Walkthrough

A new unit test was added to validate the correspondence between visual and collision shapes in USD-imported models. The USD import utility was updated to invert rotations by default and to skip loading visual shapes from paths matching specified ignore patterns.

Changes

Sequence Diagram(s)

sequenceDiagram
    participant Test as TestImportUsd
    participant Builder as ModelBuilder
    participant Importer as parse_usd

    Test->>Builder: create()
    Test->>Importer: parse_usd("humanoid.usda", ...)
    Importer-->>Builder: populate shapes and bodies
    Test->>Builder: get shapes and bodies
    Test->>Test: filter visual and collision shapes
    loop For each visual shape
        Test->>Test: find corresponding collision shape
        Test->>Test: compare type, source, transform, scale, flags
    end

Estimated code review effort

🎯 2 (Simple) | ⏱️ ~10 minutes

Possibly related PRs

• Load visual-only shapes from USD #473: Modifies parse_usd to load visual-only shapes from non-physics prims, directly involving parse_usd and visual shape handling in import_usd.py, which is also addressed in this PR.

Suggested reviewers

• Milad-Rakhsha-NV

Configuration used: .coderabbit.yml
Review profile: CHILL
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Learnt from: shi-eric
PR: newton-physics/newton#461
File: asv/benchmarks/envs/example_humanoid.py:40-41
Timestamp: 2025-07-23T14:36:42.182Z
Learning: In Warp benchmarks, explicit wp.init() calls are not needed in most circumstances since the first Warp API call that requires initialization will automatically call wp.init(). Explicit wp.init() in setup() methods is helpful when the ASV benchmark is measuring a Warp API call, as wp.init() has non-trivial overhead that should be excluded from the benchmark timing.

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