MjWarp dependency upgrade#735
Conversation
Signed-off-by: Alain Denzler <adenzler@nvidia.com>
📝 WalkthroughWalkthroughASV configuration updated to pin the mujoco_warp dependency to a new Git commit in the install_command. No other configuration entries or logic were changed. Changes
Estimated code review effort🎯 1 (Trivial) | ⏱️ ~2 minutes Possibly related PRs
Suggested reviewers
✨ Finishing Touches🧪 Generate unit tests
Thanks for using CodeRabbit! It's free for OSS, and your support helps us grow. If you like it, consider giving us a shout-out. 🪧 TipsChatThere are 3 ways to chat with CodeRabbit:
SupportNeed help? Create a ticket on our support page for assistance with any issues or questions. CodeRabbit Commands (Invoked using PR/Issue comments)Type Other keywords and placeholders
Status, Documentation and Community
|
Signed-off-by: Alain Denzler <adenzler@nvidia.com>
There was a problem hiding this comment.
Actionable comments posted: 0
🧹 Nitpick comments (2)
asv.conf.json (2)
22-22: Freeze transitive deps for reproducibility: add --no-deps to the VCS install.Reduces benchmark drift from upstream dependency changes; explicit upper-level pins here already cover the main stack.
Apply this diff:
- "python -m pip install git+https://github.com/google-deepmind/mujoco_warp@64bb938f87b6aaf840753ef9ddc198db655020c0", + "python -m pip install --no-deps git+https://github.com/google-deepmind/mujoco_warp.git@64bb938f87b6aaf840753ef9ddc198db655020c0",
17-24: Optional: add a constraints file to lock transitive versions across all installs.Prevents subtle perf deltas from indirect upgrades during ASV runs.
Example approach (one-time, not a hard requirement):
- Maintain asv/constraints.txt checked into the repo.
- Prefix install steps with PIP_CONSTRAINT=asv/constraints.txt, e.g.:
- 'PIP_CONSTRAINT=asv/constraints.txt python -m pip install -U numpy'
- Repeat for each pip install entry.
📜 Review details
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.
⛔ Files ignored due to path filters (1)
uv.lockis excluded by!**/*.lock
📒 Files selected for processing (1)
asv.conf.json(1 hunks)
🧰 Additional context used
🧠 Learnings (1)
📓 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.
Learnt from: nvlukasz
PR: newton-physics/newton#519
File: newton/_src/solvers/featherstone/kernels.py:75-75
Timestamp: 2025-08-12T18:04:06.577Z
Learning: The Newton physics framework requires nightly Warp builds, which means compatibility concerns with older stable Warp versions (like missing functions such as wp.spatial_adjoint) are not relevant for this project.
🔇 Additional comments (3)
asv.conf.json (3)
22-22: LGTM on pinning mujoco_warp to a specific commit for reproducible ASV runs.This should help stabilize benchmark environments.
19-22: Double-check runner compatibility with CUDA 12.8.The pinned torch 2.7.1+cu128 wheel requires CUDA 12.8-capable runners; otherwise installs will fail.
Confirm CI/ASV machines expose CUDA 12.8, or gate this to a CUDA-enabled job and provide a CPU fallback if needed.
22-22: No changes required.
Signed-off-by: Alain Denzler <adenzler@nvidia.com>
Signed-off-by: Alain Denzler <adenzler@nvidia.com>
fixes bug in convex-plane collision that was crashing the benchmarks.
Newton Migration Guide
Please ensure the migration guide for warp.sim users is up-to-date with the changes made in this PR.
docs/migration.rstis up-to dateBefore your PR is "Ready for review"
newton/tests/test_examples.py)pre-commit run -aSummary by CodeRabbit
No user-facing changes. Functionality remains unchanged and no action is required from end-users.