WIP: API refactor #1317
WIP: API refactor #1317
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Signed-off-by: Eric Heiden <[email protected]>
Signed-off-by: Eric Heiden <[email protected]>
Signed-off-by: Eric Heiden <[email protected]>
Signed-off-by: Eric Heiden <[email protected]>
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Caution Review failedFailed to post review comments 📝 WalkthroughWalkthroughThis PR reorganizes mathematical utility functions by creating a new Changes
Estimated code review effort🎯 3 (Moderate) | ⏱️ ~25 minutes Possibly related PRs
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⚠️ Outside diff range comments (1)
newton/_src/geometry/terrain_generator.py (1)
414-456: Update the reference to the old function name in the docstring.Line 423 states "This is a wrapper around heightfield_to_mesh" but the function has been renamed to
create_mesh_heightfield. Update this reference for consistency.📝 Proposed fix
- This is a wrapper around heightfield_to_mesh that fits the terrain_funcs signature. + This is a wrapper around create_mesh_heightfield that fits the terrain_funcs signature.
🧹 Nitpick comments (14)
newton/_src/core/types.py (2)
168-172: Consider acceptingAxisTypeparameter for greater API flexibility.Based on learnings, the
quat_between_axesfunction should acceptAxisTypeparameters (strings, Axis enums, and integers). The current signature restrictsotherto onlyAxisenum values. Since this is part of an API refactoring and theAxisclass already providesfrom_any()for type conversion, consider broadening the parameter type for better usability.♻️ Proposed enhancement
- def quat_between_axes(self, other: Axis) -> wp.quat: + def quat_between_axes(self, other: AxisType) -> wp.quat: """ Return the quaternion between two axes. """ - return wp.quat_between_vectors(self.to_vec3(), other.to_vec3()) + return wp.quat_between_vectors(self.to_vec3(), Axis.from_any(other).to_vec3())Based on learnings, the quat_between_axes function accepts AxisType parameters.
168-172: Enhance the docstring with parameter and return descriptions.The docstring could be more informative by explaining what the returned quaternion represents, documenting parameters, and providing usage context.
📝 Suggested docstring enhancement
def quat_between_axes(self, other: Axis) -> wp.quat: """ - Return the quaternion between two axes. + Return the quaternion that rotates from this axis to another axis. + + Args: + other (Axis): The target axis to rotate to. + + Returns: + wp.quat: The quaternion representing the rotation from this axis to the target axis. """ return wp.quat_between_vectors(self.to_vec3(), other.to_vec3())newton/__init__.py (1)
109-120: LGTM! New math submodule correctly exposed in public API.The
mathsubmodule is properly imported and added to__all__, following the project's incremental export pattern.The
noqa: E402directive on line 109 appears unnecessary according to the static analysis tool and can be removed for cleaner code.🧹 Optional cleanup
-from . import geometry, ik, math, selection, sensors, solvers, utils, viewer # noqa: E402 +from . import geometry, ik, math, selection, sensors, solvers, utils, viewernewton/examples/selection/example_selection_cartpole.py (1)
179-185: Use_qdfor the unused lambda arg (and consider tolerance forq[2]).The
newton.math.vec_allclose(...)switch looks consistent with the refactor. Ruff reportsqdunused here; renaming avoids ARG005 if it’s enforced.Proposed diff
- lambda q, qd: q[2] == 0.0 and newton.math.vec_allclose(q.q, wp.quat_identity()), + lambda q, _qd: q[2] == 0.0 and newton.math.vec_allclose(q.q, wp.quat_identity()),newton/examples/robot/example_robot_allegro_hand.py (1)
212-236: Freeze loop-captured bounds in the hand-body lambda (and rename unusedqd).The
newton.math.vec_inside_limitsmigration is good. For the hand-body check, freezinghand_lower/hand_uppervia defaults removes reliance on# noqa: B023and addresses Ruff’s unusedqd.Proposed diff
newton.examples.test_body_state( self.model, self.state_0, f"hand bodies from world {i} are close to the initial position", - lambda q, qd: newton.math.vec_inside_limits(q.p, hand_lower, hand_upper), # noqa: B023 + lambda q, _qd, lower=hand_lower, upper=hand_upper: newton.math.vec_inside_limits(q.p, lower, upper), indices=hand_body_indices, )newton/examples/mpm/example_mpm_granular.py (1)
156-165: Rename unusedqdto_qdto satisfy Ruff ARG005 (if enforced).The
newton.math.vec_inside_limitsswitch looks correct.Proposed diff
- lambda q, qd: not newton.math.vec_inside_limits(q, cube_lower, cube_upper), + lambda q, _qd: not newton.math.vec_inside_limits(q, cube_lower, cube_upper),newton/examples/cloth/example_cloth_bending.py (1)
147-153: Rename unusedqdto_qd(Ruff ARG005).
newton.math.vec_inside_limitsusage is consistent with the refactor.Proposed diff
- lambda q, qd: newton.math.vec_inside_limits(q, p_lower, p_upper), + lambda q, _qd: newton.math.vec_inside_limits(q, p_lower, p_upper),newton/examples/cloth/example_cloth_twist.py (1)
295-301: Rename unusedqdto_qd(Ruff ARG005).API migration looks good.
Proposed diff
- lambda q, qd: newton.math.vec_inside_limits(q, p_lower, p_upper), + lambda q, _qd: newton.math.vec_inside_limits(q, p_lower, p_upper),newton/examples/mpm/example_mpm_anymal.py (1)
293-301: Fix Ruff ARG005 by marking the unused lambda arg as intentionally unused (keep signature).Proposed diff
- lambda q, qd: newton.math.vec_inside_limits(qd, forward_vel_min, forward_vel_max), + lambda _q, qd: newton.math.vec_inside_limits(qd, forward_vel_min, forward_vel_max),newton/examples/cloth/example_cloth_franka.py (1)
558-565: Fix Ruff ARG005 by markingqdas intentionally unused in the predicate.Proposed diff
- lambda q, qd: newton.math.vec_inside_limits(q, p_lower, p_upper), + lambda q, _qd: newton.math.vec_inside_limits(q, p_lower, p_upper),newton/examples/robot/example_robot_cartpole.py (1)
113-180: Fix Ruff ARG005 intest_finallambdas (keep the 2-arg predicate signature).Proposed diff
- lambda q, qd: q[2] == 0.0 and newton.math.vec_allclose(q.q, wp.quat_identity()), + lambda q, _qd: q[2] == 0.0 and newton.math.vec_allclose(q.q, wp.quat_identity()), @@ - lambda q, qd: newton.math.vec_allclose(qd, world0_cart_vel), + lambda _q, qd: newton.math.vec_allclose(qd, world0_cart_vel), @@ - lambda q, qd: newton.math.vec_allclose(qd, world0_pole1_vel), + lambda _q, qd: newton.math.vec_allclose(qd, world0_pole1_vel), @@ - lambda q, qd: newton.math.vec_allclose(qd, world0_pole2_vel), + lambda _q, qd: newton.math.vec_allclose(qd, world0_pole2_vel),newton/examples/cloth/example_cloth_style3d.py (1)
176-183: Fix Ruff ARG005 by markingqdas intentionally unused in the predicate.Proposed diff
- lambda q, qd: newton.math.vec_inside_limits(q, p_lower, p_upper), + lambda q, _qd: newton.math.vec_inside_limits(q, p_lower, p_upper),newton/examples/basic/example_basic_shapes.py (1)
165-218: Fix Ruff ARG005 intest_finallambdas by markingqdas unused (keep signature).Proposed diff
- lambda q, qd: newton.math.vec_allclose(q, sphere_q, atol=2e-4), + lambda q, _qd: newton.math.vec_allclose(q, sphere_q, atol=2e-4), @@ - lambda q, qd: newton.math.vec_allclose(q, ellipsoid_q, atol=2e-2), + lambda q, _qd: newton.math.vec_allclose(q, ellipsoid_q, atol=2e-2), @@ - lambda q, qd: newton.math.vec_allclose(q, capsule_q, atol=2e-4), + lambda q, _qd: newton.math.vec_allclose(q, capsule_q, atol=2e-4), @@ - lambda q, qd: newton.math.vec_allclose(q, box_q, atol=0.1), + lambda q, _qd: newton.math.vec_allclose(q, box_q, atol=0.1),newton/examples/robot/example_robot_anymal_c_walk.py (1)
326-326: Unused lambda parameter could be replaced with underscore.The lambda parameter
qis unused in this test assertion. While this matches the expected signature oftest_body_state, you could make the intent clearer by using_instead ofq.♻️ Proposed refactor
- lambda q, qd: newton.math.vec_inside_limits(qd, forward_vel_min, forward_vel_max), + lambda _, qd: newton.math.vec_inside_limits(qd, forward_vel_min, forward_vel_max),
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📒 Files selected for processing (22)
newton/__init__.pynewton/_src/core/types.pynewton/_src/geometry/__init__.pynewton/_src/geometry/terrain_generator.pynewton/_src/math/__init__.pynewton/_src/utils/__init__.pynewton/examples/basic/example_basic_shapes.pynewton/examples/cloth/example_cloth_bending.pynewton/examples/cloth/example_cloth_franka.pynewton/examples/cloth/example_cloth_h1.pynewton/examples/cloth/example_cloth_hanging.pynewton/examples/cloth/example_cloth_style3d.pynewton/examples/cloth/example_cloth_twist.pynewton/examples/mpm/example_mpm_anymal.pynewton/examples/mpm/example_mpm_granular.pynewton/examples/robot/example_robot_allegro_hand.pynewton/examples/robot/example_robot_anymal_c_walk.pynewton/examples/robot/example_robot_cartpole.pynewton/examples/selection/example_selection_cartpole.pynewton/geometry.pynewton/math.pynewton/tests/test_terrain_generator.py
💤 Files with no reviewable changes (1)
- newton/_src/utils/init.py
🧰 Additional context used
🧠 Learnings (18)
📓 Common learnings
Learnt from: nvlukasz
Repo: newton-physics/newton PR: 519
File: newton/geometry.py:16-22
Timestamp: 2025-08-12T17:51:37.474Z
Learning: In the Newton public API refactor, common geometry symbols like ParticleFlags and ShapeFlags are now exposed at the top level in newton/__init__.py rather than through newton.geometry. The newton/geometry.py module is intentionally focused only on broad-phase collision detection classes (BroadPhaseAllPairs, BroadPhaseExplicit, BroadPhaseSAP).
Learnt from: nvlukasz
Repo: newton-physics/newton PR: 519
File: newton/tests/test_ik.py:25-26
Timestamp: 2025-08-12T17:58:16.929Z
Learning: In the Newton physics engine codebase, it's acceptable for tests to import and use private `_src` internal modules and functions when needed for testing purposes, even though this breaks the public API boundary. This is an intentional project decision for test code.
📚 Learning: 2025-08-12T17:51:37.474Z
Learnt from: nvlukasz
Repo: newton-physics/newton PR: 519
File: newton/geometry.py:16-22
Timestamp: 2025-08-12T17:51:37.474Z
Learning: In the Newton public API refactor, common geometry symbols like ParticleFlags and ShapeFlags are now exposed at the top level in newton/__init__.py rather than through newton.geometry. The newton/geometry.py module is intentionally focused only on broad-phase collision detection classes (BroadPhaseAllPairs, BroadPhaseExplicit, BroadPhaseSAP).
Applied to files:
newton/geometry.pynewton/examples/cloth/example_cloth_bending.pynewton/examples/cloth/example_cloth_style3d.pynewton/tests/test_terrain_generator.pynewton/examples/basic/example_basic_shapes.pynewton/_src/math/__init__.pynewton/_src/geometry/__init__.pynewton/math.pynewton/examples/cloth/example_cloth_h1.pynewton/examples/cloth/example_cloth_franka.pynewton/examples/mpm/example_mpm_granular.pynewton/__init__.pynewton/examples/cloth/example_cloth_twist.pynewton/_src/geometry/terrain_generator.py
📚 Learning: 2025-08-12T17:58:00.815Z
Learnt from: nvlukasz
Repo: newton-physics/newton PR: 519
File: newton/_src/solvers/featherstone/kernels.py:18-20
Timestamp: 2025-08-12T17:58:00.815Z
Learning: In newton/_src/core/__init__.py, the function transform_twist is properly re-exported from the spatial module via "from .spatial import (..., transform_twist, ...)" and included in __all__, making it available for import as "from ...core import transform_twist" from other modules.
Applied to files:
newton/geometry.pynewton/_src/math/__init__.pynewton/_src/geometry/__init__.pynewton/math.pynewton/__init__.pynewton/examples/cloth/example_cloth_twist.py
📚 Learning: 2025-08-14T17:38:36.106Z
Learnt from: nvlukasz
Repo: newton-physics/newton PR: 519
File: newton/__init__.py:25-29
Timestamp: 2025-08-14T17:38:36.106Z
Learning: The Newton project prefers incremental __all__ building using __all__ += [...] pattern to group exports with their related imports, rather than a single consolidated __all__ at the end of the file.
Applied to files:
newton/geometry.pynewton/_src/math/__init__.pynewton/_src/geometry/__init__.pynewton/math.pynewton/__init__.py
📚 Learning: 2025-08-12T17:58:16.929Z
Learnt from: nvlukasz
Repo: newton-physics/newton PR: 519
File: newton/tests/test_ik.py:25-26
Timestamp: 2025-08-12T17:58:16.929Z
Learning: In the Newton physics engine codebase, it's acceptable for tests to import and use private `_src` internal modules and functions when needed for testing purposes, even though this breaks the public API boundary. This is an intentional project decision for test code.
Applied to files:
newton/geometry.pynewton/examples/cloth/example_cloth_bending.pynewton/examples/cloth/example_cloth_style3d.pynewton/tests/test_terrain_generator.pynewton/examples/basic/example_basic_shapes.pynewton/_src/geometry/__init__.pynewton/math.pynewton/examples/cloth/example_cloth_h1.pynewton/examples/cloth/example_cloth_franka.pynewton/examples/mpm/example_mpm_granular.pynewton/__init__.pynewton/examples/cloth/example_cloth_twist.py
📚 Learning: 2025-11-28T11:12:40.805Z
Learnt from: camevor
Repo: newton-physics/newton PR: 1146
File: newton/examples/basic/example_basic_joints.py:206-213
Timestamp: 2025-11-28T11:12:40.805Z
Learning: In Newton's standard solvers (XPBD, SemiImplicit, SolverMuJoCo), spatial vectors in State.body_qd use the ordering (linear, angular): wp.spatial_top(qd) returns linear velocity and wp.spatial_bottom(qd) returns angular velocity. This is the opposite of typical Modern Robotics spatial twist notation where (angular, linear) is used.
Applied to files:
newton/examples/selection/example_selection_cartpole.pynewton/examples/robot/example_robot_cartpole.py
📚 Learning: 2025-12-12T08:45:43.428Z
Learnt from: nvtw
Repo: newton-physics/newton PR: 1221
File: newton/examples/example_sdf.py:277-287
Timestamp: 2025-12-12T08:45:43.428Z
Learning: In Newtown (Newton) example code, specifically files under newton/examples, computing contacts once per frame and reusing them across all substeps is an intentional design choice, not a bug. Reviewers should verify that contacts are computed before the substep loop and reused for every substep within the same frame. This pattern reduces redundant work and preserves frame-consistency; do not flag as a regression unless the behavior is changed for correctness or performance reasons.
Applied to files:
newton/examples/selection/example_selection_cartpole.pynewton/examples/cloth/example_cloth_bending.pynewton/examples/cloth/example_cloth_style3d.pynewton/examples/basic/example_basic_shapes.pynewton/examples/cloth/example_cloth_hanging.pynewton/examples/mpm/example_mpm_anymal.pynewton/examples/robot/example_robot_anymal_c_walk.pynewton/examples/robot/example_robot_cartpole.pynewton/examples/cloth/example_cloth_h1.pynewton/examples/cloth/example_cloth_franka.pynewton/examples/mpm/example_mpm_granular.pynewton/examples/robot/example_robot_allegro_hand.pynewton/examples/cloth/example_cloth_twist.py
📚 Learning: 2025-07-15T21:00:03.709Z
Learnt from: dylanturpin
Repo: newton-physics/newton PR: 394
File: newton/tests/test_ik.py:119-119
Timestamp: 2025-07-15T21:00:03.709Z
Learning: In the Newton physics engine codebase, it's acceptable to test private API functions (those prefixed with underscore) in unit and component tests, as the maintainers consider this appropriate for testing internal functionality.
Applied to files:
newton/examples/cloth/example_cloth_style3d.py
📚 Learning: 2025-12-12T17:45:26.847Z
Learnt from: vastsoun
Repo: newton-physics/newton PR: 1019
File: newton/_src/solvers/kamino/geometry/primitives.py:0-0
Timestamp: 2025-12-12T17:45:26.847Z
Learning: In newton/_src/solvers/kamino/geometry/primitives.py, the narrow-phase kernel `_primitive_narrowphase` does not need to handle symmetric shape-pair orderings (e.g., both SPHERE-BOX and BOX-SPHERE) because `kamino.core.builder.ModelBuilder` and `kamino.geometry.primitive.broadphase` guarantee that explicit candidate geometry pairs are always defined with GIDs in ascending order.
Applied to files:
newton/examples/basic/example_basic_shapes.py
📚 Learning: 2025-08-20T03:30:16.037Z
Learnt from: eric-heiden
Repo: newton-physics/newton PR: 584
File: newton/_src/utils/import_urdf.py:159-167
Timestamp: 2025-08-20T03:30:16.037Z
Learning: In the URDF importer (newton/_src/utils/import_urdf.py), cylinders are intentionally created using add_shape_capsule() instead of add_shape_cylinder() because cylinder collisions are not fully supported yet. This is a deliberate workaround until proper cylinder collision support is implemented.
Applied to files:
newton/examples/basic/example_basic_shapes.py
📚 Learning: 2025-08-12T05:17:34.423Z
Learnt from: shi-eric
Repo: newton-physics/newton PR: 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.
Applied to files:
newton/_src/math/__init__.py
📚 Learning: 2025-08-12T17:58:00.815Z
Learnt from: nvlukasz
Repo: newton-physics/newton PR: 519
File: newton/_src/solvers/featherstone/kernels.py:18-20
Timestamp: 2025-08-12T17:58:00.815Z
Learning: In newton/_src/core/__init__.py, the function transform_twist is re-exported from the spatial module via "from .spatial import transform_twist", making it available for import as "from ...core import transform_twist" from other modules.
Applied to files:
newton/math.pynewton/__init__.pynewton/examples/cloth/example_cloth_twist.py
📚 Learning: 2025-08-12T18:04:06.287Z
Learnt from: nvlukasz
Repo: newton-physics/newton PR: 519
File: newton/_src/utils/import_usd.py:364-365
Timestamp: 2025-08-12T18:04:06.287Z
Learning: The quat_between_axes function in Newton accepts AxisType parameters, which includes strings like "X", "Y", "Z" as well as Axis enum values and integers. The function internally handles conversion using Axis.from_any(), so passing strings directly to quat_between_axes is valid and correct behavior.
Applied to files:
newton/_src/core/types.py
📚 Learning: 2025-08-12T18:04:06.287Z
Learnt from: nvlukasz
Repo: newton-physics/newton PR: 519
File: newton/_src/utils/import_usd.py:364-365
Timestamp: 2025-08-12T18:04:06.287Z
Learning: The quat_between_axes function in Newton accepts AxisType parameters, which includes both Axis enum values and strings. The function internally handles string-to-Axis conversion using Axis.from_any(), so passing strings directly to quat_between_axes is valid and correct.
Applied to files:
newton/_src/core/types.py
📚 Learning: 2025-08-18T15:56:26.587Z
Learnt from: adenzler-nvidia
Repo: newton-physics/newton PR: 552
File: newton/_src/solvers/mujoco/solver_mujoco.py:0-0
Timestamp: 2025-08-18T15:56:26.587Z
Learning: In Newton's MuJoCo solver, when transforming joint axes from Newton's internal frame to MuJoCo's expected frame, use wp.quat_rotate(joint_rot, axis) not wp.quat_rotate_inv(joint_rot, axis). The joint_rot represents rotation from joint-local to body frame, so forward rotation is correct.
Applied to files:
newton/_src/core/types.py
📚 Learning: 2025-12-12T16:25:54.685Z
Learnt from: vastsoun
Repo: newton-physics/newton PR: 1019
File: newton/_src/solvers/kamino/core/math.py:248-255
Timestamp: 2025-12-12T16:25:54.685Z
Learning: In newton/_src/solvers/kamino/core/math.py, the quat_conj function's current implementation (negating w instead of x,y,z) is a known issue that will be revised in a future PR per vastsoun's decision, not to be flagged in current Kamino reviews.
Applied to files:
newton/_src/core/types.py
📚 Learning: 2025-08-27T19:05:44.697Z
Learnt from: Milad-Rakhsha-NV
Repo: newton-physics/newton PR: 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".
Applied to files:
newton/examples/robot/example_robot_cartpole.py
📚 Learning: 2025-10-29T14:55:48.171Z
Learnt from: gdaviet
Repo: newton-physics/newton PR: 940
File: newton/examples/mpm/example_mpm_granular.py:92-101
Timestamp: 2025-10-29T14:55:48.171Z
Learning: In newton/examples/mpm/example_mpm_granular.py, the capture() method intentionally advances the simulation state once during CUDA graph capture. This is expected behavior because CUDA graph capture records exact memory addresses, so the state arrays (state_0, state_1) cannot be reset or reallocated after capture without invalidating the graph.
Applied to files:
newton/examples/mpm/example_mpm_granular.py
🧬 Code graph analysis (17)
newton/geometry.py (1)
newton/_src/geometry/terrain_generator.py (2)
create_mesh_heightfield(605-724)create_mesh_terrain(459-553)
newton/examples/selection/example_selection_cartpole.py (1)
newton/_src/math/__init__.py (1)
vec_allclose(196-203)
newton/examples/cloth/example_cloth_bending.py (1)
newton/_src/math/__init__.py (1)
vec_inside_limits(207-214)
newton/examples/cloth/example_cloth_style3d.py (1)
newton/_src/math/__init__.py (1)
vec_inside_limits(207-214)
newton/tests/test_terrain_generator.py (1)
newton/_src/geometry/terrain_generator.py (2)
create_mesh_heightfield(605-724)create_mesh_terrain(459-553)
newton/examples/basic/example_basic_shapes.py (1)
newton/_src/math/__init__.py (1)
vec_allclose(196-203)
newton/examples/cloth/example_cloth_hanging.py (1)
newton/_src/math/__init__.py (1)
vec_inside_limits(207-214)
newton/_src/geometry/__init__.py (1)
newton/_src/geometry/terrain_generator.py (2)
create_mesh_heightfield(605-724)create_mesh_terrain(459-553)
newton/math.py (1)
newton/_src/math/__init__.py (12)
boltzmann(22-40)leaky_max(84-97)leaky_min(101-114)smooth_max(44-60)smooth_min(64-80)vec_abs(182-192)vec_allclose(196-203)vec_inside_limits(207-214)vec_leaky_max(165-178)vec_leaky_min(148-161)vec_max(133-144)vec_min(118-129)
newton/examples/mpm/example_mpm_anymal.py (1)
newton/_src/math/__init__.py (1)
vec_inside_limits(207-214)
newton/examples/robot/example_robot_anymal_c_walk.py (2)
newton/_src/geometry/terrain_generator.py (1)
create_mesh_terrain(459-553)newton/_src/math/__init__.py (1)
vec_inside_limits(207-214)
newton/examples/robot/example_robot_cartpole.py (1)
newton/_src/math/__init__.py (1)
vec_allclose(196-203)
newton/examples/cloth/example_cloth_h1.py (1)
newton/_src/math/__init__.py (1)
vec_inside_limits(207-214)
newton/examples/cloth/example_cloth_franka.py (1)
newton/_src/math/__init__.py (1)
vec_inside_limits(207-214)
newton/examples/mpm/example_mpm_granular.py (1)
newton/_src/math/__init__.py (1)
vec_inside_limits(207-214)
newton/examples/robot/example_robot_allegro_hand.py (1)
newton/_src/math/__init__.py (1)
vec_inside_limits(207-214)
newton/examples/cloth/example_cloth_twist.py (1)
newton/_src/math/__init__.py (1)
vec_inside_limits(207-214)
🪛 Ruff (0.14.10)
newton/examples/selection/example_selection_cartpole.py
183-183: Unused lambda argument: qd
(ARG005)
newton/examples/cloth/example_cloth_bending.py
152-152: Unused lambda argument: qd
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newton/examples/cloth/example_cloth_style3d.py
182-182: Unused lambda argument: qd
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newton/examples/basic/example_basic_shapes.py
172-172: Unused lambda argument: qd
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182-182: Unused lambda argument: qd
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191-191: Unused lambda argument: qd
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216-216: Unused lambda argument: qd
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newton/examples/cloth/example_cloth_hanging.py
201-201: Unused lambda argument: qd
(ARG005)
newton/examples/mpm/example_mpm_anymal.py
299-299: Unused lambda argument: q
(ARG005)
newton/examples/robot/example_robot_anymal_c_walk.py
326-326: Unused lambda argument: q
(ARG005)
newton/examples/robot/example_robot_cartpole.py
119-119: Unused lambda argument: qd
(ARG005)
164-164: Unused lambda argument: q
(ARG005)
171-171: Unused lambda argument: q
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178-178: Unused lambda argument: q
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newton/examples/cloth/example_cloth_h1.py
315-315: Unused lambda argument: qd
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newton/examples/cloth/example_cloth_franka.py
564-564: Unused lambda argument: qd
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newton/examples/mpm/example_mpm_granular.py
164-164: Unused lambda argument: qd
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newton/examples/robot/example_robot_allegro_hand.py
220-220: Unused lambda argument: qd
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newton/__init__.py
109-109: Unused noqa directive (non-enabled: E402)
Remove unused noqa directive
(RUF100)
newton/examples/cloth/example_cloth_twist.py
300-300: Unused lambda argument: qd
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🔇 Additional comments (15)
newton/_src/core/types.py (1)
168-172: No action needed.wp.quat_between_vectorsis available and already used throughout the Newton codebase (in tests, examples, and production code). Since Newton requires nightly Warp builds (specifically >=1.11.0.dev20251205), version compatibility concerns with older stable versions are not applicable to this project.newton/_src/geometry/__init__.py (1)
35-35: LGTM! Terrain function names updated consistently.The import and export statements correctly reflect the renamed terrain generation functions (
create_mesh_terrainandcreate_mesh_heightfield), maintaining consistency with the underlying implementation changes.Also applies to: 70-71
newton/_src/geometry/terrain_generator.py (2)
459-553: LGTM! Enhanced terrain generation API with expanded parameters.The function rename to
create_mesh_terrainfollows a clearer naming convention. The addition ofterrain_paramsandseedparameters significantly enhances flexibility while maintaining backward compatibility through sensible defaults.
605-724: LGTM! Improved heightfield API with explicit positioning parameters.The rename to
create_mesh_heightfieldis more descriptive. The expanded signature with explicitcenter_x,center_y, andground_zparameters (replacing implicitextent_width/extent_heightnaming) improves API clarity. Comprehensive validation and documentation are excellent.newton/examples/cloth/example_cloth_hanging.py (1)
201-201: LGTM! Namespace updated to use newton.math module.The reference to
vec_inside_limitshas been correctly updated to use the newnewton.mathnamespace as part of the API refactor.newton/examples/cloth/example_cloth_h1.py (1)
315-315: LGTM! Namespace updated to use newton.math module.The reference to
vec_inside_limitshas been correctly updated to use the newnewton.mathnamespace, consistent with the API refactor.newton/math.py (1)
1-45: LGTM! Clean public API surface for math utilities.The module correctly re-exports math functions from the internal
_src.mathimplementation and follows the project's conventions for public API modules. The__all__list is properly aligned with imports.newton/examples/robot/example_robot_anymal_c_walk.py (2)
36-36: LGTM! Import updated for API refactor.The import correctly uses the new
create_mesh_terrainfunction name.
110-120: LGTM! Terrain generation enhanced with parameterization.The call to
create_mesh_terraincorrectly uses the new API with extended parameters (terrain_paramsandseed), enabling more detailed terrain configuration.newton/tests/test_terrain_generator.py (3)
28-29: LGTM! Test imports updated for API refactor.The imports correctly use the new function names
create_mesh_heightfieldandcreate_mesh_terrain.
46-219: LGTM! All heightfield test calls updated consistently.All test cases for
create_mesh_heightfield(formerlyheightfield_to_mesh) have been updated with the new function name while preserving the same parameter structure and test logic.
394-432: LGTM! All terrain grid test calls updated consistently.All test cases for
create_mesh_terrain(formerlygenerate_terrain_grid) have been updated with the new function name while maintaining the same test coverage.newton/geometry.py (2)
32-33: LGTM! Public API imports updated for terrain generation.The imports correctly reference the renamed functions
create_mesh_heightfieldandcreate_mesh_terrain.
62-63: LGTM! Public API exports updated consistently.The
__all__list correctly exposes the renamed terrain generation functions.newton/_src/math/__init__.py (1)
1-230: LGTM! Well-implemented math utilities for Warp.The module provides a comprehensive set of differentiable math utilities with clear documentation:
- Smooth approximations (Boltzmann, smooth_max/min, leaky_max/min) for gradient-based optimization
- Elementwise vector operations properly handle
wp.vec3types- Generic utilities (
vec_allclose,vec_inside_limits) usewp.static(len(a))for compile-time iteration- All functions correctly decorated with
@wp.funcfor device compatibility
1 participant
First part of the API refactoring we decided to do following the API audit.
Summary by CodeRabbit
Release Notes
New Features
mathmodule with mathematical utilities for scalar and vector operations.Refactor
mathmodule (moved fromutils).✏️ Tip: You can customize this high-level summary in your review settings.