Skip to content

Feature/develop/newton integration#4691

Draft
ooctipus wants to merge 4 commits intoisaac-sim:developfrom
ooctipus:feature/develop/newton_integration
Draft

Feature/develop/newton integration#4691
ooctipus wants to merge 4 commits intoisaac-sim:developfrom
ooctipus:feature/develop/newton_integration

Conversation

@ooctipus
Copy link
Collaborator

@ooctipus ooctipus commented Feb 23, 2026

Description

Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context.
List any dependencies that are required for this change.

Fixes # (issue)

Type of change

  • Bug fix (non-breaking change which fixes an issue)
  • New feature (non-breaking change which adds functionality)
  • Breaking change (existing functionality will not work without user modification)
  • Documentation update

Screenshots

Please attach before and after screenshots of the change if applicable.

Checklist

  • I have read and understood the contribution guidelines
  • I have run the pre-commit checks with ./isaaclab.sh --format
  • I have made corresponding changes to the documentation
  • My changes generate no new warnings
  • I have added tests that prove my fix is effective or that my feature works
  • I have updated the changelog and the corresponding version in the extension's config/extension.toml file
  • I have added my name to the CONTRIBUTORS.md or my name already exists there

@github-actions github-actions bot added documentation Improvements or additions to documentation enhancement New feature or request isaac-lab Related to Isaac Lab team labels Feb 23, 2026
@AntoineRichard
Copy link
Collaborator

AntoineRichard commented Feb 23, 2026

About the contact sensor @ooctipus as discussed, @camevor is reworking it so that we have a unified simple contact sensor, and Newton can have a juiced up version should the user provide the newton specific config.

@ooctipus ooctipus force-pushed the feature/develop/newton_integration branch 4 times, most recently from 787af23 to 8daf366 Compare February 24, 2026 08:53
@github-actions github-actions bot added asset New asset feature or request isaac-mimic Related to Isaac Mimic team infrastructure labels Feb 24, 2026
@ooctipus ooctipus force-pushed the feature/develop/newton_integration branch from 8daf366 to dc843de Compare February 24, 2026 23:25
@ooctipus
add cloner
9516cbc
@ooctipus
Squashed commit of the following:
4f11d52 
commit 46fe3cf
Author: Antoine Richard <antoiner@nvidia.com>
Date:   Mon Feb 23 19:01:02 2026 +0100

    WIP

commit f34eec3
Author: Antoine Richard <antoiner@nvidia.com>
Date:   Mon Feb 23 16:16:19 2026 +0100

    pre-commits

commit 683c22a
Author: Antoine Richard <antoiner@nvidia.com>
Date:   Mon Feb 23 16:15:55 2026 +0100

    Looking good

commit 728e9cf
Author: Antoine Richard <antoiner@nvidia.com>
Date:   Mon Feb 23 15:30:49 2026 +0100

    Getting there?

commit 0547fc5
Author: Antoine Richard <antoiner@nvidia.com>
Date:   Mon Feb 23 15:08:29 2026 +0100

    One more clean-up for the base abstractions.

commit d35c280
Author: Antoine Richard <antoiner@nvidia.com>
Date:   Mon Feb 23 13:53:54 2026 +0100

    pre-commits

commit 31e1589
Author: ooctipus <zhengyuz@nvidia.com>
Date:   Mon Feb 23 13:43:31 2026 +0100

    working checkpoint

commit 66e3453
Author: Antoine Richard <antoiner@nvidia.com>
Date:   Fri Feb 20 18:31:57 2026 +0100

    pre-commits

commit 8dd323a
Author: Antoine Richard <antoiner@nvidia.com>
Date:   Fri Feb 20 18:30:57 2026 +0100

    migrated the tests to use the new APIs. Removes almost all the warnings. Part of the general clean-up on the APIs.

commit 27c0085
Author: Antoine Richard <antoiner@nvidia.com>
Date:   Fri Feb 20 18:29:48 2026 +0100

    Not tested but the code is here?

commit 3a3586d
Author: Antoine Richard <antoiner@nvidia.com>
Date:   Fri Feb 20 17:27:53 2026 +0100

    reducing the number of warnings.

commit d37f443
Author: Antoine Richard <antoiner@nvidia.com>
Date:   Fri Feb 20 17:27:01 2026 +0100

    WIP

commit 7e6e5f8
Author: Antoine Richard <antoiner@nvidia.com>
Date:   Fri Feb 20 16:08:49 2026 +0100

    moving bits around

commit 4e0b07c
Author: Antoine Richard <antoiner@nvidia.com>
Date:   Fri Feb 20 14:52:05 2026 +0100

    Now passing all articulation tests.

commit 9bd5169
Author: Antoine Richard <antoiner@nvidia.com>
Date:   Fri Feb 20 14:12:50 2026 +0100

    Working on unifying the new asset API across all backends.

commit 27f9ee2
Author: Antoine Richard <antoiner@nvidia.com>
Date:   Fri Feb 20 13:30:28 2026 +0100

    WIP

commit 737e86d
Author: Antoine Richard <antoiner@nvidia.com>
Date:   Fri Feb 20 13:30:14 2026 +0100

    Reworking methods docstrings to be more precise

commit 35e31e6
Author: Antoine Richard <antoiner@nvidia.com>
Date:   Fri Feb 20 11:39:29 2026 +0100

    working on unifying the docstrings, and fixing typos. Trying to be more precise on shapes and dtypes between warp and torch.

commit 9963879
Author: Antoine Richard <antoiner@nvidia.com>
Date:   Wed Feb 18 09:27:08 2026 +0100

    WIP

commit fadb5cd
Author: Antoine Richard <antoiner@nvidia.com>
Date:   Tue Feb 17 14:48:18 2026 +0100

    WIP
@ooctipus
add hydra preset and group feature
38e1776
@ooctipus ooctipus force-pushed the feature/develop/newton_integration branch from f726af0 to 1a66742 Compare February 25, 2026 05:21
@ooctipus ooctipus force-pushed the feature/develop/newton_integration branch from 1a66742 to e2239f5 Compare February 25, 2026 22:28
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

@hhansen-bdai hhansen-bdai Awaiting requested review from hhansen-bdai hhansen-bdai will be requested when the pull request is marked ready for review hhansen-bdai is a code owner

@jtigue-bdai jtigue-bdai Awaiting requested review from jtigue-bdai jtigue-bdai will be requested when the pull request is marked ready for review jtigue-bdai is a code owner

@kellyguo11 kellyguo11 Awaiting requested review from kellyguo11 kellyguo11 will be requested when the pull request is marked ready for review kellyguo11 is a code owner

@Mayankm96 Mayankm96 Awaiting requested review from Mayankm96 Mayankm96 will be requested when the pull request is marked ready for review Mayankm96 is a code owner

@pascal-roth pascal-roth Awaiting requested review from pascal-roth pascal-roth will be requested when the pull request is marked ready for review pascal-roth is a code owner

@ClemensSchwarke ClemensSchwarke Awaiting requested review from ClemensSchwarke ClemensSchwarke will be requested when the pull request is marked ready for review ClemensSchwarke is a code owner

@matthewtrepte matthewtrepte Awaiting requested review from matthewtrepte matthewtrepte will be requested when the pull request is marked ready for review matthewtrepte is a code owner

@ossamaAhmed ossamaAhmed Awaiting requested review from ossamaAhmed ossamaAhmed will be requested when the pull request is marked ready for review ossamaAhmed is a code owner

@Toni-SM Toni-SM Awaiting requested review from Toni-SM Toni-SM will be requested when the pull request is marked ready for review Toni-SM is a code owner

At least 1 approving review is required to merge this pull request.

Assignees

No one assigned

Labels

asset New asset feature or request documentation Improvements or additions to documentation enhancement New feature or request infrastructure isaac-lab Related to Isaac Lab team isaac-mimic Related to Isaac Mimic team

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

2 participants

@ooctipus @AntoineRichard