62 commits into
newton-physics:mainfrom
camevor:force-contact-sensors
Aug 6, 2025
Merged

Contact force sensors#429
nvlukasz merged 62 commits into
newton-physics:mainfrom
camevor:force-contact-sensors

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@camevor

@camevor camevor commented Jul 16, 2025

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Description

Contact force sensors

Newton Migration Guide

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

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

Before your PR is "Ready for review"

  • All commits are signed-off to indicate that your contribution adheres to the Developer Certificate of Origin requirements
  • 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

    • Introduced a GPU-accelerated contact sensor system for querying and aggregating contact forces between entities in physics simulations.
    • Added an example simulation demonstrating contact sensing with articulated models and randomized controls.
    • Enabled mapping and conversion of contact data between MuJoCo and Newton physics representations.
  • Bug Fixes

    • None.
  • Tests

    • Added unit tests for contact sensor functionality, verifying force aggregation and contact detection.
    • Integrated a new example-based test for the contact sensor simulation.
  • Documentation

    • None.
  • Chores

    • None.
  • Refactor

    • None.
  • Style

    • None.
  • Revert

    • None.

camevor added 13 commits July 4, 2025 10:33
Signed-off-by: camevor <camevor@nvidia.com>
Signed-off-by: camevor <camevor@nvidia.com>
Signed-off-by: camevor <camevor@nvidia.com>
Signed-off-by: camevor <camevor@nvidia.com>
Signed-off-by: camevor <camevor@nvidia.com>
Signed-off-by: camevor <camevor@nvidia.com>
Signed-off-by: camevor <camevor@nvidia.com>
Signed-off-by: camevor <camevor@nvidia.com>
Signed-off-by: camevor <camevor@nvidia.com>
Signed-off-by: camevor <camevor@nvidia.com>
Signed-off-by: camevor <camevor@nvidia.com>
Signed-off-by: camevor <camevor@nvidia.com>
Signed-off-by: camevor <camevor@nvidia.com>
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@shi-eric

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Hey @camevor, you can make your Newton org membership public so you don't need manual approval on the GPU job:

  1. Go to the organization's People page: https://github.com/orgs/newton-physics/people
  2. Find your username in the list.
  3. Click the dropdown next to your name and change your visibility from 'Private' to 'Public'.

@camevor

camevor commented Jul 17, 2025

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Thank you, @shi-eric !

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@camevor camevor force-pushed the force-contact-sensors branch from a8c7919 to 0dfa692 Compare July 17, 2025 15:11
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@camevor camevor force-pushed the force-contact-sensors branch from 16e249e to 8fd1ae5 Compare July 18, 2025 17:50
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@camevor camevor force-pushed the force-contact-sensors branch 2 times, most recently from 282036a to f6de8d3 Compare July 21, 2025 12:37
@coderabbitai coderabbitai Bot mentioned this pull request Sep 29, 2025
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@coderabbitai coderabbitai Bot mentioned this pull request Dec 13, 2025
4 tasks
eric-heiden added a commit to eric-heiden/newton that referenced this pull request Jan 28, 2026
Signed-off-by: camevor <camevor@nvidia.com>
Co-authored-by: Julia Prozorova <jprozorova@nvidia.com>
Co-authored-by: Eric Heiden <eheiden@nvidia.com>
Co-authored-by: Lukasz Wawrzyniak <lwawrzyniak@nvidia.com>
vidurv-nvidia pushed a commit to vidurv-nvidia/newton that referenced this pull request Mar 6, 2026
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Adds a feature where users can record a physics animation and bake the
operations into an ovd file.

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discussions on the proposed pull request.
This makes it easier for the community to keep track of what is being
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- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
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---------

Signed-off-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Michael Gussert <michael@gussert.com>
Co-authored-by: jaczhangnv <jaczhang@nvidia.com>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Yanzi Zhu <yanziz@nvidia.com>
Co-authored-by: nv-mhaselton <mhaselton@nvidia.com>
Co-authored-by: cosmith-nvidia <141183495+cosmith-nvidia@users.noreply.github.com>
Co-authored-by: Michael Gussert <michael@gussert.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Co-authored-by: Rafael Wiltz <rwiltz@nvidia.com>
Co-authored-by: Peter Du <peterd@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: chengronglai <chengrongl@nvidia.com>
Co-authored-by: pulkitg01 <pulkitg@nvidia.com>
Co-authored-by: Connor Smith <cosmith@nvidia.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <ashwinvk@nvidia.com>
Co-authored-by: lotusl-code <lotusl@nvidia.com>
mmacklin pushed a commit to mmacklin/newton that referenced this pull request Apr 7, 2026
Signed-off-by: camevor <camevor@nvidia.com>
Co-authored-by: Julia Prozorova <jprozorova@nvidia.com>
Co-authored-by: Eric Heiden <eheiden@nvidia.com>
Co-authored-by: Lukasz Wawrzyniak <lwawrzyniak@nvidia.com>
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Implement contact sensor

7 participants