newton/examples/__init__.py (2)

104-117: Good: add_help surfaced to callers

Passing add_help through fixes --help in examples. Minor nit: tighten the docstring and inline comment to reflect the parameterized behavior.

Apply:

-def create_parser(add_help=False):
-    """Create a base argument parser with common parameters for Newton examples.
+def create_parser(add_help: bool = False):
+    """Create a base argparse parser with common parameters for Newton examples.
@@
-    Individual examples can use this as a parent parser and add their own
-    specific arguments.
+    Individual examples can use this as a parent parser and add their own specific arguments.
+
+    Args:
+        add_help: If True, enable -h/--help on the returned parser. Keep False when using this
+            as a parent parser to avoid duplicate help.
@@
-        argparse.ArgumentParser: Base parser with common arguments
+        argparse.ArgumentParser: Base parser with common arguments.
     """
@@
-    # add_help=False since this is a parent parser
-    parser = argparse.ArgumentParser(add_help=add_help, formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    # Pass through add_help so examples can opt-in to -h/--help
+    parser = argparse.ArgumentParser(add_help=add_help, formatter_class=argparse.ArgumentDefaultsHelpFormatter)

---

139-151: Docstring param type is incorrect

init(parser=None) takes an ArgumentParser, not “Parsed arguments”. Update docstring to avoid confusion.

-    Args:
-        parser: Parsed arguments from argparse (should include arguments from
-              create_parser())
+    Args:
+        parser: An argparse.ArgumentParser configured with create_parser(), or None.

newton/examples/cloth/example_cloth_hanging.py (1)

197-197: LGTM: help enabled for this example

Consider adding a short description so -h output is more informative.

-    parser = newton.examples.create_parser(add_help=True)
+    parser = newton.examples.create_parser(add_help=True)
+    parser.description = "Simulate a hanging cloth under gravity with multiple solver backends."

newton/examples/robot/example_robot_ur10.py (1)

211-211: LGTM: help enabled

Optional: set a description to improve --help UX.

-    parser = newton.examples.create_parser(add_help=True)
+    parser = newton.examples.create_parser(add_help=True)
+    parser.description = "UR10 robot demo with sinusoidal joint targets replicated across environments."

newton/examples/diffsim/example_diffsim_spring_cage.py (1)

243-243: LGTM: help enabled

Optional: add a concise description for the help screen.

-    parser = newton.examples.create_parser(add_help=True)
+    parser = newton.examples.create_parser(add_help=True)
+    parser.description = "Optimize spring rest lengths to pull a particle towards a target (diffsim)."

newton/examples/ik/example_ik_benchmark.py (1)

366-379: LGTM: help enabled; sensible default viewer

Nice touch setting viewer="null" for a non-visual benchmark. Optionally add a brief description.

-    parser = newton.examples.create_parser(add_help=True)
+    parser = newton.examples.create_parser(add_help=True)
+    parser.description = "Benchmark Newton IK on Franka across varying batch sizes and report timing/accuracy."

newton/examples/robot/example_robot_policy.py (1)

410-421: Improve help UX: set description/epilog.

Add a short description and a usage example so --help is more informative.

-    parser = newton.examples.create_parser(add_help=True)
+    parser = newton.examples.create_parser(add_help=True)
+    parser.description = ("Control a pretrained robot policy via keyboard "
+                          "(space=start, p=reset, i/j/k/l/u/o=motion).")
+    parser.epilog = "Example: python -m newton.examples robot_policy --robot go2 --viewer gl"

newton/examples/mpm/example_mpm_granular.py (1)

158-166: Clarify help output with description/epilog.

Make --help output self-explanatory.

-    parser = newton.examples.create_parser(add_help=True)
+    parser = newton.examples.create_parser(add_help=True)
+    parser.description = "Implicit MPM granular demo with optional collider and emission bounds."
+    parser.epilog = "Example: python -m newton.examples mpm_granular --collider cube --viewer gl"

newton/examples/basic/example_basic_urdf.py (1)

136-144: Add description/epilog for clearer --help.

-    parser = newton.examples.create_parser(add_help=True)
+    parser = newton.examples.create_parser(add_help=True)
+    parser.description = "Basic URDF quadruped demo (no trained policy)."
+    parser.epilog = "Example: python -m newton.examples basic_urdf --num-envs 16"

newton/examples/mpm/example_mpm_anymal.py (1)

385-397: Enhance help text.

-    parser = newton.examples.create_parser(add_help=True)
+    parser = newton.examples.create_parser(add_help=True)
+    parser.description = "Anymal C robot walking on implicit MPM sand with a pretrained policy."
+    parser.epilog = "Example: python -m newton.examples mpm_anymal --viewer gl"

newton/examples/robot/example_robot_g1.py (1)

135-141: Polish --help output with description/epilog.

-    parser = newton.examples.create_parser(add_help=True)
+    parser = newton.examples.create_parser(add_help=True)
+    parser.description = "Unitree G1 from USD; replicates multiple environments."
+    parser.epilog = "Example: python -m newton.examples robot_g1 --num-envs 16"

newton/examples/cloth/example_cloth_twist.py (1)

296-301: Optional: surface a concise description in -h output

Add a description so help shows what this example does.

-    parser = newton.examples.create_parser(add_help=True)
+    parser = newton.examples.create_parser(add_help=True)
+    parser.description = "Twist an FEM cloth model with VBD self-contact; intersection-free cloth twisting demo."

newton/examples/selection/example_selection_materials.py (2)

260-271: Avoid double argument parsing; let init(parser) own it

parse_known_args() is redundant and can cause duplicated parsing/early exit on -h. Drop it and rely on init(parser).

-    args = parser.parse_known_args()[0]
-
-    viewer, args = newton.examples.init(parser)
+    viewer, args = newton.examples.init(parser)

---

260-267: Optional: add a description for clearer --help output

Briefly describe the example for users scanning help.

-    parser = newton.examples.create_parser(add_help=True)
+    parser = newton.examples.create_parser(add_help=True)
+    parser.description = "Batch material edits via Selection API: ants with randomized friction, toggling direction."

newton/examples/robot/example_robot_cartpole.py (1)

117-121: Optional: add a help description

Improves discoverability in CLI help.

-    parser = newton.examples.create_parser(add_help=True)
+    parser = newton.examples.create_parser(add_help=True)
+    parser.description = "USD-based cartpole replication; rigid-body control with MuJoCo solver."

newton/examples/diffsim/example_diffsim_cloth.py (1)

217-221: Optional: set parser.description

Shows the optimization objective in -h output.

-    parser = newton.examples.create_parser(add_help=True)
+    parser = newton.examples.create_parser(add_help=True)
+    parser.description = "Differentiable cloth: optimize initial velocities so COM hits a target."

newton/examples/cloth/example_cloth_franka.py (1)

559-563: Optional: add a CLI description

Helps users quickly identify the demo from -h.

-    parser = newton.examples.create_parser(add_help=True)
+    parser = newton.examples.create_parser(add_help=True)
+    parser.description = "Franka + cloth manipulation: hybrid Featherstone/VBD with cloth self-contact."

newton/examples/diffsim/example_diffsim_soft_body.py (1)

361-361: Good: help enabled; consider adding a description for consistent -h output.

Passing add_help=True is correct. For consistency with other examples, set parser.description so --help shows a useful summary.

 parser = newton.examples.create_parser(add_help=True)
+parser.description = "Optimize soft-body material parameters via differentiable simulation."

newton/examples/selection/example_selection_articulations.py (1)

292-295: Remove redundant pre-parse; let init(parser) own parsing.

parser.parse_known_args() is unnecessary and can confuse future readers since init(parser) re-parses with parse_args() (and handles --help). Remove it.

-args = parser.parse_known_args()[0]
-
 viewer, args = newton.examples.init(parser)

newton/examples/diffsim/example_diffsim_ball.py (1)

248-253: Add a parser.description for consistent help output

Include a description on the parser in this example for uniform help messages:

 parser = newton.examples.create_parser(add_help=True)
+parser.description = "Optimize initial particle velocity via differentiable simulation to hit a target."

Static checks confirm all examples already call create_parser(add_help=True) and pass the parser into init().

newton/examples/basic/example_basic_joints.py (1)

210-210: Avoid unused variable: rename args to underscore

args isn’t used; keep linters quiet by discarding it.

-    viewer, args = newton.examples.init(parser)
+    viewer, _ = newton.examples.init(parser)

newton/examples/basic/example_basic_shapes.py (2)

151-151: Drop unused args binding

args isn’t referenced; prefer underscore.

-    viewer, args = newton.examples.init(parser)
+    viewer, _ = newton.examples.init(parser)

---

144-148: Doc/test follow-up for migration item

Since the PR description mentions updating docs/migration.rst and tests for examples, confirm those land before merge; I can draft a minimal pytest that asserts each example’s --help exits with code 0.

newton/examples/robot/example_robot_anymal_c_walk.py (1)

237-238: Rename unused args

Minor lint fix.

-    viewer, args = newton.examples.init(parser)
+    viewer, _ = newton.examples.init(parser)

newton/examples/ik/example_ik_franka.py (1)

178-179: Ignore unused args

Keep it tidy.

-    viewer, args = newton.examples.init(parser)
+    viewer, _ = newton.examples.init(parser)

newton/examples/basic/example_basic_pendulum.py (1)

139-139: Use underscore for unused args

-    viewer, args = newton.examples.init(parser)
+    viewer, _ = newton.examples.init(parser)

newton/examples/ik/example_ik_h1.py (1)

190-196: Polish: show the recommended invocation in help usage.

Set parser.prog so the Usage line reflects python -m newton.examples ik_h1 instead of the script path.

Apply this diff:

 parser = newton.examples.create_parser(add_help=True)
 parser.description = "Demonstrates inverse kinematics for H1 humanoid robot using Newton physics."
+parser.prog = "python -m newton.examples ik_h1"

newton/examples/basic/example_basic_viewer.py (1)

192-196: Nit: clarify help usage with the module entrypoint.

Explicitly set parser.prog to the documented command to make the Usage line friendlier.

Apply this diff:

 parser = newton.examples.create_parser(add_help=True)
 parser.description = (
     "Shows how to use different viewer types (GL, USD, Rerun, Null) with Newton physics simulation."
 )
+parser.prog = "python -m newton.examples basic_viewer"
 
-viewer, args = newton.examples.init(parser)
+viewer, args = newton.examples.init(parser)

Also applies to: 199-199

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Review profile: CHILL

Plan: Pro

💡 Knowledge Base configuration:

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Learnt from: dylanturpin
PR: newton-physics/newton#634
File: newton/tests/test_examples.py:329-333
Timestamp: 2025-08-25T21:41:45.795Z
Learning: Newton examples use a centralized CLI argument parsing system in newton/examples/__init__.py. The create_parser() function defines common arguments like --device, --viewer, --output-path, and --num-frames, while init(parser) creates viewers based on parsed arguments. Individual example scripts don't need to define these flags themselves - they inherit them from the centralized system via the example_map and runpy execution.

Learnt from: dylanturpin
PR: newton-physics/newton#634
File: newton/tests/test_examples.py:329-333
Timestamp: 2025-08-25T21:41:45.795Z
Learning: Newton examples use a centralized CLI argument parsing system in newton/examples/__init__.py. The create_parser() function defines common arguments like --device, --viewer, --output-path, and --num-frames, while init(parser) creates viewers based on parsed arguments. Individual example scripts don't need to define these flags themselves - they inherit them from the centralized system via the example_map and runpy execution.

Learnt from: Milad-Rakhsha-NV
PR: newton-physics/newton#535
File: newton/tests/test_examples.py:320-414
Timestamp: 2025-08-27T19:05:44.697Z
Learning: In newton/examples/__init__.py, the robot policy example is registered with the key "robot_policy" (not "robot.example_robot_policy"), so tests should reference it as name="robot_policy".

newton/tests/test_examples.py (1)

56-57: OK to make list handling mutually exclusive; consider tuple support and empty-list guard

Semantics are unchanged, but broadening to tuples and skipping empty sequences avoids emitting a bare --key when [] is passed.

-        elif isinstance(value, list):
-            additional_options.extend([f"--{key.replace('_', '-')}"] + [str(v) for v in value])
+        elif isinstance(value, (list, tuple)):
+            if value:  # avoid emitting a bare flag when the sequence is empty
+                additional_options.extend([f"--{key.replace('_', '-')}"] + [str(v) for v in value])

Configuration used: Path: .coderabbit.yml

Review profile: CHILL

Plan: Pro

💡 Knowledge Base configuration:

• MCP integration is disabled by default for public repositories
• Jira integration is disabled by default for public repositories
• Linear integration is disabled by default for public repositories

You can enable these sources in your CodeRabbit configuration.

Learnt from: dylanturpin
PR: newton-physics/newton#634
File: newton/tests/test_examples.py:329-333
Timestamp: 2025-08-25T21:41:45.795Z
Learning: Newton examples use a centralized CLI argument parsing system in newton/examples/__init__.py. The create_parser() function defines common arguments like --device, --viewer, --output-path, and --num-frames, while init(parser) creates viewers based on parsed arguments. Individual example scripts don't need to define these flags themselves - they inherit them from the centralized system via the example_map and runpy execution.