Update docs on Articulations#623
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Signed-off-by: Eric Heiden <eric-heiden@outlook.com>
📝 WalkthroughWalkthroughRemoved JOINT_COMPOUND and JOINT_UNIVERSAL from the joint types table in docs and adjusted the D6 joint description to no longer list "compound" as a special case; "universal" remains referenced in the D6 list. No code or API changes. Changes
Estimated code review effort🎯 1 (Trivial) | ⏱️ ~3 minutes Suggested reviewers
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⚠️ Outside diff range comments (1)
docs/concepts/articulations.rst (1)
16-56: Add explicit mapping for compound/universal joints to D6 in the migration guideConfirmed no remaining enum references to
JointType.COMPOUNDorJointType.UNIVERSALin code or docs. However, two documentation updates are required:
docs/concepts/articulations.rst (line 58) still says
“Prismatic, revolute, planar, and universal joints can be seen as special cases of the D6 joint.”
While conceptually correct, this may confuse readers now that the universal joint enum is removed. Consider either updating this sentence to describe how a “universal joint” maps onto a D6 configuration or removing it altogether.docs/migration.rst (around line 149) currently reads:
The universal and compound joints have been removed in favor of the more general D6 joint.It does not explain how existing warp.sim compound/universal joints should be configured using the new D6 API. Please add a “Mapping warp.sim compound/universal → Newton D6” section, for example:
+ .. rubric:: Mapping warp.sim “compound”/“universal” joints to Newton D6 + + .. csv-table:: + :header: “warp.sim joint”, “D6 translational DOFs”, “D6 rotational DOFs” + + “compound”/“universal”, 0–2 (e.g. X/Y), 2 (rotation about two axes) + “universal” only, 0, 2 + “compound” only, 2, 0 + + You can use: + + .. code-block:: python + + builder.add_joint_d6( + parent, child, + x_motion=..., + y_motion=..., + z_motion=LOCKED, + x_limit=(−∞, ∞), + y_limit=(−∞, ∞), + z_limit=(0, 0), + twist1_limit=(−∞, ∞), + twist2_limit=(−∞, ∞), + twist3_limit=(0, 0), + )Let me know if you’d like me to draft the exact wording and examples for migration.rst.
🧹 Nitpick comments (1)
docs/concepts/articulations.rst (1)
58-58: Clarify that “universal” is a D6 configuration, not a first-class JointType (after table changes).To prevent readers from inferring a
JointType.UNIVERSAL, spell it out inline.Apply this minimal edit:
-Prismatic, revolute, planar, and universal joints can be seen as special cases of the D6 joint. +Prismatic, revolute, planar, and universal joints (as D6 configurations) can be seen as special cases of the D6 joint.
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📓 Common learnings
Learnt from: shi-eric
PR: newton-physics/newton#521
File: newton/examples/example_cloth_hanging.py:36-36
Timestamp: 2025-08-12T05:17:34.423Z
Learning: The Newton migration guide (docs/migration.rst) is specifically for documenting how to migrate existing warp.sim functionality to Newton equivalents. New Newton-only features that didn't exist in warp.sim do not need migration documentation.
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Signed-off-by: Eric Heiden <eric-heiden@outlook.com>
Signed-off-by: Eric Heiden <eric-heiden@outlook.com>
Description
Remove unsupported joint types from articulations doc
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"
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